CN108621859A - A kind of drive control method of pure electric automobile - Google Patents
A kind of drive control method of pure electric automobile Download PDFInfo
- Publication number
- CN108621859A CN108621859A CN201710183057.3A CN201710183057A CN108621859A CN 108621859 A CN108621859 A CN 108621859A CN 201710183057 A CN201710183057 A CN 201710183057A CN 108621859 A CN108621859 A CN 108621859A
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- Prior art keywords
- battery
- speed
- accelerator pedal
- torque
- control method
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Classifications
-
- 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
- B60L15/2045—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 for optimising the use of energy
-
- 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
- B60L2240/54—Drive Train control parameters related to batteries
-
- 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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/26—Transition between different drive modes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention relates to a kind of drive control methods of pure electric automobile, power drive mode or Economy urge factor mode activated, the cruising ability demand of allowing for driver's dynamic property and battery can be pressed by differentiating that vehicle speed, accelerator pedal aperture, accelerator pedal aperture change rate and SOC realize automatic identification and control.
Description
Technical field
The invention belongs to new-energy automobile dynamical system control fields, are specifically related to a kind of drive control of pure electric automobile
Method.
Background technology
In recent years, China's automobile industry is fast-developing, and great impetus is played to the economic development of society.Tradition
The quantity of vehicle is growing day by day, leads to the increase of motor vehicle exhaust emission, air pollution getting worse.New-energy automobile is as a new generation
Automobile product have for reducing consumption of petroleum and harmful motor vehicle exhaust emission since its power is mostly from electric energy
Important meaning.Pure electric vehicle power component is driving motor, and motor opposite engine has good accelerating ability, noise
The advantages such as small, the use cost of pure electric automobile are relatively low.Therefore consider the excellent of energy-saving and environmental protection and use cost etc.
Gesture, pure electric automobile have become the prior development direction of new-energy automobile.
Invention content
The purpose of the present invention is to provide a kind of drive control methods of pure electric automobile, can be automatic according to riving condition
Corresponding driving mode is selected, the drive demand of different-style driver is met；It can also be effectively protected the application of battery simultaneously.
The present invention is achieved through the following technical solutions：A kind of drive control method of pure electric automobile, the pure electricity
Electrical automobile includes battery, E-Gas, and can receive the angle of gas pedal, the signal of motor speed and battery capacity and control
The controller of battery output processed, control method include the following steps：
S1：Controller receives the information of the angle a of electronic accelerator pedal, motor speed n and battery capacity SOC, and by as follows
Accelerator pedal change rate r and speed v is calculated in formula： r(K)=[p(k)- p(k-1)]/Δt;
Wherein：P is pedal aperture, and p=a/a is maximum, and Δ t is the sampling period of pedal aperture, and unit is the second；
v=0.377rn/igio；
Wherein：R is tire radius, and n is motor speed, igFor transmission ratio, ioFor final driver ratio.
S2：When simultaneously meet speed be more than 50km/h, accelerator pedal aperture be more than 50%, accelerator pedal change rate be more than 10,
And it when battery dump energy is more than 30%, is driven by power drive mode；Otherwise Economy urge factor mode activated is pressed.
S3：The output torque of motor is controlled as follows：
Tr=L*Tmax(n);
In formula, L is torque load coefficient, the torque capacity that Tmax can send out for the power part under current rotating speed；
Under power drive mode, torque load coefficient is obtained by following formula：
L=-5.13*10-5*p2+0.0148*p+0.0286;
It is obtained by following formula in the torque load coefficient of economic driving mode：
L=8.87*10-5*p2+7.92*10-4*p+0.0274;
In formula, L is torque load coefficient, and p is pedal aperture.
Further：When drive mode changes, controller control output torque is risen or fallen with the rate of 900N/s.
Further：When controller detects that battery motor breaks down or temperature is more than in allowable range, by economy
Drive mode drives.
Further：The temperature allowed range is -30-40 degrees Celsius.
The beneficial effects of the invention are as follows：The present invention automatically controls the drive mode of vehicle by the acquisition to parameters,
The cruising ability demand of effective allowing for driver's dynamic property and battery, while also there is easy to operate, the soft, reliability of variation
High advantage.
Specific implementation mode
Electric vehicle generally includes the battery for driving, E-Gas and controller for controlling speed.Electronics
Throttle is equipped with the angular transducer for testing its folding angle, and controller receives angle, motor speed and the battery of gas pedal
The data of electricity, while battery output is controlled by certain way by calculating, to drive vehicle.Before automobile gear level is automatic
When into shelves, output control method includes the following steps：
S1：Controller receives the information of the angle a of electronic accelerator pedal, motor speed n and battery capacity SOC, and by as follows
Accelerator pedal change rate r and speed v is calculated in formula： r(K)=[p(k)- p(k-1)]/Δt;
Wherein：P is pedal aperture, and p=a/a is maximum, and Δ t is the sampling period of pedal aperture, and unit is the second；In this programme not
The unit indicated is international unit.
v=0.377rn/igio；
Wherein：R is tire radius, and n is motor speed, igFor transmission ratio, ioFor final driver ratio.
S2：When simultaneously meet speed be more than 50km/h, accelerator pedal aperture be more than 50%, accelerator pedal change rate be more than 10,
And it when battery dump energy is more than 30%, is driven by power drive mode；Otherwise Economy urge factor mode activated is pressed.
S3：The output torque of motor is controlled as follows：
Tr=L*Tmax(n);
In formula, L is torque load coefficient, the torque capacity that Tmax can send out for the power part under current rotating speed；
Under power drive mode, torque load coefficient is obtained by following formula：
L=-5.13*10-5*p2+0.0148*p+0.0286;
It is obtained by following formula in the torque load coefficient of economic driving mode：
L=8.87*10-5*p2+7.92*10-4*p+0.0274;
In formula, L is torque load coefficient, and p is pedal aperture.
Preferably：When drive mode changes, controller control output torque is risen or fallen with the rate of 900N/s.
Preferably：When controller detects that battery motor breaks down or temperature is more than in allowable range, driven by economical
Dynamic mode activated.
Preferably：The temperature allowed range is -30-40 degrees Celsius.
Battery dump energy SOC of the present invention is estimated to obtain by battery management system, and entire car controller passes through CAN communication bus
Receive SOC signals.
Increase torque output under dynamic mode, pedal answers sensitivity to moment of torsion, and under identical accelerator pedal aperture, power drives
The more economical drive mode of dynamic model formula has larger torque output, improves power performance demand of the driver to vehicle；Economic model
Torque output is reduced, maximum driving speed of vehicle is limited, reduces discharge-rate, improve battery uses capacity and service efficiency.
The target pattern of this programme automatic identification strategy is two kinds of dynamic mode and economic model, by identifying speed, adding
The parameters such as speed pedal aperture, accelerator pedal aperture change rate, battery electrical fault grade, battery motor temperature are completed, and vehicle is worked as
Run at high speed, accelerator pedal aperture and change rate it is larger to show that driver requires the power performance of vehicle high, it is such as electric at this time
Machine battery fault-free and power part temperature is within the allowable range, recognition result are biased to dynamic mode；Accelerator pedal change rate is got over
Greatly, show that driver is higher to the urgency of power demand, recognition result is more biased to dynamic property；In addition to this, work as remaining battery
When electricity SOC is relatively low, even if detecting that driver has stronger acceleration to be intended to, for less energy consumption, extending driving range, identification is got over
It is partial to economic model.
The pure electric vehicle vehicle of this programme is using E-Gas, therefore itself is a angle displacement transducers for pedal
Device, its loyal monitoring driver step on the throttle the depth degree of pedal.The demand torque of vehicle traveling is then by torque load system
The torque capacity that number can be output with the motor under current rotating speed determines：
Tr=L*Tmax(n)。
Under economic driving mode, motor is less efficient in high rotating speed, limits the economic vehicle traveling driven under gear most
High speed, max. speed are limited in 120km/h, control the operating point of motor in higher efficiency section, while reducing attachment
The power consumption of air-conditioning etc. is the half of maximum value, extends pure electric vehicle continual mileage.
It is insufficient in order to make up dynamic property under driving mode under Economy urge factor pattern, it is mended using Economy urge factor pattern torque
Strategy is repaid, on the basis of the benchmark demand torque of accelerator pedal control characteristic, according to accelerator pedal aperture and its change rate to base
Quasi- torque compensates.
Under economic driving mode, when vehicle start, the idling for mainly simulating traditional vehicle is creeped function, and setting is electronic
Vehicle idling 6km/h, control vehicle is quick, gentle start controls vehicle and reaching one in not stepping on accelerator pedal and brake pedal
Idling is creeped under fixed relatively low speed.
Under economic driving mode, entire car controller identify electricity climb operating mode when, send an initial moment order, torque with
The increase of speed and smoothly reduce, be finally reached a stabilizing torque, vehicle is also travelled with a relatively low speed.
Under economic driving mode, idling creeps and mainly uses PI control strategies, and control is with actual vehicle speed and ideal speed
Error be input, by adjust torque size come make vehicle actual vehicle speed smoothly approach and reach final speed come idling
It creeps.
Under economic driving mode, vehicle, when the electricity of battery is less than 30%, will receive dynamic in normal course of operation
The insufficient alarm signal of power battery capacity, at this time vehicle enter the limping stage, limit the maximum discharge power of battery, be multiplied by certain
Correction factor b, b is the number between 0 to 1.
Pbat=b*Pbat.max,
Under economic driving mode, vehicle is in limping operating mode, the size of output torque limiting function, maximum output torque by battery by
It limits maximum discharge power to determine, reduces vehicle energy consumption, extending driving range makes vehicle smoothly reach suitable charging place and carries out
Charging.
Under economic driving mode, vehicle carries out astern condition, as vehicle has reverse gear demand, limitation vehicle to travel highest vehicle
Speed is 40km/h.
Under reverse gear operating mode, when accelerator pedal aperture remains unchanged, has an initial moment and protected substantially when speed is relatively low
Hold it is constant, until speed, when reaching a certain speed 10km/h, torque reduces with the increase of speed, and final vehicle at the uniform velocity travels,
Speed maintains one compared with safe speed.Corresponded under different accelerator pedal apertures initial moment difference, and the initial moment with step on
Plate aperture is at monotone increasing relationship.
Claims (4)
1. a kind of drive control method of pure electric automobile, the pure electric automobile includes battery, E-Gas, and can be received
The angle of gas pedal, the signal of motor speed and battery capacity and the controller for controlling battery output, it is characterised in that：Including
Following steps：
S1：Controller receives the information of the angle a of electronic accelerator pedal, motor speed n and battery capacity SOC, and by as follows
Accelerator pedal change rate r and speed v is calculated in formula：；
Wherein：P is pedal aperture,a/aIt is maximum,For the sampling period of pedal aperture, unit is the second；
；
Wherein：R is tire radius, and n is motor speed,For transmission ratio,For final driver ratio；
S2：When simultaneously meet speed be more than 50km/h, accelerator pedal aperture be more than 50%, accelerator pedal change rate be more than 10 and
When battery dump energy is more than 30%, driven by power drive mode；Otherwise Economy urge factor mode activated is pressed；
S3：The output torque of motor is controlled as follows：
In formula, L is torque load coefficient,The torque capacity that can be sent out for the power part under current rotating speed；
Under power drive mode, torque load coefficient is obtained by following formula：
；
It is obtained by following formula in the torque load coefficient of economic driving mode：
；
In formula, L is torque load coefficient, and p is pedal aperture.
2. drive control method according to claim 1, it is characterised in that：When drive mode changes, controller control
Output torque is risen or fallen with the rate of 900N/s.
3. drive control method according to claim 1 or 2, it is characterised in that：When controller detects that battery motor goes out
When existing failure or temperature are more than in allowable range, by Economy urge factor mode activated.
4. drive control method according to claim 3, it is characterised in that：The temperature allowed range is that -30-40 takes the photograph
Family name's degree.
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| CN201710183057.3A CN108621859A (en) | 2017-03-24 | 2017-03-24 | A kind of drive control method of pure electric automobile |
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| CN201710183057.3A CN108621859A (en) | 2017-03-24 | 2017-03-24 | A kind of drive control method of pure electric automobile |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131333A (en) * | 2018-10-17 | 2019-01-04 | 奇瑞汽车股份有限公司 | A kind of electronic vapour driving mode control system and method |
| CN109383511A (en) * | 2018-10-17 | 2019-02-26 | 天津易众腾动力技术有限公司 | A kind of method of electric vehicle driver acceleration request intents |
| CN109398362A (en) * | 2018-11-02 | 2019-03-01 | 盛瑞传动股份有限公司 | The recognition methods and system of driving intention |
| CN111055724A (en) * | 2019-12-30 | 2020-04-24 | 重庆长安汽车股份有限公司 | Energy management system and method for pure electric automobile, vehicle and storage medium |
| CN111137140A (en) * | 2020-03-03 | 2020-05-12 | 厦门金龙联合汽车工业有限公司 | Acceleration control method of electric automobile |
| CN111186339A (en) * | 2018-11-14 | 2020-05-22 | 北京宝沃汽车有限公司 | Vehicle control method and system and vehicle |
| CN111539686A (en) * | 2020-04-22 | 2020-08-14 | 成都云科新能汽车技术有限公司 | Transportation management monitoring method based on vehicle running record visualization |
| CN112721629A (en) * | 2021-01-12 | 2021-04-30 | 广州橙行智动汽车科技有限公司 | Acceleration control method, acceleration control device, vehicle and storage medium |
| CN113135096A (en) * | 2020-01-17 | 2021-07-20 | 北京配天技术有限公司 | Electric vehicle energy management control method and system and computer storage medium |
| CN114312341A (en) * | 2020-09-30 | 2022-04-12 | 比亚迪股份有限公司 | Electric vehicle and energy-saving control method and device thereof |
| CN114312789A (en) * | 2020-09-30 | 2022-04-12 | 深圳臻宇新能源动力科技有限公司 | Vehicle control method, control system and vehicle |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131333A (en) * | 2018-10-17 | 2019-01-04 | 奇瑞汽车股份有限公司 | A kind of electronic vapour driving mode control system and method |
| CN109383511A (en) * | 2018-10-17 | 2019-02-26 | 天津易众腾动力技术有限公司 | A kind of method of electric vehicle driver acceleration request intents |
| CN109398362A (en) * | 2018-11-02 | 2019-03-01 | 盛瑞传动股份有限公司 | The recognition methods and system of driving intention |
| CN111186339B (en) * | 2018-11-14 | 2021-07-20 | 北京宝沃汽车有限公司 | Vehicle control method and system and vehicle |
| CN111186339A (en) * | 2018-11-14 | 2020-05-22 | 北京宝沃汽车有限公司 | Vehicle control method and system and vehicle |
| CN111055724A (en) * | 2019-12-30 | 2020-04-24 | 重庆长安汽车股份有限公司 | Energy management system and method for pure electric automobile, vehicle and storage medium |
| CN113135096A (en) * | 2020-01-17 | 2021-07-20 | 北京配天技术有限公司 | Electric vehicle energy management control method and system and computer storage medium |
| CN111137140B (en) * | 2020-03-03 | 2021-06-04 | 厦门金龙联合汽车工业有限公司 | Acceleration control method of electric automobile |
| CN111137140A (en) * | 2020-03-03 | 2020-05-12 | 厦门金龙联合汽车工业有限公司 | Acceleration control method of electric automobile |
| CN111539686A (en) * | 2020-04-22 | 2020-08-14 | 成都云科新能汽车技术有限公司 | Transportation management monitoring method based on vehicle running record visualization |
| CN111539686B (en) * | 2020-04-22 | 2023-09-08 | 成都云科新能汽车技术有限公司 | Transportation management monitoring method based on vehicle running record visualization |
| CN114312341A (en) * | 2020-09-30 | 2022-04-12 | 比亚迪股份有限公司 | Electric vehicle and energy-saving control method and device thereof |
| CN114312789A (en) * | 2020-09-30 | 2022-04-12 | 深圳臻宇新能源动力科技有限公司 | Vehicle control method, control system and vehicle |
| CN114312341B (en) * | 2020-09-30 | 2023-12-12 | 比亚迪股份有限公司 | Electric vehicle and energy-saving control method and device thereof |
| CN112721629A (en) * | 2021-01-12 | 2021-04-30 | 广州橙行智动汽车科技有限公司 | Acceleration control method, acceleration control device, vehicle and storage medium |
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Application publication date: 20181009 |