CN109624979A - A kind of cruise torque control method and system - Google Patents
A kind of cruise torque control method and system Download PDFInfo
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- CN109624979A CN109624979A CN201910114266.1A CN201910114266A CN109624979A CN 109624979 A CN109624979 A CN 109624979A CN 201910114266 A CN201910114266 A CN 201910114266A CN 109624979 A CN109624979 A CN 109624979A
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Classifications
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of cruise torque control method and systems, this method comprises: calculating the acceleration difference obtained between vehicle target acceleration value and actual acceleration value；According to the acceleration difference and predetermined acceleration threshold value, judge whether acceleration torque compensation is intervened, obtains judging result；Based on the judging result, calculates and obtain target torque；According to the currently available peak torque of the currently available maximum power of Vehicular battery and motor, the target torque is controlled, obtains vehicle target output torque.The present invention realizes the response of the moment of torsion control under cruise state under different operating conditions, also, introduces the kinetic parameters such as acceleration and control from dynamics of vehicle angle torque, improves torque control precision.
Description
Technical field
The present invention relates to entire new energy automobile control technology fields, more particularly to a kind of cruise moment of torsion control side
Method and system.
Background technique
Currently, the cruise moment of torsion control of pure electric automobile is generallyd use based on current vehicle speed and target vehicle speed difference
PI (proportional integral, proportional integration) adjusts torque control method, and base torque can be added in control also
Etc. compensating, or PI parameter is adjusted.
It is inputted using speed difference as the adjusting in PI adjusting, is completely dependent on the torque control that fixed PI parameter value is adjusted out
System haves the defects that certain.It is adjusted for example, excessively relying on PI, requested torque adjusts torque by PI completely and determines, only poor with speed
Value relies only on algorithm adjusting torque, there are response speeds due to the intervention of not no dynamics Controlling as the input for adjusting control
Slowly, the problem of torque control precision difference, cannot reflect the real-time status of vehicle.
Summary of the invention
It is directed to the above problem, the present invention provides a kind of cruise torque control method and system, ensure that constant speed is patrolled
Moment of torsion control response under boat state under different operating conditions, improves torque control precision.
To achieve the goals above, the present invention provides the following technical scheme that
A kind of cruise torque control method, this method comprises:
Calculate the acceleration difference obtained between vehicle target acceleration value and actual acceleration value；
According to the acceleration difference and predetermined acceleration threshold value, judge whether acceleration torque compensation is intervened, is sentenced
Disconnected result；
Based on the judging result, calculates and obtain target torque；
According to the currently available peak torque of the currently available maximum power of Vehicular battery and motor, to the target torque
It is controlled, obtains vehicle target output torque.
Optionally, described to calculate the acceleration difference obtained between vehicle target acceleration value and actual acceleration value, packet
It includes:
According to the current goal speed of vehicle current vehicle speed and setting, inquiry obtains the current aimed acceleration value of vehicle；
According to the aimed acceleration value and actual acceleration value, calculates and obtain the acceleration difference.
Optionally, described according to the acceleration difference and predetermined acceleration threshold value, whether judge acceleration torque compensation
Intervention obtains judging result, comprising:
Judge whether the absolute value of the acceleration difference is greater than upper limit threshold, if it is, by the acceleration difference
The input parameter of control is adjusted as torque, realizes the intervention of acceleration torque compensation；
If the absolute value of the acceleration difference is less than lower threshold, the defeated of control is adjusted using speed difference as torque
Enter parameter, wherein the speed difference is the difference of the current goal speed of vehicle current vehicle speed and setting；
If the absolute value of the acceleration difference is greater than the lower threshold, and is less than the upper limit threshold, then vehicle is tieed up
Hold current torque control mode.
Optionally, described to be based on the judging result, it calculates and obtains target torque, comprising:
If adjusting the input parameter of control using the acceleration difference as torque, calculates and obtain the first demand torque, and
First demand torque and accelerator pedal is taken to parse the larger value obtained between torque, as the target torque；
If adjusting the input parameter of control using speed difference as torque, calculate and obtain the second demand torque, takes described the
Two demand torques and accelerator pedal parsing obtain the larger value between torque, as the target torque.
Optionally, this method further include:
Meet the first preset mode in response to the changing pattern of the acceleration difference, by the torque control of presently described vehicle
Molding formula switches to acceleration torque compensation and calculates mode；
Meet the second preset mode in response to the changing pattern of the acceleration difference, controls the torque of presently described vehicle
Control model exits the acceleration torque compensation and calculates mode；
Wherein, the absolute value that first preset mode characterizes the acceleration difference continues to increase more than the upper limit threshold
Value, the absolute value that second preset mode characterizes the acceleration difference persistently reduces until the lower threshold.
Optionally, if the input parameter for adjusting control using the acceleration difference as torque, calculates and obtain first
Demand torque, comprising:
The input parameter that control is adjusted using the acceleration difference as torque is adjusted using proportional integration and is controlled, and is obtained
First torque；
It according to whole-car parameters, calculates to obtain and accelerates torque, the whole-car parameters include that complete vehicle quality, the acceleration are poor
Value, base ratio, transmission ratio, machinery driving efficiency and radius of wheel；
By first torque, accelerate torque and the torque value of the last moment output and value, it is determined as described the
One demand torque.
Optionally, it if the input parameter for adjusting control using speed difference as torque, calculates second demand that obtains and turns round
Square, comprising:
According to the current goal speed of the vehicle current vehicle speed and the setting, calculates and obtain speed difference；
The input parameter that control is adjusted using the speed difference as torque is adjusted using proportional integration and is controlled, and obtains the
Two torques；
According to vehicle current vehicle speed, inquiry obtains basic compensating feedforward torque；
By the sum between second torque and the basic compensating feedforward torque, it is determined as second demand torque.
Optionally, described according to the currently available maximum power of Vehicular battery and the currently available peak torque of motor, it is right
The target torque is controlled, and vehicle target output torque is obtained, comprising:
The currently available maximum power of Vehicular battery based on acquisition calculates and obtains battery torque limit value；
To the currently available peak torque, the battery torque limit value and the target torque of the motor of acquisition into
Line number value compares, and the minimum value for comparing acquisition is determined as the vehicle target output torque.
A kind of cruise torque control system, the system include:
First computing unit, it is poor for calculating the acceleration between acquisition vehicle target acceleration value and actual acceleration value
Value；
Judging unit, for judging that acceleration torque compensation is according to the acceleration difference and predetermined acceleration threshold value
No intervention obtains judging result；
Second computing unit calculates for being based on the judging result and obtains target torque；
Control unit, for according to the currently available maximum power of Vehicular battery and the currently available peak torque of motor,
The target torque is controlled, vehicle target output torque is obtained.
Optionally, the judging unit includes:
First judgment sub-unit, for judging whether the absolute value of the acceleration difference is greater than upper limit threshold, if so,
The input parameter that control is then adjusted using the acceleration difference as torque, realizes the intervention of acceleration torque compensation；
Second judgment sub-unit, if the absolute value for the acceleration difference is less than lower threshold, by speed difference
The input parameter of control is adjusted as torque, wherein the speed difference is the current goal vehicle of vehicle current vehicle speed and setting
The difference of speed；
Third judgment sub-unit if the absolute value for the acceleration difference is greater than the lower threshold, and is less than institute
Upper limit threshold is stated, then vehicle maintains current torque control mode.
Compared to the prior art, the present invention provides a kind of cruise torque control method and systems, according to vehicle mesh
The acceleration difference between acceleration and currently practical acceleration value is marked, judges whether the intervention for needing acceleration torque compensation,
Then it is calculated according to judging result and obtains target torque, using acceleration difference as the Rule of judgment of different torque arithmetic modes,
Both the response speed under suddenly acceleration and anxious decelerating mode had been ensure that, the comfort of driving experience when in turn ensuring stable is real
Show the moment of torsion control response under cruise state under different operating conditions, also, introduces the kinetic parameters such as acceleration from vehicle
Aerodynamic point controlling to torque, improves torque control precision.
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
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow diagram of cruise torque control method provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of cruise torque control system provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Term " first " and " second " in description and claims of this specification and above-mentioned attached drawing etc. are for area
Not different objects, rather than for describing specific sequence.Furthermore term " includes " and " having " and their any deformations,
It is intended to cover and non-exclusive includes.Such as it contains the process, method of a series of steps or units, system, product or sets
It is standby not to be set in listed step or unit, but may include the step of not listing or unit.
A kind of cruise torque control method is provided in embodiments of the present invention, referring to Fig. 1, this method comprises:
S101, the acceleration difference obtained between vehicle target acceleration value and actual acceleration value is calculated.
Vehicle target acceleration value is the current goal speed according to vehicle current vehicle speed and setting, is obtained by inquiry
's.It is previously stored with speed difference in the entire car controller of vehicle and aimed acceleration value corresponding relationship inquires list.It is practical to accelerate
Angle value corresponds to the current acceleration value of vehicle, for example, the actual acceleration value of vehicle can be according to recording in entire car controller
The real-time speed value of vehicle, which calculates, to be obtained.
After vehicle enters cruise state, the target vehicle speed of vehicle is arranged in driver by way of manual operation, whole
Vehicle controller inquires current goal acceleration according to the difference of current vehicle speed and current goal speed, then calculates current goal and add
The difference of velocity amplitude and current acceleration value, method particularly includes:
When driver it is expected to carry out cruise setting, target vehicle speed V can be generatedT, current vehicle speed VNWith target vehicle speed VT's
Difference △ V=VT-VNAs input parameter, inquired in " speed difference-aimed acceleration " table.This table is obtained by real vehicle calibration
, speed difference is bigger, and it is bigger to inquire corresponding aimed acceleration value, which is stored in advance in entire car controller, from
And aimed acceleration a has just been obtained by tabling look-upT, according to currently practical acceleration aNIt calculates and obtains acceleration difference DELTA a=
aT-aN.The acquisition of aimed acceleration value can more directly send out the driving intention for mirroring driver, and be made by subsequent adjustment
Obtain the target vehicle speed that vehicle can be rapidly achieved driver's setting.
S102, foundation acceleration difference and predetermined acceleration threshold value, judge whether acceleration torque compensation is intervened, are sentenced
Disconnected result；
S103, it is based on judging result, calculates and obtains target torque.
Acceleration torque compensation is introduced to cruise torque control method in embodiments of the present invention, but is not
Each case requires acceleration torque compensation, but carries out real-time judgment according to the actual situation.
Need to set for characterize acceleration torque compensation intervention upper limit threshold and for characterizing acceleration torque compensation
The lower threshold exited, the two parameters all need to demarcate.
Judge the process whether acceleration torque compensation is intervened, comprising:
S201, judge whether the absolute value of acceleration difference is greater than upper limit threshold, if it is, executing S202, otherwise hold
Row S203；
S202, the input parameter that control is adjusted using acceleration difference as torque, realize the intervention of acceleration torque compensation；
If the absolute value of S203, acceleration difference is less than lower threshold, control is adjusted using speed difference as torque
Input parameter；
Wherein, speed difference is the difference of the current goal speed of vehicle current vehicle speed and setting；
I.e. this brief acceleration torque compensation is not involved in, using according to it is traditional based on velocity deviation by the way of calculated torque
Value.
If the absolute value of S204, acceleration difference is greater than lower threshold, and it is less than upper limit threshold, then vehicle maintains currently
Torque control mode.
It is to be compared according to the absolute value of acceleration difference with preset upper limit threshold and lower threshold, adds to determine
Whether speed-torque compensation intervenes, and not only ensure that the response speed under the operating condition for suddenly accelerating and suddenly slowing down, but also can guarantee stabilization
Comfort when driving.
On the basis of the above embodiments, calculating the corresponding method of acquisition target torque includes:
If adjusting the input parameter of control using acceleration difference as torque, calculate and obtain the first demand torque, and takes the
One demand torque and accelerator pedal parsing obtain the larger value between torque, as target torque；
If adjusting the input parameter of control using speed difference as torque, calculate and obtain the second demand torque, will and by the
Two demand torques and accelerator pedal parsing obtain the larger value between torque, as target torque；
The torque control mode of vehicle maintains current torque control mode, true according to current moment of torsion control control model
Set the goal torque, wherein current torque control mode includes the input parameter pair that acceleration difference adjusts control as torque
The control model of the control model and the input parameter for controlling speed difference as torque adjusting answered.
For example, amaxFor the upper limit threshold of acceleration torque compensation intervention, aminIt is exited for acceleration torque compensation
Lower threshold.
When | Δ a | > amaxWhen, target torque TT=max (Ta,Tp)；
When | Δ a | < aminWhen, target torque TT=max (TV,Tp)；
Work as amin< | Δ a | < amaxWhen, target torque TTMaintain current torque arithmetic mode.
TaFor the demand torque calculated according to acceleration difference as input parameter, TVIt is inputted to be used as according to speed difference
The demand torque that parameter calculates, TpFor the torque of acceleration pedal parsing.
Wherein, maintaining current torque arithmetic mode is exactly to maintain the mode of previous cycle always, until Δ a continuously changes
Extremely | Δ a | > amaxOr | Δ a | < aminShi Caihui changes current calculating mode.
In another embodiment of the invention, it is preferred that in amin< | Δ a | < amaxWhen, a hysteresis can be designed and opened
It closes, the upper limit a for increasing above torque compensation is maintained in acceleration differencemaxShi Caihui is switched to acceleration torque compensation and calculates mode,
Persistently reduce in acceleration difference until being less than the lower limit a of torque compensationminShi Caihui exits acceleration torque compensation and calculates mode,
It is avoided that frequent switching bring bad steering is experienced when torque arithmetic mode fluctuates near switching point, is specifically included in this way:
Meet the first preset mode in response to the changing pattern of the acceleration difference, by the torque control of presently described vehicle
Molding formula switches to acceleration torque compensation and calculates mode；
Meet the second preset mode in response to the changing pattern of the acceleration difference, controls the torque of presently described vehicle
Control model exits the acceleration torque compensation and calculates mode.
Wherein, the absolute value that the first preset mode characterizes the acceleration difference continues to increase more than the upper limit threshold,
The absolute value that second preset mode characterizes the acceleration difference persistently reduces until the lower threshold.
Specifically, being broadly divided into two kinds of situations during calculating target torque, one is use acceleration difference
It as input parameter, calculates and obtains target torque, another kind is to use speed difference as input parameter, calculates and obtains target torsion
Square.
If adjusting the input parameter of control using acceleration difference as torque, calculates and obtains the first demand torque, comprising:
The input parameter that control is adjusted using the acceleration difference as torque is adjusted using proportional integration and is controlled, and is obtained
First torque；
It according to whole-car parameters, calculates to obtain and accelerates torque, the whole-car parameters include that complete vehicle quality, the acceleration are poor
Value, base ratio, transmission ratio, machinery driving efficiency and radius of wheel；
By first torque, it is described accelerate torque and last moment output torque value and value, be determined as first need
Seek torque.
Specifically, working as | Δ a | > amaxWhen, using acceleration difference as inputting, adjust to obtain the first torque using PID
TaPI, it is also desirable to plus torque T is acceleratedΔaWith last moment output torque TN-1, in which:
Wherein, m is complete vehicle quality, and Δ a is acceleration difference, i0For base ratio, igFor transmission ratio,For machine
Tool transmission efficiency, r are radius of wheel.
First demand torque Ta=TaPI+TΔa+TN-1。
TΔa+TN-1It is the torque needed for reaching aimed acceleration according to Newton's second law, from Full Vehicle Dynamics angle
It calculates vehicle and accelerates torque, response speed can be accelerated, reflect vehicle-state in time, while can also reduce because of different speed downlinks
The quantity of required calibrating parameters under different operating conditions is greatly decreased in the influence for sailing the factors such as resistance difference, shortens debugging cycle, mitigates
The workload of calibration engineer, in addition, this dynamics calculation torque can also make torquemeter in the case where nominal data is less
It is more accurate.
TaPIIt is the torque compensation that the input quantity with acceleration difference for PI control obtains, for advanced optimizing output torque,
It can also reduce simultaneously since acceleration value changes violent bring torque ripple, there is vehicle during cruise good
Comfort.
In another case, adjusting the input parameter of control using speed difference as torque, calculates second demand that obtains and turn round
Square, comprising:
According to the current goal speed of vehicle current vehicle speed and setting, calculates and obtain speed difference；
The input parameter that control is adjusted using the speed difference as torque is adjusted using proportional integration and is controlled, and obtains the
Two torques；
According to vehicle current vehicle speed, inquiry obtains basic compensating feedforward torque；
By the sum between second torque and the basic compensating feedforward torque, it is determined as the second demand torque.
Specifically, working as | Δ a | < aminWhen, still using speed difference as input parameter, second adjusted using PID
Torque TVPI, while plus basic compensating feedforward torque Tbasic, it may be assumed that
TV=TVPI+Tbasic
Wherein, TVPIThe PI adjustment parameter of item need to be demarcated individually, TbasicIt is the basis compensation according to the one-dimensional acquisition of tabling look-up of speed
Feedover torque, and speed is bigger, basic compensating feedforward torque TbasicValue it is bigger, TbasicCalibration can be passed through with the changing value of speed
It obtains, the value for demarcating completion is pre-stored in entire car controller, for real-time query calling.Basic compensating feedforward torque TbasicIt is marking
Before fixed, rolling resistance torque and air drag the torque item that can refer in vehicle travel resistance equation give initial value, to reduce
Staking-out work amount.I.e. basic compensating feedforward torque TbasicWith rolling resistance moment TfWith air drag square TwThe sum of be positively correlated:
Tbasic∝(Tf+Tw)
Wherein:
i0For base ratio, igFor transmission ratio,For machinery driving efficiency, r is radius of wheel, and G is vehicle weight
Amount, f is coefficient of rolling resistance, CDFor coefficient of air resistance, A is front face area.
The cruise vehicle speed range of most vehicles with cruise function is 40km/h~120km/h at present, and
When usually more than 80km/h vehicle speed range, running resistance suffered by vehicle is mainly frontal resistance, thus 80km/h~
Need to increase basic compensating feedforward T within the scope of 120km/hbasic, can reduce the pressure that PI adjusts torque in this way, make PI parameter value
It does not need to be conducive to reduce the fluctuation for adjusting torque very greatly, while keeping torque governing response rapider, better constant speed is brought to patrol
Navigate driving experience.
S104, according to the currently available maximum power of Vehicular battery and the currently available peak torque of motor, target is turned round
Square is controlled, and vehicle target output torque is obtained.
It calculates after obtaining vehicle target torque, needs to limit torque, to guarantee the stationarity of vehicle.
Torque limit needs the currently available maximum power P according to batterybatAnd the currently available peak torque of motor
Tmotor, corresponding ceiling restriction is carried out to output torque, to guarantee vehicle travel safety.Wherein, the maximum power of battery is
It is sent in real time by battery management system, the available peak torque T of current motormotorIt is to be sent in real time by electric machine controller
's.
According to power-torque reduction formula, by battery maximum available power PbatObtained torque limit are as follows:
Wherein, n is the revolving speed of motor output, unit r/min.
Final target output torque:
Tout=min (TT,Tmotor,Tbat)
The present invention provides a kind of cruise torque control methods, according to vehicle target acceleration and currently practical acceleration
Acceleration difference between angle value judges whether the intervention for needing acceleration torque compensation, is then obtained according to judging result calculating
Target torque is obtained, using acceleration difference as the Rule of judgment of different torque arithmetic modes, both ensure that and suddenly accelerated and suddenly subtracting
Response speed under fast operating condition, the comfort of driving experience when in turn ensuring stable realize under cruise state not
With the moment of torsion control response under operating condition, also, introduce the kinetic parameters such as acceleration from dynamics of vehicle angle to torque into
Row control, improves torque control precision.
A kind of cruise torque control system, referring to fig. 2, the system are additionally provided in another embodiment of the invention
Include:
First computing unit 10, for calculating the acceleration obtained between vehicle target acceleration value and actual acceleration value
Difference；
Judging unit 11, for judging acceleration torque compensation according to the acceleration difference and predetermined acceleration threshold value
Whether intervene, obtains judging result；
Second computing unit 12 calculates for being based on the judging result and obtains target torque；
Control unit 13, for according to the currently available maximum power of Vehicular battery and the currently available maximum torsion of motor
Square controls the target torque, obtains vehicle target output torque.
The present invention provides a kind of cruise torque control systems, are accelerated in the first computing unit according to vehicle target
Acceleration difference between degree and currently practical acceleration value, judges whether to need acceleration torque compensation by judging unit
Then intervention calculates according to judging result in the second computing unit and obtains target torque, using acceleration difference as different torsions
Square calculates the Rule of judgment of mode, both ensure that the response speed under suddenly acceleration and anxious decelerating mode, when in turn ensuring stable
Driving experience comfort, realize under cruise state under different operating conditions moment of torsion control response, also, introduce plus
The kinetic parameters such as speed controlling to torque from dynamics of vehicle angle, improves torque control precision.
On the basis of the above embodiments, the first computing unit 10 includes:
Subelement is inquired, for the current goal speed according to vehicle current vehicle speed and setting, it is current that inquiry obtains vehicle
Aimed acceleration value；
First computation subunit, for calculating and obtaining described add according to the aimed acceleration value and actual acceleration value
Speed difference.
On the basis of the above embodiments, judging unit 11 includes:
First judgment sub-unit, for judging whether the absolute value of the acceleration difference is greater than upper limit threshold, if so,
The input parameter that control is then adjusted using the acceleration difference as torque, realizes the intervention of acceleration torque compensation；
Second judgment sub-unit, if the absolute value for the acceleration difference is less than lower threshold, by speed difference
The input parameter of control is adjusted as torque, wherein the speed difference is the current goal vehicle of vehicle current vehicle speed and setting
The difference of speed；
Third judgment sub-unit if the absolute value for the acceleration difference is greater than the lower threshold, and is less than institute
Upper limit threshold is stated, then the vehicle maintains current torque control mode.
On the basis of the above embodiments, the second computing unit 12 includes:
Second computation subunit calculates if the input parameter for adjusting control using the acceleration difference as torque
The first demand torque is obtained, and first demand torque and accelerator pedal is taken to parse the larger value obtained between torque, as
The target torque；
Third computation subunit calculates if the input parameter for adjusting control using speed difference as torque and obtains the
Two demand torques take second demand torque and accelerator pedal to parse the larger value obtained between torque, as target torque；
On the basis of the above embodiments, the system further include:
First switch unit meets the first preset mode for the changing pattern in response to the acceleration difference, will work as
The torque control mode of the preceding vehicle switches to acceleration torque compensation and calculates mode；
Second switch unit meets the second preset mode in response to the changing pattern of the acceleration difference, and control is current
The torque control mode of the vehicle exits the acceleration torque compensation and calculates mode；
Wherein, the absolute value that first preset mode characterizes the acceleration difference continues to increase more than the upper limit threshold
Value, the absolute value that second preset mode characterizes the acceleration difference persistently reduces until the lower threshold.
On the basis of the above embodiments, second computation subunit is specifically used for:
The input parameter that control is adjusted using the acceleration difference as torque is adjusted using proportional integration and is controlled, and is obtained
First torque；
It according to whole-car parameters, calculates to obtain and accelerates torque, the whole-car parameters include that complete vehicle quality, the acceleration are poor
Value, base ratio, transmission ratio, machinery driving efficiency and radius of wheel；
By first torque, accelerate torque and the torque value of the last moment output and value, it is determined as described the
One demand torque.
On the basis of the above embodiments, the third computation subunit is specifically used for::
According to the current goal speed of the vehicle current vehicle speed and the setting, calculates and obtain speed difference；
The input parameter that control is adjusted using the speed difference as torque is adjusted using proportional integration and is controlled, and obtains the
Two torques；
According to vehicle current vehicle speed, inquiry obtains basic compensating feedforward torque；
By the sum between second torque and the basic compensating feedforward torque, it is determined as second demand torque.
On the basis of the above embodiments, control unit 13 includes:
4th computation subunit calculates for the currently available maximum power of the Vehicular battery based on acquisition and obtains battery
Torque limit value；
Second determines subelement, limits for the currently available peak torque of the motor to acquisition, the battery torque
Value processed and the target torque carry out numerical value comparison, and the minimum value for comparing acquisition is determined as the vehicle target output torque.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of cruise torque control method, which is characterized in that this method comprises:
Calculate the acceleration difference obtained between vehicle target acceleration value and actual acceleration value；
According to the acceleration difference and predetermined acceleration threshold value, judge whether acceleration torque compensation is intervened, obtains judgement knot
Fruit；
Based on the judging result, calculates and obtain target torque；
According to the currently available peak torque of the currently available maximum power of Vehicular battery and motor, the target torque is carried out
Control obtains vehicle target output torque.
2. the method according to claim 1, wherein the calculating obtains vehicle target acceleration value and reality adds
Acceleration difference between velocity amplitude, comprising:
According to the current goal speed of vehicle current vehicle speed and setting, inquiry obtains the current aimed acceleration value of vehicle；
According to the aimed acceleration value and the actual acceleration value, calculates and obtain the acceleration difference.
3. according to the method described in claim 2, it is characterized in that, described according to the acceleration difference and predetermined acceleration threshold
Value, judges whether acceleration torque compensation is intervened, and obtains judging result, comprising:
Judge whether the absolute value of the acceleration difference is greater than upper limit threshold, if it is, using the acceleration difference as
Torque adjusts the input parameter of control, realizes the intervention of the acceleration torque compensation；
If the absolute value of the acceleration difference is less than lower threshold, the input that speed difference adjusts control as torque is joined
Number, wherein the speed difference is the difference of current vehicle speed and the current goal speed of setting described in vehicle；
If the absolute value of the acceleration difference is greater than the lower threshold, and is less than the upper limit threshold, then vehicle maintenance is worked as
Preceding torque control mode.
4. according to the method described in claim 3, calculating obtains target and turns round it is characterized in that, described be based on the judging result
Square, comprising:
If adjusting the input parameter of control using the acceleration difference as torque, calculates and obtain the first demand torque, and take institute
The larger value between the first demand torque and accelerator pedal parsing acquisition torque is stated, as the target torque；
If adjusting the input parameter of control using speed difference as torque, calculate and obtain the second demand torque, takes described second to need
Torque and the accelerator pedal is asked to parse the larger value obtained between torque, as the target torque.
5. according to the method described in claim 4, it is characterized in that, this method further include:
Meet the first preset mode in response to the changing pattern of the acceleration difference, by the moment of torsion control mould of presently described vehicle
Formula switches to the acceleration torque compensation and calculates mode；
Meet the second preset mode in response to the changing pattern of the acceleration difference, controls the moment of torsion control of presently described vehicle
Mode exits the acceleration torque compensation and calculates mode；
Wherein, the absolute value that first preset mode characterizes the acceleration difference continues to increase more than the upper limit threshold,
The absolute value that second preset mode characterizes the acceleration difference persistently reduces until the lower threshold.
6. if according to the method described in claim 4, it is characterized in that, described adjust the acceleration difference as torque is controlled
The input parameter of system calculates and obtains the first demand torque, comprising:
The input parameter that control is adjusted using the acceleration difference as torque is adjusted using proportional integration and is controlled, and obtains first
Torque；
According to whole-car parameters, calculates and obtain acceleration torque, the whole-car parameters include complete vehicle quality, the acceleration difference, master
Reduction ratio, transmission ratio, machinery driving efficiency and radius of wheel；
By first torque, it is described accelerate torque and last moment output torque value and value, be determined as it is described first need
Seek torque.
7. according to the method described in claim 6, it is characterized in that, if described adjust the defeated of control for speed difference as torque
Enter parameter, calculate and obtain the second demand torque, comprising:
According to the current goal speed of the current vehicle speed and setting, calculates and obtain the speed difference；
The input parameter that control is adjusted using the speed difference as torque is adjusted using proportional integration and is controlled, and is obtained second and is turned round
Square；
The current vehicle speed according to vehicle, inquiry obtain basic compensating feedforward torque；
By the sum of second torque and the basic compensating feedforward torque, it is determined as second demand torque.
8. the method according to claim 1, wherein the currently available maximum power according to Vehicular battery and
The currently available peak torque of motor, controls the target torque, obtains vehicle target output torque, comprising:
The currently available maximum power of the battery based on acquisition calculates and obtains battery torque limit value；
The currently available peak torque, the battery torque limit value and the target torque of the motor of acquisition are compared
Compared with minimum value is determined as the vehicle target output torque.
9. a kind of cruise torque control system, which is characterized in that the system includes:
First computing unit, for calculating the acceleration difference obtained between vehicle target acceleration value and actual acceleration value；
Judging unit, for judging whether acceleration torque compensation is situated between according to the acceleration difference and predetermined acceleration threshold value
Enter, obtains judging result；
Second computing unit calculates for being based on the judging result and obtains target torque；
Control unit, for according to the currently available maximum power of Vehicular battery and the currently available peak torque of motor, to institute
It states target torque to be controlled, obtains vehicle target output torque.
10. system according to claim 9, which is characterized in that the judging unit includes:
First judgment sub-unit, for judging whether the absolute value of the acceleration difference is greater than upper limit threshold, if it is, will
The acceleration difference adjusts the input parameter of control as torque, realizes the intervention of the acceleration torque compensation；
Second judgment sub-unit, if for the acceleration difference absolute value be less than lower threshold, using speed difference as
Torque adjusts the input parameter of control, wherein the speed difference is the current goal speed of vehicle current vehicle speed and setting
Difference；
Third judgment sub-unit if the absolute value for the acceleration difference is greater than the acceleration lower threshold, and is less than
The acceleration upper limit threshold, then the torque control mode of vehicle maintains current torque control mode.
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