CN108528268A - A kind of torque adjusting method of electric vehicle self-adaption cruise system - Google Patents

A kind of torque adjusting method of electric vehicle self-adaption cruise system Download PDF

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Publication number
CN108528268A
CN108528268A CN201710164441.9A CN201710164441A CN108528268A CN 108528268 A CN108528268 A CN 108528268A CN 201710164441 A CN201710164441 A CN 201710164441A CN 108528268 A CN108528268 A CN 108528268A
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torque
control
coefficient
vehicle
rolling resistance
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CN108528268B (en
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朴昌浩
黄魏
禄盛
沈海寅
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Chongqing University of Post and Telecommunications
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Chongqing University of Post and Telecommunications
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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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/20—Tyre data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Abstract

The present invention proposes a kind of torque adjusting method of the self-adaption cruise system of electric vehicle, is related to automotive field.Including step：It is calculated using adaptive learning algorithms device and it is expected accelerationUtilize tyre pressure sensor detection automotive tire pressure ptir；Obliquity sensor detects road gradientThe complete vehicle quality M of pressure sensor detection；Vehicle speed sensor detects vehicle actual speed v (n)；Acceleration transducer detects vehicle actual accelerationMan-machine interactive system inputs driving-environment information.Coefficient of rolling resistance is obtained according to the relation function of coefficient of rolling resistance and road surface and tire pressure.Basic torque T is realized by kinetic modelfid(n) feed-forward regulation, along with self-adaptive PID feedback modifiers obtain it is expected torque Tdes(n).Switching holding area realizes effective switching of drive control and brake control, finally realizes adaptive learning algorithms.The present invention shortens the regulating time stablized to final goal acceleration and the stability for improving system.

Description

A kind of torque adjusting method of electric vehicle self-adaption cruise system
Technical field
This patent belongs to automobile technical field, and in particular to a kind of torque adjusting of the self-adaption cruise system of electric vehicle Method.
Background technology
In order to realize Green Travel and energy reproducible utilization, new-energy automobile show up prominently in worldwide and by To the favor of people.The birth and development of internet+and artificial intelligence technology so that it is more efficient, convenient and easypro that the mankind pursue Suitable life.These technologies pool together the electric vehicle for being combined into and having driven function with intelligence auxiliary, further drill Become intelligent electric automobile.Adaptive cruise control system is a subfunction in intelligent DAS (Driver Assistant System), in vehicle row During sailing, by detecting current traffic environment state and travel condition of vehicle, Collaborative Control driving motor and brake system Make vehicle in safe operating mode downward driving, and further increases the comfort and economy of driver.
Current existing adaptive cruise control system is realized and rarely had on orthodox car mostly is related to Multi-information acquisition Technology.Relative to orthodox car, the sharpest edges of new-energy automobile are can be real by the regenerative braking moment of driving motor The appropriate braking of existing vehicle.The control mode of the adaptive cruise of existing new-energy automobile focus mostly on engine, driving motor and The control mode of torque switching and regenerative braking moment between mechanical brake system, without in self-adaption cruise system The specific implementation of torque request is described in detail.
Existing patent of invention provides a kind of case, which is based on mixed ejector half new-energy automobile and sets out, it is proposed that a kind of packet Include regenerative braking and the adaptive cruise control system and method for start-stop function.Cruise module is based on following distance and vehicle Approaching rate determines cruise torque, is then asked come respective torque by engine control module and brake control module, Middle engine control module includes engine and drive motor.Although teaching engine, electro-motor and machine in entire patent Tool brake system three is individually responded to torque requests or common response, but not detailed introduction cruise torque is specific Adjusting method.
Invention content
In view of the torque adjusting method that new-energy automobile is not described in detail in existing patent, therefore this patent proposes A kind of torque adjusting method of electric vehicle adaptive cruise control system.
The invention also includes following schemes：
A kind of torque adjusting method of electric vehicle self-adaption cruise system, the electric vehicle have adaptive cruise control Device, entire car controller, vehicle-mounted CAN bus, tyre pressure sensor, obliquity sensor, pressure sensor, acceleration transducer and people processed Machine interactive system is communicated using CAN bus between the mobile unit, which is characterized in that the cruise torque of electric vehicle is adjusted Include the following steps：
101. starting self-adaption cruise system, the entire car controller obtains relevant information in real time by CAN bus.It is described Information includes the expectation acceleration that adaptive learning algorithms device is sentTyre pressure sensor detects automotive tire pressure ptir；Incline Angle transducer detects road gradientThe complete vehicle quality M of pressure sensor detection；Vehicle speed sensor detects vehicle actual speed v (n)；Acceleration transducer detects vehicle actual accelerationMan-machine interactive system inputs driving-environment information.
102. entire car controller uses the information that obtains in step 101, according to obtaining calculated torque benchmark shown in formula (1) Value, specific calculation such as formula 1 obtain the basic torque value T of (n) a controlling cyclefid(n)。
103. the basic torque value that entire car controller is calculated using step 102 passes through position model as feedforward control amount PID control is to a reference value Tfid(n) it corrects, obtains it is expected torque value Tdes(n), the expectation torque T finely tuned through PIDdes(n) it keeps Actual acceleration is to it is expected that the stabilization of acceleration follows.
104. according to torque T it is expected described in step 103des(n), it is more than correlation threshold ThU, then desired torque is led to It crosses CAN bus and is sent to electric machine controller；It is less than correlation threshold ThL=, then desired torque is sent to electricity by CAN bus At least one of machine controller or brake controller；Previous control mode is then kept between threshold value.
Further scheme, pressure sensor is installed in the suspension of electric vehicle in step 101, for detecting vehicle Gross mass M.
Further scheme, it is characterised in that：Coefficient of rolling resistance f in step 1021It is determined jointly by road surface and tire pressure.Root Rolling resistance under current driving environment is obtained according to shown formula (2).
F1=an0+an1(Ptir-P0) (2),
A in formula (2)n0It is different road surfaces, standard tire pressure P0Corresponding coefficient of rolling resistance a reference value；an1It is related to tire pressure Proportionality coefficient, unit 1/kPa.
Further scheme, it is characterised in that：Coefficient of rolling resistance f1The construction method of formula is：Select straight coating road Face, bituminous paving and gravel pavement, respectively from Pmin(kPa) P is arrivedmax(kPa), a tire pressure is fixed every 10kPa, records vehicle Stablize the coefficient of rolling resistance under at the uniform velocity state, is obtained using the relationship of least square fitting coefficient of rolling resistance and tire pressure an1。
Further scheme, it is characterised in that：Shown in Position Form PID feedback regulation such as formula (3) in step 103,
E (n) is (n) moment aimed acceleration in formula (3)With actual accelerationError amount, Ki are constant volumes Divide coefficient, Kd is to determine differential coefficient, and Kp is control with changed scale coefficient.Kp determines the relationship of Kd and e (n) by linear one dimensional table.
Further scheme, it is characterised in that：T in step 104des(n)≥ThUFor drive and control of electric machine region；Tdes(n) ≤ThUFor regenerative braking and mechanical brake control for brake region；ThL≤Tdes(n)≤ThUFor torque holding area.It is specifically cut The mode of changing is：It is switched to control for brake from drive control, holding area uses drive control；It is switched to driving control from control for brake System, holding area use control for brake.
Embodiment through the invention provides many advantages.Wherein,
First, the torque adjusting method realized by electronic sensor technology, avoids system parameter calibration from being answered with what is verified Miscellaneous process, while being all suitable for for the new-energy automobile of all kinds.There is application value in practical engineering project.
Second, being directed to electric vehicle self-adaption cruise system, it is self-regulated by the parameter that multi information sensor technology is realized Torque adjusting method, can realize feedforward quickly adjust and PID/feedback precisely adjust.Changing for external driving environment simultaneously Become, can quickly reach stable state, bring the good driving experience of driver
By the detailed description below in conjunction with attached drawing to specific embodiment, the above advantage of the invention, other advantages will It can be apparent.
Description of the drawings
Fig. 1 is the system module schematic diagram of the torque adjusting method of electric vehicle self-adaption cruise system；
Fig. 2 is the idiographic flow schematic diagram of the torque adjusting method of electric vehicle self-adaption cruise system；
Specific implementation mode
With reference to embodiment and attached drawing, the present invention is further illustrated, convenient for the present invention is well understood, still They do not constitute the present invention and limit.
Provided by the present invention for the torque adjusting method of electric vehicle self-adaption cruise system, using preset pass It is curve, therefore is to close based on the practical relation curve for driving experiment acquisition parameter structure coefficient of rolling resistance and road surface and tire pressure Key step.Its specific implementation method：On straight coating road surface, by automotive tire pressure from Pmin(kPa) P is arrivedmax(kPa), it uses The interval fixed car tire pressure value of 10kPa records vehicle corresponding coefficient of rolling resistance under stabilizing speed.For every group Tire pressure is repeated 5 times experiment gathered data and calculates average value.Finally by least square fitting coefficient of rolling resistance and doughnut The proportionality coefficient of pressure.For bituminous paving and gravel pavement, the operation is repeated, the coefficient of rolling resistance under corresponding road surface is obtained With the relation curve of tire pressure.It is final establish coefficient of rolling resistance with shown in the relationship such as formula (2) of road surface and tire pressure.
F1=an0+an1(Ptir-P0) (2)
Wherein, n0 indicates the corresponding serial number in road surface；an0Standard tire pressure P0Corresponding coefficient of rolling resistance a reference value；PtirTable Show the current tire pressure of automobile；an1Indicate the proportionality coefficient of coefficient of rolling resistance and tire pressure, unit 1/kPa.
The torque adjusting method of electric vehicle self-adaption cruise system provided by the invention comprising the following steps：
After adaptive cruise starts, adaptive learning algorithms device is according to driving-environment information, including sensor detection letter Breath, driver's input information and communication system transmission information etc., plans the expectation acceleration at current timeAnd pass through CAN bus is transferred to entire car controller.
Entire car controller is communicated by CAN bus and mobile unit, obtains information needed, specifying information packet in real time It includes：It is mounted the current driving speed v (n) obtained with the vehicle speed sensor at wheel hub, is integrated in electronic stability control The current vehicle actual acceleration that acceleration transducer in device obtainsIt is integrated in inclining in electronic stability control The vehicle that angle transducer obtains is presently in road surface actual gradeThe driving environment letter that driver inputs in man-machine interactive system Breath, the tire pressure p that the pressure sensor being installed in automobile tire obtainstir.The pressure sensor being installed in suspension The car mass M of acquisition, entire car controller calculate coefficient of rolling resistance value according to vehicle current driving environment and tire pressure.
The expectation acceleration that entire car controller is sent according to adaptive learning algorithms deviceAnd sensor acquisition Information, the information of driver's input and its information calculated, a reference value that vehicle current torque is adjusted is calculated using formula (1).
Wherein, g indicates acceleration of gravity, f2Indicate that the coefficient of relationship of coefficient of rolling resistance and speed, R indicate automobile tire Effective radius, ξeffIndicate the machinery driving efficiency of vehicle.
Entire car controller is according to the expectation acceleration at current timeWith actual accelerationDifference e (n), make Basic torque is modified using shown in Position Form PID regulative mode such as formula (3) for the input signal of feedback regulation.
Wherein, in order to quickly be corrected to error e (n), using definite integral COEFFICIENT K i, determine differential coefficient Kd and control with changed scale COEFFICIENT K d.Wherein, Kd and the linear proportionate relationship of error e (n), the e (n) the big, and then Kd is bigger, and the smaller then Kd of e (n) are smaller.
Entire car controller will it is expected torque T according to the relationship of desired torque and correlation threshold by CAN busdes(n) it sends out Power transmission machine controller or electric boosted brake controller.Frequent switching between being controlled in order to avoid drive control and brake, Using transition holding area.Its specific handoff procedure is：Tdes(n)≥ThUFor drive and control of electric machine region, the phase at current time It hopes torque be sent to electric machine controller, realizes that driving torque is adjusted.Tdes(n)≤ThUFor control for brake region, current time Expectation torque be sent to electric machine controller and electric brake assist controller, realize regenerative braking brake and mechanical brake； ThL≤Tdes(n)≤ThUFor torque holding area, it is switched to control for brake from drive control, holding area uses drive control； It is switched to drive control from control for brake, holding area uses control for brake.
The above embodiment is interpreted as being merely to illustrate the present invention rather than limit the scope of the invention. After the content for having read the record of the present invention, technical staff can make various changes or modifications the present invention, these equivalent changes Change and modification equally falls into the method for the present invention claim limited range.

Claims (6)

1. a kind of torque adjusting method of electric vehicle self-adaption cruise system, the electric vehicle has adaptive learning algorithms Device, entire car controller, vehicle-mounted CAN bus, tyre pressure sensor, obliquity sensor, pressure sensor, acceleration transducer and man-machine Interactive system is communicated using CAN bus between the mobile unit, which is characterized in that the cruise torque of electric vehicle adjusts packet Include following steps：
101. starting self-adaption cruise system, the entire car controller obtains relevant information in real time by CAN bus.Described information Accelerate including the expectation that adaptive learning algorithms device is sentTyre pressure sensor detects automotive tire pressure ptir；Inclination angle passes Sensor detects road gradientThe complete vehicle quality M of pressure sensor detection；Vehicle speed sensor detects vehicle actual speed v (n)；Add Velocity sensor detects vehicle actual accelerationMan-machine interactive system inputs driving-environment information.
102. entire car controller uses the information that obtains in step 101, according to obtaining calculated torque a reference value shown in formula (1), Its specific calculation such as formula 1 obtains the basic torque value T of (n) a controlling cyclefid(n)。
103. the basic torque value that entire car controller is calculated using step 102 passes through Position Form PID control as feedforward control amount System is to a reference value Tfid(n) it corrects, obtains it is expected torque value Tdes(n), the expectation torque T finely tuned through PIDdes(n) it keeps practical to add Speed is to it is expected that the stabilization of acceleration follows.
104. according to torque T it is expected described in step 103des(n), it is more than correlation threshold ThU, then desired torque is passed through into CAN Bus is sent to electric machine controller；It is less than correlation threshold ThL, then desired torque is sent to motor control by CAN bus At least one of device or brake controller；Previous control mode is then kept between threshold value.
2. according to claim 1, it is characterised in that：Pressure sensor is installed in the suspension of electric vehicle in step 101 In system, for detecting vehicular gross combined weight M.
3. according to claim 1, it is characterised in that：Coefficient of rolling resistance f in step 1021It is jointly true by road surface and tire pressure It is fixed.Rolling resistance under current driving environment is obtained according to shown formula (2).
F1=an0+an1(Ptir-P0) (2),
N indicates different road surface sequence number values in formula (2)；an0Standard tire pressure P0Corresponding coefficient of rolling resistance a reference value；an1It is and tire The related proportionality coefficient of pressure, unit 1/kPa.
4. according to claim 3, it is characterised in that：Coefficient of rolling resistance f1The construction method of formula is：Select straight coating Road surface, bituminous paving and gravel pavement, respectively from Pmin(kPa) P is arrivedmax(kPa), a tire pressure is fixed every 10kPa, records vehicle Stablize the coefficient of rolling resistance at the uniform velocity under state, is obtained using the relationship of least square fitting coefficient of rolling resistance and tire pressure an1。
5. according to claim 1, it is characterised in that：Shown in Position Form PID feedback regulation such as formula (3) in step 103,
E (n) is (n) moment aimed acceleration in formula (3)With actual accelerationError amount, Ki are definite integral systems Number, Kd is to determine differential coefficient, and Kp is control with changed scale coefficient.Kp determines the proportionate relationship of Kd and e (n) by linear one dimensional table.
6. according to claim 1, it is characterised in that：T in step 104des(n)≥ThUFor drive and control of electric machine region； Tdes(n)≤ThUFor regenerative braking and mechanical brake control for brake region；ThU≤Tdes(n)≤ThUFor torque holding area.Its Specifically control mode is：It is switched to control for brake from drive control, holding area uses drive control；It is switched to from control for brake Drive control, holding area use control for brake.
CN201710164441.9A 2017-03-06 2017-03-06 Torque adjusting method of electric automobile self-adaptive cruise system Active CN108528268B (en)

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CN112389428A (en) * 2019-08-02 2021-02-23 北京地平线机器人技术研发有限公司 Vehicle speed control method and device, storage medium and electronic equipment
CN112660111A (en) * 2021-03-17 2021-04-16 天津所托瑞安汽车科技有限公司 Adaptive torque control method, device, equipment and readable storage medium
CN112660129A (en) * 2020-12-21 2021-04-16 浙江天尚元科技有限公司 Intelligent line control chassis acceleration control system and control method
CN112693456A (en) * 2019-10-23 2021-04-23 采埃孚传动技术(苏州)有限公司 Cruise method and device based on torque ring
CN112706620A (en) * 2020-12-31 2021-04-27 北京金万安汽车电子技术研发有限公司 Motor braking torque control method in energy recovery of new energy vehicle
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