CN109398108A - The torque filtering method and device of electric car - Google Patents
The torque filtering method and device of electric car Download PDFInfo
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- CN109398108A CN109398108A CN201811129987.1A CN201811129987A CN109398108A CN 109398108 A CN109398108 A CN 109398108A CN 201811129987 A CN201811129987 A CN 201811129987A CN 109398108 A CN109398108 A CN 109398108A
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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
Abstract
The torque filtering method and device of present invention proposition electric car.Method includes: real-time demand torque T (the n) _ rq for calculating current driver's, and n is integer and n >=1；According to demand torque T (n) _ rq of obtained target requirement torque T (n-1) _ tg and current driver's after the demand torque T (n-1) of last driver _ rq filtering, difference T_d (n)=T (n) _ rq-T (the n-1) _ tg of the two is calculated；According to the demand torque T (n) of current vehicle speed and current driver's _ rq, filter factor is determined, the difference T_d (n) is filtered using the filter factor, torque is obtained and is sized T_daf (n)；Torque is sized T_daf (n) to be added with T (n-1) _ tg, obtains current goal demand torque T (n) _ tg.The present invention improves the ride comfort of vehicle driving.
Description
Technical field
The present invention relates to electric vehicle engineering field more particularly to the torque filtering methods and device of electric car.
Background technique
Electric car refers to using vehicle power supply as power, with motor driven wheels travel, meets road traffic, security legislation
The vehicle of requirements.Since effect on environment is smaller with respect to orthodox car, its prospects are considered optimistic wildly.
During electric automobile during traveling, need to be filtered such as torque output: starting is stepped on the gas, in driving process suddenly
Suddenly it touches on the brake, to guarantee the ride comfort of traveling.If be not filtered to torque output, torque mutation will cause vehicle shake,
Extreme influence driving experience.
Motor is power source in pure electric automobile, and entire car controller (VCU) is the core of vehicle moment of torsion control, passes through acquisition
The signals such as accelerator pedal, motor speed and automobile gear level, are calculated the demand torque of driver, and by torque filtering and secondary
Cut out etc., vehicle target demand torque is obtained, electric machine controller is issued, electric machine controller control motor realizes that the target requirement is turned round
Square.By the moment of torsion control of VCU, the good driving performance of vehicle and energy optimization are realized.Wherein, anxious to accelerate torque filtering control
Making in pure electric automobile field is also one of key technology, is also evolving progress.Suddenly accelerated in pure electric automobile
The parsing torque of Cheng Zhong, pedal rise quickly, if do not filtered rationally to the torque, the vehicle suddenly accelerated will appear larger
Shake, driving is poor.Meanwhile if when the actual torque of motor is through near zero passage torque, if requested torque changed
Fastly, vehicle pause and transition in rhythm or melody sense is serious, and driving is very poor.Therefore, in the torque filtering control process suddenly accelerated, it is easy to cause vehicle
Impact it is very big, need rationally to control the filtering of target requirement torque, solution is driven in the control strategy of optimization and calibration
Sailing property problem is extremely important.
Summary of the invention
The present invention provides the torque filtering method and device of electric car, to improve the ride comfort of electric vehicle traveling.
The technical scheme of the present invention is realized as follows:
A kind of torque filtering method of electric car, this method comprises:
Demand torque T (n) _ rq of current driver's is calculated in real time, and n is integer and n >=1；
According to target requirement torque T (the n-1) _ tg obtained after the demand torque T (n-1) of last driver _ rq filtering
With demand torque T (n) _ rq of current driver's, difference T_d (n)=T (n) _ rq-T (the n-1) _ tg of the two is calculated；
According to the demand torque T (n) of current vehicle speed and current driver's _ rq, filter factor is determined, using the filter factor
The difference T_d (n) is filtered, torque is obtained and is sized T_daf (n)；
Torque is sized T_daf (n) to be added with T (n-1) _ tg, obtains current goal demand torque T (n) _ tg.
It is described it is real-time calculate current driver's demand torque T (n) _ rq include:
According to the aperture of accelerator pedal, motor speed and automobile gear level, the demand torque T of current driver's is calculated
(n)_Rq。
It is described according to the demand torque T (n) of current vehicle speed and current driver's _ rq, determine that filter factor includes:
Judge whether T_d (n) > 0 is true, if so, according to the first of the demand torque and filter factor of speed and driver
Corresponding relationship and the demand torque T (n) of current vehicle speed and current driver's _ rq, determine filter factor；Otherwise, according to speed
With the demand torque of the demand torque of driver and the second corresponding relationship and current vehicle speed of filter factor and current driver's
T (n) _ rq, determines filter factor.
It is described obtain torque be sized T_daf (n) after, torque is sized to T_daf (n) and T (n-1) _ tg phase
In addition before, further comprise:
Judge whether T_daf (n) > Tmax is true, if so, T_daf (n)=Tmax is enabled, if not, judge T_daf
(n) whether < Tmin is true, if so, enabling T_daf (n)=Tmin, otherwise, keeps T_daf (n) constant, wherein Tmax is torque
The upper limit is adjusted, Tmin is that torque adjusts lower limit.
It is described obtain torque be sized T_daf (n) after, torque is sized to T_daf (n) and T (n-1) _ tg phase
In addition before, further comprise:
If T_d (n) > 0, lower limit is adjusted according to the demand torque of speed and driver and the torque adjustment upper limit and torque
First corresponding relationship and the demand torque T (n) of current vehicle speed and current driver's _ rq determine that torque adjusts upper limit Tmax_
Up and torque adjust lower limit Tmin_up, judge whether T_daf (n) > Tmax_up is true, if so, enable T_daf (n)=Tmax_
Up, if not, whether true judge T_daf (n) < Tmin_up, if so, enabling T_daf (n)=Tmin_up, otherwise, keeps T_
Daf (n) is constant；
If T_d (n)≤0, lower limit is adjusted according to the demand torque of speed and driver and the torque adjustment upper limit and torque
The second corresponding relationship and current vehicle speed and current driver's demand torque T (n) _ rq, determine torque adjust the upper limit
Tmax_down and torque adjust lower limit Tmin_down, judge whether T_daf (n) > Tmax_down is true, if so, enable T_
Daf (n)=Tmax_down, if not, whether true judge T_daf (n) < Tmin_down, if so, enable T_daf (n)=
Otherwise Tmin_down keeps T_daf (n) constant.
A kind of torque filter of electric car, the device include:
Operator demand's torque arithmetic module, for calculating demand torque T (n) _ rq of current driver's in real time, n is whole
Number and n >=1；
Filter module, the target requirement for being obtained after demand torque T (n-1) _ rq filtering according to last driver
Demand torque T (n) _ rq of torque T (n-1) _ tg and current driver's calculate difference T_d (n)=T (n) _ rq-T (n- of the two
1)_tg；According to the demand torque T (n) of current vehicle speed and current driver's _ rq, filter factor is determined, using the filter factor pair
The difference T_d (n) is filtered, and obtains torque and is sized T_daf (n)；
Target requirement torque arithmetic module is added with T (n-1) _ tg for torque to be sized T_daf (n), is worked as
Preceding target requirement torque T (n) _ tg.
Demand torque T (n) _ rq that operator demand's torque arithmetic module calculates current driver's in real time includes:
According to the aperture of accelerator pedal, motor speed and automobile gear level, the demand torque T of current driver's is calculated
(n)_Rq。
The filter module determines filter factor packet according to the demand torque T (n) of current vehicle speed and current driver's _ rq
It includes:
Judge whether T_d (n) > 0 is true, if so, according to the first of the demand torque and filter factor of speed and driver
Corresponding relationship and the demand torque T (n) of current vehicle speed and current driver's _ rq, determine filter factor；Otherwise, according to speed
With the demand torque of the demand torque of driver and the second corresponding relationship and current vehicle speed of filter factor and current driver's
T (n) _ rq, determines filter factor.
The filter module obtains being further used for after torque is sized T_daf (n),
Judge whether T_daf (n) > Tmax is true, if so, T_daf (n)=Tmax is enabled, if not, judge T_daf
(n) whether < Tmin is true, if so, enabling T_daf (n)=Tmin, otherwise, keeps T_daf (n) constant, wherein Tmax is torque
The upper limit is adjusted, Tmin is that torque adjusts lower limit.
The filter module obtains being further used for after torque is sized T_daf (n),
If T_d (n) > 0, lower limit is adjusted according to the demand torque of speed and driver and the torque adjustment upper limit and torque
First corresponding relationship and the demand torque T (n) of current vehicle speed and current driver's _ rq determine that torque adjusts upper limit Tmax_
Up and torque adjust lower limit Tmin_up, judge whether T_daf (n) > Tmax_up is true, if so, enable T_daf (n)=Tmax_
Up, if not, whether true judge T_daf (n) < Tmin_up, if so, enabling T_daf (n)=Tmin_up, otherwise, keeps T_
Daf (n) is constant；
If T_d (n)≤0, lower limit is adjusted according to the demand torque of speed and driver and the torque adjustment upper limit and torque
The second corresponding relationship and current vehicle speed and current driver's demand torque T (n) _ rq, determine torque adjust the upper limit
Tmax_down and torque adjust lower limit Tmin_down, judge whether T_daf (n) > Tmax_down is true, if so, enable T_
Daf (n)=Tmax_down, if not, whether true judge T_daf (n) < Tmin_down, if so, enable T_daf (n)=
Otherwise Tmin_down keeps T_daf (n) constant.
The present invention determines filter factor according to the demand torque of current vehicle speed and current driver's, using the filter factor
The difference of demand torque and last target requirement torque to current driver's is filtered, and is obtained torque and is sized,
Torque is sized and is added to obtain current goal demand torque with last target requirement torque, so that target requirement
Torque can smooth change, improve the ride comfort and driving experience of vehicle driving.
Detailed description of the invention
Only illustratively description and explain the present invention for the following drawings, not delimit the scope of the invention.
Fig. 1 is the torque filtering method flow chart for the electric car that one embodiment of the invention provides
Fig. 2 be another embodiment of the present invention provides electric car torque filtering method flow chart；
Fig. 3 is the structural schematic diagram of the torque filter of electric car provided in an embodiment of the present invention.
Specific embodiment
In order to which the technical features, objects and effects of invention are more clearly understood, the Detailed description of the invention present invention is now compareed
Specific embodiment.
Fig. 1 is the torque filtering method flow chart for the electric car that one embodiment of the invention provides, the specific steps of which are as follows:
Step 101: calculating demand torque T (n) _ rq of current driver's in real time, n is integer and n >=1.
Step 102: according to the target requirement torque T obtained after the demand torque T (n-1) of last driver _ rq filtering
(n-1) _ tg and demand torque the T (n) of current driver's _ rq, difference T_d (n)=T (the n) _ rq-T (n-1) both calculated _
tg。
Step 103: according to the demand torque T (n) of current vehicle speed and current driver's _ rq, filter factor is determined, using this
Filter factor is filtered the difference T_d (n), obtains torque and is sized T_daf (n).
Wherein, according to the demand torque T (n) of current vehicle speed and current driver's _ rq, filter factor is determined can include:
Judge whether T_d (n) > 0 is true, if so, according to the first of the demand torque and filter factor of speed and driver
Corresponding relationship and the demand torque T (n) of current vehicle speed and current driver's _ rq, determine filter factor；Otherwise, according to speed
With the demand torque of the demand torque of driver and the second corresponding relationship and current vehicle speed of filter factor and current driver's
T (n) _ rq, determines filter factor.
T_d (n) > 0 indicates that torque is in rising trend, otherwise indicates that torque is on a declining curve.First corresponding relationship and second
Corresponding relationship can be obtained by a large amount of real steering vectors.
Wherein, obtain torque be sized after T_daf (n) can further progress handle as follows:
Judge whether T_daf (n) > Tmax is true, if so, T_daf (n)=Tmax is enabled, if not, judge T_daf
(n) whether < Tmin is true, if so, enabling T_daf (n)=Tmin, otherwise, keeps T_daf (n) constant, wherein Tmax is torque
The upper limit is adjusted, Tmin is that torque adjusts lower limit.
It is handled as follows alternatively, obtaining further progress after torque is sized T_daf (n):
If T_d (n) > 0, lower limit is adjusted according to the demand torque of speed and driver and the torque adjustment upper limit and torque
First corresponding relationship and the demand torque T (n) of current vehicle speed and current driver's _ rq determine that torque adjusts upper limit Tmax_
Up and torque adjust lower limit Tmin_up, judge whether T_daf (n) > Tmax_up is true, if so, enable T_daf (n)=Tmax_
Up, if not, whether true judge T_daf (n) < Tmin_up, if so, enabling T_daf (n)=Tmin_up, otherwise, keeps T_
Daf (n) is constant；T_d (n) > 0 indicates that torque is in rising trend, and the first corresponding relationship can be obtained by a large amount of real steering vectors；
If T_d (n)≤0, lower limit is adjusted according to the demand torque of speed and driver and the torque adjustment upper limit and torque
The second corresponding relationship and current vehicle speed and current driver's demand torque T (n) _ rq, determine torque adjust the upper limit
Tmax_down and torque adjust lower limit Tmin_down, judge whether T_daf (n) > Tmax_down is true, if so, enable T_
Daf (n)=Tmax_down, if not, whether true judge T_daf (n) < Tmin_down, if so, enable T_daf (n)=
Otherwise Tmin_down keeps T_daf (n) constant.T_d (n)≤0 indicates that torque is on a declining curve, and the second corresponding relationship can be by
A large amount of real steering vectors obtain.
Step 104: torque being sized T_daf (n) and is added with T (n-1) _ tg, current goal demand torque T is obtained
(n)_tg。
Fig. 2 be another embodiment of the present invention provides electric car torque filtering method flow chart, specific steps are such as
Under:
Step 201: calculating demand torque T (n) _ rq of driver in real time, n is integer, and n > 1.
According to the aperture of accelerator pedal, motor speed and automobile gear level etc., the demand torque of driver can be calculated.
Step 202: according to the target requirement torque obtained after the demand torque T (n-1) to last driver _ rq filtering
T (n-1) _ tg and T (n) _ rq calculates difference T_d (n)=T (n) _ rq-T (the n-1) _ tg of the two.
Wherein, T (1) _ tg=0, i.e. initial target demand torque=0.
Step 203: judging whether T_d >=0 is true, if so, executing step 204；Otherwise, step 205 is executed.
Step 204: determine that current torque is in rising trend, then according to the demand torque T (n) of current vehicle speed and driver _
Rq, determines the first filter factor a, and calculated torque is sized T_daf (n)=T_d (n) * a, goes to step 206.
Wherein, 0≤a≤1 can be obtained previously according to a large amount of real steering vectors: when torque is in rising trend, different speeds
A corresponding with operator demand's torque.In general, operator demand's torque is bigger, the value of a is bigger.
In practical applications, in order to further increase the ride comfort of vehicle driving, it is in rising trend torque can be preset
When torque adjustment upper limit Lmax_up and torque adjust lower limit Lmin_up.After calculating T_daf (n), judge T_daf (n) >
Whether Lmax_up is true, if so, T_daf (n)=Lmax_up is enabled, if not, whether judge T_daf (n) < Lmin_up
It sets up, if so, enabling T_daf (n)=Lmin_up, otherwise, keeps T_daf (n) constant.
Wherein, for Lmax_up and Lmin_up, it is in rising trend torque can be obtained previously according to a large amount of real steering vectors
When, corresponding Lmax_up and Lmin_up under different speeds and operator demand's torque.In general, operator demand's torque is got over
Greatly, the value of Lmax_up and Lmin_up is bigger.
Step 205: determine that current torque is on a declining curve, according to the demand torque T (n) of current vehicle speed and driver _ Rq,
It determines the second filter factor b, calculates T_daf (n)=T_d (n) * b.
Wherein, 0≤b≤1 can be obtained previously according to a large amount of real steering vectors: when torque is on a declining curve, different speeds
With b corresponding under operator demand's torque.In general, operator demand's torque is bigger, the value of b is bigger.
In practical applications, in order to further increase the ride comfort of vehicle driving, it is on a declining curve torque can be preset
When torque adjustment upper limit Lmax_down and torque adjust lower limit Lmin_down.After calculating T_daf (n), T_daf is judged
(n) whether>Lmax_down true, if so, enable T_daf (n)=Lmax_down, if not, judge T_daf (n)<
Whether Lmin_down is true, if so, enabling T_daf (n)=Lmin_down, otherwise, keeps T_daf (n) constant.
Wherein, for Lmax_down and Lmin_down, torque can be obtained previously according to a large amount of real steering vectors in decline
When trend, corresponding Lmax_down and Lmin_down under different speeds and operator demand's torque.In general, operator demand
Torque is bigger, and the value of Lmax_down and Lmin_down are bigger.
Step 206: calculating T (n) _ tg=T (n-1) _ tg+T_daf (n).
Step 207: enabling n=n+1, return step 201.
Advantageous effects of the invention are as follows:
The present invention determines filter factor according to the demand torque of current vehicle speed and current driver's, using the filter factor
The difference of demand torque and last target requirement torque to current driver's is filtered, and is obtained torque and is sized,
Torque is sized and is added to obtain current goal demand torque with last target requirement torque, so that target requirement
Torque can smooth change, improve the ride comfort and driving experience of vehicle driving.
Fig. 3 is the structural schematic diagram of the torque filter of electric car provided in an embodiment of the present invention, and the device is main
It include: operator demand's torque arithmetic module 31, filter module 32 and target requirement torque arithmetic module 33, in which:
Operator demand's torque arithmetic module 31, for calculating demand torque T (n) _ rq of current driver's in real time, n is
T (n) _ rq is sent to filter module 32 by integer and n >=1.
Filter module 32, the target for obtaining after demand torque T (n-1) _ rq filtering according to last driver need
Demand torque T (the n) _ rq for asking torque T (n-1) _ tg and current driver's calculates difference T_d (n)=T (the n) _ rq-T of the two
(n-1)_tg；According to the demand torque T (n) of current vehicle speed and current driver's _ rq, filter factor is determined, using the filtering system
It is several that the difference T_d (n) is filtered, it obtains torque and is sized T_daf (n), T_daf (n) is sent to target requirement
Torque arithmetic module 33.
Target requirement torque arithmetic module 33 is added with T (n-1) _ tg for torque to be sized T_daf (n), obtains
T (n) _ tg is sent to filter module 32 by current goal demand torque T (n) _ tg.
In practical applications, operator demand's torque arithmetic module 31 calculates the demand torque T of current driver's in real time
(n) _ rq includes:
According to the aperture of accelerator pedal, motor speed and automobile gear level, the demand torque T of current driver's is calculated
(n)_Rq。
In practical applications, filter module 32 is determined according to the demand torque T (n) of current vehicle speed and current driver's _ rq
Filter factor includes:
Judge whether T_d (n) > 0 is true, if so, according to the first of the demand torque and filter factor of speed and driver
Corresponding relationship and the demand torque T (n) of current vehicle speed and current driver's _ rq, determine filter factor；Otherwise, according to speed
With the demand torque of the demand torque of driver and the second corresponding relationship and current vehicle speed of filter factor and current driver's
T (n) _ rq, determines filter factor.
In practical applications, filter module 32 obtains being further used for after torque is sized T_daf (n),
Judge whether T_daf (n) > Tmax is true, if so, T_daf (n)=Tmax is enabled, if not, judge T_daf
(n) whether < Tmin is true, if so, enabling T_daf (n)=Tmin, otherwise, keeps T_daf (n) constant, wherein Tmax is torque
The upper limit is adjusted, Tmin is that torque adjusts lower limit.
In practical applications, filter module 32 obtains being further used for after torque is sized T_daf (n),
If T_d (n) > 0, lower limit is adjusted according to the demand torque of speed and driver and the torque adjustment upper limit and torque
First corresponding relationship and the demand torque T (n) of current vehicle speed and current driver's _ rq determine that torque adjusts upper limit Tmax_
Up and torque adjust lower limit Tmin_up, judge whether T_daf (n) > Tmax_up is true, if so, enable T_daf (n)=Tmax_
Up, if not, whether true judge T_daf (n) < Tmin_up, if so, enabling T_daf (n)=Tmin_up, otherwise, keeps T_
Daf (n) is constant；Tdaf (n) is sent to target requirement torque arithmetic module 33；
If T_d (n)≤0, lower limit is adjusted according to the demand torque of speed and driver and the torque adjustment upper limit and torque
The second corresponding relationship and current vehicle speed and current driver's demand torque T (n) _ rq, determine torque adjust the upper limit
Tmax_down and torque adjust lower limit Tmin_down, judge whether T_daf (n) > Tmax_down is true, if so, enable T_
Daf (n)=Tmax_down, if not, whether true judge T_daf (n) < Tmin_down, if so, enable T_daf (n)=
Otherwise Tmin_down keeps T_daf (n) constant；Tdaf (n) is sent to target requirement torque arithmetic module 33.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope that is bright, and being not intended to limit the invention, it is all without departing from equivalent embodiments made by technical spirit of the present invention or
Change, such as the combination, segmentation or repetition of feature, should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of torque filtering method of electric car, which is characterized in that this method comprises:
Demand torque T (n) _ rq of current driver's is calculated in real time, and n is integer and n >=1；
According to target requirement torque T (the n-1) _ tg obtained after the demand torque T (n-1) of last driver _ rq filtering and work as
The demand torque T (n) of preceding driver _ rq calculates difference T_d (n)=T (n) _ rq-T (the n-1) _ tg of the two；
According to the demand torque T (n) of current vehicle speed and current driver's _ rq, filter factor is determined, using the filter factor to institute
It states difference T_d (n) to be filtered, obtains torque and be sized T_daf (n)；
Torque is sized T_daf (n) to be added with T (n-1) _ tg, obtains current goal demand torque T (n) _ tg.
2. the method according to claim 1, wherein the real-time demand torque T for calculating current driver's
(n) _ rq includes:
According to the aperture of accelerator pedal, motor speed and automobile gear level, be calculated the demand torque T (n) of current driver's _
Rq。
3. the method according to claim 1, wherein described turn round according to the demand of current vehicle speed and current driver's
Square T (n) _ rq determines that filter factor includes:
Judge whether T_d (n) > 0 is true, if so, corresponding according to the first of the demand torque of speed and driver and filter factor
The demand torque T (n) of relationship and current vehicle speed and current driver's _ rq, determines filter factor；Otherwise, according to speed and driving
The demand torque T of the demand torque for the person of sailing and the second corresponding relationship and current vehicle speed of filter factor and current driver's
(n) _ rq, determines filter factor.
4. the method according to claim 1, wherein it is described obtain torque be sized T_daf (n) after, will
Torque is sized before T_daf (n) is added with T (n-1) _ tg, further comprises:
Judge whether T_daf (n)>Tmax true, if so, enable T_daf (n)=Tmax, if not, judge T_daf (n)<
Whether Tmin is true, if so, enabling T_daf (n)=Tmin, otherwise, keeps T_daf (n) constant, wherein Tmax is torque adjustment
The upper limit, Tmin are that torque adjusts lower limit.
5. the method according to claim 1, wherein it is described obtain torque be sized T_daf (n) after, will
Torque is sized before T_daf (n) is added with T (n-1) _ tg, further comprises:
If T_d (n) > 0, the first of lower limit is adjusted according to the demand torque of speed and driver and the torque adjustment upper limit and torque
Corresponding relationship and the demand torque T (n) of current vehicle speed and current driver's _ rq, determine torque adjustment upper limit Tmax_up and
Torque adjusts lower limit Tmin_up, judges whether T_daf (n) > Tmax_up is true, if so, T_daf (n)=Tmax_up is enabled,
If not, whether true judge T_daf (n) < Tmin_up, if so, enabling T_daf (n)=Tmin_up, otherwise, keeps T_daf
(n) constant；
If T_d (n)≤0, according to the of the demand torque of speed and driver and the torque adjustment upper limit and torque adjustment lower limit
Two corresponding relationships and the demand torque T (n) of current vehicle speed and current driver's _ rq determine that torque adjusts upper limit Tmax_
Down and torque adjust lower limit Tmin_down, judge whether T_daf (n) > Tmax_down is true, if so, enable T_daf (n)
=Tmax_down, if not, whether true T_daf (n) < Tmin_down is judged, if so, enabling T_daf (n)=Tmin_
Otherwise down keeps T_daf (n) constant.
6. a kind of torque filter of electric car, which is characterized in that the device includes:
Operator demand's torque arithmetic module, for calculating demand torque T (n) _ rq of current driver's in real time, n is integer and n
≥1；
Filter module, the target requirement torque T for being obtained after demand torque T (n-1) _ rq filtering according to last driver
(n-1) _ tg and demand torque the T (n) of current driver's _ rq, difference T_d (n)=T (the n) _ rq-T (n-1) both calculated _
tg；According to the demand torque T (n) of current vehicle speed and current driver's _ rq, filter factor is determined, using the filter factor to institute
It states difference T_d (n) to be filtered, obtains torque and be sized T_daf (n)；
Target requirement torque arithmetic module is added with T (n-1) _ tg for torque to be sized T_daf (n), obtains current mesh
Mark demand torque T (n) _ tg.
7. device according to claim 6, which is characterized in that operator demand's torque arithmetic module calculates in real time to be worked as
The demand torque T (n) of preceding driver _ rq includes:
According to the aperture of accelerator pedal, motor speed and automobile gear level, be calculated the demand torque T (n) of current driver's _
Rq。
8. device according to claim 6, which is characterized in that the filter module is according to current vehicle speed and current driver's
Demand torque T (n) _ rq, determine that filter factor includes:
Judge whether T_d (n) > 0 is true, if so, corresponding according to the first of the demand torque of speed and driver and filter factor
The demand torque T (n) of relationship and current vehicle speed and current driver's _ rq, determines filter factor；Otherwise, according to speed and driving
The demand torque T of the demand torque for the person of sailing and the second corresponding relationship and current vehicle speed of filter factor and current driver's
(n) _ rq, determines filter factor.
9. device according to claim 6, which is characterized in that the filter module obtains torque and is sized T_daf (n)
It is further used for later,
Judge whether T_daf (n)>Tmax true, if so, enable T_daf (n)=Tmax, if not, judge T_daf (n)<
Whether Tmin is true, if so, enabling T_daf (n)=Tmin, otherwise, keeps T_daf (n) constant, wherein Tmax is torque adjustment
The upper limit, Tmin are that torque adjusts lower limit.
10. device according to claim 6, which is characterized in that the filter module obtains torque and is sized T_daf
(n) it is further used for after,
If T_d (n) > 0, the first of lower limit is adjusted according to the demand torque of speed and driver and the torque adjustment upper limit and torque
Corresponding relationship and the demand torque T (n) of current vehicle speed and current driver's _ rq, determine torque adjustment upper limit Tmax_up and
Torque adjusts lower limit Tmin_up, judges whether T_daf (n) > Tmax_up is true, if so, T_daf (n)=Tmax_up is enabled,
If not, whether true judge T_daf (n) < Tmin_up, if so, enabling T_daf (n)=Tmin_up, otherwise, keeps T_daf
(n) constant；
If T_d (n)≤0, according to the of the demand torque of speed and driver and the torque adjustment upper limit and torque adjustment lower limit
Two corresponding relationships and the demand torque T (n) of current vehicle speed and current driver's _ rq determine that torque adjusts upper limit Tmax_
Down and torque adjust lower limit Tmin_down, judge whether T_daf (n) > Tmax_down is true, if so, enable T_daf (n)
=Tmax_down, if not, whether true T_daf (n) < Tmin_down is judged, if so, enabling T_daf (n)=Tmin_
Otherwise down keeps T_daf (n) constant.
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| CN114750605A (en) * | 2021-01-08 | 2022-07-15 | 广汽埃安新能源汽车有限公司 | Automobile torque control method and system, automobile and storage medium |
| CN116176297A (en) * | 2023-04-03 | 2023-05-30 | 成都赛力斯科技有限公司 | Torque zero crossing control method and device for new energy automobile and new energy automobile |
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