CN108583367A - Motor for Electric Automobile crawling operating mode switches control method for coordinating and system - Google Patents
Motor for Electric Automobile crawling operating mode switches control method for coordinating and system Download PDFInfo
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- CN108583367A CN108583367A CN201810298325.0A CN201810298325A CN108583367A CN 108583367 A CN108583367 A CN 108583367A CN 201810298325 A CN201810298325 A CN 201810298325A CN 108583367 A CN108583367 A CN 108583367A
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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
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- 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
A kind of Motor for Electric Automobile crawling operating mode switching control method for coordinating of present invention offer and system, method therein include:In response to switching to the crawling switching signal of crawling operating mode, the first torque of current time motor output is obtained;Crawling switching signal includes crawling decision condition mark and motor rotating speed of target;If crawling decision condition mark indicates electric vehicle by braking or sliding into crawling operating mode, control motor enters rotating speed pattern, motor runs on speed ring and torsion loop simultaneously, and adjusts motor speed to rotating speed of target while controlling the output torque of motor less than or equal to the first torque.In above scheme, make motor in the case where electric vehicle enters crawling operating mode while running on the mode of speed ring and torsion loop, and boundary value of the motor output torque before being switched in mode according to the practical operation situation of electric vehicle always as motor output torque after pattern switching avoids motor output torque from ride comfort of the big influence of fluctuations to electric automobile during traveling occur.
Description
Technical field
The present invention relates to technical field of new energy, and in particular to a kind of Motor for Electric Automobile crawling operating mode switching association
Control method and system.
Background technology
The crawling control function of orthodox car is usually realized by automatic gear-box controller, since engine has minimum idle
The limitation of fast rotating speed, the realization of crawling control function need to include moment of torsion control and differential control, and automatic gear-box controller is logical
It crosses clutch slipping control or crawling control function is realized in the control of hydraulic torque converter degree of coupling.For electric vehicle, due to
Power motor does not have the limitation of minimum speed, and the speed changer many arranged in pairs or groups is not no clutch, so orthodox car
Crawling control method do not used.
The crawling control of electric vehicle mainly uses entire car controller PI adjusting control Motor torques at present, makes motor operation
In torsion loop or speed ring.Due to control not being adjusted to the output torque of motor under speed ring, when control motor
When switching between torsion loop and speed ring, the output torque of motor can have greatly changed, so as to cause electric vehicle speed
Degree fluctuation clearly, larger impact is brought to the ride comfort of driving.
Invention content
Present invention seek to address that electric vehicle velocity perturbation under crawling operating mode frequently influences electric vehicle in the prior art
The technical issues of driving ride comfort, and then a kind of Motor for Electric Automobile crawling operating mode of offer switches control method for coordinating and is
System.
To solve the above problems, the present invention provides a kind of Motor for Electric Automobile crawling operating mode switching control method for coordinating,
Include the following steps:
In response to switching to the crawling switching signal of crawling operating mode, the first torque of current time motor output is obtained;Institute
It includes crawling decision condition mark and motor rotating speed of target to state crawling switching signal;
If crawling decision condition mark indicates electric vehicle by braking or sliding into crawling operating mode,:Control electricity
Machine enters rotating speed pattern, makes motor while running on speed ring and torsion loop, and adjusts motor speed to rotating speed of target simultaneously
The output torque for controlling motor is less than or equal to first torque.
In said program, when electric vehicle from brake or slide switch to crawling operating mode travel after, control motor simultaneously
Speed ring and torsion loop are operated at, therefore the output torque of motor can also be controlled under crawling operating mode, and uses pattern
Switch maximum value of the reality output torque of the motor detected before as the output torque under crawling operating mode, because of electronic vapour
Vehicle is braking or sliding state before entering crawling operating mode, so the driving intention of driver is desirable to the speed of electric vehicle
Degree continuously decreases, therefore the output torque of motor is made to keep being consistently less than the output torque before pattern switching in this programme, and
Be maintained in reasonable range according to the cooperation of the rotating speed of target of motor, can electric vehicle from brake or slide switch to it is compacted
The output torque of motor is effectively avoided electric vehicle velocity perturbation caused by large jump occur under row operating mode traveling.
Optionally, in above-mentioned Motor for Electric Automobile crawling operating mode switching control method for coordinating, if the crawling judges
It is by braking or sliding into crawling operating mode, then that condition identity, which indicates that electric vehicle is not,:
Control motor enters rotating speed pattern, makes motor while running on speed ring and torsion loop, and adjusts motor speed
To rotating speed of target, the output torque of motor is controlled more than first torque.
In said program, it is by braking or sliding the case where causing not to be when the condition that electric vehicle enters crawling operating mode
When, illustrate that it is caused by the subjective deceleration intention of driver, in this case, although electronic to enter crawling operating mode not being
Automobile enters in crawling operating mode, but the output torque of motor should be in the range of the output torque of the front motor more than pattern switching
It is interior, while the rotating speed of target of motor being coordinated to be regulated and controled, therefore in electric vehicle crawling work can be switched to due to other reasons
The output torque of motor is effectively avoided electric vehicle velocity perturbation caused by large jump occur when under condition traveling.
Optionally, above-mentioned Motor for Electric Automobile crawling operating mode switches control method for coordinating, which is characterized in that further includes
Following steps:
In response to exiting the signal that exits of crawling operating mode, the second torque of current time motor output is obtained;
Control motor enter torque mode, the output torque for making motor operation in torsion loop, and controlling motor be more than or
Equal to second torque.
In said program, when electric vehicle is exited from crawling operating mode, it is normal to illustrate that electric vehicle needs accelerate into
Driving cycle, at this time the output torque of motor need to increase, therefore using the motor output torque before pattern switching as pattern
The minimum value of motor output torque after switching, makes motor output torque more than the minimum value, while can coordinate the need of motor
Torque is asked to obtain the reality output torque of motor.Since motor also runs on torsion loop in crawling operating mode therefore can be derived that mould
Formula switches the output torque of front motor, and using it as the lower limiting value of adjusting range after pattern switching, therefore can be in electricity
Electrical automobile is exited from crawling operating mode effectively avoids the output torque of motor from electric vehicle speed wave caused by large jump occur afterwards
It is dynamic.
It is described computer-readable to deposit the present invention also provides a kind of computer readable storage medium based on same inventive concept
It is stored with command information in storage media, the electric vehicle described in any of the above item is can perform after computer reading described instruction information
Switch control method for coordinating with motor crawling operating mode.The storage medium provided in this programme can store calculating to be any
The case where machine readable instruction information, which is to provide command information in electric vehicle, so that electric vehicle is being cut into
Crawling operating mode and while being exited from crawling operating mode, can ensure that big variation will not occur for the output torque of motor, to ensure electricity
Electrical automobile can smooth out traveling in crawling operating mode handoff procedure.
Based on same inventive concept, the present invention also provides a kind of motor control assembly, including at least one processor and extremely
Lack a memory, command information is stored at least one memory, at least one processor reads the finger
The Motor for Electric Automobile crawling operating mode that can perform described in any of the above item after information is enabled to switch control method for coordinating.In this programme
The motor control assembly of offer, can be electric vehicle in random processor and memory cooperation, can also can with it is electronic
Vehicle complete vehicle controller and electric machine controller carry out the device of data interaction, are also used as electric machine controller use, electronic vapour
Vehicle can use motor control assembly control electric vehicle can when being cut into crawling operating mode and being exited from crawling operating mode
Ensure that big variation will not occur for the output torque of motor, to ensure that electric vehicle can be put down in crawling operating mode handoff procedure
Direct motion is sailed.
Based on same inventive concept, the present invention also provides a kind of Motor for Electric Automobile crawling operating modes to switch coordination control system
System, including entire car controller, electric machine controller and motor, wherein:
The entire car controller when detecting electric vehicle by braking or sliding into crawling operating mode, determines that crawling judges
Condition identity accords with for first identifier, when detecting that electric vehicle is not by braking or sliding into crawling operating mode, determines crawling
Decision condition is identified as second identifier symbol;It includes that the crawling decision condition mark and the crawling of motor rotating speed of target are cut that it, which sends,
Signal is changed to the electric machine controller;
The electric machine controller obtains the first torque of current time motor output in response to the crawling switching signal;
When the crawling decision condition, which identifies, indicates electric vehicle by braking or sliding into crawling operating mode, control motor enters rotating speed
Pattern makes motor while running on speed ring and torsion loop, adjustment motor speed to rotating speed of target and the output torsion for controlling motor
Square is less than or equal to first torque.
In said program, entire car controller can obtain electric automobile during traveling mould in time as the control axis of electric vehicle
The situation of change of formula, and can be obtained according to electric automobile during traveling state motor rotating speed of target and at the first time will be above-mentioned
Information is sent to the electric machine controller, and electric machine controller can control motor according to above- mentioned information and be run according to preset condition.
When electric vehicle from brake or slide switch to crawling operating mode travel after, control motor simultaneously operate at speed ring and torque
Ring, therefore the output torque of motor can also be controlled under crawling operating mode, and using the electricity detected before pattern switching
Maximum value of the reality output torque of machine as the output torque under crawling operating mode, and coordinated according to the rotating speed of target of motor and kept
In reasonable range, can electric vehicle from brake or slide switch to crawling operating mode traveling under effectively avoid motor
There is electric vehicle velocity perturbation caused by large jump in output torque.
Optionally, in above-mentioned Motor for Electric Automobile crawling operating mode switching coordinated control system, the electric machine controller,
When the crawling decision condition identify indicate electric vehicle be not be by braking or sliding into crawling operating mode when, control motor into
Enter rotating speed pattern, make motor while running on speed ring and torsion loop, adjust motor speed to rotating speed of target and controls motor
Output torque is more than first torque.In said program, it is by braking not to be when the condition that electric vehicle enters crawling operating mode
Or when sliding the case where causing, make the output torque of motor in the range of the output torque of the front motor more than pattern switching
It is interior, while the rotating speed of target of motor being coordinated to be regulated and controled, in electric vehicle crawling operating mode row can be switched to due to other reasons
The output torque of motor is effectively avoided electric vehicle velocity perturbation caused by large jump occur when driving off.
Optionally, in above-mentioned Motor for Electric Automobile crawling operating mode switching coordinated control system, the entire car controller,
When detecting that electric vehicle switches to normally travel operating mode by crawling operating mode, send exit crawling operating mode exit signal to described
Electric machine controller;The electric machine controller obtains the output of current time motor in response to exiting the signal that exits of crawling operating mode
Second torque;Control motor enter torque mode, the output torque for making motor operation in torsion loop, and controlling motor be more than or
Equal to second torque.In said program, since motor also runs on torsion loop in crawling operating mode therefore can be derived that mould
Formula switches the output torque of front motor, and using it as the lower limiting value of adjusting range after pattern switching, therefore can be in electricity
Electrical automobile is exited from crawling operating mode effectively avoids the output torque of motor from electric vehicle speed wave caused by large jump occur afterwards
It is dynamic.
Above technical scheme provided by the invention at least has the advantages that compared with prior art:
Motor for Electric Automobile crawling operating mode switching control method for coordinating provided by the invention and system, by electronic vapour
Vehicle enters the mode for making motor under crawling operating mode while running on speed ring and torsion loop, can ensure that the output torque of motor begins
Eventually in the state that can be adjusted.Also, in mode handover procedure, always according to the practical operation situation of electric vehicle with mould
Boundary value of the motor output torque as motor output torque after pattern switching before formula switching, to be avoided that motor is defeated
Going out torque can smooth out excessively to demand torque, avoid motor output torque from big influence of fluctuations occur and arrive electric automobile during traveling
Ride comfort.
Description of the drawings
Fig. 1 is the flow that Motor for Electric Automobile crawling operating mode switches control method for coordinating described in one embodiment of the invention
Figure;
Fig. 2 is the stream that Motor for Electric Automobile crawling operating mode switches control method for coordinating described in another embodiment of the present invention
Cheng Tu;
Fig. 3 is the principle that Motor for Electric Automobile crawling operating mode switches coordinated control system described in one embodiment of the invention
Block diagram;
Fig. 4 is the workflow schematic diagram that Motor for Electric Automobile crawling operating mode switches coordinated control system shown in Fig. 3.
Specific implementation mode
It is understandable in order to enable the above objects, features and advantages of the present invention to become apparent, below in conjunction with the accompanying drawings to this hair
Bright specific implementation mode is described in detail.In the description of the present invention, it should be noted that term "center", "upper",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "vertical", "horizontal", "inner", "outside" is based on ... shown in the drawings
Orientation or positional relationship, be merely for convenience of description the present invention simplify description, do not indicate or imply the indicated device or
Component must have a particular orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.This
Outside, term " first ", " second ", " third " are used for description purposes only, and are not understood to indicate or imply relative importance.Its
In, term " first position " and " second position " they are two different positions.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can
Can also be electrical connection to be mechanical connection;It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
The connection of two component internals.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In addition, it is necessary to explanation, when control method in following embodiment of the present invention, is judging that obtaining electric vehicle is
It is no into crawling operating mode or whether exit crawling operating mode when scheme that motor speed especially output torque is controlled, and
Judge whether electric vehicle enters crawling operating mode or whether exited from crawling operating mode and method reality in the prior art may be used
It is existing, analysis is directly carried out to electric automobile during traveling state by entire car controller and can be obtained accordingly result, and vehicle
The information such as rotating speed of target and the target torque of motor can be calculated in controller.The above process is no longer detailed in the examples below
It is thin to introduce.
Embodiment 1
The present embodiment provides a kind of Motor for Electric Automobile crawling operating modes to switch control method for coordinating, can be with application control electricity
In the motor control module of machine work, as shown in Figure 1, described method includes following steps:
S1:In response to switching to the crawling switching signal of crawling operating mode, the first torque of current time motor output is obtained;
The crawling switching signal includes crawling decision condition mark and motor rotating speed of target;Wherein, the crawling switching signal can be with
It is sent by remaining control unit, wherein the current time refers to the moment before switching to crawling operating mode, i.e., in this prior
I.e. controllable motor enters the working condition of crawling operating mode after moment.The crawling decision condition mark can characterize electronic
Automobile is which kind of operating mode to enter crawling operating mode by, wherein including mainly two ways:First way be by braking or
It slides and enters crawling operating mode, be in addition exactly other including slipping by slope not due to braking or slide into the side of crawling operating mode
Formula.
S2:Judge the crawling decision condition identify whether indicate electric vehicle by braking or sliding into crawling operating mode,
It is no to then follow the steps S4 if so then execute step S3;
S3:Control motor enters rotating speed pattern, makes motor while running on speed ring and torsion loop, and adjusts motor and turn
The output torque that speed controls motor to rotating speed of target simultaneously is less than or equal to first torque.When electric vehicle from braking or
It slides after switching to crawling operating mode traveling, control motor operates at speed ring and torsion loop simultaneously, therefore also can under crawling operating mode
The output torque of motor is controlled, and using the reality output torque of the motor detected before pattern switching as compacted
The maximum value of output torque under row operating mode, because electric vehicle is braking or sliding state before entering crawling operating mode,
So the speed that the driving intention of driver is desirable to electric vehicle continuously decreases, therefore make the output torque of motor in this programme
It keeps being consistently less than the output torque before pattern switching, and rational range is maintained at according to the cooperation of the rotating speed of target of motor
It is interior, can electric vehicle from brake or slide switch to crawling operating mode traveling under effectively avoid the output torque of motor from occurring
Electric vehicle velocity perturbation caused by large jump.
S4:Control motor enters rotating speed pattern, makes motor while running on speed ring and torsion loop, and adjusts motor and turn
The output torque of speed to rotating speed of target, control motor is more than first torque.When electric vehicle enters the condition of crawling operating mode
When being not by braking or sliding the case where causing, illustrate to enter crawling operating mode to be not due to the subjective deceleration meaning of driver
Caused by figure, in this case, although electric vehicle enters in crawling operating mode, the output torque of motor should be more than mould
In the range of the output torque of the front motor of formula switching, while the rotating speed of target of motor being coordinated to be regulated and controled, therefore can be in electricity
Electrical automobile is led due to effectively avoiding the output torque of motor from large jump occur when other reasons switch under crawling operating mode traveling
The electric vehicle velocity perturbation of cause.
Through the above scheme, it has been able to so that electric vehicle ensures the ride comfort of traveling when entering crawling operating mode.
In order to enable electric vehicle can also ensure the ride comfort of speed when being exited from crawling operating mode, as shown in Fig. 2, the method exists
Further include following steps on the basis of above-mentioned steps:
S5:In response to exiting the signal that exits of crawling operating mode, the second torque of current time motor output is obtained;Wherein,
The signal that exits can be sent by remaining control unit, wherein the current time refers to the wink before exiting crawling operating mode
Between, i.e., i.e. controllable motor enters acceleration with the working condition of normally travel after the moment in this prior.
S6:Control motor enters torque mode, makes motor operation in torsion loop, and the output torque for controlling motor is more than
Or it is equal to second torque.
When electric vehicle is exited from crawling operating mode, illustrate that electric vehicle needs to accelerate into normally travel operating mode, this
When motor output torque need to increase, therefore it is the motor output torque before pattern switching is defeated as motor after pattern switching
The minimum value for going out torque makes motor output torque more than the minimum value, while the demand torque of motor can be coordinated to obtain electricity
The reality output torque of machine.Since motor also runs on torsion loop in crawling operating mode therefore can be derived that pattern switching front motor
Output torque, and using it as the lower limiting value of adjusting range after pattern switching, therefore can be in electric vehicle from crawling
Operating mode exits effectively avoids the output torque of motor from electric vehicle velocity perturbation caused by large jump occur afterwards.
In above scheme provided in this embodiment, by making motor under entering crawling operating mode in electric vehicle while running on
The mode of speed ring and torsion loop can ensure that the output torque of motor is in the state that can be adjusted always.Also, in pattern
In handoff procedure, the motor output torque before being switched in mode according to the practical operation situation of electric vehicle always is as pattern
The boundary value of motor output torque after switching excessively arrives demand torque to be avoided that motor output torque can smooth out, keeps away
Exempt from motor output torque and ride comfort of the big influence of fluctuations to electric automobile during traveling occurs.
Embodiment 2
The present embodiment provides a kind of computer readable storage medium, instruction is stored in the computer readable storage medium
Information, computer can perform the Motor for Electric Automobile crawling operating mode described in being provided in embodiment 1 after reading described instruction information
Switch the either a program of control method for coordinating.The storage medium can store computer-readable instruction information to be any
The case where, which is to provide command information in electric vehicle, so that electric vehicle is being cut into crawling operating mode and from compacted
It can ensure that big variation will not occur for the output torque of motor when row operating mode exits, to ensure electric vehicle in crawling work
Traveling can be smoothed out in condition handoff procedure.
Embodiment 3
The present embodiment provides a kind of motor control assemblies, including at least one processor and at least one processor, at least
Command information is stored in one memory, at least one processor can perform implementation after reading described instruction information
The either a program of the Motor for Electric Automobile crawling operating mode switching control method for coordinating is provided in example 1.The motor control
Device can be the cooperation of random processor and memory in electric vehicle, can also can be with vehicle control unit of electric vehicle
The device that data interaction is carried out with electric machine controller, is also used as electric machine controller use, and electric vehicle can use the electricity
Machine control device control electric vehicle can ensure the output of motor when being cut into crawling operating mode and being exited from crawling operating mode
Big variation will not occur for torque, to ensure that electric vehicle can smooth out traveling in crawling operating mode handoff procedure.
Embodiment 4
A kind of Motor for Electric Automobile crawling operating mode of the present embodiment switches coordinated control system, as shown in figure 3, including vehicle
Controller 301, electric machine controller 302 and motor 303, are passed between entire car controller 301 and electric machine controller 302 by CAN lines
Defeated control signal and feedback signal.Entire car controller 301 sends the control signal of electrical machine working mode to electric machine controller 302,
Crawling decision condition identifier, rotating speed of target, the signals such as target torque;Electric machine controller 302 feeds back reality to entire car controller 301
Border rotating speed, the information such as actual torque.Wherein:
The entire car controller 301 determines that crawling is sentenced when detecting electric vehicle by braking or sliding into crawling operating mode
Fixed condition is identified as first identifier symbol and is determined compacted when detecting that electric vehicle is not by braking or sliding into crawling operating mode
Row decision condition is identified as second identifier symbol;Its transmission includes the crawling of crawling the decision condition mark and motor rotating speed of target
Switching signal is to the electric machine controller 302;Entire car controller 301 can obtain electricity in time as the control axis of electric vehicle
The situation of change of electrical automobile driving mode, and the rotating speed of target of motor can be obtained according to electric automobile during traveling state and
Above- mentioned information is sent to the electric machine controller 302 by one time, and electric machine controller 302 can control motor according to above- mentioned information
303 run according to preset condition.
The electric machine controller 302, in response to the crawling switching signal, obtain the output of current time motor first is turned round
Square;When the crawling decision condition identify indicate electric vehicle by braking or sliding into crawling operating mode when, control motor 303 into
Enter rotating speed pattern, make motor while running on speed ring and torsion loop, adjust motor speed to rotating speed of target and controls motor
Output torque is less than or equal to first torque.When electric vehicle from brake or slide switch to crawling operating mode travel after,
Control motor 303 operates at speed ring and torsion loop simultaneously, therefore can also be carried out to the output torque of motor 303 under crawling operating mode
Control, and turned round as the output under crawling operating mode using the reality output torque of the motor 303 detected before pattern switching
The maximum value of square, and being maintained in reasonable range according to the cooperation of the rotating speed of target of motor 303, can be in electric vehicle from braking
Or it slides to switch under crawling operating mode traveling and the output torque of motor is effectively avoided electric vehicle caused by large jump occur
Velocity perturbation.
Further, the electric machine controller 302, when the crawling decision condition identify indicate electric vehicle not be by
When braking or slide into crawling operating mode, control motor 303 enter rotating speed pattern, make motor 303 at the same run on speed ring with
Torsion loop, adjustment 303 rotating speed of motor to rotating speed of target and the output torque for controlling motor 303 are more than first torque.Also
It is to say, when it is by braking or sliding the case where causing that the condition that electric vehicle enters crawling operating mode, which is not, makes motor 303
Output torque coordinates the rotating speed of target of motor 303 in the range of more than the output torque of the front motor 303 of pattern switching
Regulated and controled, can electric vehicle due to other reasons switch to crawling operating mode traveling under when effectively avoid the output of motor from turning round
There is electric vehicle velocity perturbation caused by large jump in square.
In above scheme, the entire car controller 301 detects that electric vehicle switches to normally travel work by crawling operating mode
When condition, send exit crawling operating mode exit signal to the electric machine controller 302;The electric machine controller 302, in response to moving back
Go out the signal that exits of crawling operating mode, obtains the second torque of current time motor output;It controls motor 303 and enters torque mode,
Motor 303 is set to run on torsion loop, and the output torque for controlling motor 303 is greater than or equal to second torque.Due to electricity
Machine 303 also runs on torsion loop in crawling operating mode therefore can be derived that the output torque of pattern switching front motor, and in mould
Using it as the lower limiting value of adjusting range after formula switching, therefore it can effectively avoid electricity after electric vehicle is exited from crawling operating mode
There is electric vehicle velocity perturbation caused by large jump in the output torque of machine.
The workflow of the preferred embodiment of above system is illustrated in conjunction with attached drawing 4, VCU represents full-vehicle control in figure
Device 301, MCU represent electric machine controller 302.Such as figure:
After entire car controller 301, which detects, to be met into the condition of crawling, entire car controller 301 is to electric machine controller
302 send rotating speed of target and rotary speed working pattern.
When electric vehicle is by braking or sliding into crawling operating mode, entire car controller 301 is sent to electric machine controller 302
Identifier Flag=1;Electric machine controller 302 receive control signal after acquisition mode switching before motor output torque and will cut
Torque boundary maximum value of the real electrical machinery torque T 1 as rotating speed control mode before changing.Into after crawling operating mode, motor control
Device 302 operates under rotating speed pattern, while calculated torque ring and der Geschwindigkeitkreis, the rotating speed of target sent according to entire car controller 301
Calculate torque T 2;If T2>=T1 exports T1, otherwise exports T2, and electric machine controller 302 controls motor 303 and operates in target turn
Under speed.
When the condition that electric vehicle enters crawling is not to slide and brake, entire car controller 301 is to electric machine controller 302
The identifier of transmission is flag=0, and electric machine controller 302 is using the torque before being switched to rotating speed pattern as the torsion under rotating speed pattern
Square boundary minimum value T1;302 calculating speed ring of electric machine controller and torsion loop, if calculated torque T 2<=T1, motor control
Device 302 exports T1, otherwise exports T2.
Meet when exiting crawling condition, entire car controller 301 sends torque control mode and target to electric machine controller 302
Torque, electric machine controller 302 by the torque T 4 before pattern switching as the torque boundary minimum value under torque mode, if demand is turned round
Square T3<=T4 exports T4, otherwise exports T3.
Above scheme can improve the driving ride comfort when switching of crawling operating mode, need not additionally increase cost, easily realize.
Finally it should be noted that:The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that:It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features;
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (8)
1. a kind of Motor for Electric Automobile crawling operating mode switches control method for coordinating, which is characterized in that include the following steps:
In response to switching to the crawling switching signal of crawling operating mode, the first torque of current time motor output is obtained;It is described compacted
Row switching signal includes crawling decision condition mark and motor rotating speed of target;
If crawling decision condition mark indicates electric vehicle by braking or sliding into crawling operating mode,:
Control motor enters rotating speed pattern, makes motor while running on speed ring and torsion loop, and adjusts motor speed to mesh
The output torque that mark rotating speed controls motor simultaneously is less than or equal to first torque.
2. Motor for Electric Automobile crawling operating mode according to claim 1 switches control method for coordinating, which is characterized in that if
It is by braking or sliding into crawling operating mode, then that the crawling decision condition mark, which indicates that electric vehicle is not,:
Control motor enters rotating speed pattern, makes motor while running on speed ring and torsion loop, and adjusts motor speed to mesh
It marks rotating speed, control the output torque of motor more than first torque.
3. Motor for Electric Automobile crawling operating mode according to claim 1 or 2 switches control method for coordinating, feature exists
In further including following steps:
In response to exiting the signal that exits of crawling operating mode, the second torque of current time motor output is obtained;
Control motor enters torque mode, makes motor operation in torsion loop, and the output torque for controlling motor is greater than or equal to
Second torque.
4. a kind of computer readable storage medium, which is characterized in that be stored with instruction letter in the computer readable storage medium
Breath, computer can perform claim 1-3 any one of them Motor for Electric Automobile crawling works after reading described instruction information
Condition switches control method for coordinating.
5. a kind of motor control assembly, which is characterized in that at least described including at least one processor and at least one processor
Command information is stored in one memory, at least one processor can perform claim after reading described instruction information
1-3 any one of them Motor for Electric Automobile crawling operating modes switch control method for coordinating.
6. a kind of Motor for Electric Automobile crawling operating mode switches coordinated control system, which is characterized in that including entire car controller, electricity
Machine controller and motor, wherein:
The entire car controller determines crawling decision condition when detecting electric vehicle by braking or sliding into crawling operating mode
It is identified as first identifier symbol, when detecting that electric vehicle is not by braking or sliding into crawling operating mode, determines that crawling judges
Condition identity accords with for second identifier;It includes that the crawling decision condition mark and the crawling switching of motor rotating speed of target are believed that it, which sends,
Number to the electric machine controller;
The electric machine controller obtains the first torque of current time motor output in response to the crawling switching signal;Work as institute
When stating crawling decision condition mark expression electric vehicle by braking or sliding into crawling operating mode, control motor enters rotating speed mould
Formula makes motor while running on speed ring and torsion loop, adjustment motor speed to rotating speed of target and the output torque for controlling motor
Less than or equal to first torque.
7. Motor for Electric Automobile crawling operating mode according to claim 6 switches coordinated control system, it is characterised in that:
The electric machine controller is by braking or sliding into compacted when the crawling decision condition identifies expression electric vehicle not
When row operating mode, control motor enters rotating speed pattern, makes motor while running on speed ring and torsion loop, adjustment motor speed to mesh
It marks rotating speed and controls the output torque of motor more than first torque.
8. the Motor for Electric Automobile crawling operating mode described according to claim 6 or 7 switches coordinated control system, feature exists
In:
The entire car controller, when detecting that electric vehicle switches to normally travel operating mode by crawling operating mode, crawling is exited in transmission
Operating mode exits signal to the electric machine controller;
The electric machine controller, in response to exiting the signal that exits of crawling operating mode, obtain the output of current time motor second is turned round
Square;Control motor enters torque mode, makes motor operation in torsion loop, and the output torque for controlling motor is greater than or equal to institute
State the second torque.
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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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CN113147424A (en) * | 2021-04-19 | 2021-07-23 | 福建万润新能源科技有限公司 | Torque control method and system for smoothness of sudden acceleration and deceleration working condition of electric automobile and storage device |
CN113147424B (en) * | 2021-04-19 | 2023-11-28 | 福建万润新能源科技有限公司 | Torque control method, system and storage device for electric automobile sudden acceleration and deceleration working condition smoothness |
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