CN108657021B - Creep torque control method for electric automobile in starting stage - Google Patents
Creep torque control method for electric automobile in starting stage Download PDFInfo
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- CN108657021B CN108657021B CN201810466539.4A CN201810466539A CN108657021B CN 108657021 B CN108657021 B CN 108657021B CN 201810466539 A CN201810466539 A CN 201810466539A CN 108657021 B CN108657021 B CN 108657021B
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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
- B60L15/2063—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 creeping
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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
- B60L15/2072—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 drive off
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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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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a creep torque control method for an electric automobile in a starting stage; the method specifically comprises the following steps: when the gear of the gearbox is shifted to a forward gear or a reverse gear under the condition that the electric automobile is static and neither a brake pedal nor an accelerator pedal is pressed down, the torque of the driving motor is controlled as follows: 1. increasing the torque of the drive motor from 0 to a first torque at a first acceleration; 2. keeping the torque of the driving motor unchanged; 3. when the running speed of the electric automobile reaches a first speed, reducing the torque of the driving motor at a second acceleration; 4. stopping the reduction of the torque of the driving motor when the running speed of the electric vehicle reaches a second speed; 5. carrying out PI regulation on the torque of the driving motor through the difference value between the actual driving speed of the electric automobile and the target crawling speed, so that the driving speed of the electric automobile is stabilized at the target crawling speed; the invention realizes the crawling function of the electric automobile in the starting stage, and has accurate and reliable control and scientific and reasonable control process.
Description
Technical Field
The invention relates to a creep torque control method of an electric automobile, in particular to a creep torque control method of an electric automobile in a starting stage.
Background art:
the electric automobile serving as a new energy vehicle can solve the problem of tail gas emission caused by fuel oil combustion of a traditional automobile engine, has the advantages of low environmental pollution, low noise, high efficiency and the like, and is an important trend for development of the transportation industry in future.
At present, electric vehicles on the domestic market are numerous in brands and models, but many manufacturers lack experience in system matching and electronic control development of new energy vehicles, and technology accumulation is insufficient, so that many models do not have a crawling function. After the vehicle is electrified at high voltage, the gear of the gearbox is switched to a forward gear or a reverse gear, and the vehicle can start to walk only after stepping on an accelerator after a brake pedal is released; or the vehicle has poor performance in the creeping process, and is easy to have jitter and pause feeling.
In China, the traffic and road environments faced in the vehicle starting process are complex, vehicle creep torque control is well carried out, the behavior intention of a driver under the creep working conditions such as vehicle starting is accurately reflected, the electric vehicle has the creep driving habit of the traditional internal combustion engine vehicle, and the driving stability and driving comfort of vehicle creep are ensured, so that the requirements become more important.
The invention content is as follows:
the technical problem to be solved by the invention is as follows: the creep torque control method for the starting stage of the electric automobile realizes the creep function of the starting stage of the electric automobile, is accurate and reliable in control, is scientific and reasonable in control process, and accords with the driving performance of the electric automobile.
The technical scheme of the invention is as follows:
a creep torque control method for an electric automobile in a starting stage specifically comprises the following steps: when the gearbox gear of the electric automobile is shifted to a forward gear or a reverse gear under the condition that the electric automobile is static and neither a brake pedal nor an accelerator pedal is pressed down, controlling the torque of a driving motor of the electric automobile as follows:
step 1.1, increasing the torque of the driving motor from 0 to a first torque T1 at a constant first acceleration K1;
step 1.2, keeping the torque of the driving motor unchanged at a first torque T1, and simultaneously monitoring the driving speed of the electric automobile;
step 1.3, when the running speed of the electric automobile reaches a first speed V1, reducing the torque of the driving motor from the first torque T1 at a constant second acceleration K2, and monitoring the running speed of the electric automobile;
step 1.4, stopping the reduction of the torque of the driving motor when the running speed of the electric automobile reaches a second speed V2, wherein the second speed V2 is close to the target crawling speed V3 of the electric automobile;
and step 1.5, carrying out PI regulation on the torque of the driving motor through the difference value between the actual driving speed of the electric automobile and the target creeping speed V3, so that the driving speed of the electric automobile is stabilized at the target creeping speed V3.
The first acceleration K1, the first torque T1, the first speed V1, and the second acceleration K2 are determined as follows:
step 2.1, selecting a creep speed-time curve at the starting of the vehicle according to the type of the electric automobile, wherein the creep speed-time curve shows that the creep speed is continuously increased along with the increase of time when the vehicle is started, stops increasing when the creep speed is increased to a target creep speed V3, and then is always kept at the target creep speed V3;
2.2, building a body model of the electric automobile by adopting a simulink simulation system according to the structural parameters of the power transmission system of the electric automobile;
2.3, in the simulink simulation system, simulating and inputting a driving motor torque, automatically outputting the corresponding driving speed of the vehicle by the body model, continuously simulating and inputting different driving motor torques to enable the body model to output different driving speeds, ensuring that the driving speeds are fitted to accord with a creeping speed-time curve, and fitting a torque-time curve corresponding to the creeping speed-time curve according to the input driving motor torque; the torque-time curve shows that the torque of the driving motor increases with time from 0 to T1 at a constant first acceleration K1, remains at the first torque T1 for a period of time, and then decreases from T1 at a constant second acceleration K2;
2.4, measuring the torque-time curve to obtain a first acceleration K1, a first torque T1 and a second acceleration K2; on the torque-time curve, the speed on the creep speed-time curve corresponding to the torque decreasing from the first torque T1 is the first speed V1.
In step 2.1, the creep speed-time curve when the vehicle is started is a creep speed-time curve when the fuel vehicle is started, and the type of the fuel vehicle is the same as that of the electric automobile.
In step 2.2, the structural parameters of the power transmission system of the electric automobile comprise the weight of the electric automobile, a characteristic curve of a driving motor, the rotational inertia of a wheel end, rolling resistance, wind resistance and the resistance of the power transmission system of the whole automobile; each subsystem simulation model of the electric automobile is contained in the body model, and the subsystem simulation model contains: the system comprises a driving motor simulation model, a battery pack simulation model, a gearbox simulation model, a tire simulation model, a suspension simulation model, a chassis simulation model and an environment simulation model, wherein the subsystem simulation models are connected and communicated to form a body model of the whole electric automobile.
The second speed V2 is less than the target creep speed V3, and V3-V2 <0.5 Km/h; this means that the PI regulation is performed when the difference between the actual running speed of the electric vehicle and the target creep speed V3 is within 0.5 km/h.
The target crawling speed V3 is 5 km/h-8 km/h.
The invention has the beneficial effects that:
1. the invention enables the electric automobile to simulate the characteristics of the fuel vehicle to automatically enter the crawling mode when starting by controlling the torque of the driving motor of the electric automobile, has accurate and reliable control, conforms to the driving habit of a driver and ensures the driving stability and comfort of the vehicle.
2. The invention firstly quickly increases the torque of the driving motor, stabilizes the torque at a fixed value for a period of time, and then slowly decreases the torque, so that the driving speed of the electric automobile is gradually transited to the target crawling speed.
Description of the drawings:
FIG. 1 is a schematic diagram illustrating torque variation of a driving motor in a starting stage of an electric vehicle;
fig. 2 is a schematic diagram of the driving speed variation in the starting stage of the electric vehicle.
The specific implementation mode is as follows:
referring to fig. 1 to 2, a creep torque control method for an electric vehicle at a starting stage includes: when the gearbox gear of the electric automobile is shifted to a forward gear (D gear) or a reverse gear (R gear) under the condition that the electric automobile is static and neither a brake pedal nor an accelerator pedal is pressed down, controlling the torque of a driving motor of the electric automobile as follows:
step 1.1, increasing the torque of the driving motor from 0 to a first torque T1 at a constant first acceleration K1;
step 1.2, keeping the torque of the driving motor unchanged at a first torque T1, and simultaneously monitoring the driving speed of the electric automobile;
step 1.3, when the running speed of the electric automobile reaches a first speed V1 (at the moment, the corresponding time is T1), reducing the torque of the driving motor from the first torque T1 at a constant second acceleration K2 (namely, reducing from the point A), and simultaneously monitoring the running speed of the electric automobile;
step 1.4, when the running speed of the electric automobile reaches a second speed V2 (the corresponding time is t 2), stopping reducing the torque of the driving motor, wherein the second speed V2 is close to the target crawling speed V3 of the electric automobile;
and step 1.5, carrying out PI regulation on the torque of the driving motor through the difference value between the actual driving speed of the electric automobile and the target creeping speed V3, so that the driving speed of the electric automobile is stabilized at the target creeping speed V3.
The first acceleration K1, the first torque T1, the first speed V1, and the second acceleration K2 are determined as follows:
step 2.1, selecting a creep speed-time curve at the starting of the vehicle according to the type of the electric automobile, wherein the creep speed-time curve shows that the creep speed is continuously increased along with the increase of time when the vehicle is started, stops increasing when the creep speed is increased to a target creep speed V3, and then is always kept at the target creep speed V3;
2.2, building a body model of the electric automobile by adopting a simulink simulation system according to the structural parameters of the power transmission system of the electric automobile;
2.3, in the simulink simulation system, simulating and inputting a driving motor torque, automatically outputting the corresponding driving speed of the vehicle by the body model, continuously simulating and inputting different driving motor torques to enable the body model to output different driving speeds, ensuring that the driving speeds are fitted to accord with a creeping speed-time curve, and fitting a torque-time curve corresponding to the creeping speed-time curve according to the input driving motor torque; the torque-time curve shows that the torque of the driving motor increases with time from 0 to T1 at a constant first acceleration K1, remains at the first torque T1 for a period of time, and then decreases from T1 at a constant second acceleration K2;
2.4, measuring the torque-time curve to obtain a first acceleration K1, a first torque T1 and a second acceleration K2; on the torque-time curve, the speed on the creep speed-time curve corresponding to the time when the torque starts to decrease from the first torque T1 (point a) is the first speed V1.
In step 2.1, the creep speed-time curve when the vehicle is started is a creep speed-time curve when the fuel vehicle is started, and the type of the fuel vehicle is the same as that of the electric automobile.
In step 2.2, the structural parameters of the power transmission system of the electric automobile comprise the weight of the electric automobile, a characteristic curve of a driving motor, the rotational inertia of a wheel end, rolling resistance, wind resistance and the resistance of the power transmission system of the whole automobile; each subsystem simulation model of the electric automobile is contained in the body model, and the subsystem simulation model contains: the system comprises a driving motor simulation model, a battery pack simulation model, a gearbox simulation model, a tire simulation model, a suspension simulation model, a chassis simulation model and an environment simulation model, wherein the subsystem simulation models are connected and communicated to form a body model of the whole electric automobile.
The second speed V2 is less than the target creep speed V3, and V3-V2 <0.5 Km/h; this means that the PI regulation is performed when the difference between the actual running speed of the electric vehicle and the target creep speed V3 is within 0.5 km/h.
The target creep speed V3 was 6 km/h.
Claims (5)
1. A creep torque control method for an electric automobile in a starting stage is characterized by comprising the following steps: when the gearbox gear of the electric automobile is shifted to a forward gear or a reverse gear under the condition that the electric automobile is static and neither a brake pedal nor an accelerator pedal is pressed down, controlling the torque of a driving motor of the electric automobile as follows:
step 1.1, increasing the torque of the driving motor from 0 to a first torque T1 at a constant first acceleration K1;
step 1.2, keeping the torque of the driving motor unchanged at a first torque T1, and simultaneously monitoring the driving speed of the electric automobile;
step 1.3, when the running speed of the electric automobile reaches a first speed V1, reducing the torque of the driving motor from the first torque T1 at a constant second acceleration K2, and monitoring the running speed of the electric automobile;
step 1.4, stopping the reduction of the torque of the driving motor when the running speed of the electric automobile reaches a second speed V2, wherein the second speed V2 is close to the target crawling speed V3 of the electric automobile;
step 1.5, carrying out PI regulation on the torque of a driving motor through the difference value between the actual driving speed of the electric automobile and the target creeping speed V3, so that the driving speed of the electric automobile is stabilized at the target creeping speed V3;
the first acceleration K1, the first torque T1, the first speed V1, and the second acceleration K2 are determined as follows:
step 2.1, selecting a creep speed-time curve at the starting of the vehicle according to the type of the electric automobile, wherein the creep speed-time curve shows that the creep speed is continuously increased along with the increase of time when the vehicle is started, stops increasing when the creep speed is increased to a target creep speed V3, and then is always kept at the target creep speed V3;
2.2, building a body model of the electric automobile by adopting a simulink simulation system according to the structural parameters of the power transmission system of the electric automobile;
2.3, in the simulink simulation system, simulating and inputting a driving motor torque, automatically outputting the corresponding driving speed of the vehicle by the body model, continuously simulating and inputting different driving motor torques to enable the body model to output different driving speeds, ensuring that the driving speeds are fitted to accord with a creeping speed-time curve, and fitting a torque-time curve corresponding to the creeping speed-time curve according to the input driving motor torque; the torque-time curve shows that the torque of the driving motor increases with time from 0 to T1 at a constant first acceleration K1, remains at the first torque T1 for a period of time, and then decreases from T1 at a constant second acceleration K2;
2.4, measuring the torque-time curve to obtain a first acceleration K1, a first torque T1 and a second acceleration K2; on the torque-time curve, the speed on the creep speed-time curve corresponding to the torque decreasing from the first torque T1 is the first speed V1.
2. The creep torque control method in the starting stage of the electric vehicle according to claim 1, wherein: in the step 2.1, a creep speed-time curve when the vehicle is started is a creep speed-time curve when the fuel vehicle is started, and the type of the fuel vehicle is the same as that of the electric automobile.
3. The creep torque control method in the starting stage of the electric vehicle according to claim 1, wherein: in the step 2.2, the structural parameters of the power transmission system of the electric automobile comprise the weight of the electric automobile, a characteristic curve of a driving motor, the rotational inertia of a wheel end, rolling resistance, wind resistance and the resistance of the power transmission system of the whole automobile; each subsystem simulation model of the electric automobile is contained in the body model, and the subsystem simulation model contains: the system comprises a driving motor simulation model, a battery pack simulation model, a gearbox simulation model, a tire simulation model, a suspension simulation model, a chassis simulation model and an environment simulation model, wherein the subsystem simulation models are connected and communicated to form a body model of the whole electric automobile.
4. The creep torque control method in the starting stage of the electric vehicle according to claim 1, wherein: the second speed V2 is less than the target creep speed V3, and V3-V2 <0.5 Km/h.
5. The creep torque control method in the starting stage of the electric vehicle according to claim 1, wherein: the target crawling speed V3 is 5 km/h-8 km/h.
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| CN111353197B (en) * | 2018-12-21 | 2023-05-05 | 比亚迪股份有限公司 | Electric automobile and starting acceleration simulation method and device thereof |
| CN111717040B (en) * | 2019-03-22 | 2022-06-28 | 长沙智能驾驶研究院有限公司 | Torque control method, device, electronic equipment and storage medium |
| CN110085085A (en) * | 2019-04-12 | 2019-08-02 | 奇瑞汽车股份有限公司 | The control method of the motor simulation engine mechanical property of electric instruction car |
| CN112644294B (en) * | 2020-12-29 | 2022-06-17 | 东风汽车集团有限公司 | Judgment control method for creep activation of electric automobile |
| CN113978261B (en) * | 2021-10-25 | 2024-05-28 | 潍柴(扬州)亚星新能源商用车有限公司 | Electric vehicle creeping starting control method and device |
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| DE102009050957B4 (en) * | 2009-10-28 | 2018-07-26 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | mixed hybrid |
| KR101039679B1 (en) * | 2009-11-17 | 2011-06-09 | 현대자동차주식회사 | Mild hybrid system and method controlling thereof |
| US8798839B2 (en) * | 2011-01-28 | 2014-08-05 | Nissan Motor Co., Ltd. | Hybrid vehicle control device |
| JP5634284B2 (en) * | 2011-02-03 | 2014-12-03 | 本田技研工業株式会社 | Control device for electric vehicle |
| CN106926745B (en) * | 2015-12-29 | 2019-01-18 | 上海大郡动力控制技术有限公司 | Pure electric automobile starting crawling and anti-slip by slope strategy |
| CN106627253B (en) * | 2017-01-04 | 2019-05-24 | 重庆长安新能源汽车科技有限公司 | A kind of automobile crawling control method and system |
| CN107225999B (en) * | 2017-05-31 | 2019-08-06 | 安徽江淮汽车集团股份有限公司 | A kind of control method and system of electric car crawling |
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