CN109515213A - A kind of speed-limiting control method and system of new energy vehicle - Google Patents
A kind of speed-limiting control method and system of new energy vehicle Download PDFInfo
- Publication number
- CN109515213A CN109515213A CN201811535963.6A CN201811535963A CN109515213A CN 109515213 A CN109515213 A CN 109515213A CN 201811535963 A CN201811535963 A CN 201811535963A CN 109515213 A CN109515213 A CN 109515213A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- drop
- torque
- actual torque
- moment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B60L2240/421—Speed
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of speed-limiting control methods of new energy vehicle, comprising: obtains the motor speed and relative speed variation of vehicle；It when the motor speed and relative speed variation of judging for the first moment, which meet the first drop, turns round triggering rule, determines that corresponding drop turns round the value of coefficient, and controls vehicle and enter drop torsion state；Using the automobile gear level at current time, the change in torque step-length and the actual torque of last moment that coefficient calculates are turned round by drop, determine the actual torque at current time, and the absolute value of the actual torque at current time is lower than the absolute value of the actual torque of last moment；When the difference of the target speed limit point and motor speed of judging for the second moment is greater than preset first threshold, control vehicle enters default conditions, so that actual torque is equal to the target torque that accelerator pedal parses.Using the solution of the present invention, Control for Speed Limitation is carried out with can be convenient.The invention also discloses a kind of speed limit control systems of new energy vehicle, have corresponding effect.
Description
Technical field
The present invention relates to new energy vehicle technical field, a kind of speed-limiting control method more particularly to new energy vehicle and
System.
Background technique
Promotion energetically with country and society to new energy vehicle, new energy vehicle achieve lasting development, and
It is more and more widely used.
New energy vehicle, especially pure electric automobile are needed due to the performance requirement of its motor and electric machine controller by vehicle
Motor speed control in a certain range.In the prior art, for the control of the motor speed of new energy vehicle, one
As be using PID adjust algorithm, realized by electric machine controller or entire car controller.Although pid algorithm can obtain compared with
Good precision, but the coefficient setting of the pid algorithm of vehicle needs to obtain by experimental data, it is time-consuming and laborious.This is because
The vehicle parameter for influencing PID coefficient is more, such as reduction ratio, tire radius of vehicle of vehicle etc., the vehicle of different brands, model
Parameter is different, and therefore, currently existing scheme is that the adjusting of the PID coefficient of this vehicle is carried out by testing when vehicle is produced.
It is current those skilled in the art in conclusion how more easily to carry out the Control for Speed Limitation of new energy vehicle
Technical problem urgently to be solved.
Summary of the invention
The object of the present invention is to provide a kind of speed-limiting control methods of new energy vehicle, easily to carry out new energy vehicle
Control for Speed Limitation.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of speed-limiting control method of new energy vehicle, comprising:
Obtain the motor speed and relative speed variation of vehicle；
When the motor speed and relative speed variation of judging for the first moment, which meet preset first drop, turns round triggering rule,
It determines that corresponding drop turns round the value of coefficient, and controls the vehicle and enter drop torsion state；
Coefficient calculated torque change step is turned round according to the drop；
Using the gear of the vehicle at current time, the change in torque step-length and the actual torque of last moment,
Determine the actual torque at current time to be controlled based on the actual torque determined vehicle, and current time
Absolute value of the absolute value of actual torque lower than the actual torque of last moment；
When the Δ Spd for judging for the second moment is greater than preset first threshold, controls the vehicle and exit the transition
State simultaneously enters default conditions, so that the actual torque of the vehicle is equal to the target torque that accelerator pedal parses, the Δ
The difference of Spd=target speed limit point and motor speed.
Preferably, in the gear of the vehicle using current time, the change in torque step-length and upper a period of time
The actual torque at quarter, after determining the actual torque at current time to control vehicle, the control vehicle is moved back
Out the transition state and enter default conditions before, further includes:
When the motor speed and relative speed variation of judging the third moment meet preset First Transition triggering rule,
Control the vehicle exit the drop torsion state and enter transition state, and in the transition state keep actual torque with into
The actual torque for entering the initial time of the transition state is identical.
Preferably, after the control vehicle exits the drop torsion state and enters transition state, further includes:
When the motor speed and relative speed variation of judging for the 4th moment, which meet preset liter, turns round triggering rule, determine
It is corresponding out to rise the value for turning round coefficient, and control the vehicle and enter a liter torsion state；
Coefficient calculated torque change step is turned round according to the liter；
Using the gear of the vehicle at current time, the change in torque step-length and the actual torque of last moment,
Determine the actual torque at current time, and the absolute value of the actual torque at current time is greater than the actual torque of last moment
Absolute value；
When the motor speed and relative speed variation of judging for the 5th moment meet preset second transition triggering rule,
It controls the vehicle to exit the liter torsion state and enter the transition state, and keeps actual torque in the transition state
It is identical as the actual torque of initial time of the transition state is entered by the liter torsion state；
When the motor speed and relative speed variation of judging the 5th moment do not meet the second transition trigger gauge
Then, it when but the Δ Spd at the 5th moment is greater than the first threshold, controls the vehicle and exits the liter torsion state simultaneously
Into the default conditions, so that the actual torque of the vehicle is equal to the target torque that accelerator pedal parses；
When the motor speed and relative speed variation of judging the 5th moment do not meet the second transition trigger gauge
Then, when and the Δ Spd at the 5th moment is less than or equal to the first threshold, the liter torsion state is kept.
Preferably, after the control vehicle exits the drop torsion state and enters transition state, further includes:
When the motor speed and relative speed variation of judging for the 6th moment, which meet preset second drop, turns round triggering rule,
It controls the vehicle to exit the transition state and enter drop torsion state, and turns round coefficient into the drop after the drop torsion state
Value is that preset drop turns round adjustment factor value.
It is preferably, described that coefficient calculated torque change step is turned round according to the drop, comprising:
Determine the absolute value of the Δ Spd at current time；
The absolute value and the drop are turned round into the product of coefficient as calculated change in torque step-length.
Preferably, the gear of the vehicle using current time, the change in torque step-length and last moment
Actual torque, determine the actual torque at current time to be controlled based on the actual torque determined vehicle,
And the absolute value of the actual torque at current time is lower than the absolute value of the actual torque of last moment, comprising:
When the vehicle is in drive shift, walked using the actual torque of the vehicle last moment and the change in torque
Long difference determines the actual torque at current time；
When the vehicle is in reverse gear, walked using the actual torque of the vehicle last moment and the change in torque
Long sum determines the actual torque at current time.
Preferably, the actual torque and institute when the vehicle is in drive shift, using the vehicle last moment
The difference for stating change in torque step-length determines the actual torque at current time, comprising:
When the vehicle is in drive shift, calculate the vehicle last moment actual torque and the change in torque
The difference of step-length；
When judging that the difference is less than or equal to 0, target torque that the accelerator pedal of the vehicle is parsed with 0 this
Actual torque of the lesser numerical value as the current time determined in the two；
When judging that the difference is greater than 0, target torque and the difference that the accelerator pedal of the vehicle is parsed
Value both actual torque of the lesser numerical value as the current time determined.
Preferably, described to judge that the motor speed at third moment and relative speed variation meet preset First Transition
When triggering rule, controls the vehicle and exits the drop torsion state and enter transition state, comprising:
Judgement is executed by 1 to M sequence according to the value of q, and when the Δ Spd that judge the third moment is greater than the
Q drop is turned round rate of withdraw and is judged a little, while the relative speed variation at the third moment is greater than q drop torsion and exits relative speed variation
When judgement point, controls the vehicle and exit the drop torsion state and enter transition state；
Wherein, q and M is positive integer, and 1≤q≤M, and the value that M drop turns round rate of withdraw judgement point is respectively less than 0, and presses
It is sequentially increased according to rate of withdraw judgement o'clock to the sequence that torsion rate of withdraw judgement point drops in M is turned round by the 1st drop, M drop torsion is exited and turned
The value of fast change rate judgement is respectively less than 0, and exits according to relative speed variation judgement o'clock to M drop torsion is exited by the 1st drop torsion
The sequence of relative speed variation judgement point is sequentially increased.
Preferably, described preset when judging that the motor speed at the first moment and the relative speed variation meet
It when first drop turns round triggering rule, determines that corresponding drop turns round the value of coefficient, and controls the vehicle and enter drop torsion state, packet
It includes:
Judgement is executed by 1 to N sequence according to the value of i, and when judging the Δ Spd at first moment less than the
I drop turns round starting velocity estimated point, while the relative speed variation at first moment is greater than the i-th drop and turns round starting relative speed variation
When judgement point, determine that the value of drop torsion coefficient is that preset i-th drop turns round coefficient value, and controls the vehicle and enter drop torsion shape
State；
Wherein, i and N is positive integer, and 1≤i≤N, N number of drop turn round the value of starting velocity estimated point according to by the 1st drop
Turning round starting velocity estimated o'clock to the sequence that torsion starting velocity estimated point drops in N successively reduces, and N number of drop is turned round starting relative speed variation and sentenced
The value of breakpoint according to by the 1st drop turn round starting relative speed variation judgement point to N drop turn round starting relative speed variation judgement it is suitable
Sequence successively reduces, and the size that N number of drop turns round coefficient value is successively dropped according to the sequence for turning round coefficient value is dropped to N by the 1st drop torsion coefficient value
It is low.
A kind of speed limit control system of new energy vehicle, comprising:
Data obtaining module, for obtaining the motor speed and relative speed variation of vehicle；
First drop turns round trigger module, for when the motor speed and the relative speed variation for judging for the first moment
When meeting preset first drop torsion triggering rule, determine that corresponding drop turns round the value of coefficient, and control the vehicle and enter drop
Torsion state；
Drop turns round step size computation module, for turning round coefficient calculated torque change step according to the drop；
Drop turn round adjustment module, for using current time the vehicle gear, the change in torque step-length and on
The actual torque at one moment determines the actual torque at current time to carry out based on the actual torque determined to vehicle
Control, and the absolute value of the actual torque at current time is lower than the absolute value of the actual torque of last moment；
First recovery module, for when the Δ Spd for judging for the second moment is greater than preset first threshold, described in control
Vehicle exits the transition state and enters default conditions, so that the actual torque of the vehicle is equal to what accelerator pedal parsed
Target torque, the difference of Δ Spd=target the speed limit point and motor speed.
Using technical solution provided by the embodiment of the present invention, by the motor speed and relative speed variation that obtain vehicle
The Control for Speed Limitation of vehicle is carried out, is suitable for different types of vehicle, facilitates implementation.Specifically, turning in the motor for obtaining vehicle
After speed and relative speed variation, turned round when the motor speed and relative speed variation of judging for the first moment meet preset first drop
It when triggering rule, determines that corresponding drop turns round the value of coefficient, and controls vehicle and enter drop torsion state.The value of drop torsion coefficient
It can be used for the step-length of calculated torque variation, and then when vehicle is in drop torsion state, so that the actual torque at current time
Absolute value of the absolute value lower than the actual torque of last moment.The absolute value of actual torque reduces, and also just meaning is adding for vehicle
Speed reduces, and the growth of the motor speed of vehicle is slack-off, realizes speed limit.And it is preset when the Δ Spd for judging for the second moment is greater than
First threshold when, just illustrate that the motor speed of the vehicle at the second moment is lower, default conditions can be restored to so that
The actual torque of vehicle is equal to the target torque that accelerator pedal parses, that is, has exited Control for Speed Limitation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of implementation flow chart of the speed-limiting control method of new energy vehicle in the present invention；
Fig. 2 is the motor speed and actual torque when entering drop torsion state in a kind of specific embodiment by default conditions
Change curve schematic diagram；
Fig. 3 is the motor speed and actual torque when entering transition state in a kind of specific embodiment by drop torsion state
Change curve schematic diagram；
Fig. 4 is the motor speed and actual torque when entering transition state in a kind of specific embodiment by liter torsion state
Change curve schematic diagram；
Fig. 5 is the emulation schematic diagram of the motor speed in a kind of specific embodiment of the present invention；
Fig. 6 is the emulation schematic diagram of the actual torque in a kind of specific embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of the speed limit control system of new energy vehicle in the present invention.
Specific embodiment
Core of the invention is to provide a kind of speed-limiting control method of new energy vehicle, carries out new energy vehicle with can be convenient
Control for Speed Limitation.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is a kind of implementation flow chart of the speed-limiting control method of new energy vehicle in the present invention, the party
Method the following steps are included:
Step S101: the motor speed and relative speed variation of vehicle are obtained.
It can be the motor speed and relative speed variation for obtaining vehicle in real time, be also possible to obtain according to the preset sampling period
The motor speed and relative speed variation of pick-up, when it is implemented, in view of the variation of the motor speed of vehicle and revolving speed become
The variation of rate may be very fast, therefore, usually can be the motor speed and relative speed variation for obtaining vehicle in real time, or with
One shorter sampling period obtained the motor speed and relative speed variation of vehicle.
Step S102: touching is turned round when the motor speed and relative speed variation of judging for the first moment meet preset first drop
It when hair rule, determines that corresponding drop turns round the value of coefficient, and controls vehicle and enter drop torsion state.
First drop is turned round triggering rule and can be set according to actual needs, such as can use relatively simple setting side
Formula, such as respectively motor speed and relative speed variation set relevant threshold value, when meeting the threshold value of setting, just determine and need
Drop torsion is carried out, i.e., control vehicle enters drop torsion state.When vehicle enters drop torsion state by default conditions, the drop of required setting is turned round
The quantity of coefficient and specific value can be adjusted according to actual needs, have no effect on implementation of the invention.Control
Vehicle enter drop torsion state, expression be need to be implemented drop torsion state relevant operation, the subsequent step S103 of the application and
Step S104 is that vehicle is in the operation needed to be implemented when drop torsion state.
In a specific embodiment, step S102 can be specifically included:
Judgement is executed by 1 to N sequence according to the value of i, and works as the Δ Spd for judging for the first moment less than the i-th drop
Starting velocity estimated point is turned round, while the relative speed variation at the first moment is dropped greater than i-th when turning round starting relative speed variation judgement, really
Making drop and turning round the value of coefficient is that preset i-th drop turns round coefficient value, and controls vehicle and enter drop torsion state；
Wherein, i and N is positive integer, and 1≤i≤N, N number of drop turn round the value of starting velocity estimated point according to by the 1st drop
Turning round starting velocity estimated o'clock to the sequence that torsion starting velocity estimated point drops in N successively reduces, and N number of drop is turned round starting relative speed variation and sentenced
The value of breakpoint according to by the 1st drop turn round starting relative speed variation judgement point to N drop turn round starting relative speed variation judgement it is suitable
Sequence successively reduces, and the size that N number of drop turns round coefficient value is successively dropped according to the sequence for turning round coefficient value is dropped to N by the 1st drop torsion coefficient value
It is low.
Δ Spd refers to the difference of the target speed limit point at a certain moment and the motor speed at the moment, and Δ Spd is bigger, table
Bright motor speed at this time is lower.Target speed limit point, which can according to need, to be set, and a fixed value can be redefined for, can also
Being adjusted according to the actual motion state of vehicle, specifically, gear information and vehicle condition that can be current according to vehicle
Information determines target speed limit point.Situation of remote may include the battery pack state of vehicle, motor status, the shape of entire car controller
State etc..For example, when vehicle is that D is kept off, and when vehicle condition is normal, determines that target speed limit point is 3700rpm, and when vehicle is that D is kept off, and it is electric
When Chi Bao exception, determine that target speed limit point is 2500rpm.And it should be noted that the update condition of target speed limit point can also
There are many, such as target speed limit point is redefined for another example every certain time length and can be in the scheme of the application, vehicle
When carrying out state switching every time, target speed limit point is just redefined.
In this kind of embodiment, it includes altogether N number of sub-rule that the first drop, which turns round triggering rule, according to the 1st to N sequence
Execute judgement.Convenient for describing and understanding, it is illustrated by taking N=4 as an example, that is, needs to preset 4 drops torsion starting speed and sentence
1st drop is turned round starting velocity estimated point and is known as J01 by breakpoint, is successively known as correspondingly, the 2nd to the 4th drop turns round starting velocity estimated point
J02, J03, J04.Drop turns round the judgement that starting velocity estimated point is transferred to drop torsion state for vehicle by default conditions, J01 > J02 >
J03 > J04.Pre-set 1st to the 4th drop turns round starting relative speed variation judgement point and is successively known as A01, A02, A03, A04, drop
Turning round starting relative speed variation judgement point is also the judgement for being transferred to drop torsion state by default conditions for vehicle, A01 > A02 > A03
> A04.Pre-set 1st to the 4th drop turns round coefficient value and is successively known as a1, a2, a3, a4.In addition, in the application
MotorSpdAcc indicates relative speed variation.
First moment can be any moment when vehicle is in default conditions, as the Δ Spd < J01 at the first moment, and
And when MotorSpdAcc > A01, needs to control vehicle and enter drop torsion state, the value that drop turns round coefficient is a1.As Δ Spd <
J01, and when MotorSpdAcc > A01 this sub-rule is unsatisfactory for, just further judge whether the 2nd sub-rule meets, i.e.,
Judge Δ Spd < J02, and MotorSpdAcc > A02, if meet, turn round if it is satisfied, then needing to control vehicle and entering drop
State, the value that drop turns round coefficient is a2.Certainly, if 4 sub-rules in this kind of embodiment are not satisfied, vehicle meeting
Continue to keep default conditions, when being in default conditions, the actual torque of vehicle is equal to the target torque that accelerator pedal parses, i.e.,
The actual torque of vehicle can not be limited, and be decided in its sole discretion by user.
In this kind of embodiment, relative speed variation when vehicle triggering drop is turned round is bigger, and the drop torsion coefficient of setting is bigger, simultaneously
Reserved cushion space is bigger, and cushion space described herein refers to that drop turns round the value of starting velocity estimated point.Be conducive to for
Vehicle in the case of different acceleration realizes the Control for Speed Limitation of different stage, so that in the occasion of different acceleration, the electricity of vehicle
Machine revolving speed can be effectively limited in a certain range, it is not easy to torque adjusting deficiency occur or torque adjusting is excessive
Situation.
Step S103: coefficient calculated torque change step is turned round according to drop.
In general, the calculating of change in torque step-length can be carried out using basic multinomial, the specific form setting of multinomial
It can be adjusted according to the actual situation.In the specific implementation, change in torque step-length can for Δ Spd absolute value with determine
Drop turn round coefficient value product.That is step S103 can be with specifically: determine the absolute value of the Δ Spd at current time, it will
Absolute value and drop turn round the product of coefficient as calculated change in torque step-length.Mode, the meter of change in torque step-length is implemented
It is simple and convenient, convenient for the implementation of scheme.
Step S104: using the gear of the vehicle at current time, change in torque step-length and the actual torque of last moment,
Determine the actual torque at current time to be controlled based on the actual torque determined vehicle, and the reality at current time
Absolute value of the absolute value of torque lower than the actual torque of last moment.
It can use the actual torque of the gear of the vehicle at current time, change in torque step-length and last moment, determine
The actual torque at current time out, specific method of determination can be set according to actual needs, but it is required that when current
Absolute value of the absolute value of the actual torque at quarter lower than the actual torque of last moment.The absolute value of actual torque reduces, meaning
Be supplied to vehicle driving power reduce, the acceleration of vehicle will lower, to limit the upper of the motor speed of vehicle
The growth of lifting speed, i.e. motor speed is slack-off, realizes speed limit.
In the specific implementation, step S104 can be with specifically: when vehicle is in drive shift, utilizes vehicle last moment
The difference of actual torque and change in torque step-length determines the actual torque at current time；When vehicle is in reverse gear, utilize
The actual torque of vehicle last moment and change in torque step-length and, determine the actual torque at current time.
When vehicle is in drive shift, the actual torque of vehicle is positive, then last moment is utilized in this kind of embodiment
The difference of actual torque and change in torque step-length determines the actual torque at current time.Further, it is contemplated that calculate and
The convenience of control, drop torsion state forward gear when, can directly using the calculated difference as actual torque, correspondingly,
When reverse gear, actual torque is negative, can by the actual torque of vehicle last moment and change in torque step-length and, as true
The actual torque at the current time made.
Certainly, in other embodiments, the calculation of increasingly complex actual torque can also be set to improve pair
The control effect of vehicle, the case where avoiding calculated value from not being allowed to.By taking vehicle is in forward gear as an example, it can specifically include:
When vehicle is in drive shift, the actual torque of vehicle last moment and the difference of change in torque step-length are calculated；
When judging that difference is less than or equal to 0, target torque that the accelerator pedal of vehicle is parsed with 0 both compared with
Actual torque of the small numerical value as the current time determined；
When judging that difference is greater than 0, target torque that the accelerator pedal of vehicle is parsed and difference both compared with
Actual torque of the small numerical value as the current time determined.
In this kind of embodiment, it is contemplated that if directly walked the actual torque of calculated last moment and change in torque
Long difference, as current actual torque, in fraction, which may be less than or equal to 0, however Some vehicles
Do not allow to slow down by energy feedback again, i.e., does not allow actual torque to be negative, it, can be so that determining in this kind of embodiment
Actual torque out minimum 0, the case where avoiding the occurrence of negative value.Further, it is also contemplated that if the calculated difference is big
In the target torque that accelerator pedal parses, the target torque parsed according to accelerator pedal as the actual torque determined,
The reduction amplitude of torque can be improved, and meet the current demand of user again.In addition it is also necessary to explanation, this kind is implemented
The actual torque determined in mode minimum 0, but in other embodiments, when vehicle allows to slow down by energy feedback
When, then it, can be by the permission feedback torque value if when calculated difference is negative and is less than or equal to allow feedback torque value
As the current actual torque determined.
When vehicle is in reverse gear, principle is similar therewith, i.e., by the actual torque and change in torque of vehicle last moment
Step-length summation after, when this and be greater than 0 when, by 0 be used as the actual torque determined, when this and be less than or equal to accelerator pedal parsing
When target torque out, using the target torque that accelerator pedal parses as the target torque determined.
Step S105: when the Δ Spd for judging for the second moment is greater than preset first threshold, control vehicle exits transition
State simultaneously enters default conditions, so that the actual torque of vehicle is equal to the target torque that accelerator pedal parses, Δ Spd=target
The difference of speed limit point and motor speed.
As the absolute value of actual torque constantly reduces, the acceleration of vehicle will be gradually decreased, will by drag effects
Slow down.When the Δ Spd for judging for the second moment is greater than preset first threshold, illustrate the motor speed of vehicle at this time compared with
It is low, then it can control vehicle and exit transition state and return to default conditions, into the vehicle of default conditions, the actual torque of vehicle
The target torque parsed equal to accelerator pedal.
Using method provided by the embodiment of the present invention, carried out by the motor speed and relative speed variation that obtain vehicle
The Control for Speed Limitation of vehicle is suitable for different types of vehicle, facilitates implementation.Specifically, in the motor speed that obtains vehicle and
After relative speed variation, triggering is turned round when the motor speed and relative speed variation of judging for the first moment meet preset first drop
It when regular, determines that corresponding drop turns round the value of coefficient, and controls vehicle and enter drop torsion state.The value that the drop turns round coefficient can be with
For the step-length of calculated torque variation, and then when vehicle is in drop torsion state, so that the actual torque at current time is absolute
Absolute value of the value lower than the actual torque of last moment.The absolute value of actual torque reduces, and also just means the acceleration for vehicle
It reduces, the growth of the motor speed of vehicle is slack-off, realizes speed limit.And when judging that the Δ Spd at the second moment is greater than preset the
When one threshold value, just illustrates that the motor speed of the vehicle at the second moment is lower, default conditions can be restored to, so that vehicle
Actual torque be equal to the target torque that parses of accelerator pedal, that is, exited Control for Speed Limitation.
In a kind of specific embodiment of the invention, after step s 104, before step S105, can also include:
When the motor speed and relative speed variation of judging the third moment meet preset First Transition triggering rule,
Control vehicle exits drop torsion state and enters transition state, and keeps actual torque in transition state and enter transition state
The actual torque of initial time is identical.
In this kind of embodiment, it is contemplated that if only setting drop torsion state and default conditions, vehicle once trigger drop
The process of torsion state, actual torque will be reduced constantly, and if user needs to allow the motor speed of vehicle to stablize at one
When higher numerical value, the application will pass through the restriction to actual torque variation degree, to meet this kind of demand to a certain extent.
Similar with the first drop torsion triggering rule being described above, the setting of First Transition triggering rule can also be according to reality
It is set.Such as in a kind of specific embodiment, converting the operation to transition state by drop torsion state can be with specifically:
Judgement is executed by 1 to M sequence according to the value of q, and works as and judges that the Δ Spd at third moment is dropped greater than q
It turns round rate of withdraw to judge a little, while the relative speed variation at third moment is turned round greater than q drop when exiting relative speed variation judgement point, is controlled
Vehicle processed exits drop torsion state and enters transition state；
Wherein, q and M is positive integer, and 1≤q≤M, and the value that M drop turns round rate of withdraw judgement point is respectively less than 0, and presses
It is sequentially increased according to rate of withdraw judgement o'clock to the sequence that torsion rate of withdraw judgement point drops in M is turned round by the 1st drop, M drop torsion is exited and turned
The value of fast change rate judgement is respectively less than 0, and exits according to relative speed variation judgement o'clock to M drop torsion is exited by the 1st drop torsion
The sequence of relative speed variation judgement point is sequentially increased.
Convenient for describing and understanding, it is illustrated by taking M=4 as an example, that is, needs to preset 4 drops and turn round rate of withdraw judgement
1st drop is turned round rate of withdraw judgement point and is known as J1 by point, correspondingly, the 2nd to the 4th drop, which turns round rate of withdraw judgement point, is successively known as J2,
J3, J4.Drop turns round the judgement that rate of withdraw judgement point is transferred to transition state for vehicle by drop torsion state, J4 > J3 > J2 > J1.
Pre-set 1st to the 4th drop torsion exits relative speed variation judgement point and is successively known as A1, A2, A, A4, and rotation speed change is exited in drop torsion
Rate judgement point is also the judgement for being transferred to transition state by drop torsion state for vehicle, A4 > A3 > A2 > A1.It is exited in general, drop is turned round
The value that relative speed variation judgement point is exited in velocity estimated point and drop torsion, which is respectively less than, is equal to 0.
As the Δ Spd > J1 at third moment, and when MotorSpdAcc < A1, needs to control vehicle and enters transition state,
When vehicle is in an interim state, actual torque is remained unchanged, the value of actual torque be equal into transition state it is initial when
The value of the actual torque at quarter.It can make in speed, the more stable occasion of torque in this way, vehicle can maintain transition
State.As Δ Spd > J1, and when MotorSpdAcc < A1 this sub-rule is unsatisfactory for, Δ Spd > is just further judged
J12, and whether MotorSpdAcc < A2, this sub-rule meet, if it is satisfied, then needing to control vehicle enters transition shape
State.Certainly, if 4 sub-rules in this kind of embodiment are not satisfied, vehicle will continue to keep drop torsion state.
In this kind of embodiment, the absolute value of relative speed variation when vehicle flip-flop transition state is bigger, i.e. vehicle subtracts
When speed is bigger, reserved cushion space is bigger, and cushion space herein refers to that drop turns round the absolute value of rate of withdraw judgement point.
Such mode is conducive to the deceleration control that different stage is realized for the vehicle in the case of different deceleration, so that different slow down
The actual torque and motor speed of the vehicle of degree can be effectively stabilized in a certain range, that is, enter transition state.
In a kind of specific embodiment of the invention, control vehicle exit drop torsion state and enter transition state it
Afterwards, further includes:
When the motor speed and relative speed variation of judging for the 4th moment, which meet preset liter, turns round triggering rule, determine
It is corresponding out to rise the value for turning round coefficient, and control vehicle and enter a liter torsion state；
Coefficient calculated torque change step is turned round according to liter；
Using the gear of the vehicle at current time, change in torque step-length and the actual torque of last moment are determined to work as
The actual torque at preceding moment, and the absolute value of the actual torque at current time is greater than the absolute value of the actual torque of last moment；
When the motor speed and relative speed variation of judging for the 5th moment meet preset second transition triggering rule,
Control vehicle exits liter torsion state and enters transition state, and keeps actual torque to enter with by a liter torsion state in transition state
The actual torque of the initial time of transition state is identical；
When the motor speed and relative speed variation of judging for the 5th moment do not meet the second transition triggering rule, but the 5th
When the Δ Spd at moment is greater than first threshold, control vehicle exits liter torsion state and enters default conditions, so that the practical torsion of vehicle
Square is equal to the target torque that accelerator pedal parses；
When the motor speed and relative speed variation of judging for the 5th moment do not meet the second transition triggering rule, and the 5th
When the Δ Spd at moment is less than or equal to first threshold, keep rising torsion state.
In this kind of embodiment, it is contemplated that in Some vehicles speed, the occasion of change in torque fast speed, vehicle is in mistake
The residence time for crossing state can be shorter, if user is there is still a need for allowing motor speed to maintain near target speed limit point at this time, this kind
A liter torsion state is substantially increased in embodiment, and motor speed is maintained near target speed limit point.
The specific torsion triggering rule that rises can be set according to the actual situation, for example, in a specific embodiment,
Starting threshold speed J5 is turned round when the Δ Spd at the 4th moment is greater than preset liter, and the relative speed variation at the 4th moment is less than liter and turns round
When starting loop threshold value A 5, control vehicle enters a liter torsion state, and a liter value for torsion coefficient is determined as preset value b.It needs
To illustrate that, it is contemplated that the vehicle of transition state, motor speed and relative speed variation usually all can in a certain range,
Therefore it is not usually required to be arranged more complicated liters and turns round triggering rule, in this kind of embodiment, rise to turn round and trigger rule and just do not include
A plurality of sub-rule only can be completed to judge by J5, A5.Certainly, it also can according to need to turn round to liter in practical applications and trigger
Rule is adjusted, and has no effect on implementation of the invention.
Into after liter torsion state, the absolute value of the actual torque of vehicle can be gradually risen.Determine liter torsion coefficient
After value, the gear of the vehicle at current time, change in torque can be recycled according to a liter torsion coefficient calculated torque change step
The actual torque of step-length and last moment determine the actual torque at current time, and the actual torque at current time is exhausted
It is greater than the absolute value of the actual torque of last moment to value.To drop torsion process it is similar, liter turn round during, calculated torque variation step
Long mode is also possible to rise the product for turning round coefficient and Δ Spd as change in torque step-length.
Specifically, when liter turning round state and vehicle and being in drive shift, it can be directly by the actual torque of vehicle last moment
With change in torque step-length and, actual torque as the current time determined.Correspondingly, when vehicle is in reverse gear,
Actual torque by the difference of the actual torque of vehicle last moment and change in torque step-length, as the current time determined.
Further, similar with drop torsion state, it can also additionally increase restrictive condition, i.e., in forward gear, when calculated and be less than
It,, will when target torque that is calculated and parsing greater than accelerator pedal by 0 as the actual torque determined when equal to 0
The target torque that accelerator pedal parses is as the actual torque determined.In reverse gear, when calculated difference is greater than 0
When, 0 will be accelerated as the actual torque determined when the difference is less than or equal to the target torque that accelerator pedal parses
The target torque that pedal parses is as the target torque determined.
Liter turn round state when, when the motor speed and relative speed variation of judging for the 5th moment meet preset second mistake
Cross triggering rule when, control vehicle exit liter torsion state and enter transition state, and in transition state keep actual torque with
The actual torque for the initial time for entering transition state by liter torsion state is identical.
Second transition triggering rule can also be set according to actual needs, such as in a kind of specific embodiment, according to
It is secondary to judge whether following 4 sub-rules are true:
The Δ Spd < J7 at 1: the five moment of sub-rule, and the relative speed variation > A7 at the 5th moment；
The Δ Spd < J8 at 2: the five moment of sub-rule, and the relative speed variation > A8 at the 5th moment；
The Δ Spd < J9 at 3: the five moment of sub-rule, and the relative speed variation > A9 at the 5th moment；
The Δ Spd < J10 at 4: the five moment of sub-rule, and the relative speed variation > A10 at the 5th moment；
J7 > J8 > J9 > J10, A7 > A8 > A9 > A10.In 4 sub-rules, any establishment can then be determined for compliance with this
The second transition in kind embodiment triggers rule.Meanwhile in conjunction with the Δ Spd at the 5th moment compared between first threshold knot
Fruit determines that needing to control vehicle returns to default conditions, or enters transition state, or maintain to rise torsion state.
Aforementioned embodiments, which are described, is transferred to liter torsion or the operation of default conditions by transition state.In the specific implementation,
It may need to be back to drop torsion state by transition state in the occasion of part, i.e. vehicle is in transition state, when judging the 6th
When the motor speed and relative speed variation at quarter meet preset second drop torsion triggering rule, control vehicle exits transition state simultaneously
Into drop torsion state, and enter drop torsion state after drop turn round coefficient value be preset drop torsion adjustment factor value.Specifically, can be with
It is less than drop torsion in the Δ Spd at the 6th moment and starts threshold speed J6, and the relative speed variation at the 6th moment is turned round to start less than drop and be added
When threshold speed A6, control vehicle is transferred to drop torsion state from transition state.
It can be found in Fig. 2, by taking a light truck as an example, in forward gear, target speed limit point is 3676rpm, works as reverse gear
When, target speed limit point is 612rpm.And it sets:
4 drops used in drop torsion state are transferred to as default conditions and turn round starting velocity estimated point, and successively value is J01=
160rpm, J02=82rpm, J03=41rpm, J04=20rpm；4 drops are turned round starting relative speed variation and are judged a little, successively value
For A01=6rpm/s, A02=3rpm/s, A03=2rpm/s, A04=0rpm/s；4 drops turn round coefficient value, and successively value is a1
=4, a2=2, a3=1, a4=0.4.
4 drops torsion rates of withdraw used in transition state are transferred to as drop torsion state and judge that a little successively value is J1=-
41rpm, J2=-20rpm, J3=-10rpm, J4=-2rpm；4 drop torsions exit relative speed variation and judge that a little, successively value is
A1=-1.5rpm/s, A2=-0.6rpm/s, A3=-0.3rpm/s, A4=0rpm/s.
Liter used in liter torsion state is transferred to as transition state and turns round starting threshold speed J5=5, rises and turns round starting loop threshold
Value A5=0 rises the preset value b=0.3 for turning round coefficient.
Relevant speed threshold value J6=-5 used in drop torsion state is transferred to as transition state, drop turns round starting loop threshold value A 6
=0, drop turns round adjustment factor value a5=0.2.
4 are transferred to used in transition state as a liter torsion state rising and turn round rate of withdraw and judge a little, successively value is J7=
41rpm, J7=20rpm, J9=10rpm, J10=5rpm；4 rise torsion and exit relative speed variation and judge a little, and successively value is A7
=1.5rpm/s, A8=0.6rpm/s, A9=0.3rpm/s, A10=0rpm/s.
First threshold is set as 200rpm.
Fig. 2 shows in this kind of embodiment, when default conditions enter drop torsion state, the change of motor speed and actual torque
Change curve synoptic diagram.As can be seen that relative speed variation when vehicle triggering drop is turned round is bigger, application scheme controls actual torque drop
Low land is faster.
Fig. 3 is in this kind of embodiment, and when drop torsion state enters transition state, the variation of motor speed and actual torque is bent
Line schematic diagram.The deceleration of vehicle is bigger, the easier recurrence normal range (NR) of the motor speed of vehicle, then speed is exited in the drop torsion set
The absolute value of degree judgement point is bigger.
Fig. 4 is in this kind of embodiment, and when liter torsion state enters transition state, the variation of motor speed and actual torque is bent
Line schematic diagram.The acceleration of vehicle is bigger, i.e., relative speed variation is bigger, and the motor speed of vehicle is easier to be reached even beyond mesh
Speed limit point is marked, then the absolute value that the liter set turns round rate of withdraw judgement point is bigger.
It should be noted in Fig. 2, Fig. 3 and Fig. 4, convenient for drawing, by motor speed and actual torque according to equal
The mode of even variation is drawn, embodiment be different rotating speeds change rate and motor speed when, corresponding triggering rule is different,
So that the variation degree of actual torque is different, and embody for different relative speed variations, corresponding velocity estimated point
Configuration mode, is not restriction motor speed and actual torque must be even variation.In practical applications, motor speed with
And the variation of actual torque is nonlinear change, reference can be made to Fig. 5 and Fig. 6, it can be seen that using the scheme of the application, motor
Revolving speed may remain near the target speed limit point of setting, and torque fluctuates in a certain range, and fluctuating range is smaller.
Corresponding to above method embodiment, the embodiment of the invention also provides a kind of Control for Speed Limitation systems of new energy vehicle
The speed-limiting control method of system, the speed limit control system of new energy vehicle described below and above-described new energy vehicle can phase
Mutually to should refer to.
It is shown in Figure 7, for a kind of structural schematic diagram of the speed limit control system of new energy vehicle in the present invention, comprising:
Data obtaining module 701, for obtaining the motor speed and relative speed variation of vehicle；
First drop turns round trigger module 702, judges that the motor speed at the first moment and relative speed variation meet for working as
It when preset first drop turns round triggering rule, determines that corresponding drop turns round the value of coefficient, and controls vehicle and enter drop torsion state；
Drop turns round step size computation module 703, for turning round coefficient calculated torque change step according to drop；
Drop turns round adjustment module 704, for the gear of the vehicle using current time, change in torque step-length and last moment
Actual torque, determine that the actual torque at current time to be controlled based on the actual torque determined vehicle, and is worked as
Absolute value of the absolute value of the actual torque at preceding moment lower than the actual torque of last moment；
First recovery module 705, for controlling when the Δ Spd for judging for the second moment is greater than preset first threshold
Vehicle exits transition state and enters default conditions, so that the actual torque of vehicle is equal to the target that accelerator pedal parses and turns round
Square, the difference of Δ Spd=target speed limit point and motor speed.
In a kind of specific embodiment of the invention, further includes:
Drop torsion transition trigger module, for pre- when judging that the motor speed at third moment and relative speed variation meet
If First Transition when triggering rule, control vehicle exits drop torsion state and enters transition state, and keeps in transition state
Actual torque is identical as the actual torque of initial time of transition state is entered.
In a kind of specific embodiment of the invention, further includes:
It rises and turns round trigger module, judge that the motor speed at the 4th moment and relative speed variation meet preset liter for working as
When turning round triggering rule, the corresponding value for rising and turning round coefficient is determined, and control vehicle and enter a liter torsion state；
It rises and turns round step size computation module, for according to a liter torsion coefficient calculated torque change step；
Liter torsion adjustment module, the gear of the vehicle for utilizing current time, change in torque step-length and last moment
Actual torque determines the actual torque at current time, and the absolute value of the actual torque at current time is greater than last moment
The absolute value of actual torque；
Torsion transition trigger module is risen, for pre- when judging that the motor speed at the 5th moment and relative speed variation meet
If the second transition when triggering rule, control vehicle exits liter torsion state and enters transition state, and keeps in transition state
Actual torque is identical as the actual torque of initial time for entering transition state by liter torsion state；
Second recovery module judges that the motor speed at the 5th moment and relative speed variation do not meet the second mistake for working as
Cross triggering rule, but the Δ Spd at the 5th moment be greater than first threshold when, control vehicle exit liter torsion state and enter default shape
State, so that the actual torque of vehicle is equal to the target torque that accelerator pedal parses；
It rises and turns round maintenance module, judge that the motor speed at the 5th moment and relative speed variation do not meet the second mistake for working as
Cross triggering rule, and the Δ Spd at the 5th moment be less than or equal to first threshold when, keep rise torsion state.
In a kind of specific embodiment of the invention, further includes:
Second drop turns round trigger module, for default when judging that the motor speed at the 6th moment and relative speed variation meet
Second drop turn round triggering rule when, control vehicle exit transition state and enter drop torsion state, and enter drop torsion state after drop turn round
The value of coefficient is that preset drop turns round adjustment factor value.
In a kind of specific embodiment of the invention, drop turns round step size computation module 703, is specifically used for:
Determine the absolute value of the Δ Spd at current time；
Absolute value and drop are turned round into the product of coefficient as calculated change in torque step-length.
In a kind of specific embodiment of the invention, drop turns round adjustment module 704, is specifically used for:
When vehicle is in drive shift, using the actual torque of vehicle last moment and the difference of change in torque step-length, really
Make the actual torque at current time；
When vehicle is in reverse gear, using vehicle last moment actual torque and change in torque step-length and, determination
The actual torque at current time out.
In a kind of specific embodiment of the invention, drop turns round adjustment module 704 in the actual torque meter for carrying out forward gear
When calculation, it is specifically used for:
When vehicle is in drive shift, the actual torque of vehicle last moment and the difference of change in torque step-length are calculated；
When judging that difference is less than or equal to 0, target torque that the accelerator pedal of vehicle is parsed with 0 both compared with
Actual torque of the small numerical value as the current time determined；
When judging that difference is greater than 0, target torque that the accelerator pedal of vehicle is parsed and difference both compared with
Actual torque of the small numerical value as the current time determined.
In a kind of specific embodiment of the invention, drop torsion transition trigger module is specifically used for:
Judgement is executed by 1 to M sequence according to the value of q, and works as and judges that the Δ Spd at third moment is dropped greater than q
It turns round rate of withdraw to judge a little, while the relative speed variation at third moment is turned round greater than q drop when exiting relative speed variation judgement point, is controlled
Vehicle processed exits drop torsion state and enters transition state；
Wherein, q and M is positive integer, and 1≤q≤M, and the value that M drop turns round rate of withdraw judgement point is respectively less than 0, and presses
It is sequentially increased according to rate of withdraw judgement o'clock to the sequence that torsion rate of withdraw judgement point drops in M is turned round by the 1st drop, M drop torsion is exited and turned
The value of fast change rate judgement is respectively less than 0, and exits according to relative speed variation judgement o'clock to M drop torsion is exited by the 1st drop torsion
The sequence of relative speed variation judgement point is sequentially increased.
In a kind of specific embodiment of the invention, the first drop turns round trigger module 702, is specifically used for:
Judgement is executed by 1 to N sequence according to the value of i, and works as the Δ Spd for judging for the first moment less than the i-th drop
Starting velocity estimated point is turned round, while the relative speed variation at the first moment is dropped greater than i-th when turning round starting relative speed variation judgement, really
Making drop and turning round the value of coefficient is that preset i-th drop turns round coefficient value, and controls vehicle and enter drop torsion state；
Wherein, i and N is positive integer, and 1≤i≤N, N number of drop turn round the value of starting velocity estimated point according to by the 1st drop
Turning round starting velocity estimated o'clock to the sequence that torsion starting velocity estimated point drops in N successively reduces, and N number of drop is turned round starting relative speed variation and sentenced
The value of breakpoint according to by the 1st drop turn round starting relative speed variation judgement point to N drop turn round starting relative speed variation judgement it is suitable
Sequence successively reduces, and the size that N number of drop turns round coefficient value is successively dropped according to the sequence for turning round coefficient value is dropped to N by the 1st drop torsion coefficient value
It is low.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including element.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand technical solution of the present invention and its core concept.It should be pointed out that for the common of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for technical staff, these
Improvement and modification are also fallen within the protection scope of the claims of the present invention.
Claims (10)
1. a kind of speed-limiting control method of new energy vehicle characterized by comprising
Obtain the motor speed and relative speed variation of vehicle；
When the motor speed and relative speed variation of judging for the first moment, which meet preset first drop, turns round triggering rule, determine
Corresponding drop turns round the value of coefficient out, and controls the vehicle and enter drop torsion state；
Coefficient calculated torque change step is turned round according to the drop；
Using the gear of the vehicle at current time, the change in torque step-length and the actual torque of last moment are determined
The actual torque at current time out, to be controlled based on the actual torque determined vehicle, and the reality at current time
Absolute value of the absolute value of border torque lower than the actual torque of last moment；
When the Δ Spd for judging for the second moment is greater than preset first threshold, controls the vehicle and exit the transition state
And enter default conditions, so that the actual torque of the vehicle is equal to the target torque that accelerator pedal parses, the Δ Spd=
The difference of target speed limit point and motor speed.
2. the speed-limiting control method of new energy vehicle according to claim 1, which is characterized in that when the utilization is current
The gear for the vehicle carved, the change in torque step-length and the actual torque of last moment, determine the reality at current time
After border torque is to control vehicle, the control vehicle exit the transition state and enter default conditions it
Before, further includes:
When the motor speed and relative speed variation of judging the third moment meet preset First Transition triggering rule, control
The vehicle exits the drop torsion state and enters transition state, and keeps actual torque in the transition state and enter institute
The actual torque for stating the initial time of transition state is identical.
3. the speed-limiting control method of new energy vehicle according to claim 2, which is characterized in that in the control vehicle
It exits the drop torsion state and enters after transition state, further includes:
When the motor speed and relative speed variation of judging for the 4th moment, which meet preset liter, turns round triggering rule, determine pair
The liter answered turns round the value of coefficient, and controls the vehicle and enter a liter torsion state；
Coefficient calculated torque change step is turned round according to the liter；
Using the gear of the vehicle at current time, the change in torque step-length and the actual torque of last moment are determined
The actual torque at current time out, and the absolute value of the actual torque at current time is greater than the absolute of the actual torque of last moment
Value；
When the motor speed and relative speed variation of judging for the 5th moment meet preset second transition triggering rule, control
The vehicle exit the liter torsion state and enter the transition state, and in the transition state keep actual torque with by
The actual torque for rising the initial time that torsion state enters the transition state is identical；
Rule is triggered when the motor speed and relative speed variation of judging the 5th moment do not meet second transition, but
When the Δ Spd at the 5th moment is greater than the first threshold, controls the vehicle and exit the liter torsion state and enter
The default conditions, so that the actual torque of the vehicle is equal to the target torque that accelerator pedal parses；
Rule is triggered when the motor speed and relative speed variation of judging the 5th moment do not meet second transition, and
When the Δ Spd at the 5th moment is less than or equal to the first threshold, the liter torsion state is kept.
4. the speed-limiting control method of new energy vehicle according to claim 2, which is characterized in that in the control vehicle
It exits the drop torsion state and enters after transition state, further includes:
When the motor speed and relative speed variation of judging for the 6th moment, which meet preset second drop, turns round triggering rule, control
The vehicle exits the transition state and enters drop torsion state, and the value of coefficient is turned round into the drop after the drop torsion state
Adjustment factor value is turned round for preset drop.
5. the speed-limiting control method of new energy vehicle according to claim 1, which is characterized in that described to be turned round according to the drop
Coefficient calculated torque change step, comprising:
Determine the absolute value of the Δ Spd at current time；
The absolute value and the drop are turned round into the product of coefficient as calculated change in torque step-length.
6. the speed-limiting control method of new energy vehicle according to claim 5, which is characterized in that described to utilize current time
The vehicle gear, the change in torque step-length and the actual torque of last moment determine the reality at current time
Torque is to control vehicle based on the actual torque determined, and the absolute value of the actual torque at current time is lower than
The absolute value of the actual torque of last moment, comprising:
When the vehicle is in drive shift, actual torque and the change in torque step-length of the vehicle last moment are utilized
Difference determines the actual torque at current time；
When the vehicle is in reverse gear, actual torque and the change in torque step-length of the vehicle last moment are utilized
With determine the actual torque at current time.
7. the speed-limiting control method of new energy vehicle according to claim 6, which is characterized in that described at the vehicle
When drive shift, using the actual torque of the vehicle last moment and the difference of the change in torque step-length, determine current
The actual torque at moment, comprising:
When the vehicle is in drive shift, calculate the vehicle last moment actual torque and the change in torque step-length
Difference；
Both target torques for parsing the accelerator pedal of the vehicle when judging that the difference is less than or equal to 0 and 0
In actual torque of the lesser numerical value as the current time determined；
When judging that the difference is greater than 0, target torque that the accelerator pedal of the vehicle is parsed and the difference this
Actual torque of the lesser numerical value as the current time determined in the two.
8. the speed-limiting control method of new energy vehicle according to claim 2, which is characterized in that described to judge third
When the motor speed and relative speed variation at moment meet preset First Transition triggering rule, control the vehicle exit it is described
It drops torsion state and enters transition state, comprising:
Judgement is executed by 1 to M sequence according to the value of q, and works as and judges that the Δ Spd at the third moment is dropped greater than q
It turns round rate of withdraw to judge a little, while the relative speed variation at the third moment exits relative speed variation greater than q drop torsion and sentences
When breakpoint, controls the vehicle and exit the drop torsion state and enter transition state；
Wherein, q and M is positive integer, and 1≤q≤M, and the value that M drop turns round rate of withdraw judgement point is respectively less than 0, and according to by
1st drop is turned round rate of withdraw judgement o'clock to the sequence that torsion rate of withdraw judgement point drops in M and is sequentially increased, and revolving speed change is exited in M drop torsion
The value of rate judgement is respectively less than 0, and exits revolving speed according to relative speed variation judgement o'clock to M drop torsion is exited by the 1st drop torsion
The sequence of change rate judgement point is sequentially increased.
9. the speed-limiting control method of new energy vehicle according to any one of claims 1 to 8, which is characterized in that described to work as
When judging that the motor speed at the first moment and the relative speed variation meet preset first drop torsion triggering rule, really
It makes corresponding drop and turns round the value of coefficient, and control the vehicle and enter drop torsion state, comprising:
Judgement is executed by 1 to N sequence according to the value of i, and works as the Δ Spd for judging first moment less than the i-th drop
Starting velocity estimated point is turned round, while the relative speed variation at first moment is greater than the i-th drop torsion starting relative speed variation and sentences
When breakpoint, the value for determining that drop turns round coefficient is that preset i-th drop turns round coefficient value, and controls the vehicle and enter drop torsion state；
Wherein, i and N is positive integer, and 1≤i≤N, the value that N number of drop turns round starting velocity estimated point are opened according to by the 1st drop torsion
Dynamic velocity estimated o'clock to the sequence that torsion starting velocity estimated point drops in N successively reduces, and N number of drop is turned round starting relative speed variation and judged a little
Value according to by the 1st drop turn round starting relative speed variation judgement point to N drop turn round starting relative speed variation judgement sequence according to
Secondary reduction, the size that N number of drop turns round coefficient value are successively reduced according to the sequence for turning round coefficient value is dropped to N by the 1st drop torsion coefficient value.
10. a kind of speed limit control system of new energy vehicle characterized by comprising
Data obtaining module, for obtaining the motor speed and relative speed variation of vehicle；
First drop turns round trigger module, judges that the motor speed at the first moment and the relative speed variation meet for working as
It is preset first drop turn round triggering rule when, determine it is corresponding drop turn round coefficient value, and control the vehicle enter drop turn round shape
State；
Drop turns round step size computation module, for turning round coefficient calculated torque change step according to the drop；
Drop turns round adjustment module, for the gear of the vehicle using current time, the change in torque step-length and upper a period of time
The actual torque at quarter determines the actual torque at current time to control based on the actual torque determined to vehicle
System, and the absolute value of the actual torque at current time is lower than the absolute value of the actual torque of last moment；
First recovery module, for controlling the vehicle when the Δ Spd for judging for the second moment is greater than preset first threshold
It exits the transition state and enters default conditions, so that the actual torque of the vehicle is equal to the target that accelerator pedal parses
Torque, the difference of Δ Spd=target the speed limit point and motor speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811535963.6A CN109515213B (en) | 2018-12-14 | 2018-12-14 | Speed limit control method and system for new energy vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811535963.6A CN109515213B (en) | 2018-12-14 | 2018-12-14 | Speed limit control method and system for new energy vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109515213A true CN109515213A (en) | 2019-03-26 |
| CN109515213B CN109515213B (en) | 2020-10-27 |
Family
ID=65795517
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811535963.6A Active CN109515213B (en) | 2018-12-14 | 2018-12-14 | Speed limit control method and system for new energy vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109515213B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110126639A (en) * | 2019-05-14 | 2019-08-16 | 奇瑞新能源汽车技术有限公司 | Torsional oscillation control method based on electric drive system for electric vehicles |
| CN111845373A (en) * | 2019-04-29 | 2020-10-30 | 北京新能源汽车股份有限公司 | Motor control method, device and equipment and electric automobile |
| CN111923744A (en) * | 2020-08-18 | 2020-11-13 | 厦门势拓御能科技有限公司 | New energy automobile speed limit control method and automobile |
| CN112977071A (en) * | 2019-12-13 | 2021-06-18 | 长城汽车股份有限公司 | Control method and device of new energy vehicle and new energy vehicle |
| CN114312324A (en) * | 2022-01-06 | 2022-04-12 | 奇瑞新能源汽车股份有限公司 | Anti-flying method and device for vehicle, vehicle and storage medium |
| WO2022156631A1 (en) * | 2021-01-19 | 2022-07-28 | 中国第一汽车股份有限公司 | Torque reduction determination method and apparatus, vehicle, and storage medium |
| CN115217960A (en) * | 2022-01-05 | 2022-10-21 | 广州汽车集团股份有限公司 | Control method for power downshift and dual clutch transmission |
| CN115489334A (en) * | 2022-08-31 | 2022-12-20 | 成都赛力斯科技有限公司 | Energy recovery negative torque control method, device, computer equipment and storage medium |
| CN115923535A (en) * | 2023-02-02 | 2023-04-07 | 重庆赛力斯新能源汽车设计院有限公司 | Vehicle electric drive control method and system, terminal device and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008111541A3 (en) * | 2007-03-09 | 2009-02-26 | Toyota Motor Co Ltd | Control device for vehicular drive system |
| CN103502070A (en) * | 2011-07-06 | 2014-01-08 | 爱信艾达株式会社 | Control device |
| CN104057839A (en) * | 2014-06-18 | 2014-09-24 | 安徽江淮汽车股份有限公司 | Torque compensation method and device |
| CN106143162A (en) * | 2015-04-03 | 2016-11-23 | 比亚迪股份有限公司 | Electric automobile and torque safety monitoring and control method thereof and device |
| DE102015112711A1 (en) * | 2015-08-03 | 2017-02-23 | Borgward Trademark Holdings Gmbh | Method and system for controlling speeding violations of an electric vehicle |
| JP2017085679A (en) * | 2015-10-22 | 2017-05-18 | 三菱自動車工業株式会社 | Control device for electric vehicle |
| CN106740267A (en) * | 2017-01-25 | 2017-05-31 | 北京新能源汽车股份有限公司 | The control method and system of a kind of output torque |
| CN107878258A (en) * | 2017-09-22 | 2018-04-06 | 简式国际汽车设计（北京）有限公司 | The vehicle travel control method and device of a kind of pure electric automobile |
-
2018
- 2018-12-14 CN CN201811535963.6A patent/CN109515213B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008111541A3 (en) * | 2007-03-09 | 2009-02-26 | Toyota Motor Co Ltd | Control device for vehicular drive system |
| CN103502070A (en) * | 2011-07-06 | 2014-01-08 | 爱信艾达株式会社 | Control device |
| CN104057839A (en) * | 2014-06-18 | 2014-09-24 | 安徽江淮汽车股份有限公司 | Torque compensation method and device |
| CN106143162A (en) * | 2015-04-03 | 2016-11-23 | 比亚迪股份有限公司 | Electric automobile and torque safety monitoring and control method thereof and device |
| DE102015112711A1 (en) * | 2015-08-03 | 2017-02-23 | Borgward Trademark Holdings Gmbh | Method and system for controlling speeding violations of an electric vehicle |
| JP2017085679A (en) * | 2015-10-22 | 2017-05-18 | 三菱自動車工業株式会社 | Control device for electric vehicle |
| CN106740267A (en) * | 2017-01-25 | 2017-05-31 | 北京新能源汽车股份有限公司 | The control method and system of a kind of output torque |
| CN107878258A (en) * | 2017-09-22 | 2018-04-06 | 简式国际汽车设计（北京）有限公司 | The vehicle travel control method and device of a kind of pure electric automobile |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845373A (en) * | 2019-04-29 | 2020-10-30 | 北京新能源汽车股份有限公司 | Motor control method, device and equipment and electric automobile |
| CN110126639A (en) * | 2019-05-14 | 2019-08-16 | 奇瑞新能源汽车技术有限公司 | Torsional oscillation control method based on electric drive system for electric vehicles |
| CN112977071A (en) * | 2019-12-13 | 2021-06-18 | 长城汽车股份有限公司 | Control method and device of new energy vehicle and new energy vehicle |
| CN111923744A (en) * | 2020-08-18 | 2020-11-13 | 厦门势拓御能科技有限公司 | New energy automobile speed limit control method and automobile |
| WO2022156631A1 (en) * | 2021-01-19 | 2022-07-28 | 中国第一汽车股份有限公司 | Torque reduction determination method and apparatus, vehicle, and storage medium |
| CN115217960A (en) * | 2022-01-05 | 2022-10-21 | 广州汽车集团股份有限公司 | Control method for power downshift and dual clutch transmission |
| CN115217960B (en) * | 2022-01-05 | 2024-03-26 | 广州汽车集团股份有限公司 | Control method for power downshift and double-clutch transmission |
| CN114312324A (en) * | 2022-01-06 | 2022-04-12 | 奇瑞新能源汽车股份有限公司 | Anti-flying method and device for vehicle, vehicle and storage medium |
| CN115489334A (en) * | 2022-08-31 | 2022-12-20 | 成都赛力斯科技有限公司 | Energy recovery negative torque control method, device, computer equipment and storage medium |
| CN115489334B (en) * | 2022-08-31 | 2023-09-01 | 成都赛力斯科技有限公司 | Energy recovery negative torque control method, device, computer equipment and storage medium |
| CN115923535A (en) * | 2023-02-02 | 2023-04-07 | 重庆赛力斯新能源汽车设计院有限公司 | Vehicle electric drive control method and system, terminal device and storage medium |
| CN115923535B (en) * | 2023-02-02 | 2024-04-09 | 重庆赛力斯新能源汽车设计院有限公司 | Vehicle electric drive control method, system, terminal equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109515213B (en) | 2020-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109515213A (en) | A kind of speed-limiting control method and system of new energy vehicle | |
| WO2020253676A1 (en) | Vehicle speed control method and system | |
| CN103814201B (en) | The driving-force control apparatus of vehicle | |
| CN110126628B (en) | Control method and control device for electric vehicle motor | |
| US20210179062A1 (en) | Hybrid vehicle and method of controlling the same | |
| CN111976500B (en) | Torque filtering method, torque filtering device and vehicle | |
| CN106887858B (en) | Energy storage system tracking planned output method and device for accessing new energy power generation | |
| CN110154775B (en) | Regenerative braking energy recovery control method for electric automobile | |
| CN112319222B (en) | Function display method and system based on electric vehicle power meter | |
| CN110682798A (en) | Motor torque control method, device, system and computer storage medium | |
| CN115412000B (en) | Special variable structure closed loop PI processor method | |
| CN107599889A (en) | One kind reversing control method, device and electric automobile | |
| CN105711440B (en) | A kind of vehicle reverses gear control method and system | |
| EP4159562A1 (en) | Power distribution management method and device for hybrid vehicle | |
| EP3367536A1 (en) | Method and device for allocating active power of wind farm | |
| CN106427665B (en) | A kind of control method, device and the electronic equipment of the compound pedal of electric automobile | |
| Yang et al. | Optimization of fuzzy controller based on genetic algorithm | |
| CN110329237A (en) | Vehicle start control method, device, storage medium and vehicle | |
| CN115179921A (en) | Vehicle control method and device, electronic equipment and storage medium | |
| CN215097538U (en) | Range extender control device, range extender and vehicle | |
| JP2015021472A (en) | Drive force control device of vehicle and drive force control method | |
| US20130268175A1 (en) | Method of Adaptive Control for Engine Transient Mitigation in a Hybrid Vehicle | |
| US20130238179A1 (en) | Engine Power Quantization Function Selection | |
| CN113815609B (en) | Constant-speed cruising system and fuel-saving control method and device thereof | |
| Xin et al. | Genetic based fuzzy Q-learning energy management for smart grid |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |