CN109774721B - Speed closed-loop control system and method and electric automobile - Google Patents
Speed closed-loop control system and method and electric automobile Download PDFInfo
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Abstract
The invention discloses a speed closed-loop control system, a speed closed-loop control method and a vehicle, wherein the system comprises: the first control assembly is used for identifying the current working condition of the vehicle and generating the target speed and the target acceleration of the vehicle; and the second control assembly is used for acquiring the current speed and the current acceleration of the electric automobile, obtaining a target torque according to the current working condition, the target speed, the target acceleration, the current speed and the current acceleration, and sending the target torque to the motor controller so that a motor of the electric automobile can output the target torque. The system can integrate a plurality of speed closed-loop systems to realize the layered control of the vehicle, reduce the structural redundancy, reduce the maintenance cost, improve the practicability of the vehicle, and is simple and easy to realize.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a speed closed-loop control system, a speed closed-loop control method and a vehicle.
Background
At present, a plurality of speed closed-loop application systems such as a creeping system and a cruise Control system of a vehicle are developed as a single subsystem, and each subsystem calculates a target torque independently and transmits the target torque to a Motor Control Unit (MCU) to Control the whole vehicle.
However, in the related art, multiple developers are required to maintain the subsystems of the applications, which results in high maintenance cost, and although there are units with repeated functions among the subsystems of the applications, the subsystems of the applications cannot be efficiently reused, which wastes resources and causes high cost, and meanwhile, there is redundancy in the structure, which needs to be improved.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide a speed closed-loop control system for an electric vehicle, which can reduce the structural redundancy, reduce the maintenance cost, improve the practicability of the vehicle, and is simple and easy to implement.
The invention also aims to provide a speed closed-loop control method of the electric automobile.
It is a further object of the present invention to provide an electric vehicle.
In order to achieve the above object, an embodiment of the present invention provides a speed closed-loop control system for an electric vehicle, including: the first control assembly is used for identifying the current working condition of the vehicle and generating the target speed and the target acceleration of the vehicle; and the second control assembly is used for acquiring the current speed and the current acceleration of the electric automobile, obtaining a target torque according to the current working condition, the target speed, the target acceleration, the current speed and the current acceleration, and sending the target torque to a motor controller so that a motor of the electric automobile can output according to the target torque.
According to the speed closed-loop control system of the electric automobile, the first control assembly calculates the target acceleration and the target speed, the second control assembly forms a closed-loop system according to the target speed and the target acceleration output by the upper-layer controller and the actual acceleration and the actual speed fed back by the automobile, the target torque is calculated and transmitted to the motor controller, and therefore the plurality of speed closed-loop systems are integrated to achieve layered control of the automobile, structural redundancy is reduced, maintenance cost is reduced, practicability of the automobile is improved, and the speed closed-loop control system is simple and easy to achieve.
In addition, the speed closed-loop control system of the electric vehicle according to the above embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, the first control assembly includes: the working condition selection module is used for determining the current working conditions according to the input signals, wherein the current working conditions comprise a creep working condition and a cruise working condition; the crawling module is used for determining a crawling target vehicle speed and a crawling target acceleration according to the current vehicle speed and the current gear; and the cruise module is used for determining a cruise target speed and a cruise target acceleration according to the current speed, the current distance and the current trigger signal.
Further, in one embodiment of the present invention, the second control assembly includes: the torque acquisition module is used for acquiring the longitudinal running basic torque of the whole electric automobile; the torque compensation module is used for generating Proportional Integral Derivative (PID) torque according to the current vehicle speed, the target vehicle speed, the current acceleration and the target acceleration; and the torque slope limiting module is used for performing slope limitation on the sum of the longitudinal running basic torque of the whole vehicle and the PID torque so as to output the target torque.
Further, in one embodiment of the present invention, the second control assembly further comprises: and the torque filtering module is used for carrying out filtering processing on the target torque.
Further, in one embodiment of the present invention, the torque slope limiting module has a limiting formula of:
Out(k)＝MAX(MIN(In(k)-Out(k-1)，GradLimitMaxVal),GradLimitMinVal)+Out(k-1)，
where in (k) is an input value, gradlimitmaxxval and gradlimiminval are a slope limit upper limit value and a slope limit lower limit value, respectively, Out (k-1) is a previous-return output value, and Out (k) is an output value.
Further, in one embodiment of the present invention, the filtering formula of the torque filtering module is:
Out(k)＝Out(k-1)+(In(k)-Out(k-1))*ratio，
wherein, ratio represents the filtering parameter, in (k) is the input value, and Out (k-1) is the forward-backward output value.
Further, in one embodiment of the present invention, the torque acquisition module includes: the first torque module is used for taking a preset torque value as the longitudinal running basic torque of the whole electric vehicle when the electric vehicle meets a first preset condition; the second torque module is used for acquiring the longitudinal running basic torque of the whole electric vehicle according to an MAP lookup table when the electric vehicle meets a second preset condition; and the third torque module is used for acquiring the longitudinal running basic torque of the whole automobile through a vehicle longitudinal dynamics formula when the electric automobile meets a third preset condition.
In order to achieve the above object, another embodiment of the present invention provides a speed closed-loop control method for an electric vehicle, which is characterized by using the above system, wherein the method includes the following steps: identifying the current working condition of the vehicle, and generating a target speed and a target acceleration of the vehicle; acquiring the current speed and the current acceleration of the electric automobile, and obtaining a target torque according to the current working condition, the target speed, the target acceleration, the current speed and the current acceleration; and sending the target torque to a motor controller so as to enable a motor of the electric automobile to output according to the target torque.
According to the speed closed-loop control method of the electric automobile, the target acceleration and the target speed are calculated firstly, then a closed-loop system is formed according to the target speed and the target acceleration calculated by the upper-layer controller and the actual acceleration and the actual speed fed back by the automobile, the target torque is calculated and transmitted to the motor controller, and therefore the multiple speed closed-loop systems are integrated to achieve layered control of the automobile, structural redundancy is reduced, maintenance cost is reduced, practicability of the automobile is improved, and the method is simple and easy to achieve.
In addition, the speed closed-loop control method of the electric vehicle according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, the identifying a current operating condition of the vehicle and generating a target vehicle speed and a target acceleration of the vehicle includes: determining the current working condition according to the input signal, wherein the current working condition comprises a creeping working condition and a cruising working condition; when the current working condition is the creeping working condition, determining a creeping target speed and a creeping target acceleration according to the current speed and the current gear; and when the current working condition is the cruising working condition, determining the cruising target speed and the cruising target acceleration according to the current speed, the current distance and the current trigger signal.
In order to achieve the above object, according to another aspect of the present invention, an electric vehicle is provided, which includes the speed closed-loop control system of the electric vehicle. The first control assembly of the electric automobile calculates the target acceleration and the target speed, the second control assembly forms a closed-loop system according to the target speed output by the upper controller, the target acceleration and the actual acceleration fed back by the automobile, and the actual speed, so as to calculate the target torque and transmit the target torque to the motor controller, thereby integrating a plurality of speed closed-loop systems to realize the layered control of the automobile, reducing the structural redundancy, reducing the maintenance cost, improving the practicability of the automobile, and being simple and easy to realize.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a speed closed-loop control system of an electric vehicle according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a speed closed loop control system of an electric vehicle according to one embodiment of the present invention;
FIG. 3 is a schematic illustration of a condition selection according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a cruise control upper layer according to an embodiment of the present invention;
FIG. 5 is a PID torque diagram according to an embodiment of the invention; and
FIG. 6 is a schematic diagram of torque values based on a MAP lookup table according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of torque values calculated based on vehicle longitudinal dynamics, according to one embodiment of the present invention;
fig. 8 is a flowchart of a speed closed-loop control method of an electric vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The speed closed-loop control system, the method and the vehicle according to the embodiments of the present invention will be described below with reference to the accompanying drawings, and first, the speed closed-loop control system of the electric vehicle according to the embodiments of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a speed closed-loop control system of an electric vehicle according to an embodiment of the present invention.
As shown in fig. 1, the speed closed-loop control system 10 of the electric vehicle includes: a first control assembly 100 and a second control assembly 200.
The first control assembly 100 is used for identifying the current working condition of the vehicle and generating the target speed and the target acceleration of the vehicle. The second control assembly 200 is configured to obtain a current speed and a current acceleration of the electric vehicle, obtain a target torque according to the current working condition, the target speed, the target acceleration, the current speed and the current acceleration, and send the target torque to the motor controller, so that a motor of the electric vehicle outputs the target torque. The control system 10 of the embodiment of the invention can integrate a plurality of speed closed-loop systems to realize the layered control of the vehicle, reduce the structural redundancy, reduce the maintenance cost, improve the practicability of the vehicle, and is simple and easy to realize.
Specifically, a plurality of speed closed-loop application systems exist in the current electric vehicle, such as a creep control system, a cruise control system (constant-speed cruise and adaptive cruise), and the like, and therefore the control system 10 according to the embodiment of the present invention integrates the above-mentioned plurality of speed closed-loop systems based on the speed closed-loop control of the hierarchical control, so that the first control module 100 may be understood as an upper controller for processing an input signal, performing mode switching, fault processing, and calculating a target acceleration and a target vehicle speed, and the second control module 200 may be understood as a lower controller for forming a closed-loop system to calculate a target torque and transmit the target torque to the MCU according to the target vehicle speed and the target acceleration output by the upper controller and the actual acceleration and the actual vehicle speed fed back by the vehicle.
That is, as shown in fig. 2, the control system 10 according to the embodiment of the present invention is composed of two controllers, i.e., an upper controller and a lower controller, the upper controller and the lower controller have clearly divided functions and a clear interface, so that the system achieves high cohesiveness and low coupling.
It should be noted that the following section of the present invention will describe in detail how the speed closed-loop control is performed. While the following embodiments exemplify creep and cruise conditions, it will be understood by those skilled in the art that they are configured in a similar manner as follows for any condition, and that creep and cruise conditions are merely illustrative. The present invention is not limited to these two conditions.
Further, in one embodiment of the present invention, the first control assembly 100 comprises: a condition selection module 101, a creep module 102, and a cruise module 103.
The operating condition selection module 101 is configured to determine a current operating condition according to an input signal, where the current operating condition includes a creep operating condition and a cruise operating condition. The crawling module 102 is used for determining a crawling target vehicle speed and a crawling target acceleration according to the current vehicle speed and the current gear. The cruise module 103 is configured to determine a cruise target vehicle speed and a cruise target acceleration based on a current vehicle speed, a current distance, and a current trigger signal.
Specifically, the main function of the upper controller is to convert an external sensor signal, driver's intention, and the like into a target vehicle speed and a target acceleration. The working condition selection module 101 determines what working condition the current vehicle is under according to an external input signal, wherein the working condition comprises a creep working condition and a cruise working condition; the crawling module 102 determines crawling target vehicle speed and crawling target acceleration according to signals such as actual vehicle speed and gears; the cruise module 103 (cruise control, adaptive cruise) determines a cruise target vehicle speed and a cruise target acceleration from an actual vehicle speed, an actual distance to a preceding vehicle (this signal is required only for adaptive cruise), an accelerator pedal, a brake pedal, a cruise key, and the like.
In addition, the first control assembly 100 of the embodiment of the present invention may further include a NEDC (New european Driving Cycle) deceleration tracking module 104. The NEDC deceleration tracking module 104 is coupled to the condition selection module 101 to implement the deceleration tracking function.
For example, as shown in fig. 3, the operating condition selection module 101 determines which operating condition the vehicle is currently entering according to signals such as a creep switch, a cruise switch, an accelerator pedal, a brake pedal, and a gear. It should be noted that the operating conditions include, but are not limited to, creep operating conditions, cruise operating conditions, and NEDC deceleration operating conditions. As shown in fig. 4, the cruise module 103 analyzes the cruise operation intention of the driver and manages the cruise state based on signals such as the operating condition selection output value, the cruise key, the actual vehicle speed, the brake pedal, and the accelerator pedal of the operating condition selection module 101, and calculates the cruise target vehicle speed and the target acceleration.
Additionally, in one embodiment of the present invention, as shown in fig. 2, the second control assembly includes 200: a torque acquisition module 201, a torque compensation module 202, and a torque slope limit module 203.
The torque obtaining module 201 is configured to obtain a longitudinal running base torque of the electric vehicle. The torque compensation module 202 is configured to generate a proportional integral derivative PID torque according to the current vehicle speed, the target vehicle speed, the current acceleration, and the target acceleration. The torque slope limiting module 203 is used for performing slope limitation on the sum of the longitudinal running basic torque of the whole vehicle and the proportional-integral-derivative PID torque so as to output the target torque.
Specifically, the lower layer controller has a main function of converting the target vehicle speed and the target acceleration output from the upper layer controller into a target torque and outputting the target torque to the motor controller. Wherein, the torque obtaining module 201 uses a torque of longitudinal running of the vehicle as a basic torque to be provided to the controller, so that the vehicle performs basic longitudinal running; the torque compensation module 202 takes the PID torque as a compensation torque of the longitudinal running basic torque of the whole vehicle, and reduces the influence of different external environments on the vehicle in the running process of the vehicle, so that the stability and the accuracy of the vehicle speed are controlled; the torque slope limiting module 203 limits the slope of the sum of the basic torque and the PID torque during the longitudinal running of the whole vehicle, so that the torque is prevented from changing too fast, and uncomfortable impact feeling is brought to a driver.
In one embodiment of the present invention, the torque slope limit module has a limit formula as follows:
Out(k)＝MAX(MIN(In(k)-Out(k-1)，GradLimitMaxVal),GradLimitMinVal)+Out(k-1)，
where in (k) is an input value, gradlimitmaxxval and gradlimiminval are a slope limit upper limit value and a slope limit lower limit value, respectively, Out (k-1) is a previous-return output value, and Out (k) is an output value.
It is appreciated that, as shown in FIG. 5, in an embodiment of the present invention, the torque compensation module 202 supports, but is not limited to, the following two modes of PID offset value inputs:
(1) controlling by using a difference value between the target vehicle speed (v _ target) and the actual vehicle speed (v _ veh) as a deviation value of the PID;
(2) and controlling using a difference value between the target acceleration (a _ target) and the actual acceleration (a _ veh) as a deviation value of the PID.
Further, the processing algorithm of the torque slope limit module 203 of the present embodiment may be as follows:
Out(k)＝MAX(MIN(In(k)-Out(k-1),GradLimitMaxVal),GradLimitMinVal)+Out(k-1)
where in (k) represents an input value, gradlimitmaxxval and gradlimiminval represent upper and lower slope limit values, Out (k-1) represents a previous output value, and Out (k) represents an output value.
Further, in one embodiment of the present invention, the second control assembly 200 further comprises: a torque filtering module 204. The torque filtering module 204 is configured to filter the target torque.
Specifically, the torque filter module 204 filters the torque output by the torque slope limit module to make the torque smoother.
Further, in one embodiment of the present invention, the filtering formula of the torque filtering module is:
Out(k)＝Out(k-1)+(In(k)-Out(k-1))*ratio，
wherein, ratio represents the filtering parameter, in (k) is the input value, and Out (k-1) is the output value of the previous loop.
That is, the processing algorithm of the torque filtering module 204 may be as follows:
Out(k)＝Out(k-1)+(In(k)-Out(k-1))*ratio
in (k), in (k) represents an input value, ratio represents a filtering parameter, Out (k-1) represents a forward-backward output value, and Out (k) represents an output value.
Further, in one embodiment of the present invention, the torque acquisition module 201 includes: a first torque module, a second torque module, and a third torque module.
The first torque module is used for taking a preset torque value as a longitudinal running basic torque of the whole vehicle when the electric vehicle meets a first preset condition. And the second torque module is used for acquiring the longitudinal running basic torque of the whole automobile according to the MAP lookup table when the electric automobile meets a second preset condition. The third torque module is used for acquiring the longitudinal running basic torque of the whole electric vehicle through a vehicle longitudinal dynamics formula when the electric vehicle meets a third preset condition.
That is, the longitudinal travel basic torque of the whole vehicle according to the embodiment of the present invention includes, but is not limited to, the following three modes:
(1) based on the fixed torque value:
for some applications, a fixed torque value is used as the vehicle longitudinal travel base torque.
(2) Torque value based on MAP lookup table:
for some applications, the torque value of the MAP lookup table is used as the overall vehicle longitudinal travel base torque. For example, the two-dimensional MAP table is searched by using the difference between the actual vehicle speed/acceleration value, the target vehicle speed/acceleration, and the actual vehicle speed/acceleration, so as to obtain the longitudinal running basic torque of the entire vehicle, as shown in fig. 6.
(3) Torque value calculated based on vehicle longitudinal dynamics:
for some applications, the torque value calculated by using the vehicle longitudinal dynamics formula is used as the longitudinal running base torque of the whole vehicle. The vehicle longitudinal dynamic torque includes air resistance torque, rolling resistance torque, acceleration resistance torque, and gradient resistance torque, as shown in fig. 7. The vehicle longitudinal dynamics calculation torque value can select all or part of the four torques to use, and determine which resistance torque to use according to the working condition and the state.
In summary, the embodiment of the invention integrates all speed closed-loop application systems in the vehicle controller, and divides the system into an upper controller and a lower controller for realization, so that the system has higher cohesion and lower coupling, and simultaneously reduces the development and maintenance cost.
According to the speed closed-loop control system of the electric automobile, the first control assembly calculates the target acceleration and the target speed, the second control assembly forms a closed-loop system according to the target speed and the target acceleration output by the upper-layer controller and the actual acceleration and the actual speed fed back by the automobile, the target torque is calculated and transmitted to the motor controller, and therefore the plurality of speed closed-loop systems are integrated to achieve layered control of the automobile.
Next, a speed closed-loop control method of an electric vehicle according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 8 is a flow chart of a method for closed-loop control of the speed of an electric vehicle according to an embodiment of the present invention.
As shown in fig. 8, with the speed closed-loop control system of the electric vehicle, the speed closed-loop control method of the electric vehicle includes the following steps:
in step S801, the current operating condition of the vehicle is identified, and a target vehicle speed and a target acceleration of the vehicle are generated.
In one embodiment of the present invention, identifying a current operating condition of a vehicle and generating a target vehicle speed and a target acceleration of the vehicle includes: determining current working conditions according to the input signals, wherein the current working conditions comprise a creeping working condition and a cruising working condition; when the current working condition is a creeping working condition, determining a creeping target speed and a creeping target acceleration according to the current speed and the current gear; and when the current working condition is the cruise working condition, determining the cruise target speed and the cruise target acceleration according to the current speed, the current distance and the current trigger signal.
In step S802, the current speed and the current acceleration of the electric vehicle are obtained, and the target torque is obtained according to the current working condition, the target speed, the target acceleration, the current speed, and the current acceleration.
In step S803, the target torque is transmitted to the motor controller so that the motor of the electric vehicle outputs the target torque.
It should be noted that the foregoing explanation of the embodiment of the speed closed-loop control system of the electric vehicle is also applicable to the speed closed-loop control method of the electric vehicle of the embodiment, and is not repeated here.
According to the speed closed-loop control method of the electric automobile, the target acceleration and the target speed are calculated firstly, then a closed-loop system is formed according to the target speed and the target acceleration output by the upper-layer controller and the actual acceleration and the actual speed fed back by the automobile, the target torque is calculated and transmitted to the motor controller, and therefore the plurality of speed closed-loop systems are integrated to achieve layered control of the automobile.
In addition, the embodiment of the invention also provides an electric automobile which comprises the speed closed-loop control system of the electric automobile. The first control assembly of the electric automobile calculates the target acceleration and the target speed, the second control assembly forms a closed-loop system according to the target speed output by the upper controller, the target acceleration and the actual acceleration fed back by the automobile, and the actual speed, calculates the target torque and transmits the target torque to the motor controller, and integrates a plurality of speed closed-loop systems to realize the layered control of the automobile.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. A speed closed-loop control system of an electric vehicle, wherein the speed closed-loop control system integrates a plurality of speed closed-loop systems including a creep control system and a cruise control based on a speed closed-loop control of a hierarchical control to achieve high cohesion and low coupling, the speed closed-loop control system comprising:
the first control assembly is used for identifying the current working condition of the vehicle and generating the target speed and the target acceleration of the vehicle, wherein the first control assembly comprises: the working condition selection module is used for determining the current working conditions according to the input signals, wherein the current working conditions comprise a creep working condition and a cruise working condition; the crawling module is used for determining a crawling target vehicle speed and a crawling target acceleration according to the current vehicle speed and the current gear; the cruise control system comprises a cruise module, a cruise control module and a cruise control module, wherein the cruise control module is used for determining a cruise target speed and a cruise target acceleration according to a current speed, a current distance and a current trigger signal;
the second control assembly is used for acquiring the current speed and the current acceleration of the electric automobile, obtaining a target torque according to the current working condition, the target speed, the target acceleration, the current speed and the current acceleration, and sending the target torque to a motor controller so that a motor of the electric automobile can output according to the target torque;
the second control assembly includes:
the torque acquisition module is used for acquiring the longitudinal running basic torque of the whole electric automobile;
the torque compensation module is used for generating Proportional Integral Derivative (PID) torque according to the current vehicle speed, the target vehicle speed, the current acceleration and the target acceleration;
the torque slope limiting module is used for performing slope limitation on the sum of the longitudinal running basic torque of the whole vehicle and the Proportional Integral Derivative (PID) torque so as to output the target torque; wherein the content of the first and second substances,
the torque acquisition module includes:
the first torque module is used for taking a preset torque value as the longitudinal running basic torque of the whole electric vehicle when the electric vehicle meets a first preset condition;
the second torque module is used for acquiring the longitudinal running basic torque of the whole electric vehicle according to an MAP lookup table when the electric vehicle meets a second preset condition;
and the third torque module is used for acquiring the longitudinal running basic torque of the whole automobile through a vehicle longitudinal dynamics formula when the electric automobile meets a third preset condition.
2. The closed-loop control system for speed of an electric vehicle of claim 1, wherein the second control assembly further comprises:
and the torque filtering module is used for carrying out filtering processing on the target torque.
3. The closed-loop control system for speed of an electric vehicle of claim 2, wherein the torque slope limit module has a limit formula of:
Out(k)＝MAX(MIN(In(k)-Out(k-1)，GradLimitMaxVal),GradLimitMinVal)+Out(k-1)，
where in (k) is an input value, gradlimitmaxxval and gradlimiminval are a slope limit upper limit value and a slope limit lower limit value, respectively, Out (k-1) is a previous-return output value, and Out (k) is an output value.
4. The closed-loop control system for speed of an electric vehicle of claim 3, wherein the filtering formula of the torque filtering module is:
Out(k)＝Out(k-1)+(In(k)-Out(k-1))*ratio，
wherein, ratio represents the filtering parameter, in (k) is the input value, and Out (k-1) is the forward-backward output value.
5. A method for closed-loop control of the speed of an electric vehicle, characterized in that a system according to any of claims 1-4 is used, wherein the method comprises the following steps:
the method for identifying the current working condition of the vehicle and generating the target speed and the target acceleration of the vehicle comprises the following steps: determining the current working condition according to the input signal, wherein the current working condition comprises a creeping working condition and a cruising working condition; when the current working condition is the creeping working condition, determining a creeping target speed and a creeping target acceleration according to the current speed and the current gear; when the current working condition is the cruising working condition, determining a cruising target speed and a cruising target acceleration according to the current speed, the current distance and the current trigger signal;
acquiring the current speed and the current acceleration of the electric automobile, and obtaining a target torque according to the current working condition, the target speed, the target acceleration, the current speed and the current acceleration;
and sending the target torque to a motor controller so as to enable a motor of the electric automobile to output according to the target torque.
6. An electric vehicle, comprising: the closed-loop speed control system for an electric vehicle according to any one of claims 1 to 4.
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| 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 |
| CN110254251B (en) * | 2019-06-26 | 2021-02-19 | 四川阿尔特新能源汽车有限公司 | Crawling control method, device, controller, vehicle and readable storage medium |
| CN110605971B (en) * | 2019-09-17 | 2020-12-01 | 中国第一汽车股份有限公司 | Ramp parking control method and system for electric automobile and electric automobile |
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