CN108583288A - A kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device - Google Patents
A kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device Download PDFInfo
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- CN108583288A CN108583288A CN201810564802.3A CN201810564802A CN108583288A CN 108583288 A CN108583288 A CN 108583288A CN 201810564802 A CN201810564802 A CN 201810564802A CN 108583288 A CN108583288 A CN 108583288A
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/08—Means for preventing excessive speed of the vehicle
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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
- 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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- 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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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device, include the following steps：S1. setting busbar voltage limit value UmaxWith motor maximum speed Vmax；S2. current motor speed V and busbar voltage U are obtained by motor driverdc；S3. judge current busbar voltage UdcWhether busbar voltage limit value U is more thanmax, if more than busbar voltage limit value Umax, then main relay is closed, the power module of motor drive controller is closed；S4. judge whether current rotating speed V is more than the motor maximum speed V of settingmax, if more than the motor maximum speed V of settingmax, then speed-limiting protection adjuster carry out speed limit.The beneficial effects of the invention are as follows：Device or system need not be additionally set between motor drive controller and driving motor, it is only necessary in motor drive controller level, speed limiting function be added by software, you can realize to pure electric automobile speed-limiting protection.
Description
Technical field
The present invention relates to method for limiting speed more particularly to a kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device.
Background technology
As the important force of world energy consumption big country and environmental protection, actively deployment electric vehicle is scientific and technological in China
Strategy, pure electric vehicle new-energy automobile (subtract claim pure electric automobile below), already become China or even countries in the world automaker
The important component of exploitation and production.
Compared with conventional fuel oil automobile, pure electric automobile presses driving strategy and driving safety plan by motor drive controller
Slightly, control driving power motor operation, realizes car steering condition downward driving, the control driving side of most of pure electric automobiles
Method, for have the Direct Torque Control of velocity sensor, which means that when pure electric automobile is run at high speed on gentle road surface and
When driver does not pay attention to real-time speed, it can be always maintained at step on the accelerator, cause to exceed the speed limit；Or in long descending process
In, if driver does not take any deceleration measure, overspeed of vehicle is also resulted in because driving motor rotating speed persistently rises.Occur
Hypervelocity, in addition to causing vehicle traveling itself dangerous, also due to the counter electromotive force of driving motor increases and makes busbar voltage liter
Height, this is possible to be more than drive control device power module voltage threshold values, and leads to power module over-voltage breakdown, makes drive control device
Damage, and then cause automobile that can not travel, therefore, there must be limiting vehicle speed protection.
The pure electric automobile method for limiting speed of the prior art usually utilizes and installs additional relay additional between motor and controller
Device obtains the rotating speed of driving motor first by corresponding software, to determine whether be more than preset maximum speed value V1,
If current motor rotating speed has been more than maximum speed value V1, described device or system are utilized, cuts off motor and electric machine controller
Electrical connection, when motor speed be less than setting speed V2 (V2 ＜ V1) when, the device reconnect driving motor with driving control
Device processed, or using such as entire car controller (VCU), system of the battery management system (BMS) in addition to electric machine controller come
Control the output of electric machine controller.These methods all utilize additional device or system, not only increase hardware cost, Er Qieyou
The protection operation of a little methods is only limitted to the electrical on-off line operation between motor and its controller, in high speed operation of motor, wink
Between break-make phenomena such as may result in high current overcurrent, while the moment break-make between motor and controller can also influence to drive
The driving experience for the person of sailing.
Invention content
In order to solve the problems in the prior art, the present invention provides a kind of pure electric vehicle new-energy automobile drive control devices
Method for limiting speed, it is not necessary to device be additionally set between motor drive controller and driving motor, can be realized to pure electric vehicle vapour
Vehicle speed-limiting protection.
The present invention provides a kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device, include the following steps：
S1. the voltage limits U of the power module of motor drive controller is determinedlim, setting busbar voltage limit value Umax, setting
Motor maximum speed Vmax, the torque output limit value T of initialization systemmax, the torque output limit value T of systemmaxFor under non-overspeed condition
The torque capacity that motor can be output；
S2. current motor speed V and busbar voltage U are obtained by motor driverdc；
S3. judge current busbar voltage UdcWhether busbar voltage limit value U is more thanmax, if more than busbar voltage limit value Umax, then
Main relay is closed, the power module of motor drive controller, and return to step S2 are closed, if being not more than busbar voltage limit value
Umax, then enter next step；
S4. judge whether current rotating speed V is more than the motor maximum speed V of settingmax, turn if more than the motor highest of setting
Fast Vmax, then current rotating speed V is exported to speed-limiting protection adjuster and is used as feedback, by motor maximum speed VmaxAs given, institute
State the output T of speed-limiting protection adjusteradjWith the torque output limit value T of systemmaxIt is added, adjusting forms new torque output limit value
Tmax *, i.e. Tmax *=Tmax+Tadj, Tadj≤0；
S5. the target torque T corresponding to current accelerator pedal aperture is comparedtarWith new torque output limit value Tmax *, the two
In be minimized as the current final output torque T of motorout, i.e. Tout=MIN (Ttar：Tmax *)。
As a further improvement on the present invention, in step sl, U is takenmax=0.85~0.9Ulim。
As a further improvement on the present invention, in step sl, setting motor maximum speed Vmax, motor speed is made to reach
Motor maximum speed VmaxWhen, counter electromotive force U caused by motoremaxMeet Uemax=0.65~0.8Ulim。
As a further improvement on the present invention, the speed-limiting protection adjuster is proportional and integral controller, most by motor
High rotating speed VmaxAs giving, using current rotating speed V as feedback.
As a further improvement on the present invention, the speed-limiting protection adjuster output violent change is set as Tadjmax=0,
Tadjmin=-2Tmax。
As a further improvement on the present invention, in step s 4, judge whether current rotating speed V is more than the motor highest of setting
Rotating speed VmaxIf no more than the motor maximum speed V of settingmax, the output of the speed-limiting protection adjuster is always zero, current
The torque output limit value T of systemmaxIt is constant, and return to step S2.
The beneficial effects of the invention are as follows：It through the above scheme, need not be between motor drive controller and driving motor
Additional setting device or system, it is only necessary in motor drive controller level, speed limiting function is added by software, you can realize
To pure electric automobile speed-limiting protection；During speed limit, the connection of motor and controller need not be cut off, high current will not be caused
The phenomenon that overcurrent.In the case of nonintervention, speed can be made to be maintained under preset max. speed and advanced, securely and reliably, process
Steadily, driving experience sense is not influenced.
Description of the drawings
Fig. 1 is a kind of flow chart of the method for limiting speed of pure electric vehicle new-energy automobile drive control device of the present invention.
Fig. 2 is a kind of regulation flow process of the speed-limiting protection adjuster of pure electric vehicle new-energy automobile drive control device of the present invention
Figure.
Specific implementation mode
The invention will be further described for explanation and specific implementation mode below in conjunction with the accompanying drawings.
A kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device provided by the invention, passes through drive and control of electric machine
Device obtains current motor rotating speed and busbar voltage, first determines whether busbar voltage is more than busbar voltage limit value UmaxIf being more than
Umax, then main relay is cut off, to prevent under extreme case the power module over-voltage breakdown caused by Motor Over Speed.
Then, judging current rotating speed, whether it is more than presetting motor maximum speed Vmax, if so, hypervelocity in software
Protection adjuster starts protection act.The overspeed protection adjuster (abbreviation adjuster) is substantially specific program composition
Proportional and integral controller, by motor maximum speed VmaxAs giving, using current rotating speed V as feedback, according to vehicle matter
Amount, the controlling cycle of driver and motor relevant parameter used design suitable ratio and integral parameter, choose suitable ratio
Example link parameter P, to accelerate the reaction speed of adjuster, and such as parameter overshoot is excessive, and system can be made to become unstable, into
And vehicle is made to will produce pause and transition in rhythm or melody sense in adjustment process, influence driving experience；Suitable integral parameter I is chosen, adjuster can be made
In adjustment process, there is good steady-state behaviour, keep adjustment process linear, stable, and do not influence the quick of adjustment process
Property.Speed-limiting protection adjuster output violent change is set as Tadjmax=0, Tadjmin=-2Tmax.When motor does not exceed the speed limit, adjuster
Output is always zero, the current torque capacity T of systemmaxIt is constant, when Motor Over Speed, the proportional integration link of the adjuster
Action exports Tadj(Tadj≤ 0) with the initial torque capacity T of systemmaxIt is added, generates fresh torque output limit value Tmax *
Limit the maximum output of current motor torque, while by presently described torque output limit value Tmax *With stepping on for vehicle accelerator pedal
Step on the target torque T corresponding to aperturetarIt makes comparisons, the two is minimized the final output torque T as current motorout, such as
This can efficiently control motor speed and be no more than preset motor maximum speed Vmax, to achieve the purpose that limiting vehicle speed, and
Electric machine controller power module can be protected simultaneously.
As described above, under general operating mode, when vehicle has reached max. speed, no matter driver, which is continuously stepping on acceleration, is stepped on
Plate or vehicle are not taken the modes such as brake in lasting descending in the case of intervene, and vehicle can still be controlled in highest vehicle
The state of speed can be effectively protected the power module of drive control device without exceeding the speed limit.
By the addition of the overspeed governor proportional integration link, the speed limit process is linear process, and response has both
Rapidity and stability bring good driving experience to driver.
A kind of pure electric vehicle new-energy automobile drive control device method for limiting speed of the present invention, to the vehicle, in general operating mode
Under, implement the Control for Speed Limitation scheme, and when vehicle travels in extreme road conditions, such as traveling road conditions be continue over long distances it is lower steep
Slope, in fact it could happen that vehicle overload speed and drive control device output highest opposing torque-TmaxAll it is insufficient to allow vehicle deceleration
State when, implementation judge whether current busbar voltage has been more than ceiling voltage limit value U because counter electromotive force of motor is excessively highmax, such as
It is then to cut off main relay, stops motor torque output.
A kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device provided by the invention, as specific embodiment,
It is to be realized by software in motor in electric automobile drive control device level, Control for Speed Limitation process, such as the control block diagram of Fig. 1,
Specifically include following steps：
1. first, determining the voltage limits U of system motor actuator power modulelim, with the busbar of this initialization system voltage
Voltage limits Umax, generally take Umax=0.85~0.9Ulim, it is ensured that in extreme circumstances, system can be by cutting off main relay
Power module is closed, to be effectively protected the power module of motor driver not by over-voltage breakdown.Then setting and max. speed
Corresponding motor maximum speed Vmax, it is ensured that reach motor maximum speed V in motormaxWhen, generated counter electromotive force UemaxNo
More than Umax, usually, take Uemax=0.65~0.8Ulim.The torque output limit value T of the system of last set systemmax, also
It is under non-overspeed condition, accelerator pedal is floored, the torque capacity that motor can be output.
2. obtaining current motor rotating speed V and busbar voltage U by motor driverdc, general electrical automobile driver passes through
Speed encoder on motor and the sampling to busbar voltage analog quantity can obtain two item data.
3. judging current busbar voltage UdcWhether the busbar voltage limit value U of system is more thanmax, if so, turning off major loop
Relay carrys out cutoff high, i.e. battery is no longer system power supply, and also shutting off system power module makes it no longer work, and above-mentioned two
Item action ensures that motor can not output torque.
4. judging whether current rotating speed value V is more than the motor maximum speed V of settingmax, if so, speed-limiting protection adjuster is opened
Initiating is made, and specific adjustment process is as shown in Figure 2：
Current rotating speed V is exported and is used as feedback to speed-limiting protection adjuster, by motor maximum speed VmaxAs giving, lead to
The suitable parameter of design speed-limiting protection adjuster is crossed, when current rotating speed V is more than motor maximum speed VmaxWhen, the ratio of adjuster
Integral element acts and exports T immediatelyadj(Tadj≤ 0) with the initial torque output limit value T of systemmaxIt is added, adjusts and formed newly
Torque output limit value Tmax *, i.e. Tmax *=Tmax+Tadj.By comparing the target torque T corresponding to accelerator pedal aperturetarWith it is new
Torque output limit value Tmax *, the two takes minimum value therein, for use as the final output torque T of motorout, can thus have
The torque output of effect ground limiting motor, control motor speed do not exceed preset maximum speed.The output of usual adjuster is most
Small value Tadjmin=-2Tmax, that is to say, that at any time, -2Tmax≤Tadj≤ 0, i.e., new torque output value Tmax *It is all full
Foot：-Tmax≤Tmax *≤Tmax。
In general, speed limit process will appear following several situations：
(1) motor maximum speed V of the current rotating speed less than settingmax, the output T of overspeed protection adjusteradj=0, system
Torque output limit value it is constant, i.e. Tmax *=Tmax, the torque output of motor is the target turn corresponding to accelerator pedal aperture
Square, i.e. Tout=Ttar。
(2) it is travelled on the smaller road surface of level road or the gradient when vehicle, there is still a need for export certain torque to keep for motor
Vehicle gives it the gun, and when motor speed is more than maximum speed, speed-limiting protection adjuster will export Tadj(Tadj≤ 0) and at the beginning of system
The torque output limit value T of beginningmaxIt is added, it is made to be reduced to Tmax *, by comparing the target corresponding to current accelerator pedal aperture
Torque Ttar, take the minimum value in the two as the final output torque T of current motorout, to reduce the torque output of motor, this
Sample also ensures that in this case, no matter the how deep stepping on accelerator pedal of driver, so that motor is continued raising speed, but make
Motor speed is stablized in motor maximum speed VmaxNear, that is, keep speed to stablize near max. speed, at this time overspeed protection tune
Save the output T of deviceadjAbsolute value be less than system torque limit value Tmax, i.e., | Tadj|≤Tmax, Tmax *>=0, Tout=MIN (Tmax *：
Ttar)。
(3) when vehicle is in lasting descending, and the gradient makes vehicle not need motor output torque, passes through self inertia
Keep lasting to accelerate, when motor speed is more than maximum speed, the operation principle of speed-limiting protection adjuster as described above, still this
When, to make motor stabilizing, without accelerating, need motor to export certain opposing torque, at this time speed-limiting protection tune in maximum speed
Save the output T of deviceadjAbsolute value be more than system torque limit value Tmax, i.e., | Tadj| ＞ Tmax, Tmax *＜ 0.Due to Ttar>=0, this
Mean that under such operating mode, no matter driver how step on the accelerator, the current final output torque of motor is always
Tout=MIN (Tmax *：Ttar)=Tmax *。
(4) a kind of last extreme operating condition is that vehicle continues descending, and when the gradient makes Motor Over Speed, even if motor passes through limit
Fast adjuster has been output to reversed torque capacity, that is, Tadj=Tadjmin=-2Tmax, i.e. Tmax *=-TmaxWhen, can not yet
Make motor stabilizing in maximum speed, still keep acceleration mode, at this moment, if counter electromotive force U caused by motor speed VeMake
Busbar voltage UdcBusbar voltage limit value U is reachedmax, by detecting busbar voltage Udc=Umax, it is high to disconnect main relay cut-out
It presses, turn off two actions of system power module, stop the torque output of motor, so that power module is not by over-voltage breakdown, it is ensured that
Motor driver will not damage, and ensure that automobile can be with normally travel.In UdcReach UmaxBefore, the final output torque of motor
As above described in a kind of situation, Tout=MIN (Tmax *：Ttar)=Tmax *, in UdcReach UmaxAfterwards, Tout=0.
The speed-limiting control method of the present embodiment, can be effectively protected motor drive controller power module will not be because of motor
Hypervelocity causes overtension breakdown in turn, and during speed limit, because the output of speed-limiting protection adjuster is linear convergent rate,
Speed limit process is steady, and vehicle does not occur traveling pause and transition in rhythm or melody, thus brings good driving experience.Meanwhile this speed-limiting control method is
System can also judge whether vehicle is in the extreme operating condition state at first, if so, directly disconnecting relay cutoff high, also stop
Motor torque exports, and to protect electric machine controller power module, is further ensured that the safety of whole system, makes the traveling of vehicle more
Add reliable and stable.
In addition, method for limiting speed proposed by the invention, it is not limited only to in the speed limit of the electric vehicle, by institute
The adjusting of speed-limiting protection adjuster suitable parameter is stated, the work(such as low battery speed limit and the reversing speed limit of the electric vehicle are also used as
On energy, a variety of speed limit purposes of electric vehicle are only realized by motor driver to reach.
A kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device provided by the invention, does not need additional device
Or system, system hardware cost is saved, and during speed limit, does not cut off the connection of motor and controller directly, reliably
Safety, speed limit process is more steady, improves driving experience, meanwhile, electric automobile driving controller power module can be protected not
Can be breakdown caused by overvoltage caused by driving motor over speed of rotation, to be effectively improved electric vehicle drive control
The stability of device also ensures that electric vehicle drives safely.
It is specific embodiments of the present invention, described the present embodiment, to be directed to the vehicle in generally traveling work above
Under condition, the method for limiting speed controlled by drive control device software is either continuously stepping on accelerator pedal in driver, or is holding
In the case that driver does not use brake modes to intervene when continuous descending, vehicle can still be maintained at max. speed nearby in by speed limit
State.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention's
Protection domain.
Claims (6)
1. a kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device, which is characterized in that include the following steps：
S1. the voltage limits U of the power module of motor drive controller is determinedlim, setting busbar voltage limit value Umax, set motor
Maximum speed Vmax, the torque output limit value T of initialization systemmax, the torque output limit value T of systemmaxFor motor under non-overspeed condition
The torque capacity that can be output；
S2. current motor speed V and busbar voltage U are obtained by motor driverdc；
S3. judge current busbar voltage UdcWhether busbar voltage limit value U is more thanmax, if more than busbar voltage limit value Umax, then close
Main relay closes the power module of motor drive controller, and return to step S2, if being not more than busbar voltage limit value Umax,
Then enter next step；
S4. judge whether current rotating speed V is more than the motor maximum speed V of settingmax, if more than the motor maximum speed of setting
Vmax, then current rotating speed V is exported to speed-limiting protection adjuster and is used as feedback, by motor maximum speed VmaxIt is described as given
The output T of speed-limiting protection adjusteradjWith the torque output limit value T of systemmaxIt is added, adjusting forms new torque output limit value
Tmax *, i.e. Tmax *=Tmax+Tadj, Tadj≤0；
S5. the target torque T corresponding to current accelerator pedal aperture is comparedtarWith new torque output limit value Tmax *, take in the two
Minimum value is used as the current final output torque T of motorout, i.e. Tout=MIN (Ttar：Tmax *)。
2. the method for limiting speed of pure electric vehicle new-energy automobile drive control device according to claim 1, it is characterised in that：In step
In rapid S1, U is takenmax=0.85~0.9Ulim。
3. the method for limiting speed of pure electric vehicle new-energy automobile drive control device according to claim 1, it is characterised in that：In step
In rapid S1, motor maximum speed V is setmax, motor speed is made to reach motor maximum speed VmaxWhen, it is anti-electronic caused by motor
Gesture UemaxMeet Uemax=0.65~0.8Ulim。
4. the method for limiting speed of pure electric vehicle new-energy automobile drive control device according to claim 1, it is characterised in that：It is described
Speed-limiting protection adjuster is proportional and integral controller, by motor maximum speed VmaxAs giving, using current rotating speed V as anti-
Feedback.
5. the method for limiting speed of pure electric vehicle new-energy automobile drive control device according to claim 1, it is characterised in that：By institute
It states speed-limiting protection adjuster output violent change and is set as Tadjmax=0, Tadjmin=-2Tmax。
6. the method for limiting speed of pure electric vehicle new-energy automobile drive control device according to claim 1, it is characterised in that：In step
In rapid S4, judge whether current rotating speed V is more than the motor maximum speed V of settingmaxIf no more than the motor maximum speed of setting
Vmax, the output of the speed-limiting protection adjuster is always zero, current torque output limit value TmaxIt is constant, and return to step S2.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109687810A (en) * | 2018-12-19 | 2019-04-26 | 上海伊控动力系统有限公司 | A kind of pure electric vehicle logistic car prevents the method for controlling number of revolution of Motor Over Speed |
| CN110884361A (en) * | 2019-12-02 | 2020-03-17 | 武汉理工通宇新源动力有限公司 | Speed limiting method of new energy automobile driving motor and motor driver thereof |
| CN111231695A (en) * | 2020-01-17 | 2020-06-05 | 浙江飞碟汽车制造有限公司 | Ramp auxiliary control method for driving motor system for pure electric truck |
| CN111552228A (en) * | 2019-02-12 | 2020-08-18 | 费斯托股份两合公司 | Drive system, trajectory planning unit and method |
| CN112498123A (en) * | 2019-11-07 | 2021-03-16 | 郑州嘉晨电器有限公司 | Method for stabilizing sliding speed of forklift ramp |
| CN113619394A (en) * | 2021-09-13 | 2021-11-09 | 合众新能源汽车有限公司 | Pure electric vehicle motor overspeed fault protection system and method thereof |
| CN114056125A (en) * | 2021-12-24 | 2022-02-18 | 天津英捷利汽车技术有限责任公司 | Downhill speed-limiting protection method for pure electric vehicle |
| CN117141250A (en) * | 2023-09-11 | 2023-12-01 | 武汉客车制造股份有限公司 | Downhill vehicle speed control method and system and vehicle |
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