CN108715139B - Torque control method, device and equipment for electric automobile - Google Patents

Torque control method, device and equipment for electric automobile Download PDF

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Publication number
CN108715139B
CN108715139B CN201810542648.XA CN201810542648A CN108715139B CN 108715139 B CN108715139 B CN 108715139B CN 201810542648 A CN201810542648 A CN 201810542648A CN 108715139 B CN108715139 B CN 108715139B
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Prior art keywords
torque
current
accelerator pedal
idle stroke
compensation coefficient
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CN108715139A (en
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王琳琳
代康伟
梁海强
储琦
刘昕
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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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
    • B60L2240/423—Torque
    • 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)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)

Abstract

The invention provides a torque control method, a device and equipment of an electric automobile, and relates to the technical field of torque control of electric automobiles, wherein the method comprises the following steps: when the electric automobile currently meets the control condition of the limited power of the whole automobile, acquiring the current opening degree of an accelerator pedal and the current maximum allowable driving torque of the electric automobile; and determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening, and calculating a value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient to obtain the maximum allowable driving torque after power limitation. According to the invention, the maximum allowable driving torque after power limitation is obtained through the value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient, so that the relation between the opening degree of the accelerator pedal and the maximum allowable driving torque after power limitation can be in a smooth curve, the phenomenon of torque idle stroke can not occur, and the driving feeling can be improved.

Description

Torque control method, device and equipment for electric automobile
Technical Field
The invention relates to the technical field of torque control of electric automobiles, in particular to a torque control method, a torque control device and torque control equipment of an electric automobile.
Background
The discharge power of the power battery is limited by factors such as temperature and state of charge, and the whole vehicle has power limiting conditions such as accessory limitation. Therefore, when the maximum allowable driving torque of the whole vehicle is limited, and the driver required torque is larger than the maximum allowable driving torque of the whole vehicle (namely when the driver required torque is larger than the maximum allowable driving torque of the whole vehicle, the actual driver required torque is output according to the maximum allowable driving torque of the whole vehicle), a phenomenon that the vehicle does not react obviously when the accelerator pedal is deeply stepped on in a torque idle stroke occurs, and the driving feeling is influenced.
At present, when limited torque occurs, linear torque correction is carried out after the torque when the accelerator pedal is 80%, the torque change trend after the accelerator pedal is 80% cannot be ensured to be consistent with the torque change trend before the accelerator pedal is 80%, and particularly, an obvious inflection point appears on the torque at the point of 80% of the accelerator pedal, so that the driving feeling is poor, and the problem of torque idle stroke cannot be perfectly solved.
Therefore, a torque control method, device and equipment for an electric vehicle are needed to solve the problem of poor driving feeling caused by the torque idle stroke and the curve change trend after torque correction.
Disclosure of Invention
The embodiment of the invention provides a torque control method, a torque control device and torque control equipment of an electric automobile, which are used for solving the problem of poor driving feeling caused by torque idle stroke and curve change trend after torque correction.
In order to solve the above technical problem, an embodiment of the present invention provides a torque control method for an electric vehicle, including:
when the electric automobile currently meets the control condition of the limited power of the whole automobile, acquiring the current opening degree of an accelerator pedal and the current maximum allowable driving torque of the electric automobile;
determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening, and calculating a value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient to obtain the maximum allowable driving torque after power limitation; wherein the torque idle stroke compensation factor is not greater than 1;
and outputting a torque control command according to the maximum allowable driving torque after the power limit is obtained through calculation.
Preferably, the obtaining of the current maximum allowable driving torque includes:
obtaining the maximum power of the motor provided by the current battery;
calculating to obtain the maximum torque of the motor provided by the current battery according to the maximum power of the motor provided by the current battery;
and selecting the minimum value of the maximum torque of the motor provided by the current battery and the current operation condition limiting torque as the current maximum allowable driving torque.
Preferably, the obtaining of the maximum power of the current battery-powered motor includes:
acquiring the current maximum discharge power of the battery and the current accessory power;
and calculating the difference value between the current maximum discharge power of the battery and the current accessory power to obtain the maximum power of the motor provided by the current battery.
Preferably, the formula for calculating the maximum torque of the motor provided by the current battery according to the maximum power of the motor provided by the current battery is as follows:
T＝9550*Pmot*η/n
wherein, T is the maximum torque of the motor provided by the current battery, Pmot is the maximum power of the motor provided by the current battery, eta is the efficiency of the driving motor, and n is the current rotating speed of the motor.
Preferably, the determining the torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening degree includes:
determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening according to the preset relationship between different accelerator pedal openings and corresponding torque idle stroke compensation coefficients; the larger the current accelerator pedal opening is, the larger the torque idle stroke compensation coefficient is.
Preferably, the larger the current accelerator pedal opening, the larger the torque idle stroke compensation factor includes:
when the current accelerator pedal is 0-20%, the opening of the accelerator pedal and the torque idle stroke compensation coefficient are in a first linear relation; when the current accelerator pedal is 20% to 70%, the opening of the accelerator pedal and the torque idle stroke compensation coefficient are in a second linear relation; when the current accelerator pedal is 70-90%, the accelerator pedal opening degree and the torque idle stroke compensation coefficient are in a third linear relation; when the current accelerator pedal is 90% to 100%, the opening degree of the accelerator pedal and the torque idle stroke compensation coefficient are in a fourth linear relation.
Preferably, the method further comprises:
and when the electric automobile is judged to have a preset fault and/or the battery power is lower than a preset threshold value, determining that the electric automobile currently meets the control condition of the limited power of the whole automobile.
The embodiment of the invention also provides a torque control device of an electric automobile, which comprises:
the acquisition module is used for acquiring the current accelerator pedal opening and the current maximum allowable driving torque of the electric automobile when the electric automobile currently meets the control condition of the limited power of the whole automobile;
the calculation module is used for determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening degree, calculating a value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient, and obtaining the maximum allowable driving torque after power limitation; wherein the torque idle stroke compensation factor is not greater than 1;
and the processing module is used for outputting a torque control command according to the maximum allowable driving torque after the limited power is obtained through calculation.
Preferably, the obtaining module includes:
the acquisition unit is used for acquiring the maximum power of the motor provided by the current battery;
the calculation unit is used for calculating and obtaining the maximum torque of the motor provided by the current battery according to the maximum power of the motor provided by the current battery;
and the selection unit is used for selecting the minimum value of the maximum torque of the current battery-provided motor and the current operation condition limiting torque as the current maximum allowable driving torque.
Preferably, the acquiring unit includes:
the acquisition subunit is used for acquiring the current maximum discharge power of the battery and the current accessory power;
and the calculating subunit is used for calculating the difference value between the current maximum discharging power of the battery and the current accessory power and acquiring the maximum power of the motor provided by the current battery.
Preferably, the formula of the calculation unit is:
T＝9550*Pmot*η/n
wherein, T is the maximum torque of the motor provided by the current battery, Pmot is the maximum power of the motor provided by the current battery, eta is the efficiency of the driving motor, and n is the current rotating speed of the motor.
Preferably, the calculation module includes:
the determining unit is used for determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening degree according to the preset relation between different accelerator pedal opening degrees and corresponding torque idle stroke compensation coefficients; the larger the current accelerator pedal opening is, the larger the torque idle stroke compensation coefficient is.
Preferably, the larger the current accelerator pedal opening, the larger the torque idle stroke compensation factor includes:
when the current accelerator pedal is 0-20%, the opening of the accelerator pedal and the torque idle stroke compensation coefficient are in a first linear relation; when the current accelerator pedal is 20% to 70%, the opening of the accelerator pedal and the torque idle stroke compensation coefficient are in a second linear relation; when the current accelerator pedal is 70-90%, the accelerator pedal opening degree and the torque idle stroke compensation coefficient are in a third linear relation; when the current accelerator pedal is 90% to 100%, the opening degree of the accelerator pedal and the torque idle stroke compensation coefficient are in a fourth linear relation.
Preferably, the apparatus further comprises:
and the judging module is used for determining that the electric automobile currently accords with the control condition of the finished automobile power limit when judging that the electric automobile has a preset fault and/or the battery electric quantity is lower than a preset threshold value.
An embodiment of the present invention further provides a torque control device for an electric vehicle, including: the torque control system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes any step of the torque control method of the electric automobile when executing the computer program.
Compared with the prior art, the torque control method, the device and the equipment for the electric automobile provided by the embodiment of the invention at least have the following beneficial effects:
the maximum allowable driving torque after power limitation is obtained by determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening degree and calculating a value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient, and a torque control instruction is output according to the calculated maximum allowable driving torque after power limitation, so that the relation between the accelerator pedal opening degree and the maximum allowable driving torque after power limitation can be in a smooth curve, the phenomenon of torque idle stroke cannot occur, and the driving feeling can be improved.
Drawings
FIG. 1 is a flowchart illustrating a torque control method for an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a torque control method for an electric vehicle according to an embodiment of the present invention;
fig. 3 is a block diagram of a torque control device of an electric vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
An embodiment of the present invention provides a torque control method for an electric vehicle, as shown in fig. 1, including:
step S1, when the electric automobile currently meets the control condition of the limited power of the whole automobile, acquiring the current accelerator pedal opening and the current maximum allowable driving torque of the electric automobile;
step S2, determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening, and calculating a value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient to obtain the maximum allowable driving torque after power limitation; wherein the torque idle stroke compensation factor is not greater than 1;
in step S3, a torque control command is output based on the calculated maximum allowable driving torque after the power limit is obtained.
In the above embodiment of the present invention, the torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening degree is determined, and the value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient is calculated to obtain the maximum allowable driving torque after power limitation, and the torque control instruction is output according to the calculated maximum allowable driving torque after power limitation, so that the relationship between the accelerator pedal opening degree and the maximum allowable driving torque after power limitation can be a smooth curve, and not only the phenomenon of torque idle stroke does not occur, but also the driving feeling can be improved.
As shown in fig. 2, the following describes a specific implementation process of the above scheme with reference to a specific flow:
step S11, judging whether the electric automobile has a preset fault and/or the battery power is lower than a preset threshold value; if yes, go to step S12; if not, the torque control is not carried out, and the flow is ended.
And step S12, when the electric automobile has a preset fault and/or the battery electric quantity is lower than a preset threshold value, determining that the electric automobile currently meets the control condition of the finished automobile limited power, and acquiring the current maximum battery discharge power and the current accessory power.
And step S13, calculating the difference between the current battery maximum discharge power and the current accessory power, and obtaining the maximum power of the motor provided by the current battery.
Step S14, calculating the maximum torque of the motor provided by the current battery according to the maximum power of the motor provided by the current battery;
here, the formula for calculating the maximum torque of the current battery-supplied motor is:
T＝9550*Pmot*η/n
wherein, T is the maximum torque of the motor provided by the current battery, Pmot is the maximum power of the motor provided by the current battery, eta is the efficiency of the driving motor, and n is the current rotating speed of the motor.
And step S15, selecting the minimum value of the maximum torque of the current battery-provided motor and the current operation condition limiting torque as the current maximum allowable driving torque.
Here, the current operating condition limit torque may include: a current motor temperature limit torque and a current other limit torque.
Step S16, acquiring the current accelerator pedal opening of the electric automobile; wherein the throttle opening degree may be set to 0 to 100%.
And step S17, acquiring the preset relation between different accelerator pedal opening degrees and corresponding torque idle stroke compensation coefficients, and determining the torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening degree.
Here, the relationship between the preset different accelerator pedal opening degrees and the corresponding torque idle stroke compensation coefficients is as follows: the torque idle stroke compensation coefficient may be 0.03 to 0.07 when the accelerator pedal opening is 0 to 20%; the torque idle stroke compensation coefficient may be 0.07 to 0.8 when the accelerator pedal opening is 20% to 70%; the torque idle stroke compensation coefficient may be 0.8 to 0.9 when the accelerator pedal opening is 70% to 90%; the torque idle stroke compensation coefficient may be 0.9 to 1 when the accelerator pedal opening is 90% to 100%.
And step S18, calculating the value of the multiplication of the current maximum allowable driving torque and the torque idle stroke compensation coefficient, and obtaining the maximum allowable driving torque after power limitation.
Step S19, outputting a torque control command according to the maximum allowable driving torque after the power limit is obtained through calculation; when the vehicle stops, the flow ends.
An embodiment of the present invention further provides a torque control device for an electric vehicle, as shown in fig. 3, including: the acquisition module 1 is used for acquiring the current accelerator pedal opening and the current maximum allowable driving torque of the electric automobile when the electric automobile currently meets the control condition of the limited power of the whole automobile; the calculation module 2 is used for determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening degree, calculating a value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient, and obtaining the maximum allowable driving torque after power limitation; wherein the torque idle stroke compensation factor is not greater than 1; and the processing module 3 is used for outputting a torque control command according to the maximum allowable driving torque after the limited power is obtained through calculation.
In the above embodiment of the present invention, the torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening degree is determined, and the value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient is calculated to obtain the maximum allowable driving torque after power limitation, and the torque control instruction is output according to the calculated maximum allowable driving torque after power limitation, so that the relationship between the accelerator pedal opening degree and the maximum allowable driving torque after power limitation can be a smooth curve, and not only the phenomenon of torque idle stroke does not occur, but also the driving feeling can be improved.
In an embodiment of the present invention, the obtaining module 1 includes: the acquisition unit 11 is used for acquiring the maximum power of the motor provided by the current battery; the calculating unit 12 is used for calculating and obtaining the maximum torque of the motor provided by the current battery according to the maximum power of the motor provided by the current battery; the selection unit 13 is used for selecting the minimum value of the maximum torque of the motor provided by the current battery and the current operation condition limiting torque as the current maximum allowable driving torque; the minimum value of the maximum torque of the motor provided by the current battery and the current operation condition limiting torque is selected as the current maximum allowable driving torque, the actual state of the whole vehicle can be reflected, and the obtained current maximum allowable driving torque is more accurate.
In an embodiment of the present invention, the obtaining unit 11 includes: an obtaining subunit 111, configured to obtain a current maximum battery discharge power and a current accessory power; and the calculating subunit 112 is configured to calculate a difference between the current maximum discharge power of the battery and the current accessory power, and obtain the maximum power of the motor provided by the current battery.
In an embodiment of the present invention, the formula of the calculating unit 12 is:
T＝9550*Pmot*η/n
wherein, T is the maximum torque of the motor provided by the current battery, Pmot is the maximum power of the motor provided by the current battery, eta is the efficiency of the driving motor, and n is the current rotating speed of the motor.
In an embodiment of the present invention, the calculating module 2 includes: the determining unit 21 is configured to determine a torque idle stroke compensation coefficient corresponding to a current accelerator pedal opening according to a preset relationship between different accelerator pedal openings and corresponding torque idle stroke compensation coefficients; the larger the current accelerator pedal opening is, the larger the torque idle stroke compensation coefficient is, and the torque idle stroke compensation coefficient is gradually increased along with the increase of the accelerator pedal opening, so that the variation trend of the maximum allowable driving torque after power limitation and the accelerator pedal opening is consistent with the variation trend of the maximum allowable driving torque before power limitation and the accelerator pedal opening, and the driving feeling is improved.
In an embodiment of the present invention, the larger the current accelerator pedal opening, the larger the torque idle stroke compensation coefficient includes: when the current accelerator pedal is 0-20%, the opening of the accelerator pedal and the torque idle stroke compensation coefficient are in a first linear relation; when the current accelerator pedal is 20% to 70%, the opening of the accelerator pedal and the torque idle stroke compensation coefficient are in a second linear relation; when the current accelerator pedal is 70-90%, the accelerator pedal opening degree and the torque idle stroke compensation coefficient are in a third linear relation; when the current accelerator pedal is 90% to 100%, the opening degree of the accelerator pedal and the torque idle stroke compensation coefficient are in a fourth linear relation.
Wherein the most torque idle stroke compensation coefficient corresponding to the opening degree of the accelerator pedal is obtained according to multiple experimentsA figure of merit, when the opening degree of the accelerator pedal is 0 to 20%, setting the opening degree of the accelerator pedal as X1Setting the torque idle stroke compensation coefficient to Y1The first linear relationship is: y is1＝0.2*X1+ 0.03; setting the opening degree of an accelerator pedal to be X when the opening degree of the accelerator pedal is 20-70%2Setting the torque idle stroke compensation coefficient to Y2The second linear relationship is: y is2＝1.46*X2-0.222; when the opening degree of an accelerator pedal is 70-90%, setting the opening degree of the accelerator pedal to be X3Setting the torque idle stroke compensation coefficient to Y3And the third linear relationship is as follows: y is3＝0.5*X3+ 0.45; when the opening degree of an accelerator pedal is 90-100%, setting the opening degree of the accelerator pedal to be X4Setting the torque idle stroke compensation coefficient to Y4The fourth linear relationship is: y is4＝X4。
In an embodiment of the present invention, the apparatus further includes: and the judging module 4 is used for determining that the electric automobile currently accords with the control condition of the finished automobile power limit when judging that the electric automobile has a preset fault and/or the electric quantity of the battery is lower than a preset threshold value.
It should be noted that the embodiment of the apparatus is an apparatus corresponding to the embodiment of the method, and all implementations in the embodiment of the method are applicable to the embodiment of the apparatus, and the same technical effect can be achieved.
An embodiment of the present invention further provides a torque control device for an electric vehicle, including: the torque control system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes any step of the torque control method of the electric automobile when executing the computer program.
In summary, in the embodiment of the present invention, the minimum value of the maximum torque of the motor provided by the current battery and the current operation condition limiting torque is selected as the current maximum allowable driving torque, so that the actual state of the entire vehicle can be embodied, and the obtained current maximum allowable driving torque is more accurate; the maximum allowable driving torque after power limitation is obtained by determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening degree and calculating a value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient, and a torque control instruction is output according to the calculated maximum allowable driving torque after power limitation, so that the relation between the accelerator pedal opening degree and the maximum allowable driving torque after power limitation can be in a smooth curve, the phenomenon of torque idle stroke cannot occur, and the driving feeling can be improved.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (11)

1. A torque control method of an electric vehicle, characterized by comprising:
when the electric automobile currently meets the control condition of the limited power of the whole automobile, acquiring the current opening degree of an accelerator pedal and the current maximum allowable driving torque of the electric automobile;
determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening, and calculating a value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient to obtain the maximum allowable driving torque after power limitation; the torque idle stroke compensation coefficient is not more than 1, and the larger the current accelerator pedal opening is, the larger the torque idle stroke compensation coefficient is;
outputting a torque control instruction according to the maximum allowable driving torque after the limited power is obtained through calculation;
determining a torque idle stroke compensation factor corresponding to the current accelerator pedal opening comprises:
determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening according to the preset relationship between different accelerator pedal openings and corresponding torque idle stroke compensation coefficients;
the larger the current accelerator pedal opening is, the larger the torque idle stroke compensation coefficient is, and the larger the torque idle stroke compensation coefficient comprises the following steps:
when the current accelerator pedal is 0-20%, the opening of the accelerator pedal and the torque idle stroke compensation coefficient are in a first linear relation; when the current accelerator pedal is 20% to 70%, the opening of the accelerator pedal and the torque idle stroke compensation coefficient are in a second linear relation; when the current accelerator pedal is 70-90%, the accelerator pedal opening degree and the torque idle stroke compensation coefficient are in a third linear relation; when the current accelerator pedal is 90% to 100%, the opening degree of the accelerator pedal and the torque idle stroke compensation coefficient are in a fourth linear relation.
2. The torque control method of an electric vehicle according to claim 1, wherein obtaining the current maximum allowable driving torque comprises:
obtaining the maximum power of the motor provided by the current battery;
calculating to obtain the maximum torque of the motor provided by the current battery according to the maximum power of the motor provided by the current battery;
and selecting the minimum value of the maximum torque of the motor provided by the current battery and the current operation condition limiting torque as the current maximum allowable driving torque.
3. The torque control method of an electric vehicle according to claim 2, wherein obtaining the current maximum power of the battery-supplied motor includes:
acquiring the current maximum discharge power of the battery and the current accessory power;
and calculating the difference value between the current maximum discharge power of the battery and the current accessory power to obtain the maximum power of the motor provided by the current battery.
4. The torque control method of the electric vehicle according to claim 2, wherein the formula for calculating the maximum torque of the current battery-supplied motor based on the maximum power of the current battery-supplied motor is:
T＝9550*Pmot*η/n
wherein, T is the maximum torque of the motor provided by the current battery, Pmot is the maximum power of the motor provided by the current battery, eta is the efficiency of the driving motor, and n is the current rotating speed of the motor.
5. The torque control method of an electric vehicle according to claim 1, characterized by further comprising:
and when the electric automobile is judged to have a preset fault and/or the battery power is lower than a preset threshold value, determining that the electric automobile currently meets the control condition of the limited power of the whole automobile.
6. A torque control device for an electric vehicle, characterized by comprising:
the acquisition module is used for acquiring the current accelerator pedal opening and the current maximum allowable driving torque of the electric automobile when the electric automobile currently meets the control condition of the limited power of the whole automobile;
the calculation module is used for determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening degree, calculating a value obtained by multiplying the current maximum allowable driving torque by the torque idle stroke compensation coefficient, and obtaining the maximum allowable driving torque after power limitation; the torque idle stroke compensation coefficient is not more than 1, and the larger the current accelerator pedal opening is, the larger the torque idle stroke compensation coefficient is;
the processing module is used for outputting a torque control instruction according to the maximum allowable driving torque after the limited power is obtained through calculation;
the calculation module comprises:
the determining unit is used for determining a torque idle stroke compensation coefficient corresponding to the current accelerator pedal opening degree according to the preset relation between different accelerator pedal opening degrees and corresponding torque idle stroke compensation coefficients;
the larger the current accelerator pedal opening is, the larger the torque idle stroke compensation coefficient is, and the larger the torque idle stroke compensation coefficient comprises the following steps:
when the current accelerator pedal is 0-20%, the opening of the accelerator pedal and the torque idle stroke compensation coefficient are in a first linear relation; when the current accelerator pedal is 20% to 70%, the opening of the accelerator pedal and the torque idle stroke compensation coefficient are in a second linear relation; when the current accelerator pedal is 70-90%, the accelerator pedal opening degree and the torque idle stroke compensation coefficient are in a third linear relation; when the current accelerator pedal is 90% to 100%, the opening degree of the accelerator pedal and the torque idle stroke compensation coefficient are in a fourth linear relation.
7. The torque control device of an electric vehicle according to claim 6, wherein the obtaining module includes:
the acquisition unit is used for acquiring the maximum power of the motor provided by the current battery;
the calculation unit is used for calculating and obtaining the maximum torque of the motor provided by the current battery according to the maximum power of the motor provided by the current battery;
and the selection unit is used for selecting the minimum value of the maximum torque of the current battery-provided motor and the current operation condition limiting torque as the current maximum allowable driving torque.
8. The torque control device of an electric vehicle according to claim 7, wherein the acquisition unit includes:
the acquisition subunit is used for acquiring the current maximum discharge power of the battery and the current accessory power;
and the calculating subunit is used for calculating the difference value between the current maximum discharging power of the battery and the current accessory power and acquiring the maximum power of the motor provided by the current battery.
9. The torque control device of an electric vehicle according to claim 7, wherein the formula of the calculation unit is:
T＝9550*Pmot*η/n
wherein, T is the maximum torque of the motor provided by the current battery, Pmot is the maximum power of the motor provided by the current battery, eta is the efficiency of the driving motor, and n is the current rotating speed of the motor.
10. The torque control device of an electric vehicle according to claim 6, characterized by further comprising:
and the judging module is used for determining that the electric automobile currently accords with the control condition of the finished automobile power limit when judging that the electric automobile has a preset fault and/or the battery electric quantity is lower than a preset threshold value.
11. A torque control apparatus of an electric vehicle, characterized by comprising: the torque control method of the electric automobile comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the torque control method of the electric automobile according to any one of claims 1-5.
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