CN108909527A - Electric car and entire car controller and control method of finished - Google Patents
Electric car and entire car controller and control method of finished Download PDFInfo
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- CN108909527A CN108909527A CN201810735479.1A CN201810735479A CN108909527A CN 108909527 A CN108909527 A CN 108909527A CN 201810735479 A CN201810735479 A CN 201810735479A CN 108909527 A CN108909527 A CN 108909527A
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
This application discloses electric car and entire car controllers and control method of finished.This method includes：Under whole drive mode, the accelerator open degree and speed of electric car are acquired, formula is substituted into and calculates motor torque, combines driving intention and driving cycle to carry out fine-grained management to torque output to realize.The formula isThrottle_Torq is motor torque；Speed is speed；Throttle_Map is accelerator open degree；fi(Speed) indicate that accelerator open degree reaches kiWhen, function of the motor torque about speed, i=1,2,0%≤k1< k2≤ 100%.
Description
Technical field
The present invention relates to electric automobile whole control technology fields, more specifically to electric car and full-vehicle control
Device and control method of finished.
Background technique
Vehicle control unit of electric vehicle is the core control part of vehicle, acquisition gas pedal, brake pedal, gear letter
Number and component information, analyze driving intention and driving cycle, control the movement of each component of lower layer, realization powers on, self-test, charging,
The vehicles basic functions such as standby, driving, unit coordinates, breakdown judge.
But for now, vehicle control unit of electric vehicle common problem is：Under whole drive mode, turn
Square management strategy is simply extensive, could not carry out fine-grained management to torque output in conjunction with driving intention and driving cycle, influence whole
Dynamic property, stability and the comfort of vehicle.
Summary of the invention
In view of this, the present invention provides a kind of electric car and entire car controller and control method of finished, to realize combination
Driving intention and driving cycle carry out fine-grained management to torque output.
A kind of entire electric car control method, including：
Under whole drive mode, acquisition electric car current accelerator open degree and speed；
According to collected accelerator open degree and speed, motor torque is calculated, calculation formula is：
In formula, Throttle_Torq is motor torque；Speed is speed；Throttle_Map is accelerator open degree；fi
(Speed) indicate that accelerator open degree reaches kiWhen, function of the motor torque about speed, i=1,2,0%≤k1< k2≤ 100%.
Optionally, f1(Speed) expression formula is：
As 0≤Speed < GeneSpeed_FwBreak,
As Speed >=GeneSpeed_FwBreak, f1(Speed)=- GeneTorq_FwLimit；
As-GeneSpeed_RvBreak < Speed < 0,
As Speed≤- GeneSpeed_RvBreak, f1(Speed)=GeneTorq_RvLimit；
It wherein, is k in accelerator open degree1In the case where, Torq_Creep, GeneTorq_FwLimit, GeneTorq_
Under motor torque when RvLimit respectively indicates zero speed, the maximum motor torque under positive generating state, reversed motoring condition
Minimum torque；Torq_Cree, p GeneTorq_FwLimit, GeneTorq_RvLimit are all larger than 0；GeneSpeed_
FwBreak is the corresponding speed of GeneTorq_FwLimit, and GeneSpeed_RvBreak is that GeneTorq_RvLimit is corresponding
Speed.
Optionally, f2(Speed) expression formula is：
As Speed >=FwBreak_Speed > 0, f2(Speed)=TorqMax_Fw；
As Speed≤RvBreak_Speed < 0, f2(Speed)=TorqMax_Reverse；
As RvBreak_Speed < Speed < FwBreak_Speed,
It wherein, is k in accelerator open degree2In the case where, TorqMax_Fw and TorqMax_Reverse respectively indicate positive electricity
Maximum motor torque under dynamic state, the minimum torque under reversed motoring condition；TorqMax_Fw and TorqMax_Reverse are equal
Greater than 0；FwBreak_Speed is the corresponding speed of TorqMax_Fw, and RvBrea_k Spee is corresponding for dTorqMax_Reverse
Speed.
Optionally, k1=0%, k2=100%.
A kind of vehicle control unit of electric vehicle, including：
Acquisition unit, under whole drive mode, acquiring electric car current accelerator open degree and speed；
Torque-calculation unit, for calculating motor torque according to collected accelerator open degree and speed, calculation formula is：
In formula, Throttle_Torq is motor torque；Speed is speed；Throttle_Map is accelerator open degree；fi
(Speed) indicate that accelerator open degree reaches kiWhen, function of the motor torque about speed, i=1,2,0%≤k1< k2≤ 100%.
Optionally, f1(Speed) expression formula is：
As 0≤Speed < GeneSpeed_FwBreak,
As Speed >=GeneSpeed_FwBreak, f1(Speed)=- GeneTorq_FwLimit；
As-GeneSpeed_RvBreak < Speed < 0,
As Speed≤- GeneSpeed_RvBreak, f1(Speed)=GeneTorq_RvLimit；
It wherein, is k in accelerator open degree1In the case where, Torq_Creep, GeneTorq_FwLimit, GeneTorq_
Under motor torque when RvLimit respectively indicates zero speed, the maximum motor torque under positive generating state, reversed motoring condition
Minimum torque；Torq_Cree, p GeneTorq_FwLimit, GeneTorq_RvLimit are all larger than 0；GeneSpeed_
FwBreak is the corresponding speed of GeneTorq_FwLimit, and GeneSpeed_RvBreak is that GeneTorq_RvLimit is corresponding
Speed.
Optionally, f2(Speed) expression formula is：
As Speed >=FwBreak_Speed > 0, f2(Speed)=TorqMax_Fw；
As Speed≤RvBreak_Speed < 0, f2(Speed)=TorqMax_Reverse；
As RvBreak_Speed < Speed < FwBreak_Speed,
It wherein, is k in accelerator open degree2In the case where, TorqMax_Fw and TorqMax_Reverse respectively indicate positive electricity
Maximum motor torque under dynamic state, the minimum torque under reversed motoring condition；TorqMax_Fw and TorqMax_Reverse are equal
Greater than 0；FwBreak_Speed is the corresponding speed of TorqMax_Fw, and RvBrea_k Spee is corresponding for dTorqMax_Reverse
Speed.
Optionally, k1=0%, k2=100%.
A kind of electric car, including：Any vehicle control unit of electric vehicle as disclosed above.
Turn it can be seen from the above technical scheme that the present invention calibrates the motor under any two accelerator open degree in advance
Square-speed characteristic curve, function expression are respectively f1(Speed) and f2(Speed), and the feelings that speed Speed is determined are set
It is in a linear relationship between accelerator open degree and motor torque under condition, i.e. motor torque=k* (accelerator open degree-k1)+f1(Speed), then
Slope under the speedTo according to the motor torque formula can realize full vehicle speed range and
Torque calculation within the scope of full throttle sufficiently combines driving intention and driving cycle and carries out fine-grained management to torque output.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of entire electric car control method flow chart disclosed by the embodiments of the present invention；
Fig. 2 is a kind of mechanical characteristic schematic diagram of motor in electric automobile disclosed by the embodiments of the present invention；
Fig. 3 is the mechanical characteristic schematic diagram of another motor in electric automobile disclosed by the embodiments of the present invention；
Fig. 4 is a kind of vehicle control unit of electric vehicle structural schematic diagram disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the embodiment of the invention discloses a kind of entire electric car control methods, including：
Step S01：Under whole drive mode, acquisition electric car current accelerator open degree and speed.
Step S02：According to collected accelerator open degree and speed, motor torque is calculated, calculation formula is：
In formula, Throttle_Torq is motor torque；Speed is speed；Throttle_Map is accelerator open degree；fi
(Speed) indicate that accelerator open degree reaches kiWhen, function of the motor torque about speed, i=1,2,0%≤k1< k2≤ 100%.
Accelerator open degree is that 0% expression throttle is fully closed, and accelerator open degree is 100% expression throttle wide.
The basic principle of technical solution shown in Fig. 1 is：Any two accelerator open degree k is calibrated in advance1、k2Under motor turn
Square-speed characteristic curve, function expression are respectively f1(Speed) and f2(Speed), and the feelings that speed Speed is determined are set
It is in a linear relationship between accelerator open degree and motor torque under condition, i.e. motor torque=k* (accelerator open degree-k1)+f1(Speed), then
Slope under the speedTo according to the motor torque formula can realize full vehicle speed range and
Torque calculation within the scope of full throttle sufficiently combines driving intention and driving cycle and carries out fine-grained management to torque output.
In the following, from how to demarcate k1And k2Motor torque-speed characteristic curve under two different accelerator open degrees starts, right
The basic principle of technical solution shown in Fig. 1 is described in detail.
The torque of motor in electric automobile and the relationship of speed are known as mechanical property.The various operating conditions of motor in electric automobile
Corresponding mechanical property is distributed in shown in Fig. 2 using Speed as horizontal axis, using Throttle_Torq as the plane coordinate system of the longitudinal axis
Four quadrants in, specifically include：Corresponding to positive electronic (gear is drive shift and motor makees motor use) state
Mechanical property shows first quartile, corresponding to reversed electronic (gear is reverse drive gear and motor makees motor use) state
Mechanical property shows the second quadrant, corresponding to reverse power generation (gear is reverse drive gear and motor makees generator use) state
Mechanical property shows third quadrant, and forward direction generates electricity corresponding to (gear is drive shift and motor makees generator use) state
Mechanical property shows fourth quadrant.
In the following, demarcating motor first in accelerator open degree is k1When mechanical characteristic, referring to fig. 2 shown in curve
S1。
Specifically, the present embodiment sets motor in accelerator open degree as k1And meet under positive motoring condition following mechanical special
Property：Motor torque when speed is zero is greater than 0, is denoted as Torq_Creep；With the increase of speed, motor torque is from Torq_
Creep starts to be gradually reduced, until motor torque is transitioned into positive generating state when being reduced to 0.Wherein, Torq_Creep can be with
Test is demarcated by vehicle and is configured with reference to industry experience, for example, TorqMax_Creep mono- when accelerator open degree is 0%
It is well matched be set to 5%~10% nominal torque.
The present embodiment also sets motor in accelerator open degree as k1And meet following mechanical property under positive generating state：Its
One, energy feedback characteristic is related with speed direction and speed size；Second, motor torque is increasing with the rising of speed,
When reaching certain speed (being denoted as GeneSpeed_FwBreak), motor torque reaches maximum value and (is denoted as GeneTorq_
FwLimit it) and keeps constant constant；Third, GeneSpeed_FwBreak and GeneTorq_FwLimit can pass through vehicle mark
It is fixed to test and configured with reference to industry experience, for example, GeneTorq_FwLimit is generally configured when accelerator open degree is 0%
For 20%~40% nominal torque, GeneSpeed_FwBreak be generally configured to 50%~80% specified speed；Fourth,
Following principle in design is that GeneSpeed_FwBreak is higher, and GeneTorq_FwLimit is bigger.
The present embodiment also sets motor in accelerator open degree as k1And meet following mechanical property under reversed motoring condition：With
The increase of speed, motor torque be gradually reduced since Torq_Creep, (be denoted as GeneSpeed_ when reaching certain speed
When RvBreak), motor torque reaches minimum value (being denoted as GeneTorq_RvLimit) and keeps constant constant, GeneTorq_
RvLimit > 0.That is, not assigning electric car reverse power generation ability.Wherein, GeneSpeed_RvBreak and
GeneTorq_RvLimit can be configured by vehicle calibration test and with reference to industry experience.
To sum up, Torq_Creep, GeneTorq_FwLimit, GeneSpeed_FwBreak, GeneTorq_ are being configured
In the case where RvLimit and GeneSpeed_RvBreak, so that it may which obtaining motor in accelerator open degree is k1When full vehicle speed range machine
Tool characteristic curve S1, respective function f1(Speed) expression formula is as follows：
As 0≤Speed < GeneSpeed_FwBreak,
As Speed >=GeneSpeed_FwBreak, f1(Speed)=- GeneTorq_FwLimit；
As-GeneSpeed_RvBreak < Speed < 0,
As Speed≤- GeneSpeed_RvBreak, f1(Speed)=GeneTorq_RvLimit.
Wherein, f1(Speed) expression is positive in motoring condition, f1(Speed) expression is negative in generating state；Speed
It is positive and is expressed as drive shift, Speed, which is negative, is expressed as reverse drive gear.
Next, calibration motor is k in accelerator open degree2When mechanical characteristic, referring to fig. 2 shown in curve S2.
Specifically, the present embodiment sets motor in accelerator open degree as k2And meet under positive motoring condition following mechanical special
Property：With the rising of speed, torque is increasing, and after reaching certain speed (being denoted as FwBreak_Speed), motor torque reaches
To maximum value (being denoted as TorqMax_Fw) and keep constant constant.
The present embodiment also sets motor in accelerator open degree as k2And meet following mechanical property under reversed motoring condition：With
The rising of speed, torque is smaller and smaller, and after reaching certain speed (being denoted as RvBreak_Speed), motor torque reaches most
Small value (being denoted as TorqMax_Reverse) simultaneously keeps constant constant.
To sum up, TorqM_ax, FwFwBreak_Speed, TorqMax_Reverse, RvBreak_Speed are being configured
In the case of, so that it may obtaining motor in accelerator open degree is k2When full vehicle speed range mechanical characteristic S2, respective function f2
(Speed) expression formula is as follows：
As Speed >=FwBreak_Speed > 0, f2(Speed)=TorqMax_Fw；
As Speed≤RvBreak_Speed < 0, f2(Speed)=TorqMax_Reverse；
As RvBreak_Speed < Speed < FwBreak_Speed,
Wherein, f2(Speed) expression is positive in motoring condition, f2(Speed) expression is negative in generating state；Speed
It is positive and is expressed as drive shift, Speed, which is negative, is expressed as reverse drive gear.
Wherein, it is quick and precisely adjusted to the accelerator open degree of setting in calibration curve S1 and S2, generally selects k1
=0%, k2=100%, but do not limit to.
Finally, the motor according to above-mentioned calibration is k in accelerator open degree1And k2When mechanical characteristic, determine motor in oil
Mechanical property when door aperture is any value between 0%~100%.
Specifically, indicating that any accelerator open degree, Throttle_Torq indicate under any accelerator open degree with Throttle_Map
Torque, setting speed determine in the case where, it is in a linear relationship between Throttle_Torq and Throttle_Map, i.e.,
Throttle_Map=k* (Throttle_Torq-k1)+f1It (Speed), then, can be according to above-mentioned spy for any speed point
Linearity curve calculates slope k,To realize within the scope of full vehicle speed range and full throttle,
The torque management refined according to driving intention and driving cycle.Wherein, Throttle_Torq is positive expression in electronic
State, Throttle_Torq are negative expression in generating state；Speed, which is positive, is expressed as drive shift, and Speed, which is negative, to be expressed as
Reverse drive gear.
Furthermore it should be noted that it is k that those skilled in the art can remove planning accelerator open degree according to actual needs1、k2When
Mechanical characteristic trend, and be not limited to curve S1, S2 shown in Figure 2.For example, being k in calibration accelerator open degree1
When mechanical characteristic when, can by motor accelerator open degree be k1And the mechanical property met under reversed motoring condition is replaced
It is changed to：With the increase of speed, motor torque is gradually reduced since Torq_Creep, until mistake when motor torque is reduced to 0
It crosses to reverse power generation state.At the same time, increasing motor in accelerator open degree is k1And the machinery met under reverse power generation state
Characteristic is：With the rising of speed, motor torque is increasing, and when reaching certain speed, motor torque reaches maximum value simultaneously
It keeps constant constant.As shown in Figure 3.
In addition, it is k that those skilled in the art can also remove planning accelerator open degree according to actual needs1、k2When mechanical property
The number of segment of curve segmentation, and be not limited to curve S1 shown in Figure 2 be divided into 4 sections, curve S2 be divided into 2 sections.For example,
Calibration accelerator open degree is k2When mechanical characteristic when, curve S2 can also be divided into 4 sections according to actual needs.
It is corresponding to the above method embodiment, the embodiment of the invention also discloses a kind of vehicle control unit of electric vehicle,
As shown in figure 4, including：
Acquisition unit 100, under whole drive mode, acquiring electric car current accelerator open degree and speed；
Torque-calculation unit 200, for calculating motor torque, calculation formula according to collected accelerator open degree and speed
For：
In formula, Throttle_Torq is motor torque；Speed is speed；Throttle_Map is accelerator open degree；fi
(Speed) indicate that accelerator open degree reaches kiWhen, function of the motor torque about speed, i=1,2,0%≤k1< k2≤ 100%.
Optionally, f1(Speed) expression formula is：
As 0≤Speed < GeneSpeed_FwBreak,
As Speed >=GeneSpeed_FwBreak, f1(Speed)=- GeneTorq_FwLimit；
As-GeneSpeed_RvBreak < Speed < 0,
As Speed≤- GeneSpeed_RvBreak, f1(Speed)=GeneTorq_RvLimit；
It wherein, is k in accelerator open degree1In the case where, Torq_Creep, GeneTorq_FwLimit, GeneTorq_
Under motor torque when RvLimit respectively indicates zero speed, the maximum motor torque under positive generating state, reversed motoring condition
Minimum torque；Torq_Cree, p GeneTorq_FwLimit, GeneTorq_RvLimit are all larger than 0；GeneSpeed_
FwBreak is the corresponding speed of GeneTorq_FwLimit, and GeneSpeed_RvBreak is that GeneTorq_RvLimit is corresponding
Speed.
Optionally, f2(Speed) expression formula is：
As Speed >=FwBreak_Speed > 0, f2(Speed)=TorqMax_Fw；
As Speed≤RvBreak_Speed < 0, f2(Speed)=TorqMax_Reverse；
As RvBreak_Speed < Speed < FwBreak_Speed,
It wherein, is k in accelerator open degree2In the case where, TorqMax_Fw and TorqMax_Reverse respectively indicate positive electricity
Maximum motor torque under dynamic state, the minimum torque under reversed motoring condition；TorqMax_Fw and TorqMax_Reverse are equal
Greater than 0；FwBreak_Speed is the corresponding speed of TorqMax_Fw, and RvBrea_k Spee is corresponding for dTorqMax_Reverse
Speed.
Optionally, k is arranged in the present embodiment1=0%, k2=100%, but do not limit to.
In addition, the embodiment of the invention also discloses a kind of electric cars, including：Any electric car as disclosed above
Entire car controller.
In conclusion the present invention calibrates the motor torque under any two accelerator open degree-speed characteristic curve in advance,
Function expression is respectively f1(Speed) and f2(Speed), and set speed Speed determine in the case where, accelerator open degree and electricity
It is in a linear relationship between machine torque, i.e. motor torque=k* (accelerator open degree-k1)+f1(Speed), then the slope under the speedTo be realized within the scope of full vehicle speed range and full throttle according to the motor torque formula
Torque calculation sufficiently combines driving intention and driving cycle and carries out fine-grained management to torque output.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For vehicle disclosed in embodiment
For controller, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method
Part illustrates.
Entire car controller embodiment described above is only schematical, wherein it is described as illustrated by the separation member
Unit may or may not be physically separated, and component shown as a unit may or may not be object
Manage unit, it can it is in one place, or may be distributed over multiple network units.It can select according to the actual needs
Some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying wound
In the case that the property made is worked, it can understand and implement.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments in the case where not departing from the spirit or scope of the embodiment of the present invention.Therefore,
The embodiment of the present invention is not intended to be limited to the embodiments shown herein, and be to fit to principles disclosed herein and
The consistent widest scope of features of novelty.
Claims (9)
1. a kind of entire electric car control method, which is characterized in that including：
Under whole drive mode, acquisition electric car current accelerator open degree and speed；
According to collected accelerator open degree and speed, motor torque is calculated, calculation formula is：
In formula, Throttle_Torq is motor torque；Speed is speed；Throttle_Map is accelerator open degree；fi(Speed)
Indicate that accelerator open degree reaches kiWhen, function of the motor torque about speed, i=1,2,0%≤k1< k2≤ 100%.
2. entire electric car control method according to claim 1, which is characterized in that f1(Speed) expression formula is：
As 0≤Speed < GeneSpeed_FwBreak,
As Speed >=GeneSpeed_FwBreak, f1(Speed)=- GeneTorq_FwLimit；
As-GeneSpeed_RvBreak < Speed < 0,
As Speed≤- GeneSpeed_RvBreak, f1(Speed)=GeneTorq_RvLimit；
It wherein, is k in accelerator open degree1In the case where, Torq_Creep, GeneTorq_FwLimit, GeneTorq_RvLimit points
Do not indicate that motor torque when zero speed, the maximum motor torque under positive generating state, the minimum under reversed motoring condition turn
Square；Torq_Creep, GeneTorq_FwLimit, GeneTorq_RvLimit are all larger than 0；GeneSpeed_FwBreak is
The corresponding speed of GeneTorq_FwLimit, GeneSpeed_RvBreak are the corresponding speed of GeneTorq_RvLimit.
3. entire electric car control method according to claim 2, which is characterized in that f2(Speed) expression formula is：
As Speed >=FwBreak_Speed > 0, f2(Speed)=TorqMax_Fw；
As Speed≤RvBreak_Speed < 0, f2(Speed)=TorqMax_Reverse；
As RvBreak_Speed < Speed < FwBreak_Speed,
It wherein, is k in accelerator open degree2In the case where, TorqMax_Fw and TorqMax_Reverse respectively indicate positive electronic shape
The minimum torque under maximum motor torque, reversed motoring condition under state；TorqMax_Fw and TorqMax_Reverse are all larger than
0；FwBreak_Speed is the corresponding speed of TorqMax_Fw,For the corresponding vehicle of TorqMax_Reverse
Speed.
4. entire electric car control method according to claim 3, which is characterized in that k1=0%, k2=100%.
5. a kind of vehicle control unit of electric vehicle, which is characterized in that including：
Acquisition unit, under whole drive mode, acquiring electric car current accelerator open degree and speed；
Torque-calculation unit, for calculating motor torque according to collected accelerator open degree and speed, calculation formula is：
In formula, Throttle_Torq is motor torque；Speed is speed；Throttle_Map is accelerator open degree；fi(Speed)
Indicate that accelerator open degree reaches kiWhen, function of the motor torque about speed, i=1,2,0%≤k1< k2≤ 100%.
6. vehicle control unit of electric vehicle according to claim 5, which is characterized in that f1(Speed) expression formula is：
As 0≤Speed < GeneSpeed_FwBreak,
As Speed >=GeneSpeed_FwBreak, f1(Speed)=- GeneTorq_FwLimit；
As-GeneSpeed_RvBreak < Speed < 0,
As Speed≤- GeneSpeed_RvBreak, f1(Speed)=GeneTorq_RvLimit；
It wherein, is k in accelerator open degree1In the case where, Torq_Creep, GeneTorq_FwLimit, GeneTorq_RvLimit points
Do not indicate that motor torque when zero speed, the maximum motor torque under positive generating state, the minimum under reversed motoring condition turn
Square；GeneTorq_FwLimit, GeneTorq_RvLimit are all larger than 0；GeneSpeed_FwBreak is
The corresponding speed of GeneTorq_FwLimit, GeneSpeed_RvBreak are the corresponding speed of GeneTorq_RvLimit.
7. vehicle control unit of electric vehicle according to claim 6, which is characterized in that f2(Speed) expression formula is：
As Speed >=FwBreak_Speed > 0, f2(Speed)=TorqMax_Fw；
As Speed≤RvBreak_Speed < 0, f2(Speed)=TorqMax_Reverse；
As RvBreak_Speed < Speed < FwBreak_Speed,
It wherein, is k in accelerator open degree2In the case where, TorqMax_Fw and TorqMax_Reverse respectively indicate positive electronic shape
The minimum torque under maximum motor torque, reversed motoring condition under state；TorqMax_Fw and TorqMax_Reverse are all larger than
0；FwBreak_Speed is the corresponding speed of TorqMax_Fw,For the corresponding vehicle of TorqMax_Reverse
Speed.
8. vehicle control unit of electric vehicle according to claim 7, which is characterized in that k1=0%, k2=100%.
9. a kind of electric car, which is characterized in that including：Electric automobile whole control as described in any one of claim 5-8
Device processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810735479.1A CN108909527B (en) | 2018-07-06 | 2018-07-06 | Electric automobile, whole automobile controller and whole automobile control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810735479.1A CN108909527B (en) | 2018-07-06 | 2018-07-06 | Electric automobile, whole automobile controller and whole automobile control method |
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| Publication Number | Publication Date |
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| CN108909527A true CN108909527A (en) | 2018-11-30 |
| CN108909527B CN108909527B (en) | 2020-05-22 |
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| CN201810735479.1A Active CN108909527B (en) | 2018-07-06 | 2018-07-06 | Electric automobile, whole automobile controller and whole automobile control method |
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