CN108422900B - Electric automobile accelerator pedal torque control method, electronic equipment and storage medium - Google Patents
Electric automobile accelerator pedal torque control method, electronic equipment and storage medium Download PDFInfo
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- CN108422900B CN108422900B CN201810333668.6A CN201810333668A CN108422900B CN 108422900 B CN108422900 B CN 108422900B CN 201810333668 A CN201810333668 A CN 201810333668A CN 108422900 B CN108422900 B CN 108422900B
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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
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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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/26—Transition between different drive modes
-
- 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 invention discloses a torque control method for an accelerator pedal of an electric automobile, electronic equipment and a storage medium, wherein the method comprises the following steps: responding to a torque filtering request, and taking the current actual torque of the motor as a filtering initial value; filtering the initial filtering value every preset time period, if the initial filtering value is smaller than or equal to a preset target torque after filtering, quitting the operation, otherwise, executing the following operations: acquiring corresponding query torque according to the current accelerator pedal position signal and the current rotating speed of the motor; calculating a request torque according to the query torque and the initial filtering value; the requested torque is sent to a motor controller, which controls the motor to output the torque as the requested torque. According to the invention, the initial torque value is filtered, when the initial torque value is smoothly transited to the target torque value, the smooth transition between different modes is realized by combining the torque corresponding to the accelerator stepping of the driver, the torque jump is avoided, and the driving smoothness of the vehicle is improved.
Description
Technical Field
The invention relates to the related technical field of electric automobiles, in particular to a torque control method for an accelerator pedal of an electric automobile, electronic equipment and a storage medium.
Background
The driving smoothness index of the electric automobile mainly comprises the smoothness of gear shifting, the smoothness during energy recovery and the smoothness during mutual switching between different torque modes of a whole automobile controller, when a driving torque control strategy of the electric automobile is designed, if the accelerator is stepped on in a creeping state, the target speed is controlled by a speed ring generally adopted by creeping, and the driving mode of the automobile is switched into a torque ring control mode when the accelerator is stepped on, if the transition connection processing between the actual torque of the motor in the speed ring state and a torque meter (pedal map) of the torque ring is not good during stepping on the accelerator, the driving smoothness of the automobile with the accelerator stepped on at low speed can be greatly influenced.
At present, the method for controlling the pedal map torque during mode switching of each whole vehicle factory is as follows:
stepping on the accelerator in a crawling state; when the torque control mode is switched, the requested torque is directly switched to the pedal map inquiry torque from the actual torque of the motor at the last moment of mode switching, so that the jump of the requested torque is often brought to the processing, the motor is unstable when responding to the requested torque, and the smoothness is influenced.
Disclosure of Invention
Therefore, it is necessary to provide a method for controlling torque of an accelerator pedal of an electric vehicle, an electronic device, and a storage medium, for solving the technical problem that smoothness is affected when an electric vehicle is switched between different torque modes in the prior art.
The invention provides a torque control method for an accelerator pedal of an electric automobile, which comprises the following steps:
responding to a torque filtering request, and taking the current actual torque of the motor as a filtering initial value;
filtering the initial filtering value every preset time period, if the initial filtering value is smaller than or equal to a preset target torque after filtering, quitting the operation, otherwise, executing the following operations:
acquiring corresponding query torque according to the current accelerator pedal position signal and the current rotating speed of the motor;
calculating a request torque according to the query torque and the initial filtering value;
and sending the requested torque to a motor controller, wherein the motor controller controls the output torque of the motor to be the requested torque.
Further, the filtering the initial filtering value specifically includes:
the filtering processing of the initial filtering value is as follows:
SndIniTrq＝SndIniTrq1-(SndIniTrq1-EndVal))/fac, wherein SndInitRq is a filtering initial value after filtering processing, and SndInitRq is a filtering initial value after filtering processing1For the initial value of the filter for the previous operation, EndVal is the target torque and fac is the filter coefficient.
Further, the target torque is 0.
Further, the calculating a requested torque according to the query torque and the initial filter value specifically includes:
and calculating the requested torque as the sum of the query torque and the initial filtering value after filtering.
Still further, before the responding to the torque filtering request and taking the current actual torque of the motor as the initial filtering value, the control method further comprises:
in response to a tip-in event, a vehicle operating mode is determined, and a torque filtering request is triggered if the vehicle operating mode is changed from a creep mode to a drive mode.
The invention provides an electronic device for controlling the torque of an accelerator pedal of an electric automobile, which comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the one processor to cause the at least one processor to:
responding to a torque filtering request, and taking the current actual torque of the motor as a filtering initial value;
filtering the initial filtering value every preset time period, if the initial filtering value is smaller than or equal to a preset target torque after filtering, quitting the operation, otherwise, executing the following operations:
acquiring corresponding query torque according to the current accelerator pedal position signal and the current rotating speed of the motor;
calculating a request torque according to the query torque and the initial filtering value;
and sending the requested torque to a motor controller, wherein the motor controller controls the output torque of the motor to be the requested torque.
Further, the filtering the initial filtering value specifically includes:
the filtering processing of the initial filtering value is as follows:
SndIniTrq＝SndIniTrq1-(SndIniTrq1-EndVal))/fac, wherein SndInitRq is a filtering initial value after filtering processing, and SndInitRq is a filtering initial value after filtering processing1For the initial value of the filter for the previous operation, EndVal is the target torque and fac is the filter coefficient.
Further, the target torque is 0.
Further, the calculating a requested torque according to the query torque and the initial filter value specifically includes:
and calculating the requested torque as the sum of the query torque and the initial filtering value after filtering.
Still further, before the responding to the torque filtering request and taking the current actual torque of the motor as the initial filtering value, the control method further comprises:
in response to a tip-in event, a vehicle operating mode is determined, and a torque filtering request is triggered if the vehicle operating mode is changed from a creep mode to a drive mode.
The present invention provides a storage medium storing computer instructions for performing all the steps of the method for controlling the accelerator pedal torque of an electric vehicle as described above when the computer executes the computer instructions.
According to the invention, the initial torque value is filtered, when the initial torque value is smoothly transited to the target torque value, the smooth transition between different modes is realized by combining the torque corresponding to the accelerator stepping of the driver, the torque jump is avoided, and the driving smoothness of the vehicle is improved.
Drawings
FIG. 1 is a flowchart illustrating a method for controlling torque of an accelerator pedal of an electric vehicle according to the present invention;
FIG. 2 is a flow chart of the operation of the preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of a hardware structure of an electronic device for controlling the torque of an accelerator pedal of an electric vehicle according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
FIG. 1 shows a working flow chart of a method for controlling torque of an accelerator pedal of an electric vehicle according to the present invention, which comprises:
step S101, responding to a torque filtering request, and taking the current actual torque of the motor as a filtering initial value;
102, performing filtering processing on the initial filtering value every a preset time period, and if the initial filtering value is smaller than or equal to a preset target torque after the filtering processing is performed on the initial filtering value, exiting the operation, otherwise, executing the following operation:
step S103, acquiring corresponding query torque according to the current position signal of the accelerator pedal and the current rotating speed of the motor;
step S104, calculating a request torque according to the query torque and the initial filtering value;
and step S105, sending the requested torque to a motor controller, wherein the motor controller controls the output torque of the motor to be the requested torque.
Specifically, at the time of vehicle mode switching, a torque filtering request is triggered, so that step S101 is triggered, the actual torque of the motor at the time of mode switching is recorded as a filtering initial value, and then step S102 performs filtering processing on the filtering initial value once every time period, and performs filtering processing a plurality of times, so that the filtering initial value can be smoothly transited to the target torque. For each filtered initial value subjected to the filtering process, it is calculated together with the inquiry torque obtained in step S103 in step S104, and sent to the motor controller to control the output torque of the motor in step S105. The query torque in step S103 may be obtained by looking up a table from a pedal map according to the current accelerator pedal position signal and the current rotation speed of the motor. Therefore, the requested torque in step S104 is a combination of the torque that the driver desires to obtain by depressing the accelerator pedal and the filter initial value that has been subjected to the filter processing, and since the filter initial value eventually decreases to the target torque, the filter initial value included in the requested torque gradually decreases, and after the filter initial value reaches the target torque, the process exits from step S102 to step S105, and the output torque of the motor is controlled directly based on the query torque.
According to the invention, the initial torque value is filtered, when the initial torque value is smoothly transited to the target torque value, the smooth transition between different modes is realized by combining the torque corresponding to the accelerator stepping of the driver, the torque jump is avoided, and the driving smoothness of the vehicle is improved.
In one embodiment, the filtering the initial filtering value specifically includes:
the filtering processing of the initial filtering value is as follows:
SndIniTrq＝SndIniTrq1-(SndIniTrq1-EndVal))/fac, wherein SndInitRq is a filtering initial value after filtering processing, and SndInitRq is a filtering initial value after filtering processing1For the initial value of the filter for the previous operation, EndVal is the target torque and fac is the filter coefficient.
Specifically, fac may be calibrated as needed, and may be reduced if a fast target torque is desired, and increased if a smoother transition is desired.
When SndInitrq is calculated1-(SndIniTrq1-EndVal))/fac, when SndInitRq is greater than EndVal, continuing to execute the steps S103-105, and quitting the operation when the SndInitRq is less than or equal to EndVal.
In one embodiment, the target torque is 0.
In the embodiment, the target torque is set to 0, so that the final initial filtering value reaches 0, and therefore, the requested torque is consistent with the query torque when the operation exits, and the smoothness is ensured.
In one embodiment, the calculating a requested torque according to the query torque and the initial filter value specifically includes:
and calculating the requested torque as the sum of the query torque and the initial filtering value after filtering.
Specifically, the pedal map performs an operation table lookup according to the current accelerator pedal position signal DrvPedPos and the current motor rotation speed Rcvinvmotspd every preset time period to obtain the pedal map query torque GETMAPTRQ. The vehicle controller calculates the requested torque SndInvTrq as a filter initial value SndIniTrq + inquiry torque GETMAPTRQ, and the value is calculated every 10 ms.
In one embodiment, before the current actual torque of the motor is taken as the initial value of the filter in response to the torque filter request, the control method further includes:
in response to a tip-in event, a vehicle operating mode is determined, and a torque filtering request is triggered if the vehicle operating mode is changed from a creep mode to a drive mode.
In the present embodiment, step S101 is triggered at the moment when the crawling mode is switched to the driving mode, so as to improve the smoothness when the crawling mode is switched to the driving mode.
Fig. 2 shows a flow chart of the operation of the preferred embodiment of the present invention, which includes:
step S201, at the moment of stepping on the accelerator, the vehicle control unit judges the vehicle running mode CarWrkMod, and if the vehicle running mode CarWrkMod is changed from a crawling mode to a driving mode, the vehicle control unit executes step S202;
step S202, taking the current actual motor torque RcvInvActTrq as an initial value of filtering to be assigned to SndInitRq, and carrying out filtering processing on the initial value once every 10ms to obtain a target torque of 0N.m, wherein SndInitRq (the current initial value of filtering) is SndInitRq1(initial value of last filtering) - (SndInitRq)1-EndVal (target torque))/filter coefficient fac, which can be calibrated on demand, until SndIniTrq is less than or equal to the target torque;
step S203, the pedal map performs operation table lookup once every 10ms according to the actual accelerator pedal position signal DrvPedPos and the actual motor rotating speed Rcvvmotspd to obtain pedal map table lookup torque GETMAPTRQ;
step S204, the vehicle control unit calculates the request torque SndInvTrq as SndInitRq (obtained in step S202) + GETMAPTRQ (table lookup value), and the value is calculated once every 10 ms;
step S205, the vehicle controller sends the request torque SndInvTrq (the value in the step S204) to the motor controller every 10ms through the inverter private CAN;
step S206: and the motor controller completes the control of the output torque of the motor according to the torque request of the whole vehicle controller.
According to the invention, the actual torque of the motor for stepping on the accelerator from a crawling state is filtered, and the acceleration padelmap torque look-up table value is added as the required torque of the driver, so that the torque jump problem and the driving smoothness problem during switching of the driving modes are avoided.
Fig. 3 is a schematic diagram of a hardware structure of an electronic device for controlling torque of an accelerator pedal of an electric vehicle according to the present invention, which includes:
at least one processor 301; and the number of the first and second groups,
a memory 302 communicatively coupled to the at least one processor 301; wherein the content of the first and second substances,
the memory 302 stores instructions executable by the one processor to cause the at least one processor to:
responding to a torque filtering request, and taking the current actual torque of the motor as a filtering initial value;
filtering the initial filtering value every preset time period, if the initial filtering value is smaller than or equal to a preset target torque after filtering, quitting the operation, otherwise, executing the following operations:
acquiring corresponding query torque according to the current accelerator pedal position signal and the current rotating speed of the motor;
calculating a request torque according to the query torque and the initial filtering value;
and sending the requested torque to a motor controller, wherein the motor controller controls the output torque of the motor to be the requested torque.
In fig. 3, a processor 302 is taken as an example.
The electronic device may further include: an input device 303 and an output device 304.
The processor 301, the memory 302, the input device 303 and the display device 304 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 302 is a non-volatile computer-readable storage medium, and can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the method for controlling the torque of the accelerator pedal of the electric vehicle in the embodiment of the present application, for example, the method flows shown in fig. 1 and fig. 2. The processor 301 executes various functional applications and data processing by running nonvolatile software programs, instructions and modules stored in the memory 302, so as to implement the method for controlling the accelerator pedal torque of the electric vehicle in the above embodiment.
The memory 302 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created according to the use of the accelerator pedal torque control method of the electric vehicle, and the like. Further, the memory 302 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 302 optionally includes memory located remotely from the processor 301, and these remote memories may be connected over a network to a device that performs the method of electric vehicle accelerator pedal torque control. The electronic device and the cloud server are also in communication via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 303 may receive input from a user click and generate signal inputs related to user settings for the accelerator pedal torque control method and function control of the electric vehicle. The display device 304 may include a display screen or the like.
The method of electric vehicle accelerator pedal torque control in any of the method embodiments described above is performed when the one or more modules are stored in the memory 302 and executed by the one or more processors 301.
In one embodiment, the filtering the initial filtering value specifically includes:
the filtering processing of the initial filtering value is as follows:
SndIniTrq＝SndIniTrq1-(SndIniTrq1-EndVal))/fac, wherein SndInitRq is a filtering initial value after filtering processing, and SndInitRq is a filtering initial value after filtering processing1For the initial value of the filter for the previous operation, EndVal is the target torque and fac is the filter coefficient.
In one embodiment, the target torque is 0.
In one embodiment, the calculating a requested torque according to the query torque and the initial filter value specifically includes:
and calculating the requested torque as the sum of the query torque and the initial filtering value after filtering.
In one embodiment, before the current actual torque of the motor is taken as the initial value of the filter in response to the torque filter request, the control method further includes:
in response to a tip-in event, a vehicle operating mode is determined, and a torque filtering request is triggered if the vehicle operating mode is changed from a creep mode to a drive mode.
The present invention provides a storage medium storing computer instructions for performing all the steps of the method for controlling the accelerator pedal torque of an electric vehicle as described above when the computer executes the computer instructions.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (5)
1. A torque control method for an accelerator pedal of an electric vehicle is characterized by comprising the following steps:
responding to an accelerator stepping event, judging a vehicle running mode, and triggering a torque filtering request if the vehicle running mode is changed from a creeping mode to a driving mode;
responding to a torque filtering request, and taking the current actual torque of the motor as a filtering initial value;
filtering the initial filtering value every preset time period, if the initial filtering value is smaller than or equal to a preset target torque after filtering, quitting the operation, otherwise, executing the following operations:
acquiring corresponding query torque according to the current accelerator pedal position signal and the current rotating speed of the motor;
calculating a request torque according to the query torque and the initial filtering value after filtering;
sending the requested torque to a motor controller, wherein the motor controller controls the output torque of the motor to be the requested torque;
the filtering processing on the initial filtering value specifically includes:
the filtering processing of the initial filtering value is as follows:
SndIniTrq＝SndIniTrq1-(SndIniTrq1-EndVal))/fac, wherein SndInitRq is a filtering initial value after filtering processing, and SndInitRq is a filtering initial value after filtering processing1For the initial value of the filtering for the last operation, EndVal is the target torque, fac is the filter coefficient, and the target torque is 0.
2. The method for controlling the torque of the accelerator pedal of the electric vehicle according to claim 1, wherein the calculating the requested torque according to the query torque and the initial value of the filter specifically comprises:
and calculating the requested torque as the sum of the query torque and the initial filtering value after filtering.
3. An electronic device for accelerator pedal torque control of an electric vehicle, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
responding to an accelerator stepping event, judging a vehicle running mode, and triggering a torque filtering request if the vehicle running mode is changed from a creeping mode to a driving mode;
responding to a torque filtering request, and taking the current actual torque of the motor as a filtering initial value;
filtering the initial filtering value every preset time period, if the initial filtering value is smaller than or equal to a preset target torque after filtering, quitting the operation, otherwise, executing the following operations:
acquiring corresponding query torque according to the current accelerator pedal position signal and the current rotating speed of the motor;
calculating a request torque according to the query torque and the initial filtering value after filtering;
sending the requested torque to a motor controller, wherein the motor controller controls the output torque of the motor to be the requested torque;
the filtering processing on the initial filtering value specifically includes:
the filtering processing of the initial filtering value is as follows:
SndIniTrq＝SndIniTrq1-(SndIniTrq1-EndVal))/fac, wherein SndInitRq is a filtering initial value after filtering processing, and SndInitRq is a filtering initial value after filtering processing1For the initial value of the filtering for the last operation, EndVal is the target torque, fac is the filter coefficient, and the target torque is 0.
4. The electronic device of claim 3, wherein calculating a requested torque based on the query torque and the initial filter value comprises:
and calculating the requested torque as the sum of the query torque and the initial filtering value after filtering.
5. A storage medium storing computer instructions for performing all the steps of the method of controlling accelerator pedal torque of an electric vehicle according to any one of claims 1 to 2 when the computer instructions are executed by a computer.
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| CN111376734B (en) * | 2018-12-28 | 2022-10-14 | 长城汽车股份有限公司 | Vehicle torque control method, system and machine-readable storage medium |
| CN112208348B (en) * | 2019-07-10 | 2022-05-24 | 北汽福田汽车股份有限公司 | Torque control method and device, storage medium and vehicle-mounted terminal |
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| CN114750605B (en) * | 2021-01-08 | 2024-04-26 | 广汽埃安新能源汽车有限公司 | Automobile torque control method and system, automobile and storage medium |
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| KR20230136113A (en) * | 2021-03-30 | 2023-09-26 | 쩌지앙 길리 홀딩 그룹 씨오., 엘티디. | Motor torque filtering control method, system and hybrid vehicle |
| CN114013297B (en) * | 2021-11-10 | 2023-10-24 | 小氢汽车(上海)有限公司 | Torque control method and control device for hydrogen fuel cell automobile |
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