CN109305049B - Vehicle starting control method and device - Google Patents

Vehicle starting control method and device Download PDF

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CN109305049B
CN109305049B CN201710625681.4A CN201710625681A CN109305049B CN 109305049 B CN109305049 B CN 109305049B CN 201710625681 A CN201710625681 A CN 201710625681A CN 109305049 B CN109305049 B CN 109305049B
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vehicle
maximum value
output torque
response time
motor output
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CN109305049A (en
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许盛中
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Yutong Bus Co Ltd
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Zhengzhou Yutong Bus 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—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
    • B60L2240/26—Vehicle weight
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a vehicle starting control method and device. The method comprises the following implementation steps: measuring the vehicle weight when the vehicle is parked; and calculating to obtain the motor output target torque and the target response time required by the vehicle when the vehicle starts again according to the corresponding relation between the vehicle weight and the maximum value of the motor output torque and the response time and the accelerator opening. By measuring the weight of the vehicle in real time, the real-time load condition of the vehicle can be obtained before starting. According to the load condition of the vehicle, the output target torque and the response time of the motor can be dynamically adjusted, so that the consistency of the starting power of the vehicle under any load condition is ensured. On one hand, the impact on the axle can be effectively relieved, and the problem that the axle bang is loud is avoided; on the other hand, the problem of riding comfort of passengers can be effectively solved. In addition, the vehicle starting response time can be optimized, and the working condition requirement of the bus for frequent starting is met.

Description

Vehicle starting control method and device
Technical Field
The invention belongs to the field of vehicle control, and particularly relates to a vehicle starting control method and device.
Background
Most series-parallel power systems in the current passenger car industry have the function of intelligently stopping an engine, and the starting of a vehicle is realized by motor driving. When the vehicle starts, the motor output target torque is determined according to the accelerator opening percentage multiplied by the maximum value of the motor output torque. Therefore, when the vehicle is subjected to factory calibration, the maximum value of the output torque of the motor needs to be calibrated, and meanwhile, the response time can be calibrated.
Generally, for a vehicle, the maximum value of the output torque of the motor and the response time are solidified in a program when the vehicle leaves a factory, so that the vehicle shows inconsistent starting dynamic performance under different load conditions, because: the following conditions may occur for the maximum value of the motor output torque to be fixed:
1. if the value is set to be very large, the requirement of vehicle starting power performance can be met when the bus is fully loaded, but the bus can be started too hard when the bus is unloaded, and standing passengers, especially old people, can not stand stably for the bus; on the other hand, due to the limitation of motor manufacturing process in the passenger car industry, a certain gap exists between the motor and the transmission shaft, if the output torque of the motor is large or the response time is short, the gap can cause the vehicle to step on an accelerator, and the motor can sound along with the rear axle bang when starting, so that the service life of the rear axle is influenced.
2. If the value is set to be smaller, the starting power performance of the vehicle can be met when the vehicle is in no-load; however, when the vehicle is fully loaded, the maximum value of the torque output by the motor is small, and the rotating speed of the crankshaft of the motor is low, so that the starting speed of the vehicle is low, and the requirement of frequent starting of the vehicle under the working condition of the bus cannot be met.
Disclosure of Invention
The invention aims to provide a vehicle starting control method and a vehicle starting control device, which are used for solving the problem that vehicle starting power performance is inconsistent under different loads.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a vehicle starting control method comprises the following steps:
1) measuring the vehicle weight when the vehicle is parked;
2) determining the maximum value of the output torque of the motor corresponding to the vehicle weight measured in the step 1) according to the corresponding relation between different vehicle weights and the maximum values of the output torque of different motors;
3) judging whether the vehicle starts or not;
4) when the vehicle starts, calculating to obtain a motor output target torque according to the accelerator opening and the maximum value of the motor output torque obtained in the step 2) so as to control the motor.
Further, different vehicle weights also correspond to different response times.
Further, the corresponding relation between the different vehicle weights and the maximum values of the output torques and the response times of the different motors is calibrated according to a test, and the calibration process comprises the following steps: under the condition of setting the vehicle weight, the maximum value of the output torque of the motor and the response time corresponding to the set vehicle weight are comprehensively determined according to subjective feelings of different drivers, so that the corresponding relation between various vehicle weights and the maximum value of the output torque of the motor and the response time is obtained.
Further, the vehicle weight is measured by a pressure sensor installed at a connection between the vehicle body and the chassis.
Further, whether the vehicle starts or not is judged by detecting the vehicle speed and the accelerator opening degree.
The invention also provides a vehicle starting control method, which comprises the following steps:
(1) measuring the vehicle weight when the vehicle is parked;
(2) judging whether the vehicle starts or not;
(3) and (3) when the vehicle starts, determining the motor output target torque obtained by the vehicle weight measured in the step (1) according to the corresponding relation between different vehicle weights and the maximum values of the output torques of different motors and the opening degree of an accelerator so as to control the motor.
Further, different vehicle weights also correspond to different response times.
Further, the corresponding relation between the different vehicle weights and the maximum values of the output torques and the response times of the different motors is calibrated according to a test: under the condition of setting the vehicle weight, the maximum value of the output torque of the motor and the response time corresponding to the set vehicle weight are comprehensively determined according to subjective feelings of different drivers, so that the corresponding relation between various vehicle weights and the maximum value of the output torque of the motor and the response time is obtained.
The invention also provides a vehicle starting control device, which comprises a controller, wherein the controller is used for executing instructions for realizing the following method:
measuring the vehicle weight when the vehicle is parked;
determining the maximum value of the output torque of the motor corresponding to the measured vehicle weight according to the corresponding relation between different vehicle weights and the maximum values of the output torque of different motors;
judging whether the vehicle starts or not;
when the vehicle starts, the motor output target torque is calculated according to the accelerator opening and the maximum value of the motor output torque so as to control the motor.
The invention also provides a vehicle starting control device, which comprises a controller, wherein the controller is used for executing instructions for realizing the following method:
measuring the vehicle weight when the vehicle is parked;
judging whether the vehicle starts or not;
when the vehicle starts, according to the corresponding relation between different vehicle weights and the maximum values of the output torques of different motors and the opening degree of an accelerator, the motor output target torque obtained by the measured vehicle weight is determined so as to control the motor.
The invention has the beneficial effects that:
the invention can obtain the real-time loading condition of the vehicle before starting by additionally arranging the vehicle weight measuring device. According to the load condition of the vehicle, the maximum value of the output torque of the motor can be dynamically adjusted, so that the consistency of starting power of the vehicle under any load condition is ensured. On one hand, the impact on the axle can be effectively relieved, and the problem that the axle bang is loud is avoided; on the other hand, the problem of riding comfort of passengers can be effectively solved.
By setting the corresponding relation between the vehicle weight and the response time, the motor output response time can be dynamically adjusted according to the load condition of the vehicle. The problem of slow vehicle starting response is effectively solved, and the method is particularly suitable for the working condition requirement of frequent starting of the bus.
The maximum value of the output torque of the vehicle motor and the response time are calibrated through the subjective experience of different drivers, the obtained parameters are more humanized, and better riding experience is provided for passengers.
Drawings
FIG. 1 is a schematic view of the installation of a weight measuring device in the method of the present invention;
FIG. 2 is a control schematic of the present invention;
FIG. 3 is a control flowchart of embodiment 1;
fig. 4 is a control flowchart of embodiment 2.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings.
The invention aims to solve the problem of starting power consistency of a hybrid power bus (for buses, the problem is particularly serious because the bus is started frequently), and in order to solve the problem, a method for measuring the weight of the bus in real time and dynamically controlling the output target torque of a motor and the output target response time of the motor is adopted.
In order to measure the load of the vehicle, a weight measuring device is added at the joint between the vehicle body and the chassis, the weight measuring device is installed at the joint between the suspension 3 of the vehicle body 1 and the chassis 2 as shown in fig. 1, and a measuring device 4 is installed. The weight measuring device is additionally arranged to collect weight signals in real time. The weight measuring device can adopt a pressure sensor to collect analog signals or a commercially sold quality measuring instrument and other devices for measurement. Pressure sensors are widely used in industrial practice and are of various types, and the main types are strain gauge pressure sensors, ceramic pressure sensors, diffused silicon pressure sensors, piezoelectric pressure sensors and the like.
Strain gauge sensors, for example, are pressure sensors that convert a measured pressure into a corresponding change in resistance. For a strain type resistance sensor, a strain material is closely adhered to a substrate which generates stress change through a special adhesive, and when the substrate is stressed and generates stress change, a strain gauge deforms together, so that the resistance value of the strain gauge is changed, and the voltage applied to a resistor is changed. The strain type resistance sensor converts the change of sensed force into the change of a voltage signal to be output, the resistance value change of the strain gauge generated when the strain gauge is stressed is usually small, a strain bridge is generally formed, the strain bridge is amplified through a subsequent instrument amplifier, and then the strain bridge is transmitted to a processing circuit to calculate a weight signal or is directly transmitted to an executing mechanism to carry out operation judgment.
If the sensor is adopted to collect the weight signal, the measuring range and the accuracy of the sensor must be calibrated. To avoid sensor errors due to jolts, the vehicle needs to be calibrated in a stationary state. The self weight of the vehicle corresponding to different vehicle types is different, and the voltage value of the vehicle in the factory no-load condition is measured by the strain sensor for each vehicle type and recorded; adding a certain weight, measuring and recording the voltage value under the condition; continuously adding a certain weight on the vehicle, measuring and recording the voltage value at the moment; the weighing measurement and recording continues until full load is reached, and the voltage value output by the sensor at full load is measured and recorded. And the recorded voltage values correspond to the load quantities one by one, and the relation between the recorded voltage values and the load quantities is obtained, so that the controller can accurately process the signals input by the sensors.
If the instrument or the device for measuring the mass sold on the market is adopted, the weight of the vehicle in the empty state and the full state can be obtained. The controller performs data processing based on the relationship between the weight and the output signal as provided by the specifications of the measuring device.
Besides, under the condition of different vehicle weights, the maximum torque value and the response time of the motor output are calibrated. In order to obtain optimal motor output parameters (including maximum motor output torque and response time) suitable for different drivers under different vehicle weight conditions, different drivers need to be found for subjective feeling. Under the condition of the same vehicle weight, a plurality of drivers are asked to experience, the maximum value of the optimal torque and the response time obtained by the drivers are recorded, and the results of each driver are integrated to obtain the optimal motor output parameter under the condition of the vehicle weight. According to the method, different vehicle weight conditions of different vehicle types are calibrated one by one to obtain the corresponding relation between the vehicle weight and the motor output parameter, and the relation can be displayed through a table, for example:
Figure BDA0001362760280000041
Figure BDA0001362760280000051
software formed by coding the method can be operated in a vehicle controller (or in other controllers, such as controllers specially used for realizing the method), as shown in fig. 2, the vehicle control device outputs the optimal motor output parameter under the condition of the vehicle weight through table lookup according to the weight signal acquired by the weight measuring device. In actual operation, the vehicle control unit calculates a dynamic motor target torque and a dynamic motor target response time according to an accelerator opening, a vehicle speed signal and an optimal motor output parameter obtained through a vehicle weight signal, and outputs the dynamic motor target torque and the dynamic motor target response time to the motor controller to realize dynamic control of the motor output parameter. In order to avoid the influence of bumping on the vehicle weight in the driving process of the vehicle, the vehicle speed needs to be detected in advance, and when the vehicle speed is zero, the vehicle weight is measured.
Several specific control methods are given below:
example 1:
as shown in fig. 3, the vehicle control unit first detects the current vehicle speed. The vehicle speed can be measured by installing a speed measuring sensor on the vehicle, and the vehicle control unit can control the vehicle speed signal in an inquiry mode or an interrupt mode. If the vehicle speed is equal to zero, the vehicle controller continuously receives the speed signal of the speed measuring sensor and judges whether the vehicle speed is equal to zero or not.
If the vehicle speed is not zero, continuously receiving a speed signal; if the speed is zero, the weight measurement is started. And obtaining the maximum torque value and the response time of the starting output of the motor according to a comparison table (such as the table) of the vehicle weight calibrated by the factory and the output parameters of the motor.
And then judging whether the vehicle is in a starting state, wherein the starting state has two important marks, namely whether the opening of an accelerator is larger than zero or not and whether the vehicle speed is smaller than 5 kilometers per hour or not. When the two conditions are met, the controller calculates a target torque (which can be obtained by directly multiplying the percentage of the opening degree of the accelerator by the maximum value of the output torque of the motor) and a target response time output by the motor according to the opening degree condition of the accelerator and the response time of the sum of the maximum values of the torque output by starting of the motor, which is obtained in advance.
Example 2:
as shown in fig. 4, when the vehicle is parked, weight measurement is performed; then judging whether the vehicle is in a starting state or not; if the vehicle is in a starting state, the controller obtains the maximum torque and the response time of the motor starting output according to a comparison table of the factory-calibrated vehicle weight and the motor output parameters, and then calculates and obtains the target torque and the target response time of the motor output according to the accelerator opening condition.
Compared with the example 1, the method can also solve the technical problem of power consistency, but the table is looked up in the starting state of the vehicle, so that the calculation task of the whole vehicle controller is enlarged when the vehicle starts, and certain requirements are made on the processing speed of the whole vehicle controller.
In addition, as a third embodiment, calculation or table lookup may be performed directly after the start determination. If the table is looked up, the table should directly obtain the corresponding motor output target torque and motor output target response time according to the vehicle weight condition and the accelerator opening, for example, the table may be:
Figure BDA0001362760280000061
by additionally arranging the vehicle weight measuring device, the current load condition of the vehicle can be obtained in real time, the maximum torque and the response time output by the motor can be dynamically adjusted according to the load condition of the vehicle, and the problem of starting power consistency of the vehicle under any load condition is effectively solved. Meanwhile, the requirement of the system on the starting dynamic property can be solved on the premise of not influencing the service life of the axle on the one hand, and the problem of riding comfort of passengers can be solved on the other hand.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims (6)

1. A vehicle starting control method is characterized by comprising the following steps:
1) measuring the vehicle weight when the vehicle is parked;
2) determining the maximum value of the output torque of the motor corresponding to the vehicle weight measured in the step 1) according to the corresponding relation between different vehicle weights and the maximum values of the output torque of different motors;
3) judging whether the vehicle starts or not;
4) when the vehicle starts, calculating a motor output target torque according to the accelerator opening and the maximum value of the motor output torque obtained in the step 2) so as to control the motor;
the corresponding relation between different vehicle weights and the maximum value of the output torque and the response time of different motors is calibrated according to a test, and the calibration process is as follows: under the condition of setting the vehicle weight, recording the maximum value of the optimal motor output torque felt by a plurality of drivers and corresponding time, integrating the maximum value of the optimal motor output torque felt by each driver to determine the maximum value of the motor output torque corresponding to the set vehicle weight, and integrating the response time felt by each driver to determine the response time corresponding to the set vehicle weight, thereby obtaining the corresponding relation between various vehicle weights and the maximum value of the motor output torque and the response time.
2. The vehicle startup control method according to claim 1, characterized in that the vehicle weight is measured by a pressure sensor that is installed at a connection between the vehicle body and the chassis.
3. The vehicle startup control method according to claim 1, characterized in that whether the vehicle is started is determined by detecting a vehicle speed and an accelerator opening degree.
4. A vehicle starting control method is characterized by comprising the following steps:
(1) measuring the vehicle weight when the vehicle is parked;
(2) judging whether the vehicle starts or not;
(3) when the vehicle starts, determining a motor output target torque obtained by the vehicle weight measured in the step (1) according to the corresponding relation between different vehicle weights and the maximum values of the output torques of different motors and the opening degree of an accelerator so as to control the motor;
the corresponding relation between different vehicle weights and the maximum value of the output torque and the response time of different motors is calibrated according to the test: under the condition of setting the vehicle weight, recording the maximum value of the optimal motor output torque felt by a plurality of drivers and corresponding time, integrating the maximum value of the optimal motor output torque felt by each driver to determine the maximum value of the motor output torque corresponding to the set vehicle weight, and integrating the response time felt by each driver to determine the response time corresponding to the set vehicle weight, thereby obtaining the corresponding relation between various vehicle weights and the maximum value of the motor output torque and the response time.
5. A vehicle launch control apparatus comprising a controller, wherein the controller is configured to execute instructions to implement a method comprising:
measuring the vehicle weight when the vehicle is parked;
determining the maximum value of the output torque of the motor corresponding to the measured vehicle weight according to the corresponding relation between different vehicle weights and the maximum values of the output torque of different motors;
judging whether the vehicle starts or not;
when the vehicle starts, calculating a motor output target torque according to the accelerator opening and the maximum value of the motor output torque so as to control the motor;
the corresponding relation between different vehicle weights and the maximum value of the output torque and the response time of different motors is calibrated according to the test: under the condition of setting the vehicle weight, recording the maximum value of the optimal motor output torque felt by a plurality of drivers and corresponding time, integrating the maximum value of the optimal motor output torque felt by each driver to determine the maximum value of the motor output torque corresponding to the set vehicle weight, and integrating the response time felt by each driver to determine the response time corresponding to the set vehicle weight, thereby obtaining the corresponding relation between various vehicle weights and the maximum value of the motor output torque and the response time.
6. A vehicle launch control apparatus comprising a controller, wherein the controller is configured to execute instructions to implement a method comprising:
measuring the vehicle weight when the vehicle is parked;
judging whether the vehicle starts or not;
when the vehicle starts, determining a motor output target torque obtained by the measured vehicle weight according to the corresponding relation between different vehicle weights and the maximum values of the output torques of different motors and the opening degree of an accelerator so as to control the motor;
the corresponding relation between different vehicle weights and the maximum value of the output torque and the response time of different motors is calibrated according to the test: under the condition of setting the vehicle weight, recording the maximum value of the optimal motor output torque felt by a plurality of drivers and corresponding time, integrating the maximum value of the optimal motor output torque felt by each driver to determine the maximum value of the motor output torque corresponding to the set vehicle weight, and integrating the response time felt by each driver to determine the response time corresponding to the set vehicle weight, thereby obtaining the corresponding relation between various vehicle weights and the maximum value of the motor output torque and the response time.
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CN112297872B (en) * 2019-08-02 2022-04-08 北京新能源汽车股份有限公司 Automobile torque control method and device, control equipment and automobile
CN112092646B (en) * 2020-08-18 2022-01-04 北汽福田汽车股份有限公司 Vehicle control method and device, storage medium and vehicle
CN112287139B (en) * 2020-10-26 2021-10-26 泰州润瀚环境科技有限公司 System and method for analyzing track duration by applying data analysis
CN114435141B (en) * 2020-11-05 2023-07-21 宇通客车股份有限公司 Vehicle output torque control method and device
CN112937315B (en) * 2021-03-31 2022-12-09 长安大学 System and method for improving starting smoothness of electric motor coach

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Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province

Patentee after: Yutong Bus Co.,Ltd.

Address before: 450016 Yutong Industrial Zone, eighteen Li River, Henan, Zhengzhou

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