CN109466561A - Vehicular gross combined weight calculation method and system - Google Patents
Vehicular gross combined weight calculation method and system Download PDFInfo
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- CN109466561A CN109466561A CN201811137024.6A CN201811137024A CN109466561A CN 109466561 A CN109466561 A CN 109466561A CN 201811137024 A CN201811137024 A CN 201811137024A CN 109466561 A CN109466561 A CN 109466561A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/085—Power
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
Abstract
Present invention relates particularly to a kind of vehicular gross combined weight calculation method and systems.Present invention seek to address that the technical problem that vehicular gross combined weight computational accuracy is low.For this purpose, the present invention provides a kind of vehicular gross combined weight calculation method, including S10: establish vehicle output power of motor P when traveling at the uniform speedmWith vehicular gross combined weight m, coefficient of rolling resistance f, coefficient of air resistance CDWith the relation function F1 of front face area A；S12: vehicle output power of motor P when accelerating or climbing operation is establishedaWith vehicular gross combined weight m, coefficient of rolling resistance f, coefficient of air resistance CDWith the relation function F2 of front face area A；S14: the relation function F3 of output power of motor difference DELTA P Yu vehicular gross combined weight m are established by way of merging relation function F1 and relation function F2；S16: output power of motor difference DELTA P is obtained so that it is determined that vehicular gross combined weight m by tabling look-up.The present invention is by by coefficient of rolling resistance f, coefficient of air resistance CD, front face area A eliminate, so as to improve the computational accuracy of vehicular gross combined weight.
Description
Technical field
The present invention relates to vehicular gross combined weight computing technique fields, and in particular to a kind of vehicular gross combined weight calculation method and is
System.
Background technique
What this part provided is only background information relevant to the disclosure, is not necessarily the prior art.
The developing direction of Shape Of Things To Come is automatically controlledization, automation and adaptiveization, and the realization of these controls is typically necessary
This parameter of vehicular gross combined weight, such as EBS, ESP, TCS, more MAP power output systems, different power output strategies etc., this
A little systems are both needed to for gross vehicle load to be set as control parameter, ordinary circumstance, and vehicular gross combined weight may be configured as fixed value parameter (one
As gross mass change little vehicle, such as passenger car).However status is, loading class vehicle is in unloaded and full load vehicle
Gross mass changes greatly, and is difficult to predict in advance, if practical gross mass and the electronic system vehicle initially set of vehicle are total
Quality difference is very big, and the control precision that will lead to control system reduces, and causes control system to fail, or even seriously affect vehicle
Driving safety.The method of existing estimation vehicular gross combined weight mainly divides two major classes: 1), passing through external detection device, such as logical
Cross between vehicle frame and vehicle bridge position sensor measurement vehicle frame and vehicle bridge between decrement, both according to the deflection of leaf spring come
Speculate the rest mass of vehicle；2) it, is based on vehicle driving kinetics equation, and obtains the acceleration of vehicle with various sensors
The information such as degree, speed, the gradient, and extract operation information (engine speed information and the engine torque letter of engine in ECU
Breath etc.), the gross mass of vehicle is extrapolated with kinetic balance equation, can be measured by the method in state of motion of vehicle
Under weight, the method application also than wide, the specific embodiment of this method also compare it is more, between specific embodiment
Difference it is also bigger.
For example, a kind of vehicle mass evaluation method of the patent disclosure of Publication No. CN201210433269.X, the invention
Central scope be the vector that vehicle mass and road gradient the two unknown quantitys are respectively set as to m peacekeeping n dimension, and form m
× n matrix, and by the moving equilibrium model equation of wherein each element substitution vehicle, the theoretical value of longitudinal acceleration is calculated,
It is compared by acceleration theoretical value and actual measured value, finds corresponding quality in matrix, to show that the quality of vehicle is estimated
Value.The patent disclosure of Publication No. CN201210272414.0 is a kind of using vehicle-mounted accelerometer estimation vehicle when mobile
The method of the vehicle gradient and quality, vehicle obtain the acceleration evaluation of vehicle using accelerometer, value based on accelerometer,
Vehicle speed variation rate value and gravitational constant generate gradient estimator, according to patent specification deducibility coefficient of rolling resistance f,
Front face area A and coefficient of air resistance CDIt is given value, and knows that acceleration a, gradient i, speed v and vehicle traction F can
It is calculated by motor torque and revolving speed, vehicle is finally calculated according to formula F=ma (power=quality × acceleration)
Quality.A kind of method and apparatus for determining vehicle weight of the patent disclosure of Publication No. CN201480025212.3
And the vehicle with this device, basic principle of the invention based on power theorem, i.e., all power acted in system
Summation is equal to the time change value of system kinetic energy at every point of time, passes through engine according to specification driving power
The parameters such as driving moment and angular speed are found out, and running resistance power multiplies speed by running resistance and finds out, and seeks running resistance
On condition that coefficient of rolling resistance f, gradient i and coefficient of air resistance CDEtc. parameters it is known that if running resistance is unknown, can pass through
Two time t successive in short-term0And t1Point determines the speed and driving power of vehicle, in this way it is believed that the traveling at two time points
Resistance is without obvious gap, then further according to two time point t0And t1Speed v0And v1And driving power determines vehicle
Weight.A kind of method and fuel-saving control for calculating vehicular gross combined weight of the patent disclosure of Publication No. CN201410536399.5
The method central scope of method, the calculating vehicular gross combined weight is: controller is passed using the acceleration of gravity being installed on vehicle
Sensor, controller and the original Engine ECU of vehicle obtain engine information, information of vehicles and gravity accelerometer
The inclination angle of input and acceleration information, then go out the current gross mass of vehicle with vehicle vehicle dynamics equation calculation, and to
It is outer output vehicle gross mass information, the premise of the method for the calculating vehicular gross combined weight be many parameter values be it is known, such as
Base ratio, gearbox respectively keep off speed ratio and are pre-stored in Engine ECU, mechanical efficiency of power transmission, vehicle rotary mass conversion system
The data pre-storages such as number, tire rolling radius, coefficient of rolling resistance, air resistance coefficient, front face area, vehicle empty mass are controlling
In the memory of device.
Although above-mentioned calculation method can theoretically calculate the quality of vehicle, it then deposits in actual application
There are some problems: 1) the coefficient of rolling resistance f of vehicle, coefficient of air resistance CDIt is all assumed that with front face area A etc. known
, and give definite value and be pre-stored in memory, setting in this way is just extremely improper, because of the road coefficient of rolling resistance f Hui Shou
The influence of the factors such as planar condition, speed, Tyre structure, material, tire pressure, and range is very big.Equally, air is hindered
Force coefficient CDFirst is that being difficult to test and make the C of some truckDOccurrence；2) vehicle is exposed to the equal shadow of outer shape of environment
Ring CDValue, for example compartment is whether there is or not tarpaulin, cargo pile up it is neat whether all affect CDThe size of value, about front face area A,
Be also can not scheduled variable, for example half hangs tractor-trailer train, and cargo stacking is compared rearward, and air-flow is around after driver's cabin
Polymerization encounters the secondary blocking of formation of cargo again.Therefore, for loading class vehicle, it is total that vehicle is retrodicted according to power balance equation
The method of quality m, any coefficient of rolling resistance f vehicle, coefficient of air resistance CDIt is defined as with front face area A known
All be it is not rigorous, the vehicular gross combined weight m necessarily acquired has biggish error.And Publication No. CN201480025212.3
A kind of algorithm for referring to of patent in two time t successive in short-term0And t1Point determines the speed and driving power of vehicle, due to
Time t0And t1It is spaced extremely short, it is believed that running resistance is identical, and the differential equation established by this method can disappear rolling resistance system
Number f, coefficient of air resistance CDWith these three unknown quantitys of front face area A, vehicular gross combined weight m is acquired, this method is theoretically false
If time t0And t1Point running resistance is identical, there is a problem of calculating not rigorous.
Summary of the invention
The present invention be directed to a kind of vehicular gross combined weight calculation method that above-mentioned the deficiencies in the prior art propose, this method is logical
Cross by calculating process by coefficient of rolling resistance f, coefficient of air resistance CDIt is eliminated with front face area A, so as to improve vehicle
The computational accuracy of gross mass.The purpose is achieved through the following technical solutions.
The first aspect of the present invention provides a kind of vehicular gross combined weight calculation method, and this method comprises the following steps: S10:
Establish vehicle output power of motor P when traveling at the uniform speedmWith vehicular gross combined weight m, coefficient of rolling resistance f, coefficient of air resistance
CDWith the relation function F1 of front face area A；S12: vehicle output power of motor P when accelerating or climbing operation is establishedaWith vehicle
Gross mass m, coefficient of rolling resistance f, coefficient of air resistance CDWith the relation function F2 of front face area A；S14: it is closed by merging
It is that the mode of function F1 and relation function F2 establishes the relation function of output power of motor difference DELTA P Yu vehicular gross combined weight m
F3；S16: output power of motor difference DELTA P is obtained so that it is determined that vehicular gross combined weight m by tabling look-up.
Preferably, step S10 includes: S102: pass through power-balance law opening relationships function F1:
Wherein, η T is machinery driving efficiency, and m is vehicular gross combined weight, and g is acceleration of gravity, and f is coefficient of rolling resistance, CD
For coefficient of air resistance, A is front face area, and v is speed.
Preferably, step S12 includes: S122: pass through power-balance law opening relationships function F2:
Wherein, η T is machinery driving efficiency, and m is vehicular gross combined weight, and g is acceleration of gravity, and f is coefficient of rolling resistance, CD
For coefficient of air resistance, A is front face area, and v is speed, and θ is the ramp angles that vehicle runs road surface, and δ is vehicle rotary quality
Conversion coefficient, a are vehicle acceleration.
Preferably, step S14 includes: S142: the opening relationships in such a way that relation function F1 and relation function F2 seek difference
Function F3:
Preferably, step S16 includes: S162: motor speed ω of the detection vehicle when being traveled at the uniform speed with speed vmWith
Motor torque Tm；S164: pass through formula Pm=Tm*ωmObtain motor output function of the vehicle when traveling at the uniform speed with speed v
Rate Pm；S166: speed v respective motor output power P is establishedmTables of data 1.
Preferably, step S16 further include: S168: detection vehicle is in the electricity being in when accelerating or climb operation with speed v
Motivation rotational speed omegamWith motor torque Tm；S170: pass through formula Pm=Tm*ωmShow that vehicle is being in acceleration with speed v or is climbing
Output power of motor P when slope is runa；S172: speed v respective motor output power P is establishedaTables of data 2.
Preferably, step S16 further include: S174: tables of data 1 and the merging of tables of data 2 are obtained into tables of data 4, according to data
Table 4 obtains output power of motor difference DELTA P so that it is determined that vehicular gross combined weight m.
Preferably, motor torque T of detection vehicle when with speed v operationmIt include: detection motor torque TmWith electricity
Motivation rotational speed omegamWith Motor control signal XθmRelational expression F4:
Tm(ωm, Xθm)=Xθm×Tm *(work as ωm<ω*)；
(work as ω*≤ωm≤ωmax),
Wherein, Tm *It is X for Motor control signalθmWhen=100%, the torque value of motor perseverance torque phase, P* mFor
Motor control signal is XθmWhen=100%, the performance number in stage, ω when motor invariable power*For motor base speed, ωmaxFor
Motor maximum speed.
Preferably, ramp angles θ by vehicle acceleration of gravity component g in the horizontal directionxIt obtains, i.e. θ=arc
sin gx/g。
The second aspect of the present invention additionally provides a kind of vehicular gross combined weight computing system, and vehicular gross combined weight computing system is used
In the vehicular gross combined weight calculation method for executing first aspect present invention, vehicular gross combined weight computing system includes that acceleration of gravity passes
Sensor, Quality Calculation Module, motor controller and Bus- Speed Monitoring module, gravity accelerometer, motor controller and
Bus- Speed Monitoring module is connect with Quality Calculation Module respectively.
It will be appreciated to those of skill in the art that the vehicular gross combined weight calculation method of the invention energy in calculating process
Enough by coefficient of rolling resistance f, coefficient of air resistance CDWith these three parameters of front face area A eliminate, due to these three parameters for
Its occurrence can not be determined for load-carrying vehicle, after avoiding these three parameters, be greatly improved and calculated the accurate of vehicular gross combined weight value
Property and confidence level.Specifically, vehicular gross combined weight computing system of the invention includes gravity accelerometer, Mass Calculation mould
Block, motor controller and Bus- Speed Monitoring module, gravity accelerometer, Bus- Speed Monitoring module and motor controller three
Person is electrically connected with Quality Calculation Module, and Quality Calculation Module can obtain vehicle acceleration from the sensor and module
A, ramp angles θ and motor speed ωm, output power of motor PmAnd Pa, vehicle the information such as speed v, it is of the invention
Vehicular gross combined weight calculation method includes acquiring and handling above- mentioned information, when vehicle be at the uniform velocity, without ramp driving state when, obtain
Take the output power of motor P under each speed pointm, obtain output power of motor PmWith the relation curve of vehicle speed v, work as vehicle
When variable-speed operation, acquisition vehicle accelerates or output power of motor P when climbing statea, output power of motor PaWith it is electronic
Machine output power PmDifference DELTA P be both vehicle need to overcome vehicle accelerate or climbing needed for power, then added according to gravity
Velocity sensor detects vehicle acceleration a and ramp degree angle θ, finally calculates vehicular gross combined weight m according to power balance equation.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are general for this field
Logical technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to this hair
Bright limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is the schematic block diagram of the vehicular gross combined weight computing system of one embodiment of the invention.
Fig. 2 is the flow diagram of the vehicular gross combined weight calculation method of one embodiment of the invention.
Specific embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although showing this in attached drawing
Disclosed illustrative embodiments, it being understood, however, that may be realized in various forms the disclosure without that should be illustrated here
Embodiment is limited.It is to be able to thoroughly understand the disclosure on the contrary, providing these embodiments, and can incite somebody to action
The scope of the present disclosure is fully disclosed to those skilled in the art.It should be noted that the present invention is by by vehicular gross combined weight
Calculation method and system are described applied to motor wagon, but are not to vehicular gross combined weight calculation method of the present invention and are
The limitation for application range of uniting, for example, vehicular gross combined weight calculation method of the invention and system can be also used for other vehicles such as electricity
Dynamic car and hybrid vehicle, this adjustment belong to the protection scope of vehicular gross combined weight calculation method and system of the present invention.
Fig. 1 is the schematic block diagram of the vehicular gross combined weight computing system of one embodiment of the invention.
As shown in Figure 1, the present invention provides a kind of vehicular gross combined weight computing systems, vehicular gross combined weight is calculated into system below
System is described applied to motor wagon, which includes gravity accelerometer, Mass Calculation mould
Block, motor controller and Bus- Speed Monitoring module, Quality Calculation Module include input unit, Date Conversion Unit, storage list
Member, logical unit and output unit, Bus- Speed Monitoring module include instrument board, Tachographs, abs controller or vehicle
VCU, gravity accelerometer, Bus- Speed Monitoring module, motor controller three are electrically connected with Quality Calculation Module, matter
Amount computing module can obtain vehicle acceleration, ramp angles, motor speed, motor from the sensor and module
The information such as output power, speed, vehicular gross combined weight calculation method of the invention acquire above- mentioned information by input unit, work as vehicle
At the uniform velocity, without ramp driving when, acquire the corresponding output power of motor P of each velocity amplitudem, obtain output power of motor Pm
With the relation curve of speed, when vehicle speed variation operation, output power of motor P when acquiring vehicle acceleration or climbing statea,
Output power of motor PaWith output power of motor PmDifference DELTA P be both vehicle need to overcome vehicle accelerate or climbing needed for
Power, vehicle acceleration and ramp angles are then detected according to gravity accelerometer, finally according to power balance equation
Calculate vehicular gross combined weight value.Further, vehicular gross combined weight computing system of the invention further includes EBS, ESP, VCU and display
Device etc., display device is integrated on the display panel of vehicle interior, for showing vehicular gross combined weight m, EBS, ESP and VCU
Can receive and be set as control parameter using vehicular gross combined weight m, with accurately realize automatically controlledization of vehicle, automation with it is adaptive
Change.When certain systems (such as traction control system, inertial navigation system etc.) of vehicle have gravity accelerometer
When, Quality Calculation Module directly can obtain acceleration of gravity a signal by CAN line, do not need additionally to increase a gravity and add
Velocity sensor.
Fig. 2 is the flow diagram of the vehicular gross combined weight calculation method of one embodiment of the invention.
With continued reference to Fig. 1 and referring to Fig.2, vehicular gross combined weight calculation method includes the following steps: S10: establishing vehicle and exist
Output power of motor P when traveling at the uniform speedmWith vehicular gross combined weight m, coefficient of rolling resistance f, coefficient of air resistance CDThe windward side and
The relation function F1 of product A.Specifically, acquisition vehicle at the uniform velocity, without the gradient operation when output power of motor Pm, vehicle exists
Traveling and when speed is constant in flat road surface, it is according to step S102 by power-balance law opening relationships function F1, i.e., electronic
Machine output power PmWith following (the motor output function needed for both vehicle overcomes rolling resistance and air drag of relationship of speed v
Rate Pm):
Wherein, the P in functional expressionmFor output power of motor, η T is transmission efficiency, and m is vehicular gross combined weight, and g is gravity
Acceleration, f are coefficient of rolling resistance, CDFor coefficient of air resistance, A is front face area, and v is speed.
Then step S162 is executed: motor speed ω of the detection vehicle when traveling at the uniform speed with speed vmAnd motor
Torque Tm；S164: pass through formula Pm=Tm*ωmObtain output power of motor P of the vehicle when traveling at the uniform speed with speed vm；
S166: speed v respective motor output power P is establishedmTables of data 1.
It is directed to motor wagon, coefficient of rolling resistance f, coefficient of air resistance CDIt is unknown number with front face area A, and
Above-mentioned parameter is difficult to determine its exact value for motor wagon, and therefore, it is necessary to the data acquisition by detection motor is electronic
Machine output power Pm, such as output power of motor value PmIt can be obtained by following methods:
Pm=Tm*ωm kW (2)
Wherein, the T in functional expressionmFor motor torque, ωmFor motor speed, ωmIt can be straight from motor controller
Reading is connect, in order to obtain the torque T of motorm, need in advance to demarcate motor, obtain motor in different controls
Signal XθmUnder torque characteristic curve, and motor torque characteristic curve is stored in motor controller, when in use may be used
To read motor torque numerical value directly from motor controller.Specifically, motor turn is turned round characteristic curve and is described not
Same Motor control signal XθmUnder, the relationship between motor output torque and motor speed, Motor control signal
XθmValue range be defined as 0~100%, can for accelerator pedal position signal corresponding to voltage signal, modern vehicle
Motor torque characteristic may be expressed as:
Tm(ωm, Xθm)=Xθm×Tm *(work as ωm<ω*When) (3.1) or:
(work as ω*≤ωm≤ωmaxWhen) (3.2)
In formula: Tm(ωm, Xθm) be in Motor control signal be XθmWhen, motor speed ωmUnder torque, Tm *For
Motor control signal is XθmWhen=100%, the torque value of motor perseverance torque phase. P* mIt is X for Motor control signalθm
When=100%, the performance number in stage, ω when motor invariable power*For motor base speed, ωmaxFor motor maximum speed.
Vehicle is being run, by motor characteristic of the detection motor under different operating conditions, then according to 3.1 He of formula
It is X that formula 3.2, which obtains motor in different Motor control signals,θmWith motor speed ωmUnder motor torque, according to
The output power of motor P that formula (2) is askedm, which is performance number needed for vehicle overcomes rolling resistance and air drag,
Both P required by formula (1)mValue, in motor speed ωmGreater than base speed ω*The invariable power stage, according to formula (3.2) and public affairs
Formula (2) obtains Pm=Xθm×P* m, which is also performance number needed for vehicle overcomes rolling resistance and air drag, both formula (1)
Required PmValue.Different Motor control signal XθmUnder motor torque characteristic curve data will be with the shape of bivariate table
Formula is stored in the memory of motor controller, and when motor running, motor torque T can be obtainedmAnd motor output
Power Pm, since the data in bivariate table are limited discrete data, and motor speed ω when actual motionmIt is negative with motor
Lotus can be arbitrary value value, so reading output power of motor PmTwo-dimensional linear interpolation method is often used when value, is obtained with this
Output power of motor P under to each operating conditionmValue.
Further, performance number acquisition method of the vehicle in each at the uniform velocity operating point are as follows: after vehicle launch, start vehicle
Gross mass computing system, after speed reaches a certain setting speed (such as 30km/h), Quality Calculation Module begins through input
Modules acquiring data, input unit are communicated with motor controller, be can get motor of the vehicle under arbitrary speed and are turned round
Square TmAnd motor speed ωm, while input unit receives the information of gravity accelerometer, passes through the logic of internal preset
Arithmetic element judge vehicle whether be at the uniform velocity, without gradient driving status, if so, motor torque T under this speedmAnd electricity
Motivation rotational speed omegamParameter is effective, and motor output function is calculated according to formula (2) and in conjunction with formula (3.1) formula (3.2)
Rate Pm, then will calculate data and be stored in the data storage cell of Quality Calculation Module, since vehicle is in actual motion mistake
Journey, the speed of vehicle are fluctuations, i.e., it is only a kind of opposite concept that vehicle, which drives at a constant speed, and ramp angles θ is that " 0 " is also phase
Pair, to determine vehicle in certain time point t0Whether at the uniform velocity, travelled without the gradient, also need to meet the following conditions: vehicle is in (t0-1~
t0~t0+1) in this 3 periods alternate in short-term, motor speed ωmWith acceleration pedal position signal a certain defined small
Fluctuation in range, fluctuation range is no more than defined value range, while being accelerated according to the vehicle that gravity accelerometer obtains
Degree a and ramp angles θ is fluctuated near " 0 " value, and fluctuation range can determine that vehicle is in prespecified range at this time
At the uniform velocity, without gradient driving status, both t0Moment collected motor torque TmAnd motor speed ωmEffectively.
From the above mentioned, certain moment point t0Output power of motor PmIt is obtained by formula (2), at this time corresponding car speed
V can be obtained from instrument board, Tachographs, abs controller or vehicle VCU, or pass through ωm, transmission system transmission when take turns
Tire dimension conversion is got, and for collected sequential digit values, the range of speed v may be defined as in 30~80km/h (certainly unlimited
It is formed on this), and each speed point should be uniformly distributed, it cannot be excessively centralised or decentralised, by collected speed, power (v-Pm)
Series of values is stored in the memory of Quality Calculation Module in the form of bivariate table, represents the motor under each average speed
Output power PmValue, as shown in table 1 below:
| Speed | Power |
| v1 | Pm1 |
| v2 | Pm2 |
| v3 | Pm3 |
| …… | …… |
1 (v-P of tables of datam) series of values
Step S12 is executed after the completion of table 1 is established: establishing vehicle output power of motor when accelerating or climbing operation
PaWith vehicular gross combined weight m, coefficient of rolling resistance f, coefficient of air resistance CDWith the relation function F2 of front face area A, wherein vehicle
Acceleration can be measured by gravity accelerometer, the ramp angles θ of road can be by measurement acceleration of gravity in level
Component g on directionxIt obtains, i.e. θ=arc sin gx/g。
Then execute step S168: detection vehicle is in the motor speed being in when accelerating or climb operation with speed v
ωmWith motor torque Tm；S170: pass through formula Pm=Tm*ωmObtain electricity of the vehicle when accelerating with speed v or climbing operation
Motivation output power Pa；S172: speed v respective motor output power P is establishedaTables of data 2.Specifically, when vehicle accelerates
Or climbing traveling, acquire output power of motor value Pa, vehicle is in order to accelerate or climb, the function for needing motor sending bigger
Rate needs deep stepping on accelerator pedal at this time, according to motor torque performance diagram, reads corresponding motor speed ωm, accelerate
Pedal position XθmUnder corresponding motor torque Tm, and electricity of the motor asked according to formula (2) under acceleration or climbing state
Motivation output power Pa, and write down the automobile's instant velocity at this moment simultaneously, at the uniform velocity, without the reason grade information acquisition,
Sensor-based precision considers, data this moment are just opened when acceleration a or ramp angles θ is greater than some given threshold and are adopted
Collection switch, since motor is there are the time lag phenomenon of itself input-output, needs prestoring inside Quality Calculation Module
Data carry out Effective judgement to acquisition information, and the data of acquisition include three kinds of vehicle running states: the no gradient gives it the gun,
There is the gradient to drive at a constant speed or there is the gradient to give it the gun.The signal of three kinds of driving status acquisition is virtual value, it is desirable that is believed acquisition
Each speed point of breath is uniformly distributed, cannot be excessively centralised or decentralised, equally, by collected speed v, acceleration a, inclination of ramp
Spend θ, power (v-a- θ-Pa) series of values is stored in the memory of Quality Calculation Module in the form of bivariate table, such as following table
Shown in 2:
| Speed | Acceleration | Gradient inclination angle | Power |
| va1 | a1 | θ1 | pa1 |
| va2 | a2 | θ2 | pa2 |
| va3 | a3 | θ3 | pa3 |
| …… | …… | …… | …… |
(v-a- θ-the P of tables of data 2a) series of values
Then, vehicular gross combined weight m is acquired according to power difference Δ P, vehicle is in the case where acceleration (or having the gradient), root
Pass through power-balance law opening relationships function F2 according to step S122:
Wherein, the δ in functional expression is vehicle rotary mass conversion coefficient (δ > 1), because automobile is not only wanted when accelerating
The moment of inertia that the inertia force for overcoming vehicle translational quality to generate will also overcome the rotations such as tire to generate, δ are given value and storage
In the memory of Quality Calculation Module, η T is machinery driving efficiency, is set as definite value, and θ is the inclination of ramp that vehicle runs road surface
Degree, can be measured, a is vehicle acceleration, can also be measured by gravity accelerometer by gravity accelerometer.
According to step S142: the opening relationships function F3 in such a way that relation function F1 and relation function F2 seek difference:
It can be seen that it is the vehicle that m instantaneous velocity is v that Δ P, which is certain quality, to overcome climbing and accelerating the extra power needed
Rate value, Δ P calculation method are as follows:
Then it executes step S174: tables of data 1 and the merging of tables of data 2 being obtained into tables of data 4, electricity is obtained according to tables of data 3
Motivation output power difference DELTA P is so that it is determined that vehicular gross combined weight m.
Specifically, by searching for (v-Pm) series data table 1 (obtains, both nothings under each speed by first stage acquisition data
The gradient is without the output power of motor value accelerated under at the uniform velocity state), each average speed (v askeda1、va2、va3...) under it is corresponding
PmValue, since the speed v of two groups of acquisitions may be different, both (v-Pm) and (v-a- θ-Pa) speed in two series of values
Degree is different, is not present one-to-one relationship, and (v-Pm) series of values is also dispersion, so can be used two when calculating
Dimensional linear interpolation method solves, and obtains each speed (v-Pm), it is as shown in table 3 below:
3 (v-P of tablem-a) series of values
Certainly, each speed point (va1、va2、va3...) will be in (v-Pm) in the range of series of values speed, exceed (v-
Pm) series rate range point be Null Spot.
In conjunction with table (2), table (3) data, substitute into formula (5), the Δ P asked:
4 Δ P series of values of table
Each speed (va1、va2、va3...) under a vehicular gross combined weight m value can asking of Δ P equilibrium equation, most
It averages afterwards to this group of vehicular gross combined weight m and as final output, as shown in formula (6):
In formula, k is the quantity of this group of quality m value.
Formula (5) eliminates coefficient of rolling resistance f, coefficient of air resistance C compared with formula (1), (4)DWith front face area A
These three uncertain parameters improve the confidence level of vehicular gross combined weight calculated result.
By formula (5), two crucial important parameters for influencing vehicle gross mass m calculating are δ (vehicle rotary mass conversions
Coefficient) and η T (machinery driving efficiency), the gyrating mass of electric car generally only considers the rotary inertia of wheel, other rotations
Quality influence is smaller generally to ignore, so correction coefficient of rotating mass δ can be calculated by the rotary inertia of wheel, this
In need to be stored in Quality Calculation Module to δ certain value, simultaneously, it should be noted that data of the vehicle in each at the uniform velocity operating point
The acquisition of acquisition and vehicle data under acceleration or climbing state has no point of sequencing, as long as meeting Quality Calculation Module
Preset logical message can complete the acquisition of data, arrange, driver is also not required to complete specific driver behavior, drive usually
It sails.
It should be noted that this specification is by being applied to electronic load-carrying vehicle for vehicular gross combined weight computing system and method
It is intended merely to facilitate description, but is not the limitation to vehicular gross combined weight computing system and method application range of the present invention, example
Such as, vehicular gross combined weight computing system and method for the present invention can be also used for for example electronic passenger vehicle of other vehicles, hybrid power loading
Vehicle and hybrid power passenger vehicle etc., this adjustment belong to the protection scope of vehicular gross combined weight computing system and method for the present invention.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited to
This, anyone skilled in the art in the technical scope disclosed by the present invention, the variation that can readily occur in or replaces
It changes, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (10)
1. a kind of vehicular gross combined weight calculation method, which is characterized in that the vehicular gross combined weight calculation method includes the following steps:
S10: vehicle output power of motor P when traveling at the uniform speed is establishedmIt is hindered with vehicular gross combined weight m, coefficient of rolling resistance f, air
Force coefficient CDWith the relation function F1 of front face area A；
S12: vehicle output power of motor P when accelerating or climbing operation is establishedaWith the vehicular gross combined weight m, the rolling
Dynamic resistance coefficient f, the coefficient of air resistance CDWith the relation function F2 of the front face area A；
S14: output power of motor difference DELTA P is established by way of merging the relation function F1 and relation function F2
With the relation function F3 of the vehicular gross combined weight m；
S16: the output power of motor difference DELTA P is obtained so that it is determined that the vehicular gross combined weight m by tabling look-up.
2. vehicular gross combined weight calculation method according to claim 1, which is characterized in that step S10 includes:
S102: the relation function F1 is established by power-balance law:
Wherein, η T is machinery driving efficiency, and m is vehicular gross combined weight, and g is acceleration of gravity, and f is coefficient of rolling resistance, CDFor air
Resistance coefficient, A are front face area, and v is speed.
3. vehicular gross combined weight calculation method according to claim 2, which is characterized in that step S12 includes:
S122: the relation function F2 is established by power-balance law:
Wherein, η T is machinery driving efficiency, and m is vehicular gross combined weight, and g is acceleration of gravity, and f is coefficient of rolling resistance, CDFor air
Resistance coefficient, A are front face area, and v is speed, and θ is the ramp angles on the operation road surface of the vehicle, and δ is vehicle rotary quality
Conversion coefficient, a are vehicle acceleration.
4. vehicular gross combined weight calculation method according to claim 3, which is characterized in that step S14 includes:
S142: the relation function F3 is established in such a way that the relation function F1 and the relation function F2 seek difference:
5. vehicular gross combined weight calculation method according to claim 4, which is characterized in that the step S16 includes:
S162: motor speed ω of the vehicle when traveling at the uniform speed with the speed v is detectedmWith motor torque Tm；
S164: pass through formula Pm=Tm*ωmObtain the motor output of the vehicle when traveling at the uniform speed with the speed v
Power Pm；
S166: it establishes the speed v and corresponds to the output power of motor PmTables of data 1.
6. vehicular gross combined weight calculation method according to claim 5, which is characterized in that the step S16 further include:
S168: the vehicle is detected in the motor speed ω being in when accelerating or climb operation with the speed vmAnd motor
Torque Tm；
S170: pass through formula Pa=Tm*ωmDescribed in obtaining the vehicle when being in acceleration or climbing operation with the speed v
Output power of motor Pa；
S172: it establishes the speed v and corresponds to the output power of motor PaTables of data 2.
7. vehicular gross combined weight calculation method according to claim 6, which is characterized in that the step S16 further include:
S174: the tables of data 1 and the merging of the tables of data 2 are obtained into tables of data 4, the electricity is obtained according to the tables of data 4
Motivation output power difference DELTA P is so that it is determined that the vehicular gross combined weight m.
8. vehicular gross combined weight calculation method according to claim 7, which is characterized in that detect the vehicle with the vehicle
Motor torque T when fast v is runmInclude:
Detect the motor torque TmWith the motor speed ωmWith Motor control signal XθmRelational expression F4:
Tm(ωm, Xθm)=Xθm×Tm *(work as ωm<ω*)； (3.1)
Wherein, Tm *It is X for Motor control signalθmThe torque value of motor perseverance torque phase, P when=100%* mFor motor
Control signal is XθmWhen=100% when motor invariable power the stage performance number, ω*For motor base speed, ωmaxFor motor
Maximum speed.
9. vehicular gross combined weight calculation method according to claim 4, which is characterized in that the ramp angles θ is by the vehicle
Acceleration of gravity component g in the horizontal directionxIt obtains, i.e. θ=arc sin gx/g。
10. a kind of vehicular gross combined weight computing system, which is characterized in that the vehicular gross combined weight computing system is wanted for perform claim
Vehicular gross combined weight calculation method described in asking any one of 1 to 9, the vehicular gross combined weight computing system include that acceleration of gravity passes
Sensor, Quality Calculation Module, motor controller and Bus- Speed Monitoring module, the gravity accelerometer, the motor
Controller and the Bus- Speed Monitoring module are connect with the Quality Calculation Module respectively.
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