CN108621860A - Electric vehicle from energy regenerating to driving during torque control method and system - Google Patents
Electric vehicle from energy regenerating to driving during torque control method and system Download PDFInfo
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- CN108621860A CN108621860A CN201810332980.3A CN201810332980A CN108621860A CN 108621860 A CN108621860 A CN 108621860A CN 201810332980 A CN201810332980 A CN 201810332980A CN 108621860 A CN108621860 A CN 108621860A
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- 230000001172 regenerating effect Effects 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000007704 transition Effects 0.000 claims abstract description 128
- 238000011084 recovery Methods 0.000 claims abstract description 17
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 7
- 230000002411 adverse Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 10
- 230000009193 crawling Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 102220560218 Calcium/calmodulin-dependent protein kinase type IV_S12A_mutation Human genes 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 102220560241 Calcium/calmodulin-dependent protein kinase type IV_S13A_mutation Human genes 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
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
- 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
- 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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
-
- 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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- 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
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provide a kind of electric vehicle from energy regenerating to driving during torque control method and system, if electric vehicle is in energy recovery state and gas pedal is operated, obtains and trample the corresponding output torque of degree as target torque with gas pedal；Transition torque is obtained according to motor current output torque and target torque, transition torque is between motor current output torque and target torque；The output torque of control motor first reaches transition torque, then controls the output torque of motor and reach target torque.By the way that transition torque is arranged between motor current output torque and target torque, control motor first reaches transition torque from current output torque, later target torque is reached from transition torque, can put down to the output torque of motor during realizing electric vehicle from energy regenerating to driving and, it is seamlessly transitted since the output torque of motor is accomplished that, the adverse effect of motor is greatly reduced, so as to extend the service life of motor.
Description
Technical field
The present invention relates to technical field of new energy, and in particular to a kind of electric vehicle is from energy regenerating to driving
Torque control method in journey and system.
Background technology
Energy problem is one urgent problem of modernized society, and fossil energy, which will exhaust, creates new energy
The birth of automobile；And why electric automobile market accounting is still far below gasoline car, course continuation mileage is exactly a most critical
Problem, energy recovery function are born with regard to this, extend course continuation mileage as far as possible in the case that battery capacity is limited.Energy returns
Receipts refer to：On electric vehicle, when driving motor does not operate electric energy, the inertia of electric vehicle makes wheel drive motor rotation
Power generation is power battery charging, so that this kinergety being wasted is changed into electric energy and supplements to electric vehicle, to real
The recycling of braking energy is showed.In electric automobile energy removal process, the output torque of motor is negative value.
Electric vehicle all can make the output torque of motor straight from energy regenerating to normal driving process in the prior art
It connects using the torque value during normal driving as the target torque of motor, therefore in this course, the output torque of motor
Can peak torque be jumped to from negative value in a short period of time, electric vehicle will appear larger fluctuation, and processing in this way influences very much
Ride comfort.Moreover, the output torque of motor often directly reaches peak torque when driving from negative torque, for motor
Service life also have a significant impact.
Invention content
Present invention seek to address that in the prior art electric vehicle fluctuated from energy regenerating to normal driving process vehicle it is larger
The technical issues of influencing ride comfort and shortening the service life of motor, and then a kind of electric vehicle of offer is returned from energy
Receive the torque control method and system during driving.
To solve the above problems, the present invention provide a kind of electric vehicle from energy regenerating to driving during torque control
Method processed, including：
Target torque obtaining step：If electric vehicle is in energy recovery state and gas pedal is operated, obtain
The corresponding output torque of degree is trampled as target torque with gas pedal；
Transition torque obtaining step：Transition torque is obtained according to motor current output torque and the target torque, it is described
Transition torque is between motor current output torque and the target torque；
Rate-determining steps：The output torque of control motor first reaches the transition torque, then controls the output torque of motor and reach
To the target torque.
In said program, when electric vehicle is during energy recovery state switches to normal driving, root is not used directly
Adjustment target of the corresponding target torque of degree as motor output torque is trampled according to gas pedal, but it is currently defeated in motor
Go out setting transition torque between torque and target torque, control motor first reaches transition torque, Zhi Hou from current output torque
Target torque is reached from transition torque, to the output torque of motor during realizing electric vehicle from energy regenerating to driving
It can put down moreover, because the output torque of motor is accomplished that and seamlessly transits, the adverse effect of motor is greatly reduced, from
And the service life of motor can be extended.
Optionally, the torque control method during above-mentioned electric vehicle is from energy regenerating to driving, in, the mistake
It crosses in torque obtaining step：Difference between the transition torque and torque zero is less than or equal to predetermined threshold value.Because from energy
Amount is recovered to during driving, and the output torque of motor can be converted to positive-torque from negative torque, so the shaft of motor can turned round
The conversion from direction of rotation is realized at square zero, if motor switchs to the very big rotating speed of positive from the very big rotating speed of reverse phase, to motor
Damage is prodigious, therefore so that motor is reduced in torque zero crossings rotating speed in torque zero crossings the setting of transition torque
To desired speed, the damage to motor can be further decreased in the transformation of realization phase later.
Optionally, the torque control method during above-mentioned electric vehicle is from energy regenerating to driving, in, the mistake
It crosses in torque obtaining step, the predetermined threshold value is less than or equal to 10Nm.Because electric vehicle is in energy recovery state, electricity
The output torque of machine is generally -35Nm, -45Nm, and its target torque can generally reach during electric vehicle restores normal driving
Near to 100Nm or higher.Transition torque is set within the scope of -10Nm to 10Nm, this range accounts for entire variation range
15% or so, it can realize seamlessly transitting for motor output torque, and make the output torque of motor attached in torque zero again
Close is not in the too great fluctuation process on rotating speed.
Optionally, in the torque control method during above-mentioned electric vehicle is from energy regenerating to driving, the transition
In torque obtaining step：The transition torque includes First Transition torque and the second transition torque, wherein the First Transition is turned round
Square is less than the second transition torque；In the rate-determining steps：The output torque of control motor first reaches the First Transition and turns round
Square, the output torque for controlling motor later reach the second transition torque, then control the output torque of motor and reach the mesh
Mark torque.Because of the control to motor output torque, need that information command is coordinated to realize, theoretically the quantity of transition torque
More, the transient process of motor output torque is more smooth, and ride comfort is better, but it needs to change the increasing of information command
Also more, the mode of two transition torques is proposed in said program, and the fluctuation of vehicle is hardly felt in riding process,
Extraordinary experience by bus is had arrived at, and information command at most needs to increase by two, it is easy to accomplish.
Optionally, in the torque control method during above-mentioned electric vehicle is from energy regenerating to driving, the transition
In torque obtaining step：The transition torque includes third transition torque and the 4th transition torque, wherein the third transition is turned round
Square is less than torque zero, and the 4th transition torque is more than torque zero；In the rate-determining steps：The output for controlling motor is turned round
Square first reaches the third transition torque, and the output torque for controlling motor later reaches the 4th transition torque, then controls electricity
The output torque of machine reaches the target torque.In said program, select in two transition torques and two transition torques
One before torque zero, another can ensure the shaft of motor from being inverted to positive phase inversion after torque zero
During be not in larger velocity variations, further extend the service life of motor.
Optionally, in the torque control method during above-mentioned electric vehicle is from energy regenerating to driving, the third
Transition torque is -5Nm, and the 4th transition torque is 2Nm.A kind of preferred motor output torque mistake is proposed in this programme
Scheme is crossed, driving motor may be implemented from negative torque to peak torque quick and smooth transition, people on vehicle when increasing running car
The comfort of member, and dynamic torque response is not influenced.
Conceived based on same side, the present invention also provides a kind of computer readable storage medium, is stored in the storage medium
There is a command information, computer, which is read, can perform electric vehicle described in any of the above item after described instruction information from energy regenerating
Torque control method during to driving.The storage medium provided in this programme, can be it is any can store computer can
The case where reading instruction information, the storage medium be electric vehicle in command information is provided so that electric vehicle from energy regenerating to
In torque control method during driving, the output torque of motor quickly and smoothly transits to target torque from negative torque,
It improves the comfort of passenger and effectively extends the service life of motor.
Conceived based on same side, the present invention also provides a kind of motor control assembly, including at least one processor and at least
One memory, command information is stored at least one memory, and at least one memory reads described instruction
Torque control method during electric vehicle described in any one of the above embodiments be can perform after information from energy regenerating to driving.This
The motor control assembly provided in scheme can be the cooperation of random processor and memory in electric vehicle, can also can
The device of data interaction is carried out with vehicle control unit of electric vehicle and electric machine controller, being also used as electric machine controller makes
Torque control during the motor control assembly capable of being used to control electric vehicle from energy regenerating to driving with, electric vehicle
In method processed, the output torque of motor quickly and smoothly transits to target torque from negative torque, improves the comfortable of passenger
Property and effectively extend motor service life.
Based on same inventive concept, the torsion during the present invention also provides a kind of electric vehicles from energy regenerating to driving
Square control system, including entire car controller, electric machine controller and motor, wherein：
The entire car controller detects accelerator pedal signal, and will be oily when electric vehicle is in energy recovery state
Door pedal signal is sent to the electric machine controller；The electric machine controller obtains the oil that the entire car controller is sent
Door pedal signal obtains that with gas pedal to trample degree corresponding if the accelerator pedal signal indicates that gas pedal is operated
Output torque as target torque；Transition torque, the mistake are obtained according to motor current output torque and the target torque
Torque is crossed between motor current output torque and the target torque；The output torque of control motor first reaches the mistake
Torque is crossed, then controls the output torque of motor and reaches the target torque.
In said program, since entire car controller can be interacted with gas pedal, while it can be handed over electric machine controller
Mutually, therefore the transport condition of electric vehicle can be got in real time by entire car controller, and is changed according to electronic vehicle attitude
The output torque quick and smooth that motor is controlled by electric machine controller transits to target torque, improves the comfortable of passenger
Property and effectively extend motor service life.
Optionally, in the torque control system during above-mentioned electric vehicle is from energy regenerating to driving, the motor
Difference between the transition torque that controller obtains and torque zero is less than or equal to predetermined threshold value.It, will in said program
Transition torque is arranged in torque zero crossings, so that motor is reduced to desired speed in torque zero crossings rotating speed, is realizing later
The transformation of phase can further decrease the damage to motor.
Above technical scheme provided by the invention at least has the advantages that compared with prior art：
Electric vehicle provided by the invention from energy regenerating to driving during torque control method and system, if electric
Electrical automobile is in energy recovery state and gas pedal is operated, then obtains and trample the corresponding output of degree with gas pedal
Torque is as target torque；Transition torque, the transition torque are obtained according to motor current output torque and the target torque
Between motor current output torque and the target torque；The output torque of control motor first reaches the transition torque,
The output torque for controlling motor again reaches the target torque.By being set between motor current output torque and target torque
Transition torque is set, control motor first reaches transition torque from current output torque, reaches target torsion from transition torque later
Square, to which the output torque of motor during realizing electric vehicle from energy regenerating to driving can be put down moreover, because motor
Output torque, which is accomplished that, to be seamlessly transitted, and is greatly reduced to the adverse effect of motor, so as to extend the use longevity of motor
Life.
Description of the drawings
Fig. 1 be one embodiment of the invention described in electric vehicle from energy regenerating to driving during moment of torsion control side
The flow chart of method；
Fig. 2 be one embodiment of the invention described in electric vehicle from energy regenerating to driving during moment of torsion control system
The functional block diagram of system；
Fig. 3 is that motor is controlled during energy regenerating, normal driving is defeated for electric vehicle described in one embodiment of the invention
Go out the flow chart of change in torque.
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 attached drawing
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 should not be understood as the limit to the present invention
System.In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply relatively heavy
The property wanted.Wherein, term " first position " and " second position " are two different positions.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ",
" connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, can also be electrical connection；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection of two component internals.For the ordinary skill in the art, can be understood with concrete condition above-mentioned
The concrete meaning of term in the present 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 judges whether electric vehicle enters crawling operating mode or whether exited from crawling operating mode and method in the prior art may be used
Realization directly carries out analysis to electric automobile during traveling state by entire car controller and can be obtained accordingly result, and whole
The information such as rotating speed of target and the target torque of motor can be calculated in vehicle controller.The above process is in the examples below not
It is discussed in detail again.
Embodiment 1
A kind of torque control method during the present embodiment provides electric vehicles from energy regenerating to driving, Ke Yiyong
In the control module of control motor in electric automobile operating status, it is further to note that the method in the present embodiment is used for
Electric vehicle comes under energy recovery state, and core is that control electric vehicle switches to normally from energy recovery state
Driving condition, as shown in Figure 1, the method includes：
S1：Target torque obtaining step：If electric vehicle is in energy recovery state and gas pedal is operated,
It obtains and tramples the corresponding output torque of degree as target torque with gas pedal；In this step, gas pedal tramples degree
Can be obtained by entire car controller, electric vehicle be under energy recovery state if gas pedal be operated illustrate it is electronic
Automobile needs to enter normal drive condition, target torque can be calculated according to the degree of trampling of gas pedal at this time.Separately
It outside, can be by throttle since entire car controller and motor control module all include the control chip for having processing capacity
Pedal tramples the correspondence of degree and target torque, and either computation model prestores to entire car controller or motor control module
In, so this step can be realized by entire car controller or be realized by motor control module.When full-vehicle control module
When calculating target torque, motor control module directly acquires target torque.
S2：Transition torque obtaining step：Transition torque is obtained according to motor current output torque and the target torque,
The transition torque is between motor current output torque and the target torque；The transition torque may include one
Or it is multiple, it can be selected near torque zero (i.e. 0Nm) when transition torque is one, such as -1Nm or 1Nm etc., when
When transition torque is multiple, one of transition torque can be selected in torque zero crossings, remaining transition torque and torque
Difference even variation between zero.Such as, three transition torques, respectively -1Nm, 5Nm, 11Nm are selected.
S3：Rate-determining steps：The output torque of control motor first reaches the transition torque, then controls the output torsion of motor
Square reaches the target torque.
In above scheme, when electric vehicle is during energy recovery state switches to normal driving, root is not used directly
Adjustment target of the corresponding target torque of degree as motor output torque is trampled according to gas pedal, but it is currently defeated in motor
Go out setting transition torque between torque and target torque, control motor first reaches transition torque, Zhi Hou from current output torque
Target torque is reached from transition torque, to the output torque of motor during realizing electric vehicle from energy regenerating to driving
It can put down moreover, because the output torque of motor is accomplished that and seamlessly transits, the adverse effect of motor is greatly reduced, from
And the service life of motor can be extended.
As previously mentioned, in step s 2, the difference between the preferably described transition torque and torque zero is less than or equal to pre-
If threshold value is because during from energy regenerating to driving, the output torque of motor can be converted to positive-torque from negative torque, so electric
The shaft of machine can realize the conversion from direction of rotation at torque zero, if motor switchs to positive very from the very big rotating speed of reverse phase
Big rotating speed, the damage to motor are prodigious, therefore transition torque is arranged in torque zero crossings, make motor in torque zero
Nearby rotating speed is reduced to desired speed to point, can further decrease the damage to motor in the transformation of realization phase later.It is excellent
Selection of land, the predetermined threshold value can be set according to the adjustable range between current torque to target torque, such as can be with
Selection is within the 20% of above-mentioned adjustable range, such as the predetermined threshold value is less than or equal to 10Nm.Because electric vehicle is in energy
When measuring recycling state, the output torque of motor is generally -35Nm, -45Nm, and electric vehicle restores during normal driving it
Target torque can generally reach near 100Nm or higher.Transition torque is set within the scope of -10Nm to 10Nm, this model
It encloses and accounts for 15% or so of entire variation range, can realize seamlessly transitting for motor output torque, and make the output of motor again
Torque is not in the too great fluctuation process on rotating speed in torque zero crossings.
In above scheme, the preferably described transition torque includes First Transition torque and the second transition torque, wherein described
One transition torque is less than the second transition torque；Correspondingly, the output torque for controlling motor first reaches the First Transition torsion
Square, the output torque for controlling motor later reach the second transition torque, then control the output torque of motor and reach the mesh
Mark torque.The wherein described First Transition torque and the second transition torque are respectively positioned on torque zero crossings, and the two both can be all
For negative torque, can also all be positive-torque, can using one be negative torque another as positive-torque.It is turned round because being exported to motor
The control of square needs that information command is coordinated to realize, theoretically the quantity of transition torque is more, the transition of motor output torque
Process is more smooth, and ride comfort is better, but it needs to change the increasing of information command also more, is proposed in said program
The mode of two transition torques hardly feels the fluctuation of vehicle in riding process, has arrived at extraordinary body by bus
It tests, and information command at most needs to increase by two, it is easy to accomplish.
As previously mentioned, when selecting two transition torques, the relationship of two transition torques and torque zero can be selected.
It is preferred that one in two transition torques and two transition torques is before torque zero, another after torque zero,
It can ensure the velocity variations that the shaft of motor is not in larger during be inverted to positive phase inversion, further extend
The service life of motor.Therefore, in above-mentioned dark bar, the transition torque includes third transition torque and the 4th transition torque,
Described in third transition torque be less than torque zero, the 4th transition torque be more than torque zero；Control the output of motor
Torque first reaches the third transition torque, and the output torque for controlling motor later reaches the 4th transition torque, then controls
The output torque of motor reaches the target torque.More than, the preferably described third transition torque be -7Nm, -5Nm, -3Nm etc.,
The 4th transition torque is 1Nm, 2Nm, 5Nm etc..A kind of preferred motor output torque transition side is proposed in this programme
Case, may be implemented driving motor from negative torque to peak torque quick and smooth transition, passengers inside the car when increasing running car
Comfort, and do not influence dynamic torque response.
Embodiment 2
The present embodiment provides a kind of computer readable storage medium, it is stored with command information in the storage medium, calculates
Machine-readable take can perform electric vehicle described in 1 either a program of embodiment after described instruction information from energy regenerating to driving
Torque control method in journey.The storage medium can be any the case where capable of storing computer-readable instruction information,
The storage medium be electric vehicle in command information is provided so that electric vehicle from energy regenerating to driving during torque
In control method, the output torque of motor quickly and smoothly transits to target torque from negative torque, improves passenger
Comfort and the service life for effectively extending motor.
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 memory can perform in fact after reading described instruction information
Torque control method during the electric vehicle described in 1 either a program of example is applied from energy regenerating to driving.The motor control
Device processed can be the cooperation of random processor and memory in electric vehicle, can also can be controlled with electric automobile whole
Device and electric machine controller carry out the device of data interaction, are also used as electric machine controller use, and electric vehicle can use
The motor control assembly control electric vehicle from energy regenerating to driving during torque control method in, the output of motor
Torque quickly and smoothly transits to target torque from negative torque, improves the comfort of passenger and effectively extends motor
Service life.
Embodiment 4
Torque control system during the present embodiment provides a kind of electric vehicles from energy regenerating to driving, such as Fig. 2 institutes
Show, including entire car controller 10, electric machine controller 20 and motor 30, passes through between entire car controller 10 and electric machine controller 20
CAN lines transmission of control signals and feedback signal.Entire car controller 10 sends accelerator pedal signal, motor to electric machine controller 20
The signals such as rotating speed of target, motor target torque；The signal control motor that electric machine controller 20 is sent according to entire car controller 10
30 operations, and feed back actual speed, the information such as actual torque to entire car controller 10.
The entire car controller 10 detects accelerator pedal signal, and will when electric vehicle is in energy recovery state
Accelerator pedal signal is sent to the electric machine controller 20；The electric machine controller 20 obtains the transmission of the entire car controller 10
The accelerator pedal signal, if the accelerator pedal signal indicate gas pedal be operated, acquisition trampled with gas pedal
The corresponding output torque of degree is as target torque；Transition is obtained according to motor current output torque and the target torque to turn round
Square, the transition torque is between motor current output torque and the target torque；Control the output torque of motor 30
First reach the transition torque, then controls the output torque of motor and reach the target torque.Wherein, the preferably described motor control
Difference between the transition torque that device processed obtains and torque zero is less than or equal to predetermined threshold value.With reference to Fig. 3 to it
The course of work illustrates,
S11：Entire car controller 10 acquires dynamic battery voltage signal by CAN bus from battery management system BMS, leads to
Overvoltage signal convert SOC value of battery, when SOC be higher than some value (such as 98%), when do not need energy regenerating；Entire car controller
10 acquire wheel speed signal (i.e. speed) by CAN bus from electronic control system ESC, when wheel speed is less than some value (such as 20km/
H), do not make energy regenerating at this time；
S12A：When above step is completed, and judgement needs energy regenerating, entire car controller 10 acquires accelerator pedal signal
And brake pedal signal, when accelerator pedal signal is placed in 0 (unclamping gas pedal) and brake pedal signal is placed in 0 and (does not step on brake
Vehicle pedal) when, start to slide energy regenerating；Step S13A is executed later：While sliding energy regenerating progress, motor is real
Border torque is -35Nm；Step S14 is executed later；
S12B：While carrying out step S12A, if accelerator pedal signal is placed in 0, but brake pedal signal is not 0
When (touching on the brake), Brake energy recovery is proceeded by；Step S13B is executed later：While Brake energy recovery carries out,
Motor actual torque is -45Nm；Step S14 is executed later：
S14：Accelerator pedal signal is detected, if accelerator pedal signal is not 0 (i.e. accelerator pedal), is thened follow the steps
S15；
S15：Motor actual torque first becomes -5Nm, then becomes 2Nm, enters step S16 later；
S16：Motor actual torque becomes target torque, target torque be with gas pedal to trample degree corresponding
Torque.
In above scheme, by the way that transition torque is arranged between motor current output torque and target torque, motor is controlled
Transition torque is first reached from current output torque, later from transition torque reach target torque, to realize electric vehicle from
The output torque of motor can be put down moreover, because the output torque of motor is accomplished that smoothly during energy regenerating to driving
Transition is greatly reduced the adverse effect of motor, so as to extend the service life of motor.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：It is still
Can be with technical scheme described in the above embodiments is modified, or which part technical characteristic is equally replaced
It changes；And these modifications or replacements, the essence for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution
God and range.
Claims (10)
1. a kind of electric vehicle from energy regenerating to driving during torque control method, which is characterized in that including：
Target torque obtaining step：If electric vehicle is in energy recovery state and gas pedal is operated, obtain and oil
Door pedal tramples the corresponding output torque of degree as target torque；
Transition torque obtaining step：Transition torque, the transition are obtained according to motor current output torque and the target torque
Torque is between motor current output torque and the target torque；
Rate-determining steps：The output torque of control motor first reaches the transition torque, then controls the output torque of motor and reach institute
State target torque.
2. electric vehicle according to claim 1 from energy regenerating to driving during torque control method, feature
It is, in the transition torque obtaining step：
Difference between the transition torque and torque zero is less than or equal to predetermined threshold value.
3. electric vehicle according to claim 2 from energy regenerating to driving during torque control method, feature
It is, in the transition torque obtaining step, the predetermined threshold value is less than or equal to 10Nm.
4. according to claim 1-3 any one of them electric vehicles from energy regenerating to driving during moment of torsion control side
Method, it is characterised in that：
In the transition torque obtaining step：The transition torque includes First Transition torque and the second transition torque, wherein institute
It states First Transition torque and is less than the second transition torque；
In the rate-determining steps：The output torque of control motor first reaches the First Transition torque, controls the defeated of motor later
Go out torque and reach the second transition torque, then controls the output torque of motor and reach the target torque.
5. according to claim 1-3 any one of them electric vehicles from energy regenerating to driving during moment of torsion control side
Method, it is characterised in that：
In the transition torque obtaining step：The transition torque includes third transition torque and the 4th transition torque, wherein institute
It states third transition torque and is less than torque zero, the 4th transition torque is more than torque zero；
In the rate-determining steps：The output torque of control motor first reaches the third transition torque, controls the defeated of motor later
Go out torque and reach the 4th transition torque, then controls the output torque of motor and reach the target torque.
6. electric vehicle according to claim 5 from energy regenerating to driving during torque control method, feature
It is：
The third transition torque is -5Nm, and the 4th transition torque is 2Nm.
7. a kind of computer readable storage medium, which is characterized in that be stored with command information in the storage medium, calculate machine-readable
It takes during can perform claim 1-6 any one of them electric vehicles after described instruction information from energy regenerating to driving
Torque control method.
8. a kind of motor control assembly, which is characterized in that at least one including at least one processor and at least one processor
Command information is stored in the memory, at least one memory can perform claim after reading described instruction information
1-6 any one of them electric vehicles from energy regenerating to driving during torque control method.
9. a kind of electric vehicle from energy regenerating to driving during torque control system, which is characterized in that including vehicle control
Device, electric machine controller and motor processed, wherein：
The entire car controller detects accelerator pedal signal, and by gas pedal when electric vehicle is in energy recovery state
Signal is sent to the electric machine controller；
The electric machine controller obtains the accelerator pedal signal that the entire car controller is sent, if the gas pedal is believed
It number indicates that gas pedal is operated, then obtains and trample the corresponding output torque of degree as target torque with gas pedal；According to
Motor current output torque and the target torque obtain transition torque, the transition torque be located at motor current output torque and
Between the target torque；The output torque of control motor first reaches the transition torque, then controls the output torque of motor and reach
To the target torque.
10. electric vehicle according to claim 9 from energy regenerating to driving during torque control system, feature
It is, the difference between the transition torque that the electric machine controller obtains and torque zero is less than or equal to predetermined threshold value.
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| CN111498002A (en) * | 2020-04-01 | 2020-08-07 | 广东高标电子科技有限公司 | Method for recovering energy of electric vehicle |
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