CN108021036A - Verification method, system, device and the readable storage medium storing program for executing of electric car stabilization strategy - Google Patents
Verification method, system, device and the readable storage medium storing program for executing of electric car stabilization strategy Download PDFInfo
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- CN108021036A CN108021036A CN201711160663.XA CN201711160663A CN108021036A CN 108021036 A CN108021036 A CN 108021036A CN 201711160663 A CN201711160663 A CN 201711160663A CN 108021036 A CN108021036 A CN 108021036A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract
This application discloses a kind of verification method of electric car stabilization strategy, including：According to the parameter for the real vehicle for not carrying stabilization strategy, vehicle simulation model is built；The vehicle simulation model is run, performs stabilization strategy to reduce the effect of jitter that the slowdown module is brought, while records the first state information of the vehicle simulation model, to judge the stabilization strategy validity.The present invention verifies stabilization strategy by vehicle simulation model, carries stabilization strategy relative to real vehicle, vehicle simulation model carries stabilization strategy and easily facilitates measuring state information, facilitates adjustable strategies mode and parameter, making time cost is relatively low；Relative to stabilization strategy is carried on different real vehicles, the present invention directly adjustment whole vehicle model parameter can achieve the goal, and making time and expense are relatively low, reduce verification workload, while saved human cost.Correspondingly, disclosed herein as well is a kind of verification system, device and the readable storage medium storing program for executing of electric car stabilization strategy.
Description
Technical field
The present invention relates to new-energy automobile, more particularly to a kind of electric car anti-fluttering method, system, device and readable storage medium
Matter.
Background technology
With automotive technology development, new-energy automobile, especially electric automobile are more and more to be valued by people.But
Pure electric automobile generally existing jitter problem, appears under low rate start, tip-in/tip-out operating modes mostly.For electronic vapour
The jitter problem of car, is generally solved using entire car controller and the stabilization control strategy of electric machine controller cooperation, but this
Method must carry real vehicle and carry out authentication policy validity, and this method is extremely inefficient, takes time and effort, verify cost and workload compared with
Greatly.
The content of the invention
In view of this, it is an object of the invention to provide a kind of electric car anti-fluttering method of convenient and efficient, system, device and
Readable storage medium storing program for executing.Its concrete scheme is as follows：
A kind of verification method of electric car stabilization strategy, including：
According to the parameter for the real vehicle for not carrying stabilization strategy, vehicle simulation model is built；
The vehicle simulation model is run, performs stabilization strategy to reduce the effect of jitter that the slowdown module is brought, together
The first state information of vehicle simulation model described in Shi Jilu, to judge the stabilization strategy validity.
Preferably, the vehicle simulation model includes battery module, motor module, slowdown module, transport module；
Correspondingly, the process for performing stabilization strategy includes：
According to the output speed and output torque of the motor module, moment of torsion correction value is obtained；
The moment of torsion correction value, moment of torsion after being corrected are inputted to the motor module；
Moment of torsion after the amendment is sequentially transmitted to the slowdown module and the transport module.
Preferably, described to input the moment of torsion correction value to the motor module, the process of moment of torsion includes after being corrected：
The moment of torsion correction value is inputted to the motor module, with reference to the external characteristic curve of the motor module, is repaiied
Moment of torsion after just.
Preferably, the effect of jitter that the slowdown module is brought includes：
It is positive and negative to drive vehicle shake caused by slowdown module middle gear shock during switching tip-in/tip-out.
Preferably, the first state information includes vehicle longitudinal acceleration.
Preferably, the basis does not carry the parameter of the real vehicle of stabilization strategy, builds the process of vehicle simulation model and includes：
According to the parameter for the real vehicle for not carrying stabilization strategy, vehicle simulation model is built by AMESim softwares；
The operation vehicle simulation model, performing the process of stabilization strategy includes：
By vehicle simulation model described in simulink running softwares, stabilization strategy is performed.
Preferably, the verification method further includes：
The real vehicle is run, and records second status information of the real vehicle when performing the stabilization strategy；
Contrast the first state information and second status information.
Correspondingly, the invention also discloses a kind of verification system of electric car stabilization strategy, including：
Model buildings module, for the parameter according to the real vehicle for not carrying stabilization strategy, builds vehicle simulation model；
Policy enforcement module, for running the vehicle simulation model, performs stabilization strategy to reduce the slowdown module
The effect of jitter brought；
Information logging modle, for recording the first state information of the vehicle simulation model, to judge the stabilization plan
Validity slightly.
Correspondingly, the invention also discloses a kind of verification device of electric car stabilization strategy, including：
Memory, for storing computer program；
Processor, the verification method of electric car stabilization strategy as described above is realized during for performing the computer program
The step of.
Correspondingly, the invention also discloses a kind of readable storage medium storing program for executing, computer is stored with the readable storage medium storing program for executing
Program, realizes the step of the verification method of electric car stabilization strategy as described above when the computer program is executed by processor
Suddenly.
A kind of verification method of electric car stabilization strategy disclosed by the invention, including：According to the reality for not carrying stabilization strategy
The parameter of car, builds vehicle simulation model；The vehicle simulation model is run, performs stabilization strategy to reduce the slowdown module
The effect of jitter brought, while the first state information of the vehicle simulation model is recorded, to judge having for the stabilization strategy
Effect property.The present invention verifies stabilization strategy by vehicle simulation model, and stabilization strategy, vehicle simulation model are carried relative to real vehicle
Carry stabilization strategy and easily facilitate measuring state information, facilitate adjustable strategies mode and parameter, making time cost is relatively low；Relatively
In carrying stabilization strategy on different real vehicles, the present invention directly adjustment whole vehicle model parameter can achieve the goal, making time
It is relatively low with expense, reduce verification workload, while saved human cost.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of step flow chart of the verification method of electric car stabilization strategy；
Fig. 2 is a kind of power transmission schematic diagram of the verification method of electric car stabilization strategy；
Fig. 3 is a kind of structure distribution figure of the verification system of electric car stabilization strategy.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
It is shown in Figure 1 the embodiment of the invention discloses a kind of verification method of electric car stabilization strategy, including：
S11：According to the parameter for the real vehicle for not carrying stabilization strategy, vehicle simulation model is built；
Wherein, the vehicle simulation model is according to real vehicle parameter setting, including battery module, motor module, slowdown module,
Transport module；
It is understood that battery module mainly set including battery cell voltage, monomer resistance, monomer series-connected number,
The parameters such as monomer number of parallel, can be configured according to battery actual parameter, to reach the performance similar to actual battery；Electricity
The parameter that machine module mainly includes is the external characteristic curve of motor, and the input signal of motor module is demand torque signal, voltage
Signal, current signal etc., i.e. motor can combine the moment of torsion within demand torque and motor external characteristic curve fan-out capability.
Transport module can include differential gear unit, half-bridge cells, tire unit, road surface unit and tray unit.
S12：The vehicle simulation model is run, performs stabilization strategy to reduce the shake shadow that the slowdown module is brought
Ring, while record the first state information of the vehicle simulation model, to judge the stabilization strategy validity.
Correspondingly, the process for performing stabilization strategy includes：
According to the output speed and output torque of the motor module, moment of torsion correction value is obtained；
The moment of torsion correction value, moment of torsion after being corrected are inputted to the motor module；
Moment of torsion after the amendment is sequentially transmitted to the slowdown module and the transport module.
Wherein, described to input the moment of torsion correction value to the motor module, the process of moment of torsion includes after being corrected：
The moment of torsion correction value is inputted to the motor module, with reference to the external characteristic curve of the motor module, is repaiied
Moment of torsion after just.
It is understood that the shake on real vehicle can be produced by a variety of situations, for example, it is tip-in/tip-out operating modes, low
Fast start operating performance.Slowdown module is out acted on this jitter simulation in vehicle simulation model by certain mode, due to tooth
One of gap caused by the reasons such as the accuracy of manufacture of wheel, the basic reason shaken for vehicle, therefore between two gears of setting
Gap come simulate it is positive and negative drive switching Tip_in/Tip_out operating modes under gear rattle caused by vehicle jitter phenomenon, changing
Different vehicle degree of jitter can be adjusted during gear clearance parameter.
Specific power transmission path such as Fig. 2, motor module receives the three-phase alternating current electricity output power that battery model provides, defeated
Go out to perform moment of torsion；Perform moment of torsion and be transferred through slowdown module, transmit power to differential gear unit, differential gear unit is by kinetic current
Cloud assigns to two half-bridge cells, and half-bridge cells are directly connected with tire unit, and tire unit is connected with road surface unit, namely tire
Contacted with road surface and produce driving force, which is transmitted to tray unit.
Wherein, the parameter setting of each unit and module specifically may also include：
The driving wheel of slowdown module and the gear of radius (calculating gearratio) between principal and subordinate wheel of driven wheel is set to nibble
Close gap.The radius of principal and subordinate wheel is set according to real vehicle parameter, and can be carried out on gear clearance according to different demands
Adjustment, and the standard adjusted is：Match with the real vehicle motor speed data of no stabilization strategy.
The major parameter of half-bridge cells is stiffness parameters, which, which can shake vehicle, produces certain influence, so mould
Half-bridge rigidity value in type is equal with real vehicle.
The main arrange parameter of tire is tire radius, and radius parameter is configured with reference to real vehicle value.
And road surface unit mainly sets the attachment coefficient between tire and road surface, according to bituminous paving attachment coefficient in model
It is configured, under the attachment coefficient, there is no the phenomenon skidded for tire.
Tray unit mainly sets complete vehicle quality to slide resistance parameter, the resistance of taxing parameter resistance F=a+bx+ of vehicle with vehicle
cx^2.Coasting resistance coefficient a, b, c and complete vehicle quality and real vehicle are consistent.
A kind of verification method of electric car stabilization strategy disclosed by the invention, including：According to the reality for not carrying stabilization strategy
The parameter of car, builds vehicle simulation model；The vehicle simulation model is run, performs stabilization strategy to reduce the slowdown module
The effect of jitter brought, while the first state information of the vehicle simulation model is recorded, to judge having for the stabilization strategy
Effect property.The present invention verifies stabilization strategy by vehicle simulation model, and stabilization strategy, vehicle simulation model are carried relative to real vehicle
Carry stabilization strategy and easily facilitate measuring state information, facilitate adjustable strategies mode and parameter, making time cost is relatively low；Relatively
In carrying stabilization strategy on different real vehicles, the present invention directly adjustment whole vehicle model parameter can achieve the goal, making time
It is relatively low with expense, reduce verification workload, while saved human cost.
The embodiment of the invention discloses a kind of verification method of specific electric car stabilization strategy, implement relative to upper one
Example, the present embodiment have made further instruction and optimization to technical solution.Specific step is as follows：
S21：According to the parameter for the real vehicle for not carrying stabilization strategy, vehicle simulation model is built by AMESim softwares；
S22：By vehicle simulation model described in simulink running softwares, stabilization strategy is performed；Record at the same time described whole
The first state information of car simulation model；
Wherein, the process for performing stabilization strategy includes：
According to the output speed of the motor module and output torque signal, moment of torsion correction value is obtained；
The moment of torsion correction value, moment of torsion after being corrected are inputted to the motor module；
Moment of torsion after the amendment is sequentially transmitted to the slowdown module and the transport module.
Specifically, the stabilization strategy in the present embodiment is realized by filter module, wherein, after motor speed and filtering
Speed discrepancy calculate Motor torque.Secondly can also be compared with real vehicle motor speed (no stabilization function), you can to pass through electricity
The contrast of the rotating speed of machine model and the motor speed signal of real vehicle data, finely tunes gear clearance or half-bridge rigidity in model
Value, one is kept to reach the motor speed in dynamic model on the premise of same motor performs moment of torsion with real vehicle motor speed
Cause, prepare for ensuing real vehicle stabilization policy validation.
S23：The real vehicle is run, and records second status information of the real vehicle when performing the stabilization strategy；
S24：Contrast the first state information and second status information.
Wherein, the first state information and second status information can include vehicle longitudinal acceleration, by vehicle
Standard of the longitudinal acceleration as stabilization strategy validity.It is understood that the real vehicle that vehicle longitudinal acceleration passes through acquisition
Vehicle speed processing obtains.It is, of course, also possible to introduce other status informations.
This method is according to real vehicle data and the contrast for emulating data, it was demonstrated that real train test has higher contract with emulation data
It is right, so as to confirm that the present invention verifies stabilization strategy validity by vehicle simulation model, greatly shorten verification week
Phase.
Further, can also be by varying real vehicle simulation model or stabilization policing parameter, more different stabilization strategies are to same
The validity of carload simulation model, or more same stabilization strategy is to the validity of different vehicle simulation models.
Correspondingly, the present embodiment also discloses a kind of verification system of electric car stabilization strategy, it is shown in Figure 3, including：
Model buildings module 1, for the parameter according to the real vehicle for not carrying stabilization strategy, builds vehicle simulation model；
Policy enforcement module 2, for running the vehicle simulation model, performs stabilization strategy to reduce the slowdown module
The effect of jitter brought；
Information logging modle 3, for recording the first state information of the vehicle simulation model, to judge the stabilization plan
Validity slightly.
Correspondingly, the present embodiment also discloses a kind of verification device of electric car stabilization strategy, including：
Memory, for storing computer program；
Processor, testing for as described in foregoing embodiments electric car stabilization strategy is realized during for performing the computer program
The step of card method.
Wherein, the detail on above-mentioned verification method may be referred to previous embodiment, no longer be repeated herein.
Correspondingly, the present embodiment also discloses a kind of readable storage medium storing program for executing, calculating is stored with the readable storage medium storing program for executing
Machine program, realizes the authentication of the electric car stabilization strategy as described in foregoing embodiments when the computer program is executed by processor
The step of method.
Wherein, the detail on above-mentioned verification method may be referred to previous embodiment, no longer be repeated herein.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only include that
A little key elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except also there are other identical element in the process, method, article or apparatus that includes the element.
A kind of electric car anti-fluttering method, system, device and readable storage medium storing program for executing provided by the present invention are carried out above
It is discussed in detail, specific case used herein is set forth the principle of the present invention and embodiment, above example
Illustrate to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, according to
According to the thought of the present invention, there will be changes in specific embodiments and applications, in conclusion this specification content
It should not be construed as limiting the invention.
Claims (10)
- A kind of 1. verification method of electric car stabilization strategy, it is characterised in that including：According to the parameter for the real vehicle for not carrying stabilization strategy, vehicle simulation model is built；The vehicle simulation model is run, stabilization strategy is performed to reduce the effect of jitter that the slowdown module is brought, remembers at the same time The first state information of the vehicle simulation model is recorded, to judge the stabilization strategy validity.
- 2. verification method according to claim 1, it is characterised in that the vehicle simulation model includes battery module, motor Module, slowdown module, transport module；Correspondingly, the process for performing stabilization strategy includes：According to the output speed and output torque of the motor module, moment of torsion correction value is obtained；The moment of torsion correction value, moment of torsion after being corrected are inputted to the motor module；Moment of torsion after the amendment is sequentially transmitted to the slowdown module and the transport module.
- 3. verification method according to claim 2, it is characterised in that described to input the moment of torsion amendment to the motor module Value, the process of moment of torsion includes after being corrected：The moment of torsion correction value is inputted to the motor module, with reference to the external characteristic curve of the motor module, after obtaining amendment Moment of torsion.
- 4. verification method according to claim 3, it is characterised in that the effect of jitter that the slowdown module is brought includes：It is positive and negative to drive vehicle shake caused by slowdown module middle gear shock during switching tip-in/tip-out.
- 5. verification method according to claim 4, it is characterised in that the first state information includes vehicle and longitudinally accelerates Degree.
- 6. according to claim 1 to the 5 any one verification method, it is characterised in thatThe basis does not carry the parameter of the real vehicle of stabilization strategy, builds the process of vehicle simulation model and includes：According to the parameter for the real vehicle for not carrying stabilization strategy, vehicle simulation model is built by AMESim softwares；The operation vehicle simulation model, performing the process of stabilization strategy includes：By vehicle simulation model described in simulink running softwares, stabilization strategy is performed.
- 7. verification method according to claim 6, it is characterised in that further include：The real vehicle is run, and records second status information of the real vehicle when performing the stabilization strategy；Contrast the first state information and second status information.
- A kind of 8. verification system of electric car stabilization strategy, it is characterised in that including：Model buildings module, for the parameter according to the real vehicle for not carrying stabilization strategy, builds vehicle simulation model；Policy enforcement module, for running the vehicle simulation model, performs stabilization strategy and is brought with reducing the slowdown module Effect of jitter；Information logging modle, for recording the first state information of the vehicle simulation model, to judge the stabilization strategy Validity.
- A kind of 9. verification device of electric car stabilization strategy, it is characterised in that including：Memory, for storing computer program；Processor, the electric car stabilization strategy as described in any one of claim 1 to 7 is realized during for performing the computer program Verification method the step of.
- 10. a kind of readable storage medium storing program for executing, it is characterised in that computer program, the meter are stored with the readable storage medium storing program for executing The verification method of electric car stabilization strategy as described in any one of claim 1 to 7 being realized when calculation machine program is executed by processor Step.
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