CN109774721A - Closed loop speed control system, method and electric car - Google Patents
Closed loop speed control system, method and electric car Download PDFInfo
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Abstract
The invention discloses a kind of closed loop speed control system, method and vehicles, wherein system includes: the first control assembly, for identification current working locating for vehicle, and generates the target vehicle speed and aimed acceleration of vehicle；Second control assembly, for obtaining the current vehicle speed and current acceleration of electric car, and target torque is obtained according to current working, target vehicle speed, aimed acceleration, current vehicle speed and current acceleration, and target torque is sent to electric machine controller, so that the motor of electric car is exported according to target torque.The hierarchical control that the system can integrate multiple Speed closed-link systems to realize vehicle, reduces structural redundancy, reduces maintenance cost, improves the practicability of vehicle, simple easily to realize.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to a kind of closed loop speed control system, method and vehicle.
Background technique
Currently, multiple speed closed loop application systems such as the crawling system of vehicle, cruise control system be used as one individually
Subsystem develop, subsystems send MCU (Motor Control Unit, motor to after individually calculating target torque
Control unit), to carry out full-vehicle control to vehicle.
However, several developers is needed to safeguard the subsystem of above-mentioned each application in the related technology, cause maintenance at
This is higher, although and cannot access and efficiently be multiplexed there are the duplicate unit of function between each application subsystem, waste money
Source, while higher cost, there are redundancies for structure, have much room for improvement.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the system can an object of the present invention is to provide a kind of closed loop speed control system of electric car
To reduce structural redundancy, maintenance cost is reduced, the practicability of vehicle is improved, it is simple easily to realize.
It is another object of the present invention to a kind of velocity close-loop control methods for proposing electric car.
Another object of the present invention is to propose a kind of electric car.
In order to achieve the above objectives, one aspect of the present invention embodiment proposes a kind of velocity close-loop control system of electric car
System, comprising: the first control assembly, for identification current working locating for vehicle, and generate the target vehicle speed of vehicle and target adds
Speed；Second control assembly, for obtaining the current vehicle speed and current acceleration of the electric car, and according to the current work
Condition, the target vehicle speed, the aimed acceleration, the current vehicle speed and the current acceleration obtain target torque, and will
The target torque is sent to electric machine controller, so that the motor of the electric car is exported according to the target torque.
The closed loop speed control system of the electric car of the embodiment of the present invention, the first control assembly calculate aimed acceleration and
Target vehicle speed, target vehicle speed, aimed acceleration and the vehicle feedback that the second control assembly is exported according to upper controller are returned
Actual acceleration, actual vehicle speed formed a closed-loop system, to calculate target torque and send electric machine controller to, thus will
Multiple Speed closed-link systems integrate the hierarchical control to realize vehicle, reduce structural redundancy, reduce maintenance cost, improve vehicle
Practicability is simple easily to realize.
In addition, the closed loop speed control system of electric car according to the above embodiment of the present invention can also have it is following attached
The technical characteristic added:
Further, in one embodiment of the invention, first control assembly includes: operating condition selecting module, is used
In determining the current working according to input signal, wherein the current working includes crawling operating condition and cruising condition；Crawling mould
Block, for determining crawling target vehicle speed and crawling aimed acceleration according to the current vehicle speed and the current shift；Cruise mould
Block, for determining that cruise target speed and cruise target accelerate according to the current vehicle speed, current distance and current trigger signal
Degree.
Further, in one embodiment of the invention, second control assembly includes: that torque obtains module, is used
In the vehicle longitudinal driving base torque for obtaining the electric car；Torque compensation module, for according to the current vehicle speed, institute
It states target vehicle speed, the current acceleration and the aimed acceleration and generates proportional integral differential PID torque；The limitation of torque slope
Module, for carrying out slope limitation to the sum of the vehicle longitudinal driving base torque and the proportional integral differential PID torque,
To export the target torque.
Further, in one embodiment of the invention, second control assembly further include: torque filter module,
For being filtered to the target torque.
Further, in one embodiment of the invention, the limitation formula of the torque slope limitation module are as follows:
Out (k)=MAX (MIN (In (k)-Out (k-1), GradLimitMaxVal), GradLimitMinVal)+Out
(k-1),
Wherein, In (k) is input value, and GradLimitMaxVal and GradLimitMinVal are respectively the slope limitation upper limit
Value and slope limit lower limit value, and Out (k-1) returns output valve before being, Out (k) is output valve.
Further, in one embodiment of the invention, the Filtering Formula of the torque filter module are as follows:
Out (k)=Out (k-1)+(In (k)-Out (k-1)) * ratio,
Wherein, ratio indicates that filtering parameter, In (k) are input value, and Out (k-1) is preceding time output valve.
Further, in one embodiment of the invention, it includes: the first torque module that the torque, which obtains module, is used
In the electric car meet the first preset condition when, using predetermined torque value as the vehicle longitudinal driving base torque；
Second torque module, for it is vertical to obtain the vehicle according to MAP look-up table when the electric car meets the second preset condition
To traveling base torque；Third torque module, for passing through longitudinal direction of car when the electric car meets third preset condition
Dynamics formula obtains the vehicle longitudinal driving base torque.
In order to achieve the above objectives, another aspect of the present invention embodiment proposes a kind of velocity close-loop control side of electric car
Method, which is characterized in that use above-mentioned system, wherein method the following steps are included: identification vehicle locating for current working, and
Generate the target vehicle speed and aimed acceleration of vehicle；Obtain the current vehicle speed and current acceleration of the electric car, and according to
The current working, the target vehicle speed, the aimed acceleration, the current vehicle speed and the current acceleration obtain target
Torque；The target torque is sent to electric machine controller so that the motor of the electric car according to the target torque into
Row output.
The velocity close-loop control method of the electric car of the embodiment of the present invention, first calculating aimed acceleration and target carriage
Speed, next actual acceleration returned according to target vehicle speed, aimed acceleration and vehicle feedback that upper controller calculates, reality
Border speed forms a closed-loop system, to calculate target torque and send electric machine controller to, thus by multiple speed closed loop systems
System integrates the hierarchical control to realize vehicle, reduces structural redundancy, reduces maintenance cost, improves the practicability of vehicle, simply easily
It realizes.
In addition, the velocity close-loop control method of electric car according to the above embodiment of the present invention can also have it is following attached
The technical characteristic added:
Further, in one embodiment of the invention, current working locating for the identification vehicle, and generate vehicle
Target vehicle speed and aimed acceleration, comprising: the current working is determined according to input signal, wherein the current working packet
Include crawling operating condition and cruising condition；When the current working is the crawling operating condition, according to the current vehicle speed and described work as
Preceding gear determines crawling target vehicle speed and crawling aimed acceleration；When the current working is the cruising condition, according to institute
It states current vehicle speed, current distance and current trigger signal and determines cruise target speed and cruise target acceleration.
In order to achieve the above objectives, further aspect of the present invention embodiment proposes a kind of electric car comprising above-mentioned electricity
The closed loop speed control system of electrical automobile.First control assembly of the electric car calculates aimed acceleration and target vehicle speed, the
The practical acceleration that target vehicle speed, aimed acceleration and the vehicle feedback that two control assemblies are exported according to upper controller are returned
Degree, actual vehicle speed form a closed-loop system, to calculate target torque and send electric machine controller to, so that multiple speed be closed
Loop system integrates the hierarchical control to realize vehicle, reduces structural redundancy, reduces maintenance cost, improves the practicability of vehicle, letter
Single Yi Shixian.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram according to the closed loop speed control system of the electric car of the embodiment of the present invention；
Fig. 2 is the schematic illustration according to the closed loop speed control system of the electric car of one embodiment of the invention；
Fig. 3 is to select schematic diagram according to the operating condition of one embodiment of the invention；
Fig. 4 is the cruise top level control schematic diagram according to one embodiment of the invention；
Fig. 5 is the PID torque schematic diagram according to one embodiment of the invention；And
Fig. 6 is the schematic illustration according to the torque value based on MAP look-up table of one embodiment of the invention；
Fig. 7 is to be illustrated according to the principle of the torque value based on longitudinal direction of car dynamics calculation of one embodiment of the invention
Figure；
Fig. 8 is the flow chart according to the velocity close-loop control method of the electric car of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The closed loop speed control system proposed according to embodiments of the present invention, method and vehicle are described with reference to the accompanying drawings, it is first
The closed loop speed control system of the electric car proposed according to embodiments of the present invention is first described with reference to the accompanying drawings.
Fig. 1 is the structural schematic diagram of the closed loop speed control system of the electric car of the embodiment of the present invention.
As shown in Figure 1, the closed loop speed control system 10 of the electric car includes: the first control assembly 100 and the second control
Component 200 processed.
Wherein, the first control assembly 100 current working locating for vehicle for identification, and generate vehicle target vehicle speed and
Aimed acceleration.Second control assembly 200 is used to obtain the current vehicle speed and current acceleration of electric car, and according to current work
Condition, target vehicle speed, aimed acceleration, current vehicle speed and current acceleration obtain target torque, and target torque is sent to electricity
Machine controller, so that the motor of electric car is exported according to target torque.The control system 10 of the embodiment of the present invention can be with
Multiple Speed closed-link systems are integrated to the hierarchical control to realize vehicle, reduce structural redundancy, reduce maintenance cost, improve vehicle
Practicability, it is simple easily to realize.
Specifically, there are multiple speed closed loop application systems, such as crawling control system, cruise control in current electric car
System (cruise and adaptive cruise) processed etc., therefore the control system 10 of the embodiment of the present invention is based on the speed of hierarchical control
Closed-loop control realizes above-mentioned multiple Speed closed-link systems integration together, so that the first control assembly 100 can be understood as
Upper controller for handling input signal, carrying out pattern switching, troubleshooting, and calculates aimed acceleration, target vehicle speed,
And the second control assembly 200 can be understood as lower layer's controller, according to the target vehicle speed of upper controller output, aimed acceleration
And the actual acceleration returned of vehicle feedback, actual vehicle speed form a closed-loop system and calculate target torque and send to
MCU。
That is, as shown in Fig. 2, the control system 10 in the embodiment of the present invention is controlled by upper controller and lower layer
It is clear that the two controllers of device composition, upper controller and lower layer's controller function divide, and interface is clear, so that system realizes height
Cohesion and lower coupling.
It should be noted that following part of the invention will describe in detail to how to carry out velocity close-loop control.Though
Right following embodiment is by taking crawling operating condition and cruising condition as an example, it will be understood by those skilled in the art that for any
Operating condition can be configured by mode similar below, and crawling operating condition and cruising condition are only illustrative.The present invention is simultaneously
It is not limited only to both operating conditions.
Further, in one embodiment of the invention, the first control assembly 100 include: operating condition selecting module 101,
Crawling module 102 and cruise module 103.
Wherein, operating condition selecting module 101 is used to determine current working according to input signal, wherein current working includes compacted
Row operating condition and cruising condition.Crawling module 102 is used to determine crawling target vehicle speed and crawling according to current vehicle speed and current shift
Aimed acceleration.Cruise module 103 is used to determine cruise target speed according to current vehicle speed, current distance and current trigger signal
With cruise target acceleration.
Specifically, the major function of upper controller is to convert target for external sensor signal, driver intention etc.
Speed and aimed acceleration.Wherein, operating condition selecting module 101 determines which kind of work current vehicle is according to external input signal
Condition, operating condition include crawling operating condition, cruising condition；Crawling module 102 determines crawling target according to signals such as actual vehicle speed, gears
Speed and crawling aimed acceleration；Cruise module 103 (cruise, adaptive cruise) according to actual vehicle speed, with the reality of front truck
Border distance (only adaptive cruise needs the signal), brake pedal, cruises the signals such as key to determine cruise target at accelerator pedal
Speed and cruise target acceleration.
In addition, the first control assembly 100 of the embodiment of the present invention can also include NEDC (New Europe Driving
Cycle, new European automotive legislation state of cyclic operation) slow down with wire module 104.NEDC, which slows down, selects mould with wire module 104 and operating condition
Block 101 is connected, and is slowed down with realizing with line function.
For example, as shown in figure 3, operating condition selecting module 101 is according to crawling switch, cruise switch, accelerator pedal, braking
The signals such as pedal, gear come judge current vehicle enter which kind of operating condition.It should be noted that operating condition includes but is not limited to crawling work
Condition, cruising condition such as further include NEDC decelerating mode.As shown in figure 4, work of the cruise module 103 according to operating condition selecting module 101
The signals such as condition selection output valve, cruise key, actual vehicle speed, brake pedal, accelerator pedal are anticipated to carry out driver's cruise operation
The parsing and cruising condition management of figure, to calculate cruise target speed and aimed acceleration.
In addition, in one embodiment of the invention, as shown in Fig. 2, the second control assembly includes 200: torque obtains mould
Block 201, torque compensation module 202 and torque slope limit module 203.
Wherein, torque obtains the vehicle longitudinal driving base torque that module 201 is used to obtain electric car.Torque compensation mould
Block 202 is used to generate proportional integral differential PID torque according to current vehicle speed, target vehicle speed, current acceleration and aimed acceleration.
Torque slope limits module 203 and is used to carry out tiltedly the sum of vehicle longitudinal driving base torque and proportional integral differential PID torque
Rate limitation, to export target torque.
Specifically, the major function of lower layer's controller is to turn the target vehicle speed of upper controller output and aimed acceleration
It changes target torque into and exports to electric machine controller.Wherein, torque obtains the torque that module 201 is travelled using a longitudinal direction of car
It is supplied to controller as basic torque, so that vehicle carries out basic longitudinal driving；Torque compensation module 202 is by PID torque
As a kind of compensation torque to vehicle longitudinal driving base torque, reduce vehicle in the process of moving different external environments to vehicle
Influence, to reach the stability and Accuracy control to speed；Torque slope limits module 203 to vehicle longitudinal driving
The sum of base torque and PID torque carry out slope limitation, prevent change in torque too fast, and uncomfortable impact sense is brought to driver
By.
Wherein, in one embodiment of the invention, the limitation formula of torque slope limitation module are as follows:
Out (k)=MAX (MIN (In (k)-Out (k-1), GradLimitMaxVal), GradLimitMinVal)+Out
(k-1),
Wherein, In (k) is input value, and GradLimitMaxVal and GradLimitMinVal are respectively the slope limitation upper limit
Value and slope limit lower limit value, and Out (k-1) returns output valve before being, Out (k) is output valve.
It is understood that as shown in figure 5, torque compensation module 202 is supported but is not limited to following in the embodiment of the present invention
The PID deviation of two ways inputs:
(1) target vehicle speed (v_target) and the difference of actual vehicle speed (v_veh) is used to be controlled as the deviation of PID
System；
(2) use the difference of aimed acceleration (a_target) and actual acceleration (a_veh) as PID deviation into
Row control.
In turn, the Processing Algorithm of the torque slope limitation module 203 of the embodiment of the present invention can be such as following formula:
Out (k)=MAX (MIN (In (k)-Out (k-1), GradLimitMaxVal), GradLimitMinVal)+Out
(k-1)
Wherein, In (k) indicates input value, and GradLimitMaxVal and GradLimitMinVal indicate that slope limits the upper limit
Value and lower limit value, Out (k-1) return output valve before indicating, Out (k) indicates output valve.
Further, in one embodiment of the invention, the second control assembly 200 further include: torque filter module
204.Wherein, torque filter module 204 is for being filtered target torque.
Specifically, torque filter module 204 is filtered the torque of torque slope limitation module output, so that turning round
Square is more smooth.
Further, in one embodiment of the invention, the Filtering Formula of torque filter module are as follows:
Out (k)=Out (k-1)+(In (k)-Out (k-1)) * ratio,
Wherein, ratio indicates that filtering parameter, In (k) are input value, Out (k-1) is preceding time output valve.
That is, the Processing Algorithm of torque filter module 204 can be such as following formula:
Out (k)=Out (k-1)+(In (k)-Out (k-1)) * ratio
Wherein, In (k) indicates input value, and ratio indicates to return output valve, Out (k) before filtering parameter, Out (k-1) indicate
Indicate output valve.
Further, in one embodiment of the invention, it includes: the first torque module, second that torque, which obtains module 201,
Torque module and third torque module.
Wherein, the first torque module is used for when electric car meets the first preset condition, using predetermined torque value as whole
Vehicle longitudinal driving base torque.Second torque module is used for when electric car meets the second preset condition, according to MAP look-up table
Obtain vehicle longitudinal driving base torque.Third torque module is used for when electric car meets third preset condition, passes through vehicle
Longitudinal dynamics formula obtains vehicle longitudinal driving base torque.
That is, the vehicle longitudinal driving base torque of the embodiment of the present invention includes but is not limited to following three kinds of modes:
(1) based on fixed torque value:
For certain applications, use an even twisting moment value as vehicle longitudinal driving base torque.
(2) torque value based on MAP look-up table:
For certain applications, use the torque value of MAP look-up table as vehicle longitudinal driving base torque.For example make
Two-dimentional MAP table is searched with actual vehicle speed/acceleration value, target vehicle speed/acceleration and actual vehicle speed/acceleration difference, is obtained
To vehicle longitudinal driving base torque, as shown in Figure 6.
(3) torque value based on longitudinal direction of car dynamics calculation:
For certain applications, use the calculated torque value of longitudinal direction of car dynamics formula as vehicle longitudinal driving
Base torque.Longitudinal direction of car dynamic torque includes air drag torque, rolling resistance torque, acceleration resistance torque, gradient resistance
Power torque, as shown in Figure 7.Longitudinal direction of car dynamics calculation torque value described in this patent may be selected using in above-mentioned four kinds of torques
All or part of torque is determined according to operating condition and state using which resistive torque.
To sum up, the embodiment of the present invention by speed closed loop application system integration all in entire car controller together, and will
System is divided into upper controller and lower layer's controller to realize, so that the cohesion of this system is higher and coupling is lower, simultaneously
The cost of exploitation and maintenance is reduced, while this system has preferable flexibility, function can be carried out according to different application systems
It cuts.
The closed loop speed control system of electric car according to an embodiment of the present invention, the first control assembly calculate target and accelerate
Degree and target vehicle speed, target vehicle speed, aimed acceleration and the vehicle feedback that the second control assembly is exported according to upper controller
Actual acceleration back, actual vehicle speed form a closed-loop system, to calculate target torque and send electric machine controller to, from
And integrate multiple Speed closed-link systems to realize the hierarchical control of vehicle, it can not only accurately control speed and with making vehicle stabilization
Target vehicle speed is kept, and effectively reduces structural redundancy, maintenance cost is reduced, improves the practicability of vehicle, it is simple easily to realize.
Referring next to the velocity close-loop control method for the electric car that attached drawing description proposes according to embodiments of the present invention.
Fig. 8 is the flow chart of the velocity close-loop control method of the electric car of the embodiment of the present invention.
As shown in figure 8, using the closed loop speed control system of above-mentioned electric car, the speed closed loop control of the electric car
Method processed the following steps are included:
In step S801, current working locating for vehicle is identified, and generate the target vehicle speed and aimed acceleration of vehicle.
Wherein, in one embodiment of the invention, it identifies current working locating for vehicle, and generates the target carriage of vehicle
Speed and aimed acceleration, comprising: current working is determined according to input signal, wherein current working includes crawling operating condition and cruise
Operating condition；When current working is crawling operating condition, crawling target vehicle speed and crawling target are determined according to current vehicle speed and current shift
Acceleration；When current working is cruising condition, cruise target is determined according to current vehicle speed, current distance and current trigger signal
Speed and cruise target acceleration.
In step S802, the current vehicle speed and current acceleration of electric car are obtained, and according to current working, target carriage
Speed, aimed acceleration, current vehicle speed and current acceleration obtain target torque.
In step S803, target torque is sent to electric machine controller, so that the motor of electric car is turned round according to target
Square is exported.
It should be noted that the explanation of the aforementioned closed loop speed control system embodiment to electric car is also applied for
The velocity close-loop control method of the electric car of the embodiment, details are not described herein again.
The velocity close-loop control method of electric car according to an embodiment of the present invention, first calculating aimed acceleration and target
Speed, next actual acceleration returned according to target vehicle speed, aimed acceleration and the vehicle feedback of upper controller output,
Actual vehicle speed forms a closed-loop system, to calculate target torque and send electric machine controller to, thus by multiple speed closed loops
System combination can not only accurately control speed and keep target vehicle speed with making vehicle stabilization to realize the hierarchical control of vehicle, and
And structural redundancy is effectively reduced, and maintenance cost is reduced, the practicability of vehicle is improved, it is simple easily to realize.
In addition, the embodiment of the present invention also proposes a kind of electric car, which includes above-mentioned electric car
Closed loop speed control system.First control assembly of the electric car calculates aimed acceleration and target vehicle speed, the second control group
Actual acceleration, the practical vehicle of target vehicle speed, aimed acceleration and the vehicle feedback that part is exported according to upper controller back
Speed forms a closed-loop system, to calculate target torque and send electric machine controller to, so that multiple Speed closed-link systems are whole
The hierarchical control to realize vehicle is closed, speed can be not only accurately controlled and keep target vehicle speed with making vehicle stabilization, and effectively
Structural redundancy is reduced, maintenance cost is reduced, improves the practicability of vehicle, it is simple easily to realize.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of closed loop speed control system of electric car characterized by comprising
First control assembly, current working locating for vehicle for identification, and generate the target vehicle speed and aimed acceleration of vehicle；
Second control assembly, for obtaining the current vehicle speed and current acceleration of the electric car, and according to the current work
Condition, the target vehicle speed, the aimed acceleration, the current vehicle speed and the current acceleration obtain target torque, and will
The target torque is sent to electric machine controller, so that the motor of the electric car is exported according to the target torque.
2. the closed loop speed control system of electric car according to claim 1, which is characterized in that the first control group
Part includes:
Operating condition selecting module, for determining the current working according to input signal, wherein the current working includes crawling work
Condition and cruising condition；
Crawling module, for determining that crawling target vehicle speed and crawling target accelerate according to the current vehicle speed and the current shift
Degree；
Cruise module, for determining cruise target speed according to the current vehicle speed, current distance and current trigger signal and patrolling
Navigate aimed acceleration.
3. the closed loop speed control system of electric car according to claim 1, which is characterized in that the second control group
Part includes:
Torque obtains module, for obtaining the vehicle longitudinal driving base torque of the electric car；
Torque compensation module, for being added according to the current vehicle speed, the target vehicle speed, the current acceleration and the target
Speed generates proportional integral differential PID torque；
Torque slope limits module, for the vehicle longitudinal driving base torque and the proportional integral differential PID torque
The sum of carry out slope limitation, to export the target torque.
4. the closed loop speed control system of electric car according to claim 3, which is characterized in that the second control group
Part further include:
Torque filter module, for being filtered to the target torque.
5. the closed loop speed control system of electric car according to claim 4, which is characterized in that the torque slope limit
The limitation formula of molding block are as follows:
Out (k)=MAX (MIN (In (k)-Out (k-1), GradLimitMaxVal), GradLimitMinVal)+Out (k-
1),
Wherein, In (k) is input value, GradLimitMaxVal and GradLimitMinVal be respectively slope limitation upper limit value and
Slope limits lower limit value, and Out (k-1) is preceding time output valve, and Out (k) is output valve.
6. the closed loop speed control system of electric car according to claim 5, which is characterized in that the torque filters mould
The Filtering Formula of block are as follows:
Out (k)=Out (k-1)+(In (k)-Out (k-1)) * ratio,
Wherein, ratio indicates that filtering parameter, In (k) are input value, Out (k-1) is preceding time output valve.
7. the closed loop speed control system of electric car according to claim 3, which is characterized in that the torque obtains mould
Block includes:
First torque module is used for when the electric car meets the first preset condition, using predetermined torque value as described whole
Vehicle longitudinal driving base torque；
Second torque module, for being obtained according to MAP look-up table described whole when the electric car meets the second preset condition
Vehicle longitudinal driving base torque；
Third torque module, for passing through longitudinal direction of car dynamics formula when the electric car meets third preset condition
Obtain the vehicle longitudinal driving base torque.
8. a kind of velocity close-loop control method of electric car, which is characterized in that using described in -7 any one according to claim 1
System, wherein method the following steps are included:
It identifies current working locating for vehicle, and generates the target vehicle speed and aimed acceleration of vehicle；
The current vehicle speed and current acceleration of the electric car are obtained, and according to the current working, the target vehicle speed, institute
It states aimed acceleration, the current vehicle speed and the current acceleration and obtains target torque；
The target torque is sent to electric machine controller, so that the motor of the electric car is carried out according to the target torque
Output.
9. the velocity close-loop control method of electric car according to claim 8, which is characterized in that identification vehicle institute
The current working at place, and generate the target vehicle speed and aimed acceleration of vehicle, comprising:
The current working is determined according to input signal, wherein the current working includes crawling operating condition and cruising condition；
When the current working is the crawling operating condition, crawling target is determined according to the current vehicle speed and the current shift
Speed and crawling aimed acceleration；
It is true according to the current vehicle speed, current distance and current trigger signal when the current working is the cruising condition
Determine cruise target speed and cruise target acceleration.
10. a kind of electric car characterized by comprising as the speed of the described in any item electric cars of claim 1-7 is closed
Ring control system.
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| CN201910151592.XA CN109774721B (en) | 2019-02-28 | 2019-02-28 | Speed closed-loop control system and method and electric automobile |
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| CN201910151592.XA CN109774721B (en) | 2019-02-28 | 2019-02-28 | Speed closed-loop control system and method and electric automobile |
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| CN109774721B CN109774721B (en) | 2021-08-20 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN110254249A (en) * | 2019-06-25 | 2019-09-20 | 江铃汽车股份有限公司 | A kind of crawling control method of the electric car based on closed loop |
| CN110605971A (en) * | 2019-09-17 | 2019-12-24 | 中国第一汽车股份有限公司 | Ramp parking control method and system for electric automobile and electric automobile |
| CN110816530A (en) * | 2019-11-14 | 2020-02-21 | 东风商用车有限公司 | Speed following control method and system of adaptive cruise system |
| CN111791892A (en) * | 2020-06-29 | 2020-10-20 | 广州小鹏车联网科技有限公司 | Intelligent vehicle control method and device, vehicle and storage medium |
| CN112026753A (en) * | 2020-08-27 | 2020-12-04 | 重庆长安汽车股份有限公司 | Method for controlling stable vehicle speed in low-speed scene |
| CN112277943A (en) * | 2020-10-13 | 2021-01-29 | 武汉格罗夫氢能汽车有限公司 | Full-speed self-adaptive cruise control method for fuel cell hydrogen energy fuel cell automobile |
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| CN113650509A (en) * | 2021-09-28 | 2021-11-16 | 奇瑞新能源汽车股份有限公司 | Constant-speed cruise control method and device for electric automobile |
| CN114056108A (en) * | 2020-07-29 | 2022-02-18 | 上海汽车集团股份有限公司 | Torque control method and related device |
| CN116605067A (en) * | 2023-07-19 | 2023-08-18 | 成都壹为新能源汽车有限公司 | Vehicle driving control method and system |
| WO2024120045A1 (en) * | 2022-12-07 | 2024-06-13 | 中车大连机车车辆有限公司 | Speed control method for alternating-current transmission locomotive |
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| CN110254249A (en) * | 2019-06-25 | 2019-09-20 | 江铃汽车股份有限公司 | A kind of crawling control method of the electric car based on closed loop |
| CN110254249B (en) * | 2019-06-25 | 2022-04-22 | 江铃汽车股份有限公司 | Closed-loop-based crawling control method for electric automobile |
| CN110254251A (en) * | 2019-06-26 | 2019-09-20 | 四川阿尔特新能源汽车有限公司 | It creeps control method, device, controller, vehicle and readable storage medium storing program for executing |
| CN110605971A (en) * | 2019-09-17 | 2019-12-24 | 中国第一汽车股份有限公司 | Ramp parking control method and system for electric automobile and electric automobile |
| CN110816530B (en) * | 2019-11-14 | 2021-05-11 | 东风商用车有限公司 | Speed following control method and system of adaptive cruise system |
| CN110816530A (en) * | 2019-11-14 | 2020-02-21 | 东风商用车有限公司 | Speed following control method and system of adaptive cruise system |
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| CN111791892B (en) * | 2020-06-29 | 2022-03-11 | 广州小鹏自动驾驶科技有限公司 | Intelligent vehicle control method and device, vehicle and storage medium |
| CN114056108A (en) * | 2020-07-29 | 2022-02-18 | 上海汽车集团股份有限公司 | Torque control method and related device |
| CN114056108B (en) * | 2020-07-29 | 2024-02-13 | 上海汽车集团股份有限公司 | Torque control method and related device |
| CN112026753B (en) * | 2020-08-27 | 2022-01-07 | 重庆长安汽车股份有限公司 | Method for controlling stable vehicle speed in low-speed scene |
| CN112026753A (en) * | 2020-08-27 | 2020-12-04 | 重庆长安汽车股份有限公司 | Method for controlling stable vehicle speed in low-speed scene |
| CN112277943A (en) * | 2020-10-13 | 2021-01-29 | 武汉格罗夫氢能汽车有限公司 | Full-speed self-adaptive cruise control method for fuel cell hydrogen energy fuel cell automobile |
| CN112757909A (en) * | 2021-01-12 | 2021-05-07 | 恒大新能源汽车投资控股集团有限公司 | Vehicle control method and device, electronic equipment and storage medium |
| CN113650509A (en) * | 2021-09-28 | 2021-11-16 | 奇瑞新能源汽车股份有限公司 | Constant-speed cruise control method and device for electric automobile |
| WO2024120045A1 (en) * | 2022-12-07 | 2024-06-13 | 中车大连机车车辆有限公司 | Speed control method for alternating-current transmission locomotive |
| CN116605067A (en) * | 2023-07-19 | 2023-08-18 | 成都壹为新能源汽车有限公司 | Vehicle driving control method and system |
| CN116605067B (en) * | 2023-07-19 | 2023-11-10 | 成都壹为新能源汽车有限公司 | Vehicle driving control method and system |
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