CN109720213A - A kind of vehicle torque control method and device - Google Patents
A kind of vehicle torque control method and device Download PDFInfo
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- CN109720213A CN109720213A CN201711035350.1A CN201711035350A CN109720213A CN 109720213 A CN109720213 A CN 109720213A CN 201711035350 A CN201711035350 A CN 201711035350A CN 109720213 A CN109720213 A CN 109720213A
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- 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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Abstract
The present invention relates to a kind of vehicle torque control method and device, when judging that vehicle is in anxious acceleration mode, acquire the accelerator pedal opening information of vehicle and the status information of vehicle, the vehicle accelerator pedal aperture change rate for obtaining influencing the compensation torque of vehicle influences coefficient and vehicle-state coefficient, and then obtains the compensation torque of vehicle；The compensation torque of vehicle is added with the reference torque of vehicle, obtains the output torque of vehicle.The present invention takes into account the status information of vehicle, to obtain the compensation torque of vehicle, so that the compensation torque of obtained vehicle is more accurate.Also, it is not necessary to huge expert knowledge library is established, and it is more linear to the compensated curve of motor, it can be easier to optimize parameter by emulating and testing, it is significantly simpler to implement, it does not need that existing entire car controller is carried out to upgrade can be realized.
Description
Technical field
The invention belongs to technical field of vehicle control, and in particular to a kind of vehicle torque control method and device.
Background technique
With society be constantly progressive and science and technology continuous development, traditional fossil energy use increasingly reduce,
The continuous appearance of new-energy automobile industrial preferential policy.Electric car is as a kind of green new traffic tool, relative to tradition
Influence of the automobile to environment is smaller, is increasingly favored by people, becomes the main force of social development.Electric car not only changes
The Land use systems of the energy, obvious environment benefit, and also convenient, fast, low noise, zero-emission, social benefit are significant.
The demand torque of driver directly reflect operator demand vehicle power and expected energy consumption, so driving
The calculation method of the demand torque for the person of sailing has important influence for dynamic property, the economy of electric car.
The output order of motor in order to obtain in the prior art, often comes by fuzzy reasoning or genetic algorithm etc. according to defeated
Enter variable, compensation torque output instruction decision is obtained, suitably to improve the sensitivity that torque instruction operates driver.But
It is that these methods usually require to establish huge expert knowledge library, and algorithm is complicated, to the more demanding of processor, calculates
Real-time property it is lower.
Summary of the invention
The purpose of the present invention is to provide a kind of vehicle torque control method and device, to solve algorithm in the prior art
Complicated problem.
In order to solve the above technical problems, the technical solution of the present invention is as follows:
The present invention provides a kind of vehicle torque control methods, including following method scheme:
Method scheme one, includes the following steps:
Judge whether vehicle is in anxious acceleration mode:
If accelerating mode in anxious, the accelerator pedal opening information of vehicle and the status information of vehicle are acquired, shadow is obtained
The vehicle accelerator pedal aperture change rate for ringing the compensation torque of vehicle influences coefficient and vehicle-state coefficient, and then obtains vehicle
Compensate torque；
The compensation torque of vehicle is added with the reference torque of vehicle, obtains the output torque of vehicle.
Method scheme two, on the basis of method scheme one, the accelerator pedal opening information by acquiring vehicle obtains vehicle
Reference torque.
Method scheme three, on the basis of method scheme one, the status information of the vehicle includes vehicle speed information and vehicle
SOC information；The vehicle-state coefficient includes that speed influences coefficient, battery system SOC influences coefficient.
Method scheme four, on the basis of method scheme three, the compensation torque of the vehicle are as follows:
Torque_cmp=KDACC·KSPEED·KSOC·KADJ·Torque_base
Or:
Torque_cmp=(KDACC+KSPEED+KSOC+KADJ)·Torque_base
Wherein, Torque_cmp is the compensation torque of vehicle；
KDACCCoefficient is influenced for accelerator pedal aperture change rate, is obtained according to the accelerator pedal opening information of acquisition, and For current accelerator pedal aperture change rate, DACC_base
The a reference value of coefficient is influenced for accelerator pedal aperture change rate；
KSPEEDCoefficient is influenced for current speed in real time, is obtained according to the current real-time vehicle speed information of acquisition, and For the current real-time speed of acquisition, SPEED_base is
Current speed in real time influences a reference value of coefficient；
KSOCCoefficient is influenced for battery system state-of-charge SOC, is obtained according to the vehicle state-of-charge SOC information of acquisition, and For the value of the current state-of-charge of collected vehicle, SOC_base is electricity
The a reference value of cell system state-of-charge SOC influence coefficient；
KADJTo compensate torque regulation coefficient；
Torque_base is the reference torque for compensating torque.
Method scheme five, it is described to judge whether vehicle is in anxious acceleration mode and includes: on the basis of method scheme four
It calculates and judges whether the compensation torque of accelerator pedal aperture, pedal opening change rate and vehicle meets:
Wherein, Torque_cmp is the compensation torque of vehicle, and d is the threshold value of the vehicle compensation torque of setting；C is setting
The minimum threshold of accelerator pedal aperture change rate, a, b are respectively the minimum value and maximum value of the accelerator pedal aperture set；For TnWhen the aperture of accelerator pedal inscribed；For the aperture change rate of accelerator pedal, and:
Wherein,For Tn-1When the aperture of accelerator pedal inscribed；
If satisfied, then judging that vehicle is in anxious acceleration mode.
Method scheme six, when vehicle is in anxious acceleration mode, further includes to acquisition on the basis of method scheme one
The step of accelerator pedal opening information and vehicle speed information are judged:
If accelerator pedal aperture change rate is less than the max-thresholds of the accelerator pedal aperture change rate of setting, or accelerates to step on
Plate aperture change rate is more than or equal to the max-thresholds of the accelerator pedal aperture change rate of setting and current vehicle speed is more than or equal to target
Speed then exits acceleration mode；
If accelerator pedal aperture change rate is more than or equal to the max-thresholds and front truck of the accelerator pedal aperture change rate of setting
Speed is less than target vehicle speed, then continues to keep acceleration mode；
Wherein, accelerator pedal aperture change rate are as follows:
Wherein,Respectively Tn、Tn-1When the aperture of accelerator pedal inscribed,
For the aperture change rate of accelerator pedal；
The target vehicle speed is obtained by the accelerator pedal opening information acquired.
The present invention also provides a kind of vehicle torque control devices, including following device scheme:
Device scheme one, including processor, the processor for realizing following methods instruction:
Judge whether vehicle is in anxious acceleration mode:
If accelerating mode in anxious, the accelerator pedal opening information of vehicle and the status information of vehicle are acquired, shadow is obtained
The vehicle accelerator pedal aperture change rate for ringing the compensation torque of vehicle influences coefficient and vehicle-state coefficient, and then obtains vehicle
Compensate torque；
The compensation torque of vehicle is added with the reference torque of vehicle, obtains the output torque of vehicle.
Device scheme two, on the basis of device scheme one, the accelerator pedal opening information by acquiring vehicle obtains vehicle
Reference torque.
Device scheme three, on the basis of device scheme one, the status information of the vehicle includes vehicle speed information and vehicle
SOC information；The vehicle-state coefficient includes that speed influences coefficient, battery system SOC influences coefficient.
Device scheme four, on the basis of device scheme three, the compensation torque of the vehicle are as follows:
Torque_cmp=KDACC·KSPEED·KSOC·KADJ·Torque_base
Or:
Torque_cmp=(KDACC+KSPEED+KSOC+KADJ)·Torque_base
Wherein, Torque_cmp is the compensation torque of vehicle；
KDACCCoefficient is influenced for accelerator pedal aperture change rate, is obtained according to the accelerator pedal opening information of acquisition, and For current accelerator pedal aperture change rate, DACC_base
The a reference value of coefficient is influenced for accelerator pedal aperture change rate；
KSPEEDCoefficient is influenced for current speed in real time, is obtained according to the current real-time vehicle speed information of acquisition, and For the current real-time speed of acquisition, SPEED_base is
Current speed in real time influences a reference value of coefficient；
KSOCCoefficient is influenced for battery system state-of-charge SOC, is obtained according to the vehicle state-of-charge SOC information of acquisition, and For the value of the current state-of-charge of collected vehicle, SOC_base is electricity
The a reference value of cell system state-of-charge SOC influence coefficient；
KADJTo compensate torque regulation coefficient；
Torque_base is the reference torque for compensating torque.
Device scheme five, it is described to judge whether vehicle is in anxious acceleration mode and includes: on the basis of device scheme four
It calculates and judges whether the compensation torque of accelerator pedal aperture, pedal opening change rate and vehicle meets:
Wherein, Torque_cmp is the compensation torque of vehicle, and d is the threshold value of the vehicle compensation torque of setting；C is setting
The minimum threshold of accelerator pedal aperture change rate, a, b are respectively the minimum value and maximum value of the accelerator pedal aperture set；For TnWhen the aperture of accelerator pedal inscribed；For the aperture change rate of accelerator pedal, and:
Wherein,For Tn-1When the aperture of accelerator pedal inscribed；
If satisfied, then judging that vehicle is in anxious acceleration mode.
Device scheme six, when vehicle is in anxious acceleration mode, further includes to acquisition on the basis of device scheme one
The step of accelerator pedal opening information and vehicle speed information are judged:
If accelerator pedal aperture change rate is less than the max-thresholds of the accelerator pedal aperture change rate of setting, or accelerates to step on
Plate aperture change rate is more than or equal to the max-thresholds of the accelerator pedal aperture change rate of setting and current vehicle speed is more than or equal to target
Speed then exits acceleration mode；
If accelerator pedal aperture change rate is more than or equal to the max-thresholds and front truck of the accelerator pedal aperture change rate of setting
Speed is less than target vehicle speed, then continues to keep acceleration mode；
Wherein, accelerator pedal aperture change rate are as follows:
Wherein,Respectively Tn、Tn-1When the aperture of accelerator pedal inscribed,
For the aperture change rate of accelerator pedal；
The target vehicle speed is obtained by the accelerator pedal opening information acquired.
Beneficial effects of the present invention:
When judging that vehicle is in anxious acceleration mode, the accelerator pedal opening information of vehicle and the state letter of vehicle are acquired
Breath, the vehicle accelerator pedal aperture change rate for obtaining the compensation torque for influencing vehicle influence coefficient and vehicle-state coefficient, in turn
Obtain the compensation torque of vehicle；The compensation torque of vehicle is added with the reference torque of vehicle, obtains the output torque of vehicle.This
The status information of vehicle is taken into account in invention, to obtain the compensation torque of vehicle, so that the compensation torque of the vehicle obtained is more
Accurately.Also, it is not necessary to huge expert knowledge library is established, it is significantly simpler to implement；Meanwhile more to the compensated curve of motor
Be it is linear, obtained output torque is also relatively simple, can be easier to optimize parameter by emulating and testing, and does not need pair
Existing entire car controller, which carries out upgrading, can be realized.
Detailed description of the invention
Fig. 1 is anxious acceleration mode decision flow chart；
Fig. 2 is to exit anxious acceleration model process figure.
Specific embodiment
To keep the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, to the present invention
It is described in further detail.
In order to realize the control to the motor output torque of electric car, with the following method:
Firstly, the opening information of acquisition accelerator pedal, and these information are passed into entire car controller, entire car controller meter
Calculate aperture variation or the aperture change rate of accelerator pedal of accelerator pedal, it may be assumed that
Wherein, the period of acquisition is T=Tn-Tn-1,Respectively Tn、Tn-1When inscribe plus
The aperture of speed pedal,Change for the aperture of accelerator pedal,For the aperture change rate of accelerator pedal.
In actual application, entire car controller is fixed to the collection period T of accelerator pedal aperture change rate, therefore is
The calculation amount for reducing processor, the aperture of accelerator pedal can be changedDirectly as the aperture of accelerator pedal
Change rateIn this embodiment, it still uses
Then, the vehicle speed information of collecting vehicle amount and vehicle state-of-charge (State of Charge, SOC) information, and to adding
Speed pedal aperture and accelerator pedal aperture change rate are judged, if are metAnd(c is the minimum threshold of the accelerator pedal aperture change rate of setting, and a, b are respectively the accelerator pedal set
The minimum value and maximum value of aperture):
If satisfied, the compensation torque Torque_cmp of vehicle is then calculated, the calculating of the compensation torque Torque_cmp of vehicle
There are following two methods, can choose different calculation formula under different applications, and the accordingly suitable influence system of selection
Number.The calculation formula of both methods is respectively as follows:
Torque_cmp=KDACC·KSPEED·KSOC·KADJ·Torque_base
Torque_cmp=(KDACC+KSPEED+KSOC+KADJ)·Torque_base
Wherein, Torque_cmp is the compensation torque of vehicle；
KDACCCoefficient is influenced for accelerator pedal aperture change rate, is obtained according to the accelerator pedal opening information of acquisition, and For current accelerator pedal aperture change rate, DACC_base is
The a reference value of accelerator pedal aperture change rate influence coefficient；
KSPEEDCoefficient is influenced for current speed in real time, is obtained according to the current real-time vehicle speed information of acquisition, and For the current real-time speed of acquisition, SPEED_base is to work as
Preceding real-time speed influences a reference value of coefficient；
KSOCCoefficient is influenced for battery system state-of-charge SOC, is obtained according to the vehicle state-of-charge SOC information of acquisition, and For the value of the current state-of-charge of collected vehicle, SOC_base is electricity
The a reference value of cell system state-of-charge SOC influence coefficient；
KADJTo compensate torque regulation coefficient；
Torque_base is the reference torque for compensating torque.
The a reference value of above each coefficient passes through the design parameter of vehicle itself and the output parameter and design of motor
Torque output curve is calculated, and adjusts K by emulation and practical road testADJ, Torque_base value can to compensate
The curve of torque is more in line with design requirement.
If not satisfied, then entering general dynamic mode.
Then, further the compensation torque Torque_cmp of vehicle is judged, if meet Torque_cmp > d (d
The threshold value of torque is compensated for the vehicle of setting):
If satisfied, then illustrating that vehicle enters anxious acceleration mode；
If not satisfied, then illustrating that vehicle enters general dynamic model.
Finally, when judging that vehicle enters anxious acceleration mode, by the compensation torque Torque_ of the above-mentioned vehicle calculated
Cmp is added with the reference torque Torque_map calculated based on accelerator pedal aperture, generates the output torque of new vehicle, vehicle
Output torque instruction is issued motor or electric machine controller by controller, and motor is enabled to respond driving more sensitive and accurately
The driving intention of member.Wherein, the output torque Torque_out of vehicle are as follows:
Torque_out=Torque_map+Torque_cmp
Wherein, Torque_map is the reference torque of vehicle, and Torque_cmp is the compensation torque of vehicle.
So, entire car controller can by the accelerator pedal aperture of acquisition, accelerator pedal aperture change rate and
The parameters such as the state of vehicle constantly update the output torque instruction of engine.Meanwhile also vehicle can be judged according to the information of acquisition
Anxious acceleration mode whether should be exited and issue relevant torque instruction.
As shown in Fig. 2, according to the accelerator pedal opening information of acquisition, calculating and sentencing when vehicle is under anxious acceleration mode
Whether disconnected accelerator pedal aperture change rate meets(e is the maximum threshold of the accelerator pedal aperture change rate of setting
Value):
If satisfied, then exiting anxious acceleration mode；
If not satisfied, then further according to the accelerator pedal opening information of acquisition, by tabling look-up or motor torque exports
Target vehicle speed V ' is calculated in curve, and target vehicle speed V ' is compared with current vehicle speed V:
If current vehicle speed V is more than or equal to target vehicle speed V ', anxious acceleration mode is exited；
If current vehicle speed V is less than target vehicle speed V ', continue to keep anxious acceleration mode.
The present invention also provides a kind of vehicle torque control devices, including processor, and the processor is for realizing following
The instruction of method: judge whether vehicle is in anxious acceleration mode: if accelerating mode in anxious, the accelerator pedal for acquiring vehicle is opened
The status information for spending information and vehicle, the vehicle accelerator pedal aperture change rate for obtaining the compensation torque for influencing vehicle influence coefficient
With vehicle-state coefficient, and then the compensation torque of vehicle is obtained；The compensation torque of vehicle is added with the reference torque of vehicle, is obtained
To the output torque of vehicle.
Its essence is using the above method, due to the sufficiently clear of the introduction to this method, thus it is no longer superfluous to the device
It states.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of vehicle torque control method, which comprises the steps of:
Judge whether vehicle is in anxious acceleration mode:
If accelerating mode in anxious, the accelerator pedal opening information of vehicle and the status information of vehicle are acquired, obtains influencing vehicle
The vehicle accelerator pedal aperture change rate of compensation torque influence coefficient and vehicle-state coefficient, and then obtain the compensation of vehicle
Torque；
The compensation torque of vehicle is added with the reference torque of vehicle, obtains the output torque of vehicle.
2. vehicle torque control method according to claim 1, which is characterized in that the accelerator pedal by acquiring vehicle is opened
Degree information obtains the reference torque of vehicle.
3. vehicle torque control method according to claim 1, which is characterized in that the status information of the vehicle includes vehicle
Fast information and vehicle SOC information；The vehicle-state coefficient includes that speed influences coefficient, battery system SOC influences coefficient.
4. vehicle torque control method according to claim 3, which is characterized in that the compensation torque of the vehicle are as follows:
Torque_cmp=KDACC×KSPEED×KSOC×KADJ×Torque_base
Or:
Torque_cmp=(KDACC+KSPEED+KSOC+KADJ)×Torque_base
Wherein, Torque_cmp is the compensation torque of vehicle；
KDACCCoefficient is influenced for accelerator pedal aperture change rate, is obtained according to the accelerator pedal opening information of acquisition, and For current accelerator pedal aperture change rate, DACC_base
The a reference value of coefficient is influenced for accelerator pedal aperture change rate；
KSPEEDCoefficient is influenced for current speed in real time, is obtained according to the current real-time vehicle speed information of acquisition, and For the current real-time speed of acquisition, SPEED_base is to work as
Preceding real-time speed influences a reference value of coefficient；
KSOCCoefficient is influenced for battery system state-of-charge SOC, is obtained according to the vehicle state-of-charge SOC information of acquisition, and For the value of the current state-of-charge of collected vehicle, SOC_base is electricity
The a reference value of cell system state-of-charge SOC influence coefficient；
KADJTo compensate torque regulation coefficient；
Torque_base is the reference torque for compensating torque.
5. vehicle torque control method according to claim 4, which is characterized in that described to judge whether vehicle is in anxious and adds
Fast mode includes:
It calculates and judges whether the compensation torque of accelerator pedal aperture, pedal opening change rate and vehicle meets:
Wherein, Torque_cmp is the compensation torque of vehicle, and d is the threshold value of the vehicle compensation torque of setting；C is the acceleration of setting
The minimum threshold of pedal opening change rate, a, b are respectively the minimum value and maximum value of the accelerator pedal aperture set；
For TnWhen the aperture of accelerator pedal inscribed；For the aperture change rate of accelerator pedal, and:
Wherein,For Tn-1When the aperture of accelerator pedal inscribed；
If satisfied, then judging that vehicle is in anxious acceleration mode.
6. vehicle torque control method according to claim 1, which is characterized in that when vehicle is in anxious acceleration mode,
Further include the steps that judging the accelerator pedal opening information and vehicle speed information of acquisition:
If accelerator pedal aperture change rate is less than the max-thresholds of the accelerator pedal aperture change rate of setting or accelerator pedal is opened
The max-thresholds and current vehicle speed for spending change rate more than or equal to the accelerator pedal aperture change rate of setting are more than or equal to target vehicle speed,
Then exit acceleration mode；
If accelerator pedal aperture change rate is more than or equal to the max-thresholds of the accelerator pedal aperture change rate of setting and preceding speed is small
In target vehicle speed, then continue to keep acceleration mode；
Wherein, accelerator pedal aperture change rate are as follows:
Wherein,Respectively Tn、Tn-1When the aperture of accelerator pedal inscribed,To add
The aperture change rate of speed pedal；
The target vehicle speed is obtained by the accelerator pedal opening information acquired.
7. a kind of vehicle torque control device, which is characterized in that including processor, the processor is for realizing following methods
Instruction:
Judge whether vehicle is in anxious acceleration mode:
If accelerating mode in anxious, the accelerator pedal opening information of vehicle and the status information of vehicle are acquired, obtains influencing vehicle
The vehicle accelerator pedal aperture change rate of compensation torque influence coefficient and vehicle-state coefficient, and then obtain the compensation of vehicle
Torque；
The compensation torque of vehicle is added with the reference torque of vehicle, obtains the output torque of vehicle.
8. vehicle torque control device according to claim 7, which is characterized in that the accelerator pedal by acquiring vehicle is opened
Degree information obtains the reference torque of vehicle.
9. vehicle torque control device according to claim 7, which is characterized in that the status information of the vehicle includes vehicle
Fast information and vehicle SOC information；The vehicle-state coefficient includes that speed influences coefficient, battery system SOC influences coefficient.
10. vehicle torque control device according to claim 9, which is characterized in that the compensation torque of the vehicle are as follows:
Torque_cmp=KDACC·KSPEED·KSOC·KADJ·Torque_base
Or:
Torque_cmp=(KDACC+KSPEED+KSOC+KADJ)·Torque_base
Wherein, Torque_cmp is the compensation torque of vehicle；
KDACCCoefficient is influenced for accelerator pedal aperture change rate, is obtained according to the accelerator pedal opening information of acquisition, and For current accelerator pedal aperture change rate, DACC_base
The a reference value of coefficient is influenced for accelerator pedal aperture change rate；
KSPEEDCoefficient is influenced for current speed in real time, is obtained according to the current real-time vehicle speed information of acquisition, and For the current real-time speed of acquisition, SPEED_base is to work as
Preceding real-time speed influences a reference value of coefficient；
KSOCCoefficient is influenced for battery system state-of-charge SOC, is obtained according to the vehicle state-of-charge SOC information of acquisition, and For the value of the current state-of-charge of collected vehicle, SOC_base is electricity
The a reference value of cell system state-of-charge SOC influence coefficient；
KADJTo compensate torque regulation coefficient；
Torque_base is the reference torque for compensating torque.
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| CN110979326A (en) * | 2019-12-24 | 2020-04-10 | 武汉理工大学 | Intelligent network-connected electric vehicle output torque calculation method |
| CN111204228A (en) * | 2020-01-20 | 2020-05-29 | 恒大新能源汽车科技(广东)有限公司 | Electric vehicle torque control method and electronic equipment |
| CN111204228B (en) * | 2020-01-20 | 2022-01-18 | 恒大恒驰新能源汽车科技(广东)有限公司 | Electric vehicle torque control method and electronic equipment |
| CN112172543A (en) * | 2020-10-15 | 2021-01-05 | 徐志峰 | Torque control method applicable to traction electric vehicle in novel speed mode |
| CN112172543B (en) * | 2020-10-15 | 2022-04-22 | 徐志峰 | Torque control method applicable to traction electric vehicle in novel speed mode |
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