CN110065397B - Hill starting assisting method for electric automobile - Google Patents

Hill starting assisting method for electric automobile Download PDF

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CN110065397B
CN110065397B CN201910359936.6A CN201910359936A CN110065397B CN 110065397 B CN110065397 B CN 110065397B CN 201910359936 A CN201910359936 A CN 201910359936A CN 110065397 B CN110065397 B CN 110065397B
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slope
hill start
motor
rotating speed
starting
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CN110065397A (en
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奚家健
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Zhejiang Feidie Automobile Manufacturing Co Ltd
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Zhejiang Feidie Automobile Manufacturing Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
    • B60L15/2081—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off for drive off on a slope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses an electric automobile hill start assisting method, which belongs to the technical field of electric automobile assisting systems.

Description

Hill starting assisting method for electric automobile
Technical Field
The invention belongs to the technical field of electric automobile auxiliary systems, and particularly relates to an electric automobile hill start auxiliary method.
Background
With the continuous popularization of new energy automobiles, more and more electric automobiles (including extended range automobiles) adopting a motor driving mode are adopted, and meanwhile, the cost control of a whole automobile factory on the new energy automobiles is more and more rigorous due to the subsidy and the grade retreat of the new energy automobiles. At present, the hill start auxiliary function of most electric automobiles is realized by adopting a motor locked-rotor mode, and the hill start auxiliary function is started by adopting two modes of hardware detection and software identification. The hardware detection mode is to add a special ramp sensor, which increases the cost, and is harsh on the installation position of the sensor, and in addition, the measurement accuracy is not high due to the influence of the longitudinal acceleration. The software identification mode is to adopt software to judge the threshold value of the motor rotating speed, the mode can save cost and has high measurement precision, the traditional mode adopts direct judgment of the threshold value of the motor rotating speed, the method can not accurately sense the ramp working condition, the ramp gradient and the total weight of the vehicle, and the following two problems exist: firstly, the vehicle is subjected to strong impact due to the fact that the vehicle enters the ramp for assistance by mistake; and secondly, under different gradients and load capacities, starting overshoot or slope slipping distance increase caused by overlarge or undersize hill starting auxiliary torque occurs, the starting driving feeling is poor, and potential safety hazards exist.
Through retrieval, the name of the invention is: an electric automobile hill start assisting control method (application number: 201710891233.9, application publication date: 2018.02.16). The application discloses a hill-assist starting control method for an electric vehicle, which is characterized in that an output command is controlled according to a gear, a foot brake state and a motor feedback speed of the vehicle to further provide starting assist torque for the vehicle, but the detection state of the scheme is a single state and is not analyzed by detecting multiple groups of states, and the detection state is easily confused and mistakenly regarded as a starting assist state when the R gear is reversed and other conversion states, so that the technical scheme is not mature enough, the recognition scene is poor, and a strong impact phenomenon is easily generated in an error scene.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to overcome the defects that the vehicle has strong impact and the torque is not matched under the conditions of different gradients and loads due to an electric vehicle auxiliary system in the prior art, and provides an electric vehicle hill start auxiliary method which has the advantages of stable auxiliary start and intelligent torque control and improves the safety.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention discloses an electric automobile hill start assisting method.
Preferably, the ramp working condition identification and detection method includes that the vehicle control unit receives and records multiple groups of motor rotating speed signals according to a time sequence.
Preferably, the method for identifying and detecting the ramp condition comprises the following steps:
(a) judging the magnitude relation between the absolute value of the rotating speed of the single motor and a threshold value, and if the absolute value of the rotating speed of the single motor is larger than the threshold value, recording and entering the step (b);
(b) and (c) judging whether the recorded rotating speeds of the multiple groups of motors are increased along with time, if so, judging that the vehicle is in a D-gear slope slipping state or R-gear reverse hill starting, and if not, returning to the step (a).
Preferably, the slope and load identification detection method is to calculate the average acceleration of the motor rotating speed meeting the hill start assisting condition.
Preferably, the gradient and load capacity identification and detection method includes the following steps:
(c) formula for applying motor rotating speed meeting hill start assisting condition
Figure BDA0002046539750000021
Calculating the acceleration;
(d) setting an unloaded small-slope acceleration value, an unloaded large-slope acceleration value and a fully loaded large-slope acceleration value;
(e) and judging the interval of the calculated acceleration value to select different PI parameters.
Preferably, the method for operating the hill start assisting system of the electric vehicle comprises the following steps:
s100, starting, receiving a motor rotating speed signal, an accelerator opening degree signal and a gear signal by the vehicle control unit, and identifying and detecting the ramp working condition;
s200, transferring, after the vehicle controller detects the working condition of a ramp, analyzing the gradient and the load capacity, calculating a starting torque and sending the starting torque to the motor controller;
s300, executing, wherein the motor controller receives the signal and controls the motor to output torque;
and S400, finishing, and reminding the automobile of starting the hill start auxiliary system.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
(1) the invention discloses an electric automobile hill start assisting method, which comprises a hill working condition identification and detection method and a slope and load capacity identification and detection method.
(2) The invention relates to a hill start assisting method for an electric automobile, wherein a hill working condition identification and detection method in the using method judges the state of the automobile by measuring the rotating speeds of a plurality of groups of continuous motors so as to further control the torque provided by an assisting system and reduce the slipping distance.
(3) According to the slope and load identification and detection method in the using method, different starting torques are selected by analyzing and calculating the slope and the load, so that large torques are provided for large loads and large slopes, small torques are provided for small loads and small slopes, and the phenomenon of slope slipping or automobile overshoot caused by torque mismatching is avoided.
Drawings
FIG. 1 is a flow chart of a hill condition recognition algorithm of an electric vehicle hill start assisting method according to the present invention;
FIG. 2 is a flowchart illustrating a starting torque classification of a hill start assisting method for an electric vehicle according to the present invention;
FIG. 3 is a system signal interaction diagram of a hill start assisting method for an electric vehicle according to the present invention;
FIG. 4 is a flowchart of a method for assisting an electric vehicle in hill start according to the present invention.
Detailed Description
In order to facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings, in which several embodiments of the invention are shown, but which may be embodied in many different forms and are not limited to the embodiments described herein, but rather are provided for the purpose of providing a more thorough disclosure of the invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present; when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; the terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; as used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to the attached drawings 1, 2, 3 and 4, in the method for assisting hill start of an electric vehicle of the embodiment, the control method includes a hill condition recognition detection method and a gradient and load recognition detection method, if the vehicle assistance system does not calculate the hill condition and load to perform a starting assistance function, the vehicle has the defect of strong impact or unmatched torque, and by adopting the starting assistance system of the invention, the hill condition, the gradient and the load are analyzed and calculated, the vehicle cannot enter the assistance system by mistake, and the torque can be matched according to the gradient and the load, so that the starting effect is good, and no potential safety hazard exists.
The slope working condition recognition and detection method of the embodiment includes that the vehicle control unit receives and records multiple groups of motor rotating speed signals according to a time sequence, if the threshold value of the motor rotating speed is directly judged without processing the multiple groups of motor rotating speeds, the vehicle can enter the starting auxiliary system by mistake, so that strong impact occurs to the vehicle, the slope working conditions of the current vehicle can be accurately detected by receiving and recording the multiple groups of motor rotating speed signals, and the situation that the vehicle enters the starting auxiliary system by mistake is avoided.
The method for identifying and detecting the ramp working condition comprises the following steps:
(a) judging the magnitude relation between the absolute value of the rotating speed of the single motor and a threshold value, and if the absolute value of the rotating speed of the single motor is larger than the threshold value, recording and entering the step (b);
(b) and (c) judging whether the recorded rotating speeds of the multiple groups of motors are increased along with time, if so, judging that the vehicle is in a D-gear slope slipping state or R-gear reverse hill starting, and if not, returning to the step (a).
The ramp working condition detection is that the vehicle control unit receives a motor rotating speed signal through a bus, and the communication period is required to be not more than 10 ms. Under the condition of D-gear hill start assistance, in order to filter fluctuation of the motor rotating speed at a zero point, firstly, judging an absolute value n of the motor rotating speed0≥nN(the threshold value can be calibrated to be 10rpm), if meeting, continuously recording m groups (which can be calibrated to be 5) of motor rotating speed absolute values n according to time sequence0、n1、n2、n3……nm-1Secondly, simultaneously, judging that the absolute value of the rotating speed of the m groups of motors meets n0≤n1≤n2≤n3……≤nm-1. And if the first gear and the second gear are simultaneously met, identifying that the current vehicle is in a D-gear slope slipping state. The same principle is applied to the R gear reverse hill starting.
The slope and load identification detection method of the embodiment is to perform average acceleration calculation on the rotating speed of the motor meeting the hill start assisting condition.
The slope and load capacity identification and detection method of the embodiment comprises the following judgment:
(c) formula for applying motor rotating speed meeting hill start assisting condition
Figure BDA0002046539750000041
Calculating the acceleration;
(d) setting an unloaded small-slope acceleration value, an unloaded large-slope acceleration value and a fully loaded large-slope acceleration value;
(e) and judging the interval of the calculated acceleration value to select different PI parameters.
The slope gradient and the load capacity of the slope are measured by calculating the slope sliding acceleration, and the slope sliding acceleration is larger, so that the slope gradient or the load capacity is larger, and the slope starting auxiliary torque required to be given is also larger; the smaller the slope-sliding acceleration is, the smaller the slope gradient or the load capacity is, the smaller the hill-starting auxiliary torque is required to be given, and the acceleration is further classified to accurately provide the satisfied torque, so that the auxiliary torque provided by the system for the vehicle is accurate and timely.
The motor rotating speed n meeting the hill starting auxiliary condition is adopted0、n1、n2、n3……nm-1And then the average acceleration of the slope slipping is calculated,
Figure BDA0002046539750000042
considering that the value of (m-1). times.t is constant, only n need to be examined for the average acceleration of the downhill slopem-1-n0That is, let Δ n be nm-1-n0. Let Delta n be in accordance with the no-load small slope nSNo load heavy slope nMSorting n in full load on a steep slopeLDifferent PI parameters are correspondingly selected. Wherein n isS、nM、nLCalibration confirmation is required.
The operation method of the hill start assisting system of the electric automobile in the embodiment comprises the following steps:
s100, starting, receiving a motor rotating speed signal, an accelerator opening degree signal and a gear signal by the vehicle control unit, and identifying and detecting the ramp working condition;
s200, transferring, after the vehicle controller detects the working condition of a ramp, analyzing the gradient and the load capacity, calculating a starting torque and sending the starting torque to the motor controller;
s300, executing, wherein the motor controller receives the signal and controls the motor to output torque;
and S400, finishing, and reminding the automobile of starting the hill start auxiliary system.
The method is adopted to assist the automobile in hill starting, the working condition of the hill, the gradient and the load are detected in sequence, the environment where the automobile is located and the working condition of the automobile are calculated and analyzed respectively to control the motor to provide corresponding torque, so that the automobile obtains accurate matched torque, and the automobile is started stably.
The above-mentioned embodiments only express a certain implementation mode of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the present invention; it should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which are within the protection scope of the present invention; therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (5)

1. An electric automobile hill start assisting method is characterized in that: the method comprises a ramp working condition identification detection method and a gradient and load capacity identification detection method, wherein the ramp working condition identification detection method comprises the following judgments:
(a) judging the magnitude relation between the absolute value of the rotating speed of the single motor and a threshold value, and if the absolute value of the rotating speed of the single motor is larger than the threshold value, recording and entering the step (b);
(b) and (c) judging whether the recorded rotating speeds of the multiple groups of motors are increased along with time, if so, judging that the vehicle is in a D-gear slope slipping state or R-gear reverse hill starting, and if not, returning to the step (a).
2. The hill start assisting method for the electric vehicle according to claim 1, characterized in that: the ramp working condition identification and detection method is characterized in that the vehicle control unit receives and records a plurality of groups of motor rotating speed signals according to a time sequence.
3. The hill start assisting method for the electric vehicle according to claim 1, characterized in that: the slope and load capacity identification detection method is used for calculating the average acceleration of the rotating speed of the motor meeting the hill start auxiliary condition.
4. The hill start assisting method for the electric vehicle as claimed in claim 3, wherein the slope and load recognition detecting method comprises the following judgments:
(c) formula for applying motor rotating speed meeting hill start assisting condition
Figure FDA0002492074060000011
Calculating the acceleration;
(d) setting an unloaded small-slope acceleration value, an unloaded large-slope acceleration value and a fully loaded large-slope acceleration value;
(e) and judging the interval of the calculated acceleration value to select different PI parameters.
5. The method for assisting hill start of an electric vehicle as claimed in claim 1, wherein the method for operating the hill start assisting system of the electric vehicle comprises the following steps:
s100, starting, receiving a motor rotating speed signal, an accelerator opening degree signal and a gear signal by the vehicle control unit, and identifying and detecting the ramp working condition;
s200, transferring, after the vehicle controller detects the working condition of a ramp, analyzing the gradient and the load capacity, calculating a starting torque and sending the starting torque to the motor controller;
s300, executing, wherein the motor controller receives the signal and controls the motor to output torque;
and S400, finishing, and reminding the automobile of starting the hill start auxiliary system.
CN201910359936.6A 2019-04-30 2019-04-30 Hill starting assisting method for electric automobile Expired - Fee Related CN110065397B (en)

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CN110768592B (en) * 2019-11-05 2021-02-26 四川虹美智能科技有限公司 Starting method and device of permanent magnet synchronous motor and motor
CN113119745B (en) * 2019-12-31 2022-04-15 比亚迪股份有限公司 Slope compensation torque control method and device and automobile
CN111605552A (en) * 2020-04-16 2020-09-01 吉利汽车研究院（宁波）有限公司 Starting auxiliary control method and device for vehicle, vehicle and storage medium
CN116729399B (en) * 2023-07-11 2024-02-13 长春一东离合器股份有限公司苏州研发中心 Vehicle ramp, vehicle weight dynamic identification method, device, equipment and medium

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CN106904100B (en) * 2017-03-17 2019-04-16 奇瑞新能源汽车技术有限公司 Ramp auxiliary control method and device
CN107433880B (en) * 2017-08-08 2020-05-15 北京长城华冠汽车科技股份有限公司 Method and system for driving and controlling electric automobile according to load state
CN107697067B (en) * 2017-09-27 2019-09-13 上海金脉电子科技有限公司 Electric car ramp auxiliary starting control method
CN108501766B (en) * 2018-02-27 2021-10-15 宁波央腾汽车电子有限公司 Method and system for identifying slope slipping of pure electric vehicle
CN108609008B (en) * 2018-06-15 2020-08-04 科力远混合动力技术有限公司 Method for deciding starting and stopping of engine of hybrid electric vehicle based on road gradient

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