CN108437853A - Electric vehicle is from torque control method when being transitioned into crawling more than crawl speed - Google Patents
Electric vehicle is from torque control method when being transitioned into crawling more than crawl speed Download PDFInfo
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- CN108437853A CN108437853A CN201810466538.XA CN201810466538A CN108437853A CN 108437853 A CN108437853 A CN 108437853A CN 201810466538 A CN201810466538 A CN 201810466538A CN 108437853 A CN108437853 A CN 108437853A
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- Prior art keywords
- electric vehicle
- crawling
- speed
- transitioned
- driving motor
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Classifications
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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
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of electric vehicles from torque control method when being transitioned into crawling more than crawl speed；Specially：It is released in the brake pedal and gas pedal of electric vehicle, and in the case that gearbox-gear is hung to drive shift or backward gear, electric vehicle more than the speed of crawling target velocity to travel, at this time if there is no manual operations, electric vehicle carries out the torque of driving motor control as follows with regard to automatic Transition to crawling state：1, driving motor is made to be in negative torque state, at this time electric vehicle coastdown；2, when electric vehicle decelerates to First Speed, stop the negative torque state of driving motor；3, PI adjustings are carried out to the torque of driving motor by the difference of the actual travel speed of electric vehicle and target crawl speed, the travel speed of electric vehicle is made to stablize in target crawl speed；The present invention can make electric vehicle automatically into crawling state, and control process steadily, reliably, also be effectively saved electric energy.
Description
Technical field
The present invention relates to a kind of crawling torque control method of electric vehicle, more particularly to a kind of electric vehicle is from more than compacted
Scanning frequency degree is transitioned into torque control method when crawling.
Background technology：
Electric vehicle can solve tail gas row caused by the burning of orthodox car engine fuel as a kind of new energy vehicles
It puts, has many advantages, such as low environment pollution, low noise, high efficiency, be the important trend of traffic transport industry development from now on.
Currently, the electric vehicle brand and vehicle on domestic market are numerous, but many manufacturers are to new energy vehicle system
Match and electronic development experience lacks, technological accumulation is insufficient, and many vehicles is caused not have crawling function.Vehicle has been powered in high pressure
At gearbox-gear is hung to forward/rewind shelves, and rear vehicle of loosening the brake must could start to walk to walk after stepping on the throttle；
Or vehicle is performed poor during crawling, is susceptible to shake and pause and transition in rhythm or melody sense；Or vehicle is when doing any manual operation, no
It can be automatically into crawling state.
At home, the traffic faced in vehicle travel process and road environment are complicated, preferably carry out vehicle crawling torque
Control, driving behavior when accurately embodying the crawlings operating modes such as vehicle start are intended to, and electric vehicle is made to have conventional internal combustion locomotive
Crawling driving habits, it is ensured that the riding stability and driver comfort of vehicle crawling, these requirements become particularly important.
Invention content：
The technical problem to be solved by the present invention is to：A kind of electric vehicle is provided from torque when being transitioned into crawling more than crawl speed
Control method, the control method can make electric vehicle automatically into crawling state, and control process steadily, reliably, also effective
The electric energy of electric vehicle is saved.
Technical scheme of the present invention：
A kind of electric vehicle is from torque control method when being transitioned into crawling more than crawl speed, specially：In electric vehicle
In the case that brake pedal and gas pedal are released, and gearbox-gear is hung to drive shift or backward gear, electric vehicle is just
It is travelled with the speed more than crawling target velocity V2, at this time if no longer manual operation brake pedal, gas pedal and speed change
Gear box, electric vehicle with regard to automatic Transition to crawling state, in transient process to the torque of the driving motor of electric vehicle into
Row is control as follows：
Step 1 makes driving motor be in negative torque state（That is energy recovery state）, electric vehicle coastdown at this time；Driving
The negative torque of motor can increase the braking deceleration angle value that electric vehicle slides, and negative torque is bigger, and the deceleration value of braking is higher；
Step 2, when electric vehicle decelerates to First Speed V1, stop the negative torque state of driving motor；At this point, First Speed
The target crawl speed V2 of V1 and electric vehicle is close；
Step 3, by the difference of the actual travel speed of electric vehicle and target crawl speed V2 to the torque of driving motor into
Row PI is adjusted, and the travel speed of electric vehicle is made to stablize in target crawl speed V2.In this way, electric vehicle has just been transitioned into stabilization
Crawling state.
First Speed V1 is more than target crawl speed V2, and V1-V2<0.5Km/h；This means that when the reality of electric vehicle
Difference rear progress PI adjustings within 0.5km/h of border travel speed and target crawl speed V2.
Target crawl speed V2 is 5km/h~8km/h.
Electric vehicle is in normally travel, brake pedal, decelerates to more than after crawling target velocity V2, unclamps again system
Dynamic pedal, at this time if no longer manual operation brake pedal, gas pedal and gearbox-gear, electric vehicle are arrived with regard to automatic Transition
Crawling state.
Alternatively, electric vehicle is in normally travel, pedal of stepping on the throttle is accelerated to more than after crawling target velocity V2, then
Gas pedal is unclamped, at this time if no longer manual operation brake pedal, gas pedal and gearbox-gear, electric vehicle is with regard to automatic
It is transitioned into crawling state.
Beneficial effects of the present invention：
1, the present invention in electric automobile during traveling to being more than crawl speed and no longer manual operation brake pedal, gas pedal and speed change
In the case of gear box, automatically into crawling state, traveling of the vehicle in complicated severe road conditions is facilitated, keeps driving lighter
It is loose, more comfortable.
2, the present invention first makes driving motor be in negative torque state during electric vehicle is transitioned into crawling state,
Energy when electric vehicle coastdown is recycled, PI is carried out after travel speed drops to certain value, then to the speed of electric vehicle
It adjusts, to make electric vehicle step into crawling state；The control process is effectively saved the electric energy of electric vehicle, and controls
Process is steady, reliable.
Description of the drawings：
Fig. 1 is the change in torque schematic diagram that electric vehicle is transitioned into driving motor in crawling state procedure；
Fig. 2 is that electric vehicle is transitioned into travel speed change schematic diagram in crawling state procedure.
Specific implementation mode：
Embodiment one：Referring to Fig. 1~Fig. 2, in figure, electric vehicle is from moment of torsion control side when being transitioned into crawling more than crawl speed
Method is：It is released in the brake pedal and gas pedal of electric vehicle, and gearbox-gear is hung to drive shift（D grades）Or it falls back
Shelves（R grades）In the case of, electric vehicle is travelled with the speed more than crawling target velocity V2, at this time if no longer artificial behaviour
Make brake pedal, gas pedal and gearbox-gear, electric vehicle with regard to automatic Transition to crawling state, to electricity in transient process
The torque of the driving motor of electrical automobile carries out control as follows：
Step 1 makes driving motor be in negative torque state（That is energy recovery state）, electric vehicle coastdown at this time（Time 0
The corresponding processes of~t1）；The negative torque of driving motor can increase the braking deceleration angle value that electric vehicle slides, and negative torque is bigger,
The deceleration value of braking is higher；
Step 2, when electric vehicle decelerates to First Speed V1（When t1）, stop the negative torque state of driving motor；At this point, the
The target crawl speed V2 of one speed V1 and electric vehicle is close；
Step 3, by the difference of the actual travel speed of electric vehicle and target crawl speed V2 to the torque of driving motor into
Row PI is adjusted, and the travel speed of electric vehicle is made to stablize in target crawl speed V2.In this way, electric vehicle has just been transitioned into stabilization
Crawling state.
First Speed V1 is more than target crawl speed V2, and V1-V2<0.5Km/h；This means that when the reality of electric vehicle
Difference rear progress PI adjustings within 0.5km/h of border travel speed and target crawl speed V2.
Target crawl speed V2 is 6km/h.
Electric vehicle is in normally travel, brake pedal, decelerates to more than after crawling target velocity V2, unclamps again system
Dynamic pedal, at this time if no longer manual operation brake pedal, gas pedal and gearbox-gear, electric vehicle are arrived with regard to automatic Transition
Crawling state.
Embodiment two：Referring to Fig. 1~Fig. 2, in figure, electric vehicle is from torque control when being transitioned into crawling more than crawl speed
Method processed with embodiment one no longer repeat by identical part, and different piece is：Electric vehicle is stepped on the throttle in normally travel
Pedal accelerates to more than after crawling target velocity V2, unclamps again gas pedal, at this time if no longer manual operation brake pedal,
Gas pedal and gearbox-gear, electric vehicle is with regard to automatic Transition to crawling state.
Claims (5)
1. a kind of electric vehicle is from torque control method when being transitioned into crawling more than crawl speed, it is characterized in that：In electronic vapour
In the case that the brake pedal and gas pedal of vehicle are released, and gearbox-gear is hung to drive shift or backward gear, electronic vapour
Vehicle with more than crawling target velocity V2 speed travel, at this time if no longer manual operation brake pedal, gas pedal and
Gearbox-gear, electric vehicle with regard to automatic Transition to crawling state, to the torsion of the driving motor of electric vehicle in transient process
Square carries out control as follows：
Step 1 makes driving motor be in negative torque state, at this time electric vehicle coastdown；
Step 2, when electric vehicle decelerates to First Speed V1, stop the negative torque state of driving motor；At this point, First Speed
The target crawl speed V2 of V1 and electric vehicle is close；
Step 3, by the difference of the actual travel speed of electric vehicle and target crawl speed V2 to the torque of driving motor into
Row PI is adjusted, and the travel speed of electric vehicle is made to stablize in target crawl speed V2.
2. electric vehicle according to claim 1 is from torque control method when being transitioned into crawling more than crawl speed,
It is characterized in：The First Speed V1 is more than target crawl speed V2, and V1-V2<0.5Km/h.
3. electric vehicle according to claim 1 is from torque control method when being transitioned into crawling more than crawl speed,
It is characterized in：The target crawl speed V2 is 5km/h~8km/h.
4. electric vehicle according to claim 1 is from torque control method when being transitioned into crawling more than crawl speed,
It is characterized in：The electric vehicle is in normally travel, brake pedal, decelerates to more than after crawling target velocity V2, then pine
Brake pedal is opened, at this time if no longer manual operation brake pedal, gas pedal and gearbox-gear, electric vehicle is with regard to automatic mistake
It crosses to crawling state.
5. electric vehicle according to claim 1 is from torque control method when being transitioned into crawling more than crawl speed,
It is characterized in：The electric vehicle is in normally travel, pedal of stepping on the throttle, and accelerates to more than after crawling target velocity V2, then pine
Gas pedal is opened, at this time if no longer manual operation brake pedal, gas pedal and gearbox-gear, electric vehicle is with regard to automatic mistake
It crosses to crawling state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810466538.XA CN108437853A (en) | 2018-05-16 | 2018-05-16 | Electric vehicle is from torque control method when being transitioned into crawling more than crawl speed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810466538.XA CN108437853A (en) | 2018-05-16 | 2018-05-16 | Electric vehicle is from torque control method when being transitioned into crawling more than crawl speed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108437853A true CN108437853A (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810466538.XA Pending CN108437853A (en) | 2018-05-16 | 2018-05-16 | Electric vehicle is from torque control method when being transitioned into crawling more than crawl speed |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203079A (en) * | 2019-06-04 | 2019-09-06 | 厦门金龙汽车新能源科技有限公司 | Crawling control method, system and its electric vehicle of electric vehicle |
| CN110254248A (en) * | 2019-06-24 | 2019-09-20 | 北京车和家信息技术有限公司 | The torque control method and device of crawling speed are transitted to by being greater than crawling speed |
| CN113147753A (en) * | 2021-03-24 | 2021-07-23 | 江铃汽车股份有限公司 | Vehicle brake control method, device, storage medium and automatic brake system |
| CN113561980A (en) * | 2021-08-12 | 2021-10-29 | 一汽解放青岛汽车有限公司 | Vehicle creep control method and device, computer equipment and storage medium |
| CN114103666A (en) * | 2021-12-13 | 2022-03-01 | 博雷顿科技有限公司 | Double-source pure electric loader high-voltage system and control method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203079A (en) * | 2019-06-04 | 2019-09-06 | 厦门金龙汽车新能源科技有限公司 | Crawling control method, system and its electric vehicle of electric vehicle |
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| CN110254248A (en) * | 2019-06-24 | 2019-09-20 | 北京车和家信息技术有限公司 | The torque control method and device of crawling speed are transitted to by being greater than crawling speed |
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| CN113561980A (en) * | 2021-08-12 | 2021-10-29 | 一汽解放青岛汽车有限公司 | Vehicle creep control method and device, computer equipment and storage medium |
| CN113561980B (en) * | 2021-08-12 | 2023-02-17 | 一汽解放青岛汽车有限公司 | Vehicle creep control method and device, computer equipment and storage medium |
| CN114103666A (en) * | 2021-12-13 | 2022-03-01 | 博雷顿科技有限公司 | Double-source pure electric loader high-voltage system and control method |
| CN114103666B (en) * | 2021-12-13 | 2023-01-20 | 博雷顿科技股份公司 | Double-source pure electric loader high-voltage system and control method |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180824 |
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| RJ01 | Rejection of invention patent application after publication |