CN108215936A - A kind of drive control method and apparatus of pure electric vehicle - Google Patents
A kind of drive control method and apparatus of pure electric vehicle Download PDFInfo
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- CN108215936A CN108215936A CN201711480298.0A CN201711480298A CN108215936A CN 108215936 A CN108215936 A CN 108215936A CN 201711480298 A CN201711480298 A CN 201711480298A CN 108215936 A CN108215936 A CN 108215936A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/465—Slip
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The embodiment of the invention discloses a kind of drive control method and apparatus of pure electric vehicle, which includes：Wheel speed equivalent speed v is calculated according to the rotor speed of the motor of pure electric vehicleWhlWith reference speed vVeh, and according to formula S 1=(vWhl‑vVeh)/vWhlCalculate wheel slip rate estimated value S1；If wheel slip rate estimated value S1 is more than setting wheel slip rate, according to the current motor demand torque of torque attenuation steps attenuation motor；The minimum value in the first motor demand torque using operator demand's torque and after reducing carries out moment of torsion control as demand torque.In the embodiment of the present invention, without using wheel speed sensors and vehicle speed sensor, cost is reduced, ensure that driving safety, ensure that vehicle not exclusively loses driving force in Anti-slip regulation control, improves vehicle performance stability.
Description
Technical field
The present embodiments relate to electric vehicle field more particularly to the drive control methods and dress of a kind of pure electric vehicle
It puts.
Background technology
Fuel-engined vehicle is the automobile being driven using gasoline as power source, although fuel-engined vehicle is at present in occupation of big share
Automobile market, but the problem of it consumes non-renewable petroleum resources and discharge exhaust emission environment so that prospect also gradually obscures.
The thing followed, various pure electric automobiles are shown one's talent.
Pure electric automobile is progress power drive using motor as driving force, has energy-saving and environment-friendly advantage, for pure
Electric vehicle, motor have the characteristics that torque responsive is fast, slow-speed of revolution torque is big.However, existing pure electric automobile is suddenly adding
In the case of speed driving wheel it is easy to appear skidding situation, it is outstanding in the case where vehicle is unloaded, road surface energy of attachment condition is poor
It is apparent.When there is driving wheel spike for rear shaft-driven pure electric automobile, trailing wheel can be because trackslip and serious loss is lateral
Adhesive ability, if front-wheel slightly lateral force, vehicle can generate sideway torque and occur whipping swash turn, it is difficult to manipulate.
Invention content
The embodiment of the present invention provides a kind of drive control method and apparatus of pure electric vehicle, to solve existing pure electric vehicle vapour
The problem of wheel driving force is more than ground abhesion capacity and causes vehicle performance unstability when vehicle drives.
An embodiment of the present invention provides a kind of drive control method of pure electric vehicle, including：
Wheel speed equivalent speed v is calculated according to the rotor speed of the motor of the pure electric vehicleWhlAnd reference speed
vVeh, and calculate wheel slip rate estimated value S1, S1=(v according to formula (1)Whl-vVeh)/vWhl(1)；
If the wheel slip rate estimated value S1 is more than setting wheel slip rate, according to described in the attenuation of torque attenuation steps
The current motor demand torque of the motor of pure electric vehicle；
The minimum value in the first motor demand torque using operator demand's torque and after reducing is carried out as demand torque
Moment of torsion control.
Further, the wheel speed equivalent speed v is calculated according to the rotor speed of the motor of the pure electric vehicleWhl
Specific implementation procedure be：The wheel speed equivalent speed v is calculated according to formula (2)Whl,
Wherein, nMTThe rotor speed of motor for the pure electric vehicle, r are the wheel half of the pure electric vehicle
Diameter, ig are the gearbox speed ratio of the pure electric vehicle, and io is the speed ratio of main reducer of the pure electric vehicle.
Further, the reference speed v is calculatedVehSpecific implementation procedure be：The ginseng is calculated according to formula (3~5)
Examine speed vVeh,
vVeh(0)=0 (3)；
vVeh(n+1)=vVeh(n)+dv(n+1)(4)；
Dv (n+1)=max (dvmin, min (dvmax, vWhl-vVeh(n))) (5)；
Wherein, vVeh(0)=0 the initialization value for referring to reference speed is 0, vVeh(n+1)=vVeh(n)+dv (n+1) refers to n
+ 1 moment reference speed vVeh(n+1) it is n moment reference speeds vVeh(n) increase variable quantity dv (n+1), dv (n+1) is by the wheel
Fast equivalent speed vWhlWith the n moment reference speed vVeh(n) difference, dvmaxAnd dvmaxLimitation, dvmaxFor according to
The speed change step that pure electric vehicle peak acceleration is calculated, dvminIt is strong to be braked according to the pure electric vehicle maximum
Spend the speed change step being calculated.
Further, according to the current motor demand torque of the motor of the torque attenuation steps attenuation pure electric vehicle
Specific implementation procedure include：
The current motor demand torque is obtained, is decayed the current motor demand torque according to formula (6~7),
TrqMT2=TrqMT1-dTrqNeg (6),
TrqMT'=max (Trqmin, TrqMT2) (7),
Wherein, TrqMT2 is the motor demand torque after attenuation, and TrqMT1 is the first motor demand torque of previous step length,
DTrqNeg is the torque attenuation steps, and TrqMT' is the first motor demand torque, and Trqmin joins for motor demand torque
Examine minimum value.
Further, it further includes：
If detect that the wheel slip rate estimated value S1 is less than or equal to the setting wheel slip rate and driving
Anti-skidding value of statistical indicant is 1, restores the motor demand torque of the motor of the pure electric vehicle according to formula (8)；
TrqMT'=TrqMT1+dTrqPos (8),
Wherein, TrqMT' is the first motor demand torque, and TrqMT1 is the first motor demand torque of previous step length,
DTrqPos restores step-length for torque.
Further, it further includes：
If detect the reference speed vVehMore than or equal to reference speed threshold value and the operator demand
The absolute difference of torque and the first motor demand torque is less than or equal to torque difference threshold value, terminates Anti-slip regulation control
System；Alternatively,
If detect that the wheel slip rate estimated value S1 is less than or equal to the setting wheel slip rate and described
The absolute difference of operator demand's torque and the first motor demand torque is less than or equal to the torque difference threshold value,
Terminate Anti-slip regulation control.
The embodiment of the present invention additionally provides a kind of drive dynamic control device of pure electric vehicle, including：
Slippage rate computing module, for the motor according to the pure electric vehicle rotor speed be calculated wheel speed work as
Measure speed vWhlWith reference speed vVeh, and calculate wheel slip rate estimated value S1, S1=(v according to formula (1)Whl-vVeh)/vWhl
(1)；
Torque arithmetic module, if being more than setting wheel slip rate for the wheel slip rate estimated value S1, according to torsion
The current motor demand torque of the motor of the square attenuation steps attenuation pure electric vehicle；
Torque management module, for the minimum value in the first motor demand torque by operator demand's torque and after reducing
Moment of torsion control is carried out as demand torque.
Further, the slippage rate computing module is used to calculate the wheel speed equivalent speed v according to formula (2)Whl,
Wherein, nMTThe rotor speed of motor for the pure electric vehicle, r are the wheel half of the pure electric vehicle
Diameter, ig are the gearbox speed ratio of the pure electric vehicle, and io is the speed ratio of main reducer of the pure electric vehicle.
Further, the slippage rate computing module is used to calculate the reference speed v according to formula (3~5)Veh,
vVeh(0)=0 (3)；
vVeh(n+1)=vVeh(n)+dv(n+1) (4)；
Dv (n+1)=max (dvmin, min (dvmax, vWhl-vVeh(n))) (5)；
Wherein, vVeh(0)=0 the initialization value for referring to reference speed is 0, vVeh(n+1)=vVeh(n)+dv (n+1) refers to n
+ 1 moment reference speed vVeh(n+1) it is n moment reference speeds vVeh(n) increase variable quantity dv (n+1), dv (n+1) is by the wheel
Fast equivalent speed vWhlWith the n moment reference speed vVeh(n) difference, dvmaxAnd dvmaxLimitation, dvmaxFor according to
The speed change step that pure electric vehicle peak acceleration is calculated, dvminIt is strong to be braked according to the pure electric vehicle maximum
Spend the speed change step being calculated.
Further, the torque arithmetic module, if being more than setting wheel for the wheel slip rate estimated value S1
Slippage rate, obtains the current motor demand torque, and decays the current motor demand torque according to formula (6~7),
TrqMT2=TrqMT1-dTrqNeg (6),
TrqMT'=max (Trqmin, TrqMT2) (7),
Wherein, TrqMT2 is the motor demand torque after attenuation, and TrqMT1 is the first motor demand torque of previous step length,
DTrqNeg is the torque attenuation steps, and TrqMT' is the first motor demand torque, and Trqmin joins for motor demand torque
Examine minimum value.
Further, the torque arithmetic module, if being additionally operable to detect that the wheel slip rate estimated value S1 is less than
Or equal to the setting wheel slip rate and Anti-slip regulation value of statistical indicant be 1, restore the pure electric vehicle according to formula (8)
Motor motor demand torque；
TrqMT'=TrqMT1+dTrqPos (8),
Wherein, TrqMT' is the first motor demand torque, and TrqMT1 is the first motor demand torque of previous step length,
DTrqPos restores step-length for torque.
Further, it further includes：Anti-sliding control module, if the anti-sliding control module is described with reference to vehicle for detecting
Fast vVehMore than or equal to reference speed threshold value and operator demand's torque and the first motor demand torque
Absolute difference is less than or equal to torque difference threshold value, terminates Anti-slip regulation control；Alternatively,
If the anti-sliding control module is used to detect that the wheel slip rate estimated value S1 is less than or equal to described set
Determine wheel slip rate and the absolute difference of operator demand's torque and the first motor demand torque is less than or waits
In the torque difference threshold value, terminate Anti-slip regulation control.
Wheel speed is calculated according to the rotor speed of motor in drive control method and apparatus provided in an embodiment of the present invention
Equivalent speed and reference speed, and wheel slip rate estimated value is calculated, if wheel slip rate estimated value is more than setting, wheel is slided
According to the current motor demand torque of the motor of torque attenuation steps attenuation pure electric vehicle, operator demand is turned round for rate of rotation
The minimum value in the first motor demand torque after square and reduction carries out moment of torsion control as demand torque.The embodiment of the present invention
In, the wheel speed equivalent speed and reference speed that are calculated using motor rotor rotating speed calculate wheel slip rate estimated value, nothing
Wheel speed sensors and vehicle speed sensor need to be used, reduces cost, applies also for the pure electric vehicle without this configuration；It has modified and drives
The person's of sailing demand torque so that final that motor actual torque is controlled to be turned round no more than operator demand during Anti-slip regulation control
Square, no added communications delay, ensure that driving safety；Using the progressive control mode of torque attenuation steps, Anti-slip regulation is taken into account
With moment of torsion control ride comfort, it ensure that vehicle not exclusively loses driving force in Anti-slip regulation control, and it is steady to improve vehicle performance
Qualitative, wheel driving force is more than ground abhesion capacity and causes vehicle performance unstability when solving existing pure electric vehicle driving
Problem.
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 does one and simply introduces, it should be apparent that, the accompanying drawings in the following description is some embodiments of the present invention, for this
For the those of ordinary skill of field, without creative efforts, others are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of flow chart of the drive control method of pure electric vehicle provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the drive dynamic control device of pure electric vehicle provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of pure electric vehicle provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, hereinafter with reference to attached in the embodiment of the present invention
Figure, technical scheme of the present invention is clearly and completely described by embodiment, it is clear that described embodiment is the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Go out all other embodiments obtained under the premise of creative work, shall fall within the protection scope of the present invention.
Refering to what is shown in Fig. 1, the flow chart of the drive control method for a kind of pure electric vehicle provided in an embodiment of the present invention,
The drive control method can be performed by drive dynamic control device, which may be used software and/or hardware
Mode is realized, is configured and is performed in pure electric vehicle.
Drive control method provided in this embodiment, specifically comprises the following steps：
Wheel speed equivalent speed v is calculated according to the rotor speed of the motor of pure electric vehicle for step 110WhlAnd reference
Speed vVeh, and calculate wheel slip rate estimated value S1, S1=(v according to formula (1)Whl-vVeh)/vWhl (1)。
Wheel slip refers to occur apparent sliding friction or relative motion between wheel of vehicle and ground, wheel slip rate
Refer to wheel rim linear velocity and the ratio with wheel rim linear velocity after core wheel speed work difference.Wheel slip rate is bigger, and tire is indulged
It is bigger to declining with lateral adhesive ability.
The wheel speed equivalent speed v got in the present embodiment using the rotor speed calculating of the motor of pure electric vehicleWhlWith
Reference speed vVehWheel slip rate estimated value S1 is calculated, computational methods are simple and quick, without using dedicated Anti-slip regulation control
Device processed without wheel speed sensors and vehicle speed sensor are used, reduces cost and there is no communication delay.
It should be noted that the wheel speed equivalent speed v of the present embodimentWhlWith reference speed vVehIt is according to pure electric vehicle
The estimated data rather than wheel speed sensors and the numerical value of vehicle speed sensor acquisition that the rotor calculating of motor is got, therefore vehicle
Skidding rate of rotation estimated value S1 is to calculate the estimated value that gets, but with by the numerical difference that sensor acquires away from small, without using
Sensor reduces cost.
If step 120, wheel slip rate estimated value S1 are more than setting wheel slip rate, decay according to torque attenuation steps
The current motor demand torque of the motor of pure electric vehicle.
Wheel slip rate during the setting wheel slip rate adhesive ability best with ground that is tire, it is clear that if wheel slip rate
More than this setting wheel slip rate, the longitudinally and laterally adhesive ability of tire is begun to decline, and easily causes vehicle performance unstability.Cause
The situation whether wheel slip rate estimated value S1 is exceeded to setting wheel slip rate in this present embodiment is controlled as Anti-slip regulation
The standard whether flow starts, specifically, when wheel slip rate estimated value S1 is more than setting wheel slip rate, Anti-slip regulation control
Flow startup.
In the present embodiment, Anti-slip regulation control flow realizes that driving is anti-particular by the mode of limiting motor demand torque
Sliding purpose.Specifically, after Anti-slip regulation control flow starts, according to the motor of torque attenuation steps attenuation pure electric vehicle
Current motor demand torque, thus can limiting motor demand torque.
It should be noted that wheel slip rate estimated value with setting wheel slip rate difference influence torque attenuation steps and
Torque restores step-length, and wheel slip rate estimated value is previously stored in this drive dynamic control device with setting the difference of wheel slip rate
Wheel slip rate estimated value and setting are previously stored in the correspondence and drive dynamic control device of value and torque attenuation steps
The difference and torque of wheel slip rate restore the correspondence of step-length, then by calculating wheel slip rate estimated value and setting wheel
The difference of slippage rate is tabled look-up again can obtain corresponding torque attenuation steps and torque recovery step-length.
Minimum value in step 130, the first motor demand torque using operator demand's torque and after reducing is as demand
Torque carries out moment of torsion control.
In the present embodiment, operator demand's torque refers to the required torque of operation input when driver drives vehicle, then will
Taking for operator demand's torque and the first motor demand torque is small, obtains the actual torque of control motor.Here, finally control
The actual torque of motor is no more than operator demand's torque, ensure that driving safety.
Drive control method provided in this embodiment, according to the rotor speed of motor be calculated wheel speed equivalent speed and
Reference speed, and wheel slip rate estimated value is calculated, if wheel slip rate estimated value is more than setting wheel slip rate, according to torsion
The current motor demand torque of the motor of square attenuation steps attenuation pure electric vehicle, by operator demand's torque and after reducing
Minimum value in first motor demand torque carries out moment of torsion control as demand torque.In the present embodiment, motor rotor is used
Wheel speed equivalent speed and reference speed that rotating speed is calculated calculate wheel slip rate estimated value, without using wheel speed sensors and
Vehicle speed sensor reduces cost, applies also for the pure electric vehicle without this configuration；Have modified operator demand's torque so that
Final that motor actual torque is controlled to be no more than operator demand's torque during Anti-slip regulation control, no added communications postpone,
It ensure that driving safety；Using the progressive control mode of torque attenuation steps, Anti-slip regulation and moment of torsion control ride comfort are taken into account, is protected
It has demonstrate,proved vehicle in Anti-slip regulation control and has not exclusively lost driving force, improved vehicle performance stability, solve existing pure electricity
The problem of wheel driving force is more than ground abhesion capacity and causes vehicle performance unstability during dynamic vehicle traction.
Optionally, wheel speed equivalent speed v is calculated according to the rotor speed of the motor of pure electric vehicleWhlSpecific execution
Process is：Wheel speed equivalent speed v is calculated according to formula (2)Whl,
Wherein, nMTThe rotor speed of motor for pure electric vehicle, r are the radius of wheel of pure electric vehicle, and ig is pure
The gearbox speed ratio of electric vehicle, io are the speed ratio of main reducer of pure electric vehicle.
Two of pure electric vehicle driving wheel speeds can be coupled with rotor rotating speed by differential mechanism, differential mechanism it is defeated
Enter the average values of equal to two driving wheel speeds of rotating speed, when driving wheel trackslips, differential input shaft also can driving, therefore make
With rotor rotating speed can approximate calculation obtain wheel speed equivalent speed vWhl, i.e., according to rotor rotating speed nMTThe vehicle being calculated
Fast vMTIt is approximately equal to wheel speed equivalent speed vWhl.And rotor rotating speed nMTWith speed vMTCalculation formula be
Therefore it can be calculated according to above-mentioned formula (2)
Wheel speed equivalent speed vWhl。
In the embodiment of the present invention, wheel speed equivalent speed is calculated using rotor rotating speed, is asked further according to wheel speed equivalent speed
Wheel slip rate estimated value is solved, it is not high to vehicle allocation request without using wheel speed sensors, vehicle cost is reduced, can be fitted
For the pure electric vehicle of no wheel speed sensors.
Optionally, reference speed v is calculatedVehSpecific implementation procedure be：Reference speed v is calculated according to formula (3~5)Veh,
vVeh(0)=0 (3)；
vVeh(n+1)=vVeh(n)+dv(n+1) (4)；
Dv (n+1)=max (dvmin, min (dvmax, vWhl-vVeh(n))) (5)；
Wherein, vVeh(0)=0 the initialization value for referring to reference speed is 0, vVeh(n+1)=vVeh(n)+dv (n+1) refers to n
+ 1 moment reference speed vVeh(n+1) it is n moment reference speeds vVeh(n) increase variable quantity dv (n+1), dv (n+1) is worked as by wheel speed
Measure speed vWhlWith n moment reference speeds vVeh(n) difference, dvmaxAnd dvmaxLimitation, dvmaxFor according to pure electric vehicle most
The speed change step that high acceleration is calculated, dvminFor the speed being calculated according to pure electric vehicle maximum severity of braking
Change step.
In the embodiment of the present invention, reference speed v is calculated using above-mentioned formulaVeh, without using vehicle speed sensor, to vehicle
Configuration requirement is not high, reduces vehicle cost, is applicable to the pure electric vehicle of no vehicle speed sensor.
It should be noted that the peak acceleration of pure electric vehicle and the design parameter that maximum severity of braking is vehicle, are
Datum.
Optionally, according to the specific of the current motor demand torque of the motor of torque attenuation steps attenuation pure electric vehicle
Implementation procedure includes：
Obtain current motor demand torque, according to formula (6~7) decay current motor demand torque,
TrqMT2=TrqMT1-dTrqNeg (6),
TrqMT'=max (Trqmin, TrqMT2) (7),
Wherein, TrqMT2 is the motor demand torque after attenuation, and TrqMT1 is the first motor demand torque of previous step length,
DTrqNeg is torque attenuation steps, and TrqMT' is the first motor demand torque, and Trqmin is motor demand torque with reference to minimum
Value.
Wheel slip rate estimated value S1 be more than setting wheel slip rate when, at this time no matter Anti-slip regulation mark place value be 0 also
It is 1, into Anti-slip regulation control flow.In Anti-slip regulation control flow, need to obtain current motor demand torque, pass through
It calculates wheel slip rate estimated value and tables look-up with setting the difference of wheel slip rate to obtain corresponding torque attenuation steps, then can
Decay to motor demand torque, torque attenuation is progressive control process, has taken into account Anti-slip regulation and the adjustment of torque ride comfort.
Specifically, after obtaining current motor demand torque, decay according to formula (6) to current motor demand torque,
Motor demand torque after being decayed obtains the first motor demand torque according still further to formula (7)；Then according still further to formula (6~
7) the first motor demand torque TrqMT1 grown to the previous step obtained in upper one cycle decays；It is recycled with this, control electricity
Machine demand torque gradual decline.Wherein, dTrqNeg is more than zero.
It should be noted that also limit the motor demand torque after attenuation refers to minimum value not less than motor demand torque
TrqMin, it is therefore prevented that driving force completely loses, and ensure that driving safety.Finally according to step 130 so that the first motor demand
Torque takes small with operator demand's torque, ensure that the motor actual torque that finally controls is no more than operator demand's torque.
On the basis of above-mentioned any embodiment, optionally, which further includes：
If detect that wheel slip rate estimated value S1 is less than or equal to setting wheel slip rate and Anti-slip regulation mark
It is 1 to be worth, and restores the motor demand torque of the motor of pure electric vehicle according to formula (8)；
TrqMT'=TrqMT1+dTrqPos (8),
Wherein, TrqMT' is the first motor demand torque, and TrqMT1 is the first motor demand torque of previous step length,
DTrqPos restores step-length for torque.
When wheel slip rate estimated value S1 is less than or equal to setting wheel slip rate, at this time if detecting Anti-slip regulation mark
Will place value is 1, then also needs to enter Anti-slip regulation control flow.In Anti-slip regulation control flow, need to obtain current motor demand
Torque, then restored by calculating wheel slip rate estimated value with setting the difference of wheel slip rate and tabling look-up with obtaining corresponding torque
Step-length can then restore motor demand torque, and torque recovery is progressive control process, has taken into account Anti-slip regulation and torque
Ride comfort adjusts.
Specifically, after obtaining current motor demand torque, current motor demand torque is restored according to formula (8),
Motor demand torque after being restored；Then the first electricity grown according still further to formula (8) to the previous step obtained in upper one cycle
Machine demand torque TrqMT1 is restored；It is recycled with this, controls the gradual recovery of motor demand torque.Wherein, dTrqPos is more than
Zero.
Finally according to step 130 so that the first motor demand torque takes with operator demand's torque small, final control ensure that
The motor actual torque of system is no more than operator demand's torque.
On the basis of above-mentioned any embodiment, optionally, which further includes：
If detect reference speed vVehMore than or equal to reference speed threshold value and operator demand's torque and
The absolute difference of one motor demand torque is less than or equal to torque difference threshold value, terminates Anti-slip regulation control；Alternatively,
If detect that wheel slip rate estimated value S1 is less than or equal to setting wheel slip rate and operator demand turns round
The absolute difference of square and the first motor demand torque is less than or equal to torque difference threshold value, terminates Anti-slip regulation control.
In above-mentioned drive control method, when wheel slip rate estimated value S1 is more than setting wheel slip rate, pure electric vehicle
Enter Anti-slip regulation control flow.After then effectively having carried out Anti-slip regulation control, Anti-slip regulation control flow need to be exited,
Otherwise it is continuously in Anti-slip regulation control flow, the driving experience of driver may be influenced.Therefore terminate according to the method described above
Anti-slip regulation controls, and can improve the driving experience of driver.
It should be noted that after terminating Anti-slip regulation control flow, pure electric vehicle is in normal Electronic control flow, this
When Anti-slip regulation mark place value be 0, motor demand torque and operator demand's moment of torsion etc. are directly turned round according to operator demand
Square controls Motor torque.
Refering to what is shown in Fig. 2, for a kind of flow chart of the drive dynamic control device of pure electric vehicle provided in an embodiment of the present invention,
The drive dynamic control device can perform the drive control method described in above-mentioned any embodiment, which may be used
The mode of software and/or hardware is realized, is configured and is performed in pure electric vehicle.
Drive dynamic control device provided in this embodiment, specifically includes：
Slippage rate computing module 210, for the motor according to pure electric vehicle rotor speed be calculated wheel speed work as
Measure speed vWhlWith reference speed vVeh, and calculate wheel slip rate estimated value S1, S1=(v according to formula (1)Whl-vVeh)/vWhl
(1)；
Torque arithmetic module 220, if being more than setting wheel slip rate for wheel slip rate estimated value S1, according to torque
The current motor demand torque of the motor of attenuation steps attenuation pure electric vehicle；
Torque management module 230, for by operator demand's torque and reduce after the first motor demand torque in most
Small value carries out moment of torsion control as demand torque.
Optionally, slippage rate computing module 210 is used to calculate wheel speed equivalent speed v according to formula (2)Whl,
Wherein, nMTThe rotor speed of motor for pure electric vehicle, r are the radius of wheel of pure electric vehicle, and ig is pure
The gearbox speed ratio of electric vehicle, io are the speed ratio of main reducer of pure electric vehicle.
Optionally, slippage rate computing module 210 is used to calculate reference speed v according to formula (3~5)Veh,
vVeh(0)=0 (3)；
vVeh(n+1)=vVeh(n)+dv(n+1) (4)；
Dv (n+1)=max (dvmin, min (dvmax, vWhl-vVeh(n))) (5)；
Wherein, vVeh(0)=0 the initialization value for referring to reference speed is 0, vVeh(n+1)=vVeh(n)+dv (n+1) refers to n
+ 1 moment reference speed vVeh(n+1) it is n moment reference speeds vVeh(n) increase variable quantity dv (n+1), dv (n+1) is worked as by wheel speed
Measure speed vWhlWith n moment reference speeds vVeh(n) difference, dvmaxAnd dvmaxLimitation, dvmaxFor according to pure electric vehicle most
The speed change step that high acceleration is calculated, dvminFor the speed being calculated according to pure electric vehicle maximum severity of braking
Change step.
Optionally, it if torque arithmetic module 220 is more than setting wheel slip rate for wheel slip rate estimated value S1, obtains
It takes current motor demand torque, and decays current motor demand torque according to formula (6~7),
TrqMT2=TrqMT1-dTrqNeg (6),
TrqMT'=max (Trqmin, TrqMT2) (7),
Wherein, TrqMT2 is the motor demand torque after attenuation, and TrqMT1 is the first motor demand torque of previous step length,
DTrqNeg is torque attenuation steps, and TrqMT' is the first motor demand torque, and Trqmin is motor demand torque with reference to minimum
Value.Wherein, dTrqNeg is more than zero.
Optionally, it is set if torque arithmetic module 220 is additionally operable to detect that wheel slip rate estimated value S1 is less than or equal to
It is 1 to determine wheel slip rate and Anti-slip regulation value of statistical indicant, restores the motor of the motor of pure electric vehicle according to formula (8) and needs
Seek torque；
TrqMT'=TrqMT1+dTrqPos (8),
Wherein, TrqMT' is the first motor demand torque, and TrqMT1 is the first motor demand torque of previous step length,
DTrqPos restores step-length for torque.Wherein, dTrqPos is more than zero.
Optionally, which further includes：Anti-sliding control module 240, if anti-sliding control module 240 is for inspection
Measure reference speed vVehMore than or equal to reference speed threshold value and operator demand's torque and the first motor demand torque
Absolute difference be less than or equal to torque difference threshold value, terminate Anti-slip regulation control；Alternatively,
If anti-sliding control module 240 sets wheel slip for detecting that wheel slip rate estimated value S1 is less than or equal to
The absolute difference of rate and operator demand's torque and the first motor demand torque is less than or equal to torque difference threshold value,
Terminate Anti-slip regulation control.
Drive dynamic control device provided in this embodiment, according to the rotor speed of motor be calculated wheel speed equivalent speed and
Reference speed, and wheel slip rate estimated value is calculated, if wheel slip rate estimated value is more than setting wheel slip rate, according to torsion
The current motor demand torque of the motor of square attenuation steps attenuation pure electric vehicle, by operator demand's torque and after reducing
Minimum value in first motor demand torque carries out moment of torsion control as demand torque.It is (i.e. electronic using motor in the present embodiment
Machine) the wheel speed equivalent speed that is calculated of rotor speed and reference speed calculate wheel slip rate estimated value, without using wheel speed
Sensor and vehicle speed sensor, reduce cost, apply also for the pure electric vehicle without this configuration；Have modified operator demand's torsion
Square so that it is final that motor actual torque is controlled to be no more than operator demand's torque during Anti-slip regulation control, without additional logical
Letter delay, ensure that driving safety；Using the progressive control mode of torque attenuation steps, take into account Anti-slip regulation and put down with moment of torsion control
It is pliable, it ensure that vehicle not exclusively loses driving force, improve vehicle performance stability, solve existing pure electric vehicle and drive
The problem of wheel driving force is more than ground abhesion capacity and causes vehicle performance unstability when dynamic.
The embodiment of the present invention additionally provides a kind of pure electric vehicle, and the pure electric vehicle as shown in Figure 3 includes full-vehicle control
Unit and motor control unit, are communicated therebetween by CAN bus, the drive control dress described in optional as above any embodiment
It puts and is integrated in full-vehicle control unit.In full-vehicle control unit and content of the motor control unit by CAN bus communication interaction,
Including demand torque and motor speed.
The embodiment of the present invention does not propose additional demand to the hardware of existing pure electric vehicle, then no cost is increased asks
Topic.Secondly, the drive dynamic control device involved by the embodiment of the present invention can be integrated in full-vehicle control unit, and having modified driver needs
Torque is sought, no added communications delay when Anti-slip regulation controls, ensure that the motor demand torque of control is less than operator demand
Torque, and have minimal torque limitation, ensure that vehicle not exclusively loses driving force.
The embodiment of the present invention solves wheel slip rate estimated value using motor speed and the correlation of wheel speed, solves no wheel
The problem of fast sensor；Motor speed is based on using the method for peak acceleration limitation and calculates reference speed, no speed is solved and passes
The problem of sensor；Step-length adjustment motor demand torque is restored using torque attenuation steps or torque, realizes the progressive control of torque,
Take into account Anti-slip regulation and ride comfort；Using operator demand's torque as maximum value during moment of torsion control so that motor demand torque is not
It can be more than operator demand, ensure driving safety.It can also be adopted it should be noted that torque attenuation steps and torque restore step-length
It is obtained with the mode of numerical computations, is not limited to look-up table.
Note that it above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiment described here, can carry out for a person skilled in the art various apparent variations,
It readjusts, be combined with each other and substitutes without departing from protection scope of the present invention.Therefore, although by above example to this
Invention is described in further detail, but the present invention is not limited only to above example, is not departing from present inventive concept
In the case of, other more equivalent embodiments can also be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (12)
1. a kind of drive control method of pure electric vehicle, which is characterized in that including：
Wheel speed equivalent speed v is calculated according to the rotor speed of the motor of the pure electric vehicleWhlWith reference speed vVeh,
And calculate wheel slip rate estimated value S1, S1=(v according to formula (1)Whl-vVeh)/vWhl(1)；
If the wheel slip rate estimated value S1 is more than setting wheel slip rate, according to the torque attenuation steps attenuation pure electricity
The current motor demand torque of the motor of motor-car；
The minimum value in the first motor demand torque using operator demand's torque and after reducing carries out torque as demand torque
Control.
2. drive control method according to claim 1, which is characterized in that according to the motor of the pure electric vehicle
Rotor speed calculates the wheel speed equivalent speed vWhlSpecific implementation procedure be：The wheel speed equivalent vehicle is calculated according to formula (2)
Fast vWhl,
Wherein, nMTThe rotor speed of motor for the pure electric vehicle, radius of wheel of the r for the pure electric vehicle, ig
For the gearbox speed ratio of the pure electric vehicle, io is the speed ratio of main reducer of the pure electric vehicle.
3. drive control method according to claim 2, which is characterized in that calculate the reference speed vVehSpecific hold
Row process is：The reference speed v is calculated according to formula (3~5)Veh,
vVeh(0)=0 (3)；
vVeh(n+1)=vVeh(n)+dv(n+1) (4)；
Dv (n+1)=max (dvmin, min (dvmax, vWhl-vVeh(n))) (5)；
Wherein, vVeh(0)=0 the initialization value for referring to reference speed is 0, vVeh(n+1)=vVeh(n) when+dv (n+1) refers to n+1
Carve reference speed vVeh(n+1) it is n moment reference speeds vVeh(n) increase variable quantity dv (n+1), dv (n+1) is worked as by the wheel speed
Measure speed vWhlWith the n moment reference speed vVeh(n) difference, dvmaxAnd dvmaxLimitation, dvmaxFor according to the pure electricity
The speed change step that motor-car peak acceleration is calculated, dvminFor according to the pure electric vehicle maximum severity of braking meter
The speed change step obtained.
4. drive control method according to claim 1, which is characterized in that according to the torque attenuation steps attenuation pure electricity
The specific implementation procedure of the current motor demand torque of the motor of motor-car includes：
The current motor demand torque is obtained, is decayed the current motor demand torque according to formula (6~7),
TrqMT2=TrqMT1-dTrqNeg (6),
TrqMT'=max (Trqmin, TrqMT2) (7),
Wherein, TrqMT2 is the motor demand torque after attenuation, and TrqMT1 is the first motor demand torque of previous step length,
DTrqNeg is the torque attenuation steps, and TrqMT' is the first motor demand torque, and Trqmin joins for motor demand torque
Examine minimum value.
5. drive control method according to claim 1, which is characterized in that further include：
If detect that the wheel slip rate estimated value S1 is less than or equal to the setting wheel slip rate and Anti-slip regulation
Value of statistical indicant is 1, restores the motor demand torque of the motor of the pure electric vehicle according to formula (8)；
TrqMT'=TrqMT1+dTrqPos (8),
Wherein, TrqMT' is the first motor demand torque, and TrqMT1 is the first motor demand torque of previous step length,
DTrqPos restores step-length for torque.
6. according to claim 1-5 any one of them drive control methods, which is characterized in that further include：
If detect the reference speed vVehMore than or equal to reference speed threshold value and operator demand's torque
It is less than or equal to torque difference threshold value with the absolute difference of the first motor demand torque, terminates Anti-slip regulation control；
Alternatively,
If detect that the wheel slip rate estimated value S1 is less than or equal to the setting wheel slip rate and the driving
The absolute difference of member's demand torque and the first motor demand torque is less than or equal to the torque difference threshold value, terminates
Anti-slip regulation controls.
7. a kind of drive dynamic control device of pure electric vehicle, which is characterized in that including：
Wheel speed equivalent vehicle is calculated for the rotor speed of the motor according to the pure electric vehicle in slippage rate computing module
Fast vWhlWith reference speed vVeh, and calculate wheel slip rate estimated value S1, S1=(v according to formula (1)Whl-vVeh)/vWhl
(1)；
Torque arithmetic module if being more than setting wheel slip rate for the wheel slip rate estimated value S1, declines according to torque
Subtract the current motor demand torque of the motor of the step-length attenuation pure electric vehicle；
Torque management module, for using operator demand's torque and reduce after the first motor demand torque in minimum value as
Demand torque carries out moment of torsion control.
8. drive dynamic control device according to claim 7, which is characterized in that the slippage rate computing module is used for according to public affairs
Formula (2) calculates the wheel speed equivalent speed vWhl,
Wherein, nMTThe rotor speed of motor for the pure electric vehicle, radius of wheel of the r for the pure electric vehicle, ig
For the gearbox speed ratio of the pure electric vehicle, io is the speed ratio of main reducer of the pure electric vehicle.
9. drive dynamic control device according to claim 8, which is characterized in that the slippage rate computing module is used for according to public affairs
Formula (3~5) calculates the reference speed vVeh,
vVeh(0)=0 (3)；
vVeh(n+1)=vVeh(n)+dv(n+1) (4)；
Dv (n+1)=max (dvmin, min (dvmax, vWhl-vVeh(n))) (5)；
Wherein, vVeh(0)=0 the initialization value for referring to reference speed is 0, vVeh(n+1)=vVeh(n) when+dv (n+1) refers to n+1
Carve reference speed vVeh(n+1) it is n moment reference speeds vVeh(n) increase variable quantity dv (n+1), dv (n+1) is worked as by the wheel speed
Measure speed vWhlWith the n moment reference speed vVeh(n) difference, dvmaxAnd dvmaxLimitation, dvmaxFor according to the pure electricity
The speed change step that motor-car peak acceleration is calculated, dvminFor according to the pure electric vehicle maximum severity of braking meter
The speed change step obtained.
10. drive dynamic control device according to claim 7, which is characterized in that the torque arithmetic module, if for institute
It states wheel slip rate estimated value S1 and is more than setting wheel slip rate, obtain the current motor demand torque, and according to formula (6
~7) the attenuation current motor demand torque,
TrqMT2=TrqMT1-dTrqNeg (6),
TrqMT'=max (Trqmin, TrqMT2) (7),
Wherein, TrqMT2 is the motor demand torque after attenuation, and TrqMT1 is the first motor demand torque of previous step length,
DTrqNeg is the torque attenuation steps, and TrqMT' is the first motor demand torque, and Trqmin joins for motor demand torque
Examine minimum value.
11. drive dynamic control device according to claim 7, which is characterized in that the torque arithmetic module, if be additionally operable to
Detect that the wheel slip rate estimated value S1 is less than or equal to the setting wheel slip rate and Anti-slip regulation value of statistical indicant is
1, restore the motor demand torque of the motor of the pure electric vehicle according to formula (8)；
TrqMT'=TrqMT1+dTrqPos (8),
Wherein, TrqMT' is the first motor demand torque, and TrqMT1 is the first motor demand torque of previous step length,
DTrqPos restores step-length for torque.
12. according to claim 7-11 any one of them drive dynamic control devices, which is characterized in that further include：Anti-sliding control mould
Block, if the anti-sliding control module is used to detect the reference speed vVehMore than or equal to reference speed threshold value and
The absolute difference of operator demand's torque and the first motor demand torque is less than or equal to torque difference threshold value,
Terminate Anti-slip regulation control；Alternatively,
If the anti-sliding control module is used to detect that the wheel slip rate estimated value S1 is less than or equal to the setting vehicle
Skidding rate of rotation and the absolute difference of operator demand's torque and the first motor demand torque are less than or equal to institute
Torque difference threshold value is stated, terminates Anti-slip regulation control.
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| CN115716491A (en) * | 2023-01-10 | 2023-02-28 | 湖南中矿金禾机器人研究院有限公司 | Distributed driving type rail train and road cooperative control system |
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