CN107985314A - Determine method, apparatus, controller and the storage medium of gear - Google Patents
Determine method, apparatus, controller and the storage medium of gear Download PDFInfo
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- CN107985314A CN107985314A CN201711400445.9A CN201711400445A CN107985314A CN 107985314 A CN107985314 A CN 107985314A CN 201711400445 A CN201711400445 A CN 201711400445A CN 107985314 A CN107985314 A CN 107985314A
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- 238000000034 method Methods 0.000 title claims abstract description 80
- 238000003860 storage Methods 0.000 title claims abstract description 25
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The embodiment of the invention discloses a kind of method, apparatus, controller and the storage medium of definite gear, apply in electro-motive vehicle, belong to technical field of vehicle control.This method includes：At the first moment, obtain the motor speed and Motor torque of vehicle, at least two gears are determined according to motor speed and Motor torque, at least two gears are the gears that gear and motor speed and Motor torque of the vehicle at the first moment are supported to be adjusted to jointly, determine the respective loss power of at least two gears, loss value of the power that loss power exports when being the driving motor-driven vehicle of vehicle within the unit interval, by the corresponding gear of minimum value in the respective loss power of at least two gears, it is determined as target gear, define the gear of order output kinetic equation loss minimum, reduce vehicle energy loss caused by gear is improper, improve the electric energy service efficiency of electro-motive vehicle, extend the distance travelled for possessing fixed electricity vehicle, play the role of energy saving increasing journey.
Description
Technical field
The present embodiments relate to technical field of vehicle control, more particularly to a kind of method, apparatus of definite gear, control
Device and storage medium.
Background technology
With the fast development of the development of electro-motive vehicle technology, especially pure driven by power automobile.The drive of a large amount of vehicles
Dynamic device replaces with driving motor by internal combustion engine.
In correlation technique, electro-motive vehicle uses single reduction gear.Single reduction gear is usually designed in low speed section
Or high speed section possesses optimum performance.If vehicle uses possesses the single reduction gear of optimum performance in low speed section, the vehicle
A large amount of electric energy can be quickly consumed when running at high speed.If vehicle uses possesses the single reduction gear of optimum performance in high speed section,
The then low speed climbing capacity deficiency of the vehicle.
The content of the invention
An embodiment of the present invention provides a kind of method, apparatus, controller and the storage medium of definite gear.Details are as follows：
First aspect, there is provided a kind of method of definite gear, applied in electro-motive vehicle, the described method includes：
At the first moment, the motor speed and Motor torque of the vehicle are obtained；
According to the motor speed and the Motor torque, at least two gears are determined, at least two gear includes
The shelves that the vehicle is supported to be adjusted to jointly in the gear at first moment and the motor speed and the Motor torque
Position；
Determine the respective loss power of at least two gears, the loss power is that the driving motor of the vehicle drives
Move loss value of the power exported during the vehicle within the unit interval；
By the corresponding gear of minimum value in the respective loss power of at least two gears, it is determined as target gear.
Second aspect, there is provided a kind of device of definite gear, applied in electro-motive vehicle, described device includes：
Parameter acquisition module, is configured as, at the first moment, obtaining the motor speed and Motor torque of the vehicle；
First determining module, is configured as, according to the motor speed and the Motor torque, determining at least two gears,
At least two gear includes the vehicle and is turned round in the gear at first moment and the motor speed and the motor
Square supports the gear being adjusted to jointly；
Power determination module, is configured to determine that the respective loss power of at least two gears, the loss power
Loss value of the power exported during the driving motor driving vehicle for being the vehicle within the unit interval；
Second determining module, is configured as the minimum value in the respective loss power of at least two gears is corresponding
Gear, is determined as target gear.
The third aspect, there is provided a kind of controller, including memory and processor, are stored with least one in the memory
Bar instruction, at least one section of program, code set or instruction set, at least one instruction, at least one section of program, code set or instruction
Collection is loaded and performed by the processor, to realize the method for definite gear as described in relation to the first aspect.
Fourth aspect, there is provided a kind of computer-readable recording medium, is stored with least one finger on the storage medium
Make, at least one section of program, code set or instruction set, at least one instruction, at least one section of program, code set or instruction set by
The processor is loaded and performed, to realize the method for definite gear as described in relation to the first aspect.
The beneficial effect that technical solution provided in an embodiment of the present invention is brought is：
In electro-motive vehicle, gear can be determined according to the motor speed and Motor torque of vehicle, by first
Carve, obtain the motor speed and Motor torque of vehicle, at least two gears are determined according to the motor speed and Motor torque, at least
Two gears are the gears that gear and motor speed and Motor torque of the vehicle at the first moment are supported to be adjusted to jointly, with
Afterwards, by the definite respective power of at least two gears, which is to drive the power exported during motor-driven vehicle in list
Loss value in the time of position, by the corresponding gear of minimum value in the respective loss power of at least two gears, is determined as target
Gear.It can be seen from the above that by the embodiment of the present invention electro-motive vehicle can be made to determine that order exports the gear of kinetic equation loss minimum,
So as to reduce vehicle energy loss caused by gear is improper, the electric energy service efficiency of electro-motive vehicle is improved, is extended
Possess the distance travelled of fixed electricity vehicle, play the role of energy saving increasing journey.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of driving motor constant power loss curve shown according to embodiments of the present invention；
Fig. 2 is a kind of inverter constant power loss curve shown according to embodiments of the present invention；
Fig. 3 is a kind of structure diagram of gear switch system provided by one embodiment of the present invention；
Fig. 4 is a kind of method flow diagram of definite gear provided by one embodiment of the present invention；
Fig. 5 is the flow chart of the method for another definite gear provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram based on a kind of Fig. 5 shifting up operation provided；
Fig. 7 is the schematic diagram based on a kind of Fig. 5 downshift processes provided；
Fig. 8 is a kind of block diagram of the device of the definite gear shown according to embodiments of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
First, in order to make the scheme shown in the embodiment of the present invention explicit, description below is made to the noun being related to.
Electro-motive vehicle：The device for referring to offer driving force when driving is the vehicle for driving motor, namely prime mover is driving
The vehicle of motor.The vehicle includes pure electric vehicle, extended-range electric vehicle, fuel cell electric vehicle, super capacitor vehicle
And plug-in hybrid vehicle.Wherein, plug-in hybrid vehicle can make when using only driving motor-driven vehicle
With the method for the definite gear disclosed in the embodiment of the present invention.Alternatively, electro-motive vehicle can be divided into double according to wheel count
Wheeled vehicle, three-wheeled vehicle, four-wheel car and multi-wheeled vehicle, multi-wheeled vehicle refer to the vehicle of the five wheel above.Meeting to drive stationarity
On the premise of or single-wheel vehicle.Alternatively, electro-motive vehicle can also be divided into someone and drive according to driver is whether there is
Sail vehicle and automatic driving vehicle.Alternatively, electro-motive vehicle can also be according to there is rail-free to be divided into railroad vehicle and trolley-bus
.Alternatively, electro-motive vehicle can also be divided into front-drive cars and rear driving according to the wheel position of drive force
The vehicles such as vehicle.
At least two gears：Refer to quantity in electro-motive vehicle and be at least two, at most supported equal to the electro-motive vehicle
Numbers of gear steps gear, namely TCU (Transmission Control Unit, automatic gear-box control unit) most multipotency
The gear of control.For example, electro-motive vehicle could support up 4 gears, the quantity of at least two gear can be appointed in 2 to 4
One quantity of meaning.Alternatively, at least two gears are n gears adjacent in the m gear that the electro-motive vehicle is supported, m
It is positive number with n, 2≤n≤m.Wherein, gear of the electro-motive vehicle at the first moment is a gear in n gear.Need
Bright, at least two gears are control gear of the electro-motive vehicle towards same direction running.That is, at least two gears
It can be forward at the same time, can also retreat gear at the same time.
Loss power：Available symbols P represents, when referring to the driving motor of electro-motive vehicle and driving the vehicle, the electric energy of output
Power loss, can include power of motor loss Pml, inverter power loss PilP is lost with mechanical outputcl.Wherein, if with
nmThe motor speed of driving motor is represented, with TmRepresent the Motor torque of driving motor, then power of motor loss PmlIt may be defined as
Pml=Pml(nm, Tm), inverter power loss PilIt may be defined as Pil=Pil(nm, Tm), mechanical output loss PclIt may be defined as Pcl
=Pcl(nm, Tm).So as to which P=P (n can be obtainedm, Tm).Alternatively, different gears is in identical motor speed nmAnd Motor torque
TmThe loss power P of corresponding size can be obtained down.For example, an electro-motive vehicle includes low gear and high gear two
Gear, wherein low gear correspond to loss power P1, high gear corresponds to loss power P2, P1=P1(nm, Tm), P2=P2(nm,
Tm), due to function P1(nm, Tm) and P2(nm, Tm) different, so that P1≠P2.Wherein, power of motor loss Pml(nm, Tm) can lead to
Cross actual test vehicle and carry out test calibration, refer to Fig. 1, it is a kind of driving motor shown according to embodiments of the present invention etc.
Power loss curve.In Fig. 1, abscissa represents the motor speed n of driving motorm, the motor of ordinate expression driving motor
Torque Tm.Fig. 1 includes curve 11, curve 12 and curve 13, and on same curve, the numerical value of power of motor loss is identical, often
One curve represents the power of motor loss P of a specified numerical valueml.It is representative wherein from curve 11, curve 12 to curve 13
Power of motor loses PmlIt is sequentially increased.Similarly, inverter power loss Pil(nm, Tm) can also by actual test vehicle into
Row test calibration, refers to Fig. 2, it is a kind of inverter constant power loss curve shown according to embodiments of the present invention.In Fig. 2
In, abscissa represents the motor speed n of driving motorm, the Motor torque T of ordinate expression driving motorm.Fig. 2 includes curve
21st, curve 22, curve 23, curve 24, curve 25 and curve 26, on same curve, the numerical value phase of inverter power loss
Together, each curve represents the inverter power loss P of a specified numerical valueil.Wherein from curve 21, curve 22, curve 23, song
Line 24, curve 25 to curve 26, representative power of motor loss PmlIt is sequentially increased.Alternatively, wasted power and power battery
Discharge power loss PblThe sum of for the total system loss power P of electro-motive vehicletl, i.e. Ptl=Pml+Pil+Pcl+Pbl.Wherein,
The power reservoir capacity of the power battery is mainly influenced by internal resistance and temperature.
Drive motor：Refer to and convert electrical energy into the calutron of mechanical energy according to the law of electromagnetic induction, for electric drive
Vehicle provides the driving force travelled forward or backward.According to driving principle, the driving motor used in the embodiment of the present invention can
With including：Permanent-magnet synchronous driving motor, Brushless DC drive motor, switching magnetic-resistance driving motor, current asynchronous drive motor or
Direct-drive motor etc..
Target gear：Refer to the corresponding gear of minimum value in the respective loss power of at least two gears.For example, at least two
A gear is high gear, three gears of middling speed gear and low gear.The parameter of wherein first group driving motor is that motor turns
Fast nm1With Motor torque Tm1.At this time, if the loss power P of high gear is minimum, high gear is the driving of electro-motive vehicle
Motor is in motor speed nm1With Motor torque Tm1When corresponding target gear.The parameter of second group of driving motor is motor speed
nm2With Motor torque Tm2.At this time, if the loss power P of low gear is minimum, low gear is the driving electricity of electro-motive vehicle
Machine is in motor speed nm2With Motor torque Tm2When corresponding target gear.
Please refer to Fig.3, it is a kind of structure diagram of gear switch system 300 provided by one embodiment of the present invention.
The gear switch system 300 is applied in electro-motive vehicle, and the gear switch system 300 includes：Entire car controller 301,
It is TCU302, driving motor control unit 303, gearbox 304, gear shift sensing device 305, shift motor 306, driving motor 307, dynamic
Power battery 308 and drive parameter acquisition component 309.
Entire car controller 301 has different titles according to the difference using electro-motive vehicle.When electro-motive vehicle is pure
During electric vehicle, which can be VCU (Vehicle Control Unit, control unit for vehicle).When the electricity
When driving vehicle is plug-in hybrid vehicle, which can be (Hybrid Control Unit, mixing
Power car control unit).In addition, the entire car controller 301 can also carry VMS (Vehicle Monitoring＆
Management System, vehicle monitoring system) chip, equipment or vehicle-mounted computer.
Alternatively, entire car controller 301 can be connected with drive parameter acquisition component 309 by the communications cable, vehicle control
Device 301 processed can obtain the parameter of drive parameter acquisition component 309.
In the present system, drive parameter acquisition component 309 can have different according to the difference of electro-motive vehicle type
Way of realization.When electro-motive vehicle is automatic driving vehicle, which can be automatic driving vehicle
Main control computer in a module, for example, driving simulator.The module is used for the accelerator pedal letter for producing drive simulating person
Number, the manipulation signal such as brake pedal signal and gear signal.When vehicle is manned vehicle, the drive parameter collection group
Part 309 can include：Accelerator pedal sensor 3091, brake pedal sensor 3092 and gear sensor 3093, accelerator pedal
Sensor 3091 can gather accelerator pedal opening value, and brake pedal sensor 3092 can gather brake pedal opening value, row
Gear sensor 3093 can determine the gear where gear operating lever, which includes forward range and reverse gear.
Entire car controller 301 can be connected with TCU302 by the communications cable.TCU passes through PWM ((Pulse Width
Modulation, pulse width modulation) adjustment duty cycle.The rotating forward of control gearshift direct current generator, reversion and output torque, by subtracting
Fast mechanism and fork shift arm, shift fork move back and forth, and realize that the actions such as synchronous synchronizer, engagement, disengaging are realized without crash change of speed.
TCU302 can be integrated into the variable-speed motor of an entirety with gearbox 304, gear shift sensing device 305, shift motor 306
Structure.Wherein TCU302 can gather the signal of gearbox 304 by gear shift sensing device 305.Shift motor 306 can gather speed change
The signal of case 304, and the control signal of TCU302 can be received at the same time.Alternatively, the alternatively referred to as gearshift position of gear shift sensing device 305
Put sensor.
Alternatively, when vehicle supports two forwards altogether, gearbox 304 can be two grades of gearboxes.Work as vehicle
When supporting N number of forward, gearbox 304 is N grades of gearboxes, and N is the positive integer not less than 2.
Alternatively, TCU302 can be connected with driving motor control unit 303 by the communications cable.Wherein drive motor control
Unit processed can be referred to as microcontroller (Micro Controller Unit, MCU).Drive motor control unit 303 can be with
Driving motor 307 is connected by the communications cable, is connected with power battery 308 by transmitting loop.
The output shaft of driving motor 307 is connected with the input shaft of gearbox 304.Gearbox 304 passes through semiaxis and driving wheel
(i.e. the running vehicle wheel of vehicle) is connected.
Alternatively, entire car controller 301 can also be connected with driving motor control unit 303 by the communications cable.
Alternatively, entire car controller 301 can also be connected with vehicle speed sensor (not shown) by the communications cable, with
Obtain travel speed of the electro-motive vehicle at the first moment.
Alternatively, in a kind of possible implementation of the present invention, driving motor 307 can be precursor motor, before this
Driving motor can be coupled with gear.For example, it is coupled with two grades of gears as drive assembly.
Alternatively, vehicle may be fitted with power battery management system to optimize the effective utilization of power battery 308
BMS(Battery Management System).Power battery management system BMS can be with power battery 308, full-vehicle control
Device 301, TCU302 and driving motor control unit 303 are connected by the communications cable.
It should be noted that in embodiments of the present invention, the communications cable can be automobile bus (automotive bus).
Automobile bus can be CAN (Controller Area Network, controller local area network) bus, LIN (Local
Interconnect Network, local interconnect network) bus or VAN (Vehicle Area Network, Car Area Network)
At least one of bus bus.The embodiment of the present invention can be assembled the communications cable in the form of bundle assembly.
Please refer to Fig.4, it is a kind of method flow diagram of definite gear provided by one embodiment of the present invention.The present embodiment
It is applied to illustrate exemplified by the entire car controller in the gear switch system shown in above-mentioned Fig. 3 in this way.The method bag
Include：
Step 410, at the first moment, the motor speed and Motor torque of vehicle are obtained.
In embodiments of the present invention, entire car controller obtains the motor speed and motor of electro-motive vehicle at the first moment
Moment of torsion.
Alternatively, entire car controller can periodically obtain above-mentioned motor speed and Motor torque.
Step 420, according to motor speed and Motor torque, at least two gears are determined, at least two gears include vehicle
In the gear that the gear and motor speed and Motor torque at the first moment are supported to be adjusted to jointly.
In embodiments of the present invention, motor speed and Motor torque support the gear being adjusted to jointly, can be by vehicle control
Device processed is calculated and obtained according to the numerical value of motor speed, and Motor torque.Such as under high motor speed and high Motor torque,
The numbers of gear steps that vehicle can be adjusted to is more.When motor speed and relatively low Motor torque, shelves that vehicle can be adjusted to
Bit quantity is less.
Step 430, the respective loss power of at least two gears is determined, loss power is the driving motor driving car of vehicle
When loss value within the unit interval of the power that exports；
Step 440, by the corresponding gear of minimum value in the respective loss power of at least two gears, it is determined as target shift
Position.
In conclusion the method for definite gear disclosed by the embodiments of the present invention, can be according to the motor speed and electricity of vehicle
Machine moment of torsion determines gear, by the first moment, obtaining the motor speed and Motor torque of vehicle, according to the motor speed and electricity
Machine moment of torsion determines at least two gears, and at least two gears are that gear and motor speed and motor of the vehicle at the first moment are turned round
Square supports the gear being adjusted to jointly, and then, by the definite respective power of at least two gears, which is driving motor
Loss value of the power exported during vehicle within the unit interval is driven, by the minimum in the respective loss power of at least two gears
It is worth corresponding gear, is determined as target gear.It can be seen from the above that by the embodiment of the present invention electro-motive vehicle can be made to determine to make
The gear of kinetic equation loss minimum is exported, so as to reduce vehicle energy loss caused by gear is improper, improves electric drive car
Electric energy service efficiency, extend the distance travelled for possessing fixed electricity vehicle, play the role of it is energy saving increasing journey.
In electro-motive vehicle when driving, in order to further improve power electric while traveling with the operating mode of relatively low electric energy loss
The service life in pond.The embodiment of the present invention additionally provides a kind of method of definite gear.
Fig. 5 is referred to, it is the flow chart of the method for another definite gear provided in an embodiment of the present invention.The present embodiment
It is applied to illustrate exemplified by the entire car controller in the gear switch system shown in above-mentioned Fig. 3 in this way.The method bag
Include：
In a kind of scene that can be realized, method that entire car controller can perform definite gear since step 511.
Step 511, entire car controller obtains motor speed, Motor torque and the battery charge state of vehicle at the first moment
SOC(State of Charge)。
Step 520, judge whether battery charge state SOC is less than first threshold.
In embodiments of the present invention, when battery charge state SOC is not less than first threshold, step 540, step are performed
550 and step 560.Wherein, first threshold is indicated for the lower limit power threshold of battery charge state SOC not enough power supplies, example
Such as.First threshold can be 0.2.
When battery charge state SOC is not less than first threshold, vehicle, which performs, determines that simultaneously gear shift operation can reduce car to gear
Traveling energy consumption.
When battery charge state SOC is equal to or less than first threshold, if vehicle continues to execute definite gear and the behaviour that shifts gears
Work can then make power battery enter over-discharge state, can damage the service life of power battery, power can be directly damaged when serious
Battery.Therefore, alternatively, when battery charge state SOC is equal to or less than first threshold, vehicle will stop performing the present invention in fact
Apply the method that gear is determined disclosed in example.
In the scene that can realize of another kind, method that entire car controller performs definite gear since step 512.
Step 512, entire car controller obtains motor speed, Motor torque, the battery charge state of vehicle at the first moment
SOC and accelerator pedal signal value.
Wherein, accelerator pedal signal value is used to indicate that driving motor exports corresponding power according to preset relation.
Step 520, judge whether battery charge state SOC is less than first threshold.
In embodiments of the present invention, when battery charge state SOC is not less than first threshold, step 530 is performed.
Step 530, judge whether accelerator pedal signal value is less than the 3rd threshold value.
In embodiments of the present invention, the 3rd threshold value is indicated for accelerator pedal aperture.During specific implementation, accelerator pedal letter
Number can be magnitude of voltage or duty cycle.For example, 2.4V voltages or 40% duty cycle.When accelerator pedal signal value is less than the 3rd threshold
During value, step 540, step 550 and step 560 are performed.
In the scene that another can be realized, method that entire car controller performs definite gear since step 513.
Step 513, entire car controller obtains motor speed, Motor torque and the accelerator pedal signal of vehicle at the first moment
Value.
Step 530, judge whether accelerator pedal signal value is less than the 3rd threshold value.
In embodiments of the present invention, when accelerator pedal signal value is less than three threshold values, perform step 540, step 550 and
Step 560.
Step 540, according to motor speed and Motor torque, at least two gears are determined, at least two gears include vehicle
In the gear that the gear and motor speed and Motor torque at the first moment are supported to be adjusted to jointly.
In embodiments of the present invention, the implementation procedure of step 520 and the implementation procedure of step 420 are identical, no longer superfluous herein
State.
Step 550, the respective loss power of at least two gears is determined, loss power is the driving motor driving car of vehicle
When loss value within the unit interval of the power that exports.
In embodiments of the present invention, the implementation procedure of step 550 and the implementation procedure of step 430 are identical, no longer superfluous herein
State.
Step 560, by the corresponding gear of minimum value in the respective loss power of at least two gears, it is determined as target shift
Position.
In embodiments of the present invention, the implementation procedure of step 560 and the implementation procedure of step 440 are identical, no longer superfluous herein
State.
Based on the method for above-mentioned definite gear, electro-motive vehicle can be different with the gear at the first moment in target gear
When, it is target gear by the gear switch of the electro-motive vehicle, so that electro-motive vehicle is with the gear of loss power minimum
Traveling.Opposite, when target gear is identical with gear at the first moment, then electro-motive vehicle is protected without gear switch
Hold the gear traveling at the first moment.
Alternatively, when battery charge state SOC is not less than second threshold, and when the gear of electro-motive vehicle is from first
To during target gear, circuit electric energy can be transferred to target storage battery by entire car controller for the gear switch at quarter, wherein,
Circuit electric energy be the electric energy of power battery output subtract after the electric energy of the drive mechanism consumption of vehicle it is remaining in the loop
Electric energy.Second threshold is the upper limit threshold of power battery, and when SOC is more than the value, the drive mechanism of vehicle can not be complete
The electric energy of power battery generation in the loop is exhausted, if the electric energy flows back, it will cause the damage of power battery.
Alternatively, the receiving voltage of target storage battery needs the voltage real-time matching with the electric energy in circuit.Alternatively, move
Power battery management system BMS or entire car controller can be used for the voltage in the receiving voltage and circuit of control targe storage battery
Match somebody with somebody.Target storage battery can realize real-time matching function by transformer module.
Alternatively, when battery charge state SOC is not less than second threshold, and when the gear of electro-motive vehicle is from first
To during target gear, entire car controller can also open energy dissipation device, and circuit electric energy is transmitted for the gear switch at quarter
Into energy dissipation device.Alternatively, energy dissipation device can be high pressure annex, and high pressure annex includes PTC (Positive
Temperature Coefficient, positive temperature coefficient) in element, compressor of air conditioner, DC-DC high potential assemblies or high-pressure oil pump
It is at least one.For example, sufficient in vehicle electricity, battery is forbidden in charging operating mode, and vehicle can open PTC and consume motor work
In the energy that generating operation mode produces, to ensure to determine being smoothed out for gear and shift process.
Based on the method for above-mentioned definite gear, the embodiment of the present invention can also carry out shelves when traveling failure occurs in vehicle
Position determines.Electro-motive vehicle can monitor the failure of limit power traveling or lose the failure of driving force, work as entire car controller
When monitoring vehicle appearance traveling failure, the motor speed and Motor torque of current driving motor will be obtained.And according to the motor
Rotating speed and Motor torque determine at least two gears.For example, a total of high gear of vehicle, middling speed gear and low gear three
A gear.During current vehicle is in middling speed gear, and at least two gears that determine of the motor speed of vehicle and Motor torque are
Fast gear (gear where current vehicle) and low gear (motor speed and Motor torque support the gear being adjusted to jointly).
If entire car controller determines that the loss power of middling speed gear is smaller, vehicle keeps middling speed gear traveling.If entire car controller
Determine that the loss power of low gear is smaller, then vehicle travels gear switch to low gear.
Alternatively, since the gearratio of the target gear when traveling failure occurs in vehicle is not less than vehicle at the first moment
The gearratio of gear, so vehicle cannot be switched to middling speed gear by low gear, or switches to high gear.
In a kind of possible implementation, for vehicle when there is limit power traveling failure, entire car controller will pass through CAN
Bus, which is sent, forbids shifting commands, and TCU is received and treated the instruction.When vehicle is the vehicle of two grades of speed changes of support, when vehicle is current
Gear when being 1 grade, vehicle is 1 grade by operation range is given tacit consent to, and no longer performs and is switched to 2 grades of operation.If current gear is 2
Shelves, TCU will control gearshift that gear is down to 1 grade., can not when driving when critical system fault occurs in vehicle, full-vehicle control
Device will send the instruction of vehicle catastrophe failure, and TCU receives the instruction, and in motor speed and Motor torque in vehicle deceleration process
When meeting condition, gear is down to 1 grade.
Alternatively, the method for definite gear provided in an embodiment of the present invention can be in automobile starting, the main power source of vehicle
Powered on while powering on to TCU.After System self-test, if it is determined that automobile gear level is in low gear, by the communications cable to whole
Car control unit sends TCU information working properly.
Based on above-mentioned technical proposal, the vehicle disclosed in the embodiment of the present invention can be realized small in starting or climbing
Electric current is started to walk, and mechanical efficiency can reach 94%, and noenergy is lost, and motor response is fast, small to the aging effects of power battery.
For operating mode of running at high speed, vehicle is allowed hand over to high gear, such as cuts vehicle in two grades of transmission vehicles
2 grades are changed to, to ensure that driving motor is operated in economic section, power battery is exported with low current, and liquid improves driving motor
Mechanical efficiency, improve battery life, saved battery power.
For the type selecting of the driving motor of vehicle, since most energy saving shelves can be determined from least two gears automatically
Position, therefore for single reduction gear, speed motor in can selecting, without selecting high-speed electric expreess locomotive to work.
For cruising ability, vehicle provided in an embodiment of the present invention controls the change of fast ratio under suitable operating mode,
Control driving motor and power battery are all operated in high efficiency range, are reduced heat loss, have been saved energy, improve in continuation of the journey
Journey.
For the ride comfort of vehicle, since the gearshift total duration of vehicle is controlled within 900ms, power interruption
Time is shorter.Make driver perceive unobvious, accurately ensure that vehicle nothing during gearshift beats tooth phenomenon.
It should be noted that the method for definite gear provided in an embodiment of the present invention can be applied in TCU automatic switchover shelves
In the application scenarios of position.In the application scenarios of switching gear, the embodiment of the present invention is divided by shifting up operation and downshift process
Do not mentionlet alone bright.
1st, shifting up operation
In shifting up operation, the TCU in electro-motive vehicle can read the letter that entire car controller is sent by the communications cable
Breath, the information include the target gear that entire car controller determines.When TCU determines that target gear is higher than shelves of the vehicle at the first moment
During position, TCU will send preparation upshift request to full-vehicle control unit.Full-vehicle control unit receive prepare upshift request after,
The Motor torque of control driving motor asks driving motor control unit control driving motor to enter idling mode to 0 adjustment.
After driving motor enters idling mode, TCU driving gear shifting motors complete action out of supply, which can continue 100ms
Left and right.Then, TCU can be delayed W, and the effect of duration W is to ensure that operation out of supply is fully finished.Then, TCU is to full-vehicle control list
Member sends the request of driving motor reduction and driving motor rotating speed of target.Full-vehicle control unit receive the driving motor reduction please
After asking, according to the difference of the motor speed of current driving motor and rotating speed of target, regulation motor moment of torsion, request driving motor control
Unit provides torque control signal.Wherein, torque control signal can be the moment of torsion control letter positioned at -5Nm to -10Nm sections
Number.After driving motor control unit sends torque control signal, the motor speed of motor is driven to reduce.At this time, TCU passes through logical
Believe cable read driving motor motor speed, when drive motor transient rotative speed close to rotating speed of target when (error can ±
10), TCU asks driving motor control unit control driving motor to enter idling mode again.After the S that is delayed, start gearshift electricity
Machine completes synchro-meshing.Wherein, it can be 250ms that synchronizing process, which takes, and it can be 100ms that engagement process, which takes,.So far, electricity drives
Motor-car completes upshift, and TCU sends gearshift to entire car controller and completes information (i.e. the information comprising current gear).Full-vehicle control
Device upon receiving this information, recovers control of the response accelerator pedal signal to driving motor.
Alternatively, Fig. 6 is refer to, it is the schematic diagram based on a kind of Fig. 5 shifting up operation provided.There is motor in figure 6
Rotation speed change curve 61, Motor torque change curve 62, change the gear 65 after current gear 63, neutral gear 64, gearshift, be de-
Shelves process 66, synchronizing process 67, into gear (engagement) process 68 and send prepare gearshift request at the time of 691, transmission reduction of speed refer to
692 at the time of order, the motor speed of driving motor is 693 and upshift 694 at the time of complete at the time of reach rotating speed of target.
2nd, downshift process
During downshift, TCU reads the information that sends of entire car controller by the communications cable, which includes vehicle control
The target gear that device processed determines.When TCU determines target gear less than vehicle in the gear at the first moment, TCU will be to vehicle control
Unit processed sends preparation downshift request.Entire car controller request driving motor control unit control driving motor enters idling shape
State.After driving motor enters idling mode, TCU driving gear shifting motors complete action out of supply, which can continue
100ms or so.Then, TCU can be delayed W, and the effect of duration W is to ensure that operation out of supply is fully finished.Then, TCU is to vehicle
Control unit sends the request of driving motor raising speed and driving motor rotating speed of target.Full-vehicle control unit is receiving the driving motor
After raising speed request, according to the difference of the motor speed of current driving motor and rotating speed of target, regulation motor moment of torsion.Full-vehicle control list
Request driving motor control unit control driving motor is entered drive pattern by member, and order driving motor provides positive target torque.
When the motor speed of driving motor is increased to 1.5 times (numerical value can be demarcated freely as needed) of preceding motor speed out of supply
Left and right, TCU ask driving motor control unit control driving motor to enter idling mode again.After the S that is delayed, start gearshift electricity
Machine completes synchro-meshing.Wherein, at the same process to take can be 250ms, it can be 100ms that engagement process, which takes,.So far, electricity drives
Motor-car completes downshift, and TCU sends gearshift to entire car controller and completes information (i.e. the information comprising current gear).Full-vehicle control
Device upon receiving this information, recovers control of the response accelerator pedal signal to driving motor.
It should be noted that driving motor motor speed be increased to it is out of supply before 1.5 times or so of motor speed,
TCU is to consider the flat of Vehicle Shifting the reason for request driving motor control unit control driving motor enters idling mode
It is pliable.
Alternatively, in the alternatively possible application scenarios of downshift state, vehicle may be at sliding state or system
Dynamic state.When entire car controller detects that vehicle is in sliding state or on-position, vehicle will start downshift process (if
Vehicle is in lowest gear and then stops flow).Wherein, the process out of supply under the state can continue 100ms, and synchronizing process can be with
Continue 600ms, can continue 200ms into gear process.The gear position sensor of the target gear of downshift process is read in TCU
During signal, TCU will send gearshift to entire car controller and complete information.Entire car controller upon receiving this information, recovers response
Control of the accelerator pedal signal to driving motor.Alternatively, when the motor speed of the driving motor of vehicle is less than 200rpm, and add
When speed pedal signal is less than designated value, it is believed that vehicle is in sliding state or on-position.
Alternatively, during above-mentioned shifting up operation or downshift.If the gear of vehicle be neutral gear (state i.e. out of supply) and
Accelerator pedal signal value is less than the 4th threshold value, then TCU will terminate shifting up operation or downshift process, and gear is recovered to out of supply preceding
Gear.
Alternatively, Fig. 7 is refer to, it is the schematic diagram based on a kind of Fig. 5 downshift processes provided.There is motor in the figure 7
Rotation speed change curve 71, Motor torque change curve 72, change the gear 75 after current gear 73, neutral gear 74, gearshift, be de-
Shelves process 76, synchronizing process 77, into gear (engagement) process 78 and send prepare gearshift request at the time of 791, transmission raising speed refer to
792 at the time of order, the motor speed of driving motor is 793 and downshift 794 at the time of complete at the time of reach rotating speed of target.
In conclusion the method for definite gear disclosed by the embodiments of the present invention, is obtained by entire car controller at the first moment
Motor speed, Motor torque and the battery charge state SOC of pick-up, and it is not less than first threshold in battery charge state SOC
When determine at least two gears, and it is target gear to select at least two gears the less gear of loss power so that car
While ensureing to travel using most energy saving gear, the service life of power battery is improved.
The present embodiment also obtains accelerator pedal signal by entire car controller at the first moment, in accelerator pedal signal value not
At least two gears are determined during less than three threshold values, and the selection less gear of loss power is target at least two gears
Gear so that vehicle can determine most energy saving gear in time in accelerating mode, and it is big in accelerator pedal aperture to reduce vehicle
When three threshold values electric energy is quickly consumed because gear is improper.
The present embodiment can also make vehicle that current gear is determined as target gear when traveling failure occurs in vehicle,
Or it is determined as target gear by bigger gear is driven, improve the security of vehicle.
The present embodiment can also be defeated by the circuit electric energy for producing power battery when SOC value is not less than second threshold
It is sent in energy dissipation device or target storage battery, avoids loop current and inversely regurgitate power battery.Electro-motive vehicle is expanded
Determine gear and switch the application scenarios of gear, improve the handling of vehicle.
Following is apparatus of the present invention embodiment, can be used for performing the method for the present invention embodiment.It is real for apparatus of the present invention
The details not disclosed in example is applied, refer to the method for the present invention embodiment.
Fig. 8 is referred to, it is a kind of block diagram of the device of the definite gear shown according to embodiments of the present invention, this is determined
The device of gear can become some or all of of the entire car controller in gear switch system as shown in Figure 3.This is determined
The device of gear can be realized by the combination or pure hardware circuit of software and hardware, so as to fulfill in Fig. 4 or Fig. 5 by vehicle control
Step performed by device processed.The device includes：Parameter acquisition module 810, the first determining module 820,830 and of power determination module
Second determining module 840.
Parameter acquisition module 810, is configured as, at the first moment, obtaining the motor speed and Motor torque of the vehicle；
First determining module 820, is configured as, according to the motor speed and the Motor torque, determining at least two grades
Position, at least two gear include the vehicle in the gear at first moment and the motor speed and the motor
Moment of torsion supports the gear being adjusted to jointly；
Power determination module 830, is configured to determine that the respective loss power of at least two gears, the loss work(
Rate is that the driving motor of the vehicle drives loss value of the power exported during the vehicle within the unit interval；
Second determining module 840, is configured as the minimum value pair in the respective loss power of at least two gears
The gear answered, is determined as target gear.
Alternatively, the present apparatus can also include：
Gear switch module, is configured as different in the gear at first moment from the vehicle in the target gear
When, it is the target gear by the gear switch of the vehicle.
Alternatively, the present apparatus can also include：
Parameter acquisition module 810, is additionally configured to, at first moment, obtain the battery charge state of the vehicle
SOC；
First determining module 820, when being configured as the battery charge state SOC and being not less than first threshold, according to institute
Motor speed and the Motor torque are stated, determines at least two gears.
Alternatively, the present apparatus can also include：
Device opening module, is configured as the battery charge state SOC and is not less than second threshold, and the target shift
Energy dissipation device, when the gear at first moment is different, is opened in position from the vehicle, and the second threshold is more than described first
Threshold value；
Transmit electricity module, be configured as the vehicle from first moment gear switch to the target gear
During, by circuit electrical energy transportation to the energy dissipation device, the circuit electric energy is that the electric energy of the power battery output subtracts
Remaining electric energy in the loop after the electric energy of the drive mechanism consumption of the vehicle.
Alternatively, the present apparatus can also include：
Charge initiation module, is configured as the battery charge state SOC and is not less than second threshold, and the target shift
, when the gear at first moment is different, target storage battery is opened from the vehicle in position；
Transmit electricity module, be configured as the vehicle from first moment gear switch to the target gear
During, circuit electric energy is transmitted to the target storage battery.
Alternatively, the present apparatus can also include：
Parameter acquisition module 810, is additionally configured to, at first moment, obtain the accelerator pedal signal of the vehicle
Value, the accelerator pedal signal value are used to indicate that the driving motor exports corresponding power according to preset relation；
First determining module 820, when being configured as the accelerator pedal signal value and being not less than three threshold values, according to described
Motor speed and the Motor torque, determine at least two gears.
Alternatively, parameter acquisition module 810 includes：Monitoring submodule and acquisition submodule.
Monitoring submodule, is configured as monitoring whether occur traveling failure in the vehicle, and the traveling failure is used to refer to
Show that the vehicle failure of limit power traveling occurs or loses the failure of driving force；Wherein, the gearratio of the target gear
Not less than the vehicle the gear at first moment gearratio；
Acquisition submodule, when being configured as occurring in the vehicle traveling failure, obtain the motor speed and
The Motor torque.
In memory in entire car controller, at least one section of program, at least one code, code set or instruction are stored with
Collection, wherein at least one section of program, at least one code, code set or instruction set are stored in memory, and are configured to by one
A or more than one processor performs so that processor can realize the definite shelves performed in Fig. 4 or Fig. 5 by entire car controller
The method of position.
It should be noted is that above-described embodiment provide device determine gear when, only with above-mentioned each function mould
The division progress of block, can be according to actual needs and by above-mentioned function distribution by different functions for example, in practical application
Module is completed, i.e., the content structure of equipment is divided into different function modules, described above all or part of to complete
Function.
On the device in above-described embodiment, wherein modules perform the concrete mode of operation in related this method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
The present invention also provides a kind of controller, which includes memory and processor, be stored with memory to
Few an instruction, at least one section of program, code set or instruction set, at least one instruction, at least one section of program, code set or instruction
Collection is loaded and performed by processor, to realize such as the method for the definite gear in Fig. 4 or Fig. 5.For example, the controller can be whole
Vehicle controller.
One of ordinary skill in the art will appreciate that hardware can be passed through by realizing all or part of step of above-described embodiment
To complete, it can also indicate that relevant hardware is completed by program and instruction, the program can be stored in a kind of computer
In readable storage medium storing program for executing, at least one instruction, at least one section of program, code set or instruction are stored with the computer-readable storage medium
Collection, at least one instruction, at least one section of program, code set or instruction set are loaded and performed by processor, to realize Fig. 4 or Fig. 5
In by entire car controller perform definite gear method.
Without loss of generality, the computer-readable medium can include computer storage media and communication media.Computer
Storage medium is included for information such as storage computer-readable instruction, data structure, program module or other data
The volatile and non-volatile of any method or technique realization, removable and irremovable medium.Computer-readable storage medium includes
RAM, ROM, EPROM, EEPROM, flash memory or other solid-state memory technologies, CD-ROM, DVD or other optical storages, tape
Box, tape, disk storage or other magnetic storage apparatus.Certainly, skilled person will appreciate that the computer-readable storage medium
It is not limited to above-mentioned several citings.
Those skilled in the art will readily occur to the application its after considering specification and putting into practice invention disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope and spirit of the application are by appended
Claim is pointed out.
It should be appreciated that the structure that the application is not limited to be described above and is shown in the drawings, and can
To carry out various modifications and change without departing from the scope.Scope of the present application is only limited by appended claim.
Claims (10)
- A kind of 1. method of definite gear, it is characterised in that applied in electro-motive vehicle, the described method includes：At the first moment, the motor speed and Motor torque of the vehicle are obtained；According to the motor speed and the Motor torque, at least two gears are determined, at least two gear includes described The gear that vehicle is supported to be adjusted to jointly in the gear at first moment and the motor speed and the Motor torque；Determine the respective loss power of at least two gears, the loss power is the driving motor driving institute of the vehicle State loss value of the power exported during vehicle within the unit interval；By the corresponding gear of minimum value in the respective loss power of at least two gears, it is determined as target gear.
- 2. according to the method described in claim 1, it is characterized in that, the method further includes：If the target gear is different in the gear at first moment from the vehicle, the gear switch by the vehicle is The target gear.
- 3. according to the method described in claim 1, it is characterized in that, the method further includes：At first moment, the battery charge state SOC of the vehicle is obtained；When the battery charge state SOC is not less than first threshold, perform described according to the motor speed and the motor Moment of torsion, the step of determining at least two gears.
- 4. according to the method described in claim 3, it is characterized in that, the method further includes：When the battery charge state SOC is not less than second threshold, and the target gear with the vehicle at described first When the gear at quarter is different, energy dissipation device is opened, the second threshold is more than the first threshold；In the vehicle from during the gear switch at first moment to the target gear, by circuit electrical energy transportation To the energy dissipation device, the circuit electric energy is that the electric energy of the power battery output subtracts the drive mechanism of the vehicle Remaining electric energy in the loop after the electric energy of consumption.
- 5. according to the method described in claim 3, it is characterized in that, the method further includes：When the battery charge state SOC is not less than second threshold, and the target gear with the vehicle at described first When the gear at quarter is different, target storage battery is opened；In the vehicle from during the gear switch at first moment to the target gear, circuit electric energy is transmitted To the target storage battery.
- 6. method according to any one of claims 1 to 5, it is characterised in that the method further includes：At first moment, the accelerator pedal signal value of the vehicle is obtained, the accelerator pedal signal value is for indicating institute State driving motor and export corresponding power according to preset relation；When the accelerator pedal signal value is not less than three threshold values, perform described according to the motor speed and motor torsion Square, the step of determining at least two gears.
- 7. method according to any one of claims 1 to 5, it is characterised in that it is described at the first moment, obtain the vehicle Motor speed and Motor torque, including：Monitor and whether occur traveling failure in the vehicle, the traveling failure is used to indicate that limit power traveling occurs in the vehicle Failure or lose the failure of driving force；When occurring the traveling failure in the vehicle, the motor speed and the Motor torque are obtained；Wherein, the gearratio of the target gear is not less than gearratio of the vehicle in the gear at first moment.
- 8. a kind of device of definite gear, it is characterised in that applied in electro-motive vehicle, described device includes：Parameter acquisition module, is configured as, at the first moment, obtaining the motor speed and Motor torque of the vehicle；First determining module, is configured as according to the motor speed and the Motor torque, determines at least two gears, described At least two gears are total to including the vehicle in the gear at first moment and the motor speed and the Motor torque The gear being adjusted to is supported together；Power determination module, is configured to determine that the respective loss power of at least two gears, and the loss power is institute The driving motor for stating vehicle drives loss value of the power exported during the vehicle within the unit interval；Second determining module, is configured as the corresponding shelves of minimum value in the respective loss power of at least two gears Position, is determined as target gear.
- 9. a kind of controller, it is characterised in that including memory and processor, at least one finger is stored with the memory Make, at least one section of program, code set or instruction set, at least one instruction, at least one section of program, code set or instruction set by The processor is loaded and performed, to realize the method for the definite gear as described in claim 1 to 7 is any.
- 10. a kind of computer-readable recording medium, it is characterised in that at least one instruction, extremely is stored with the storage medium Few one section of program, code set or instruction set, at least one instruction, at least one section of program, code set or instruction set are by described Processor is loaded and performed, to realize the method for the definite gear as described in claim 1 to 7 is any.
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| CN201711400445.9A CN107985314B (en) | 2017-12-22 | 2017-12-22 | Determine method, apparatus, controller and the storage medium of gear |
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| CN109820462A (en) * | 2019-03-28 | 2019-05-31 | 佛山市百斯特电器科技有限公司 | A kind of method and dish-washing machine controlling motor |
| CN109895714A (en) * | 2019-03-11 | 2019-06-18 | 北京经纬恒润科技有限公司 | A kind of determination method and device of gear value |
| CN110836263A (en) * | 2019-11-14 | 2020-02-25 | 重庆大学 | Step transmission gear control method considering energy recovery efficiency |
| CN111030154A (en) * | 2019-12-24 | 2020-04-17 | 新风光电子科技股份有限公司 | Single-phase hybrid energy storage device for electrified railway and control method |
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| CN114475269A (en) * | 2020-10-23 | 2022-05-13 | 北汽福田汽车股份有限公司 | Motor control method, device, vehicle and medium |
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