CN110154780A - A kind of new energy vehicle electricity drives wriggling moment of torsion control and wriggling Protection control system and method - Google Patents
A kind of new energy vehicle electricity drives wriggling moment of torsion control and wriggling Protection control system and method Download PDFInfo
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- CN110154780A CN110154780A CN201910291121.9A CN201910291121A CN110154780A CN 110154780 A CN110154780 A CN 110154780A CN 201910291121 A CN201910291121 A CN 201910291121A CN 110154780 A CN110154780 A CN 110154780A
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- wriggling
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Classifications
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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
-
- 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
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a kind of new energy vehicle electricity to drive wriggling moment of torsion control and wriggling Protection control system, comprising: motor speed sensor, MCU and HCU drive wriggling moment of torsion control the present invention also provides a kind of new energy vehicle electricity and protection control method of wriggling.A kind of new energy vehicle electricity provided by the invention drives wriggling moment of torsion control and wriggling Protection control system and method; the present invention can identify vehicle-state according to motor speed change rate; electricity drives can protect electric drive system component safe during starting is wriggled; electricity drives wriggling starting can be anti-slip; electricity drive wriggle starting under different road conditions vehicle stabilization under target wriggling speed; in the case where not increasing extraneous sensor; the variation of external environment and vehicle-state can be preferably adapted to, drives the safety stationarity that starting is wriggled to improve electricity.
Description
Technical field
The invention belongs to new energy vehicle technical fields, and more specifically more particularly to a kind of drive of new energy vehicle electricity is compacted
Dynamic torque control and wriggling Protection control system also relate to a kind of new energy vehicle electricity drive wriggling moment of torsion control and guarantor of wriggling
Protect control method.
Background technique
In face of the dual-pressure of energy conservation and environmental protection, auto industry must just greatly develop new energy vapour to sustainable development
Vehicle.Electricity controls system and is important component part in new-energy automobile, and it is core that electricity, which controls moment of torsion control in system,.And electricity drive starting is compacted
The accelerated stability of dynamic control, will affect the driving and safety of normal vehicle.
It is mostly to be wriggled to request at present according to the difference technique of actual vehicle speed and target vehicle speed that existing electricity, which drives starting wriggling control,
Torque.This algorithm externally goes out road conditions and the adaptability of vehicle load is very poor, has ramp Shi Liupo, starting of wriggling when overloaded
Slowly, wriggling starting vehicle drive instability problem.
Therefore, it is proposed that a kind of new energy vehicle electricity drives wriggling moment of torsion control and wriggling Protection control system and method.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, can identify vehicle according to motor speed change rate
State, electricity drives can protect electric drive system component safe during starting is wriggled, electricity drive wriggle starting can be anti-slip, electricity drives compacted
Vehicle stabilization is under target wriggling speed under different road conditions for dynamic starting, in the case where not increasing extraneous sensor, can preferably fit
Answer the variation of external environment and vehicle-state, with improve electricity drive starting wriggle safety stationarity, and propose a kind of new energy
Source vehicle electricity drives wriggling moment of torsion control and wriggling Protection control system and method.
To achieve the above object, the invention provides the following technical scheme:
A kind of new energy vehicle electricity drives wriggling moment of torsion control and wriggling Protection control system, comprising: motor speed sensor, MCU
And HCU；
The motor speed sensor is by conducting wire and the MCU communication connection, and the motor speed sensor is for obtaining electricity
Machine revolving speed, and the MCU is passed to by electric signal, the motor speed signal is passed to the HCU again by the MCU；
Wriggling control activation unit, base torque control unit, the first wriggling moment of torsion control unit, the are provided in the MCU
Two wriggling moment of torsion control units, third wriggling moment of torsion control unit and amendment moment of torsion control unit；
The wriggling control activation unit is used for according to motor speed, speed, brake pedal signal, throttle signal and gear signal
Wriggling function is closed in activation；
The base torque control unit is used to demarcate the respective value of wriggling target motor revolving speed and base torque；
The first wriggling moment of torsion control unit was used within the first time of setting, and control Motor torque reaches the first expectation and turns round
Square；
The second wriggling moment of torsion control unit increases Motor torque for controlling, based on current motor speed and first object
Difference between revolving speed carries out PID control to the first expectation torque, to obtain the second expectation torque；
The third wriggling moment of torsion control unit increases Motor torque for controlling, based on current motor speed and the second target
Difference between revolving speed carries out PID control to the second expectation torque, to obtain third expectation torque；
The amendment moment of torsion control unit is used to compare current motor revolving speed and sometime the motor speed difference between difference,
The motor speed difference is to correct torque；
Wriggling requested torque unit is provided in the HCU, the wriggling requested torque unit is for passing wriggling requested torque
The MCU is passed, the wriggling requested torque is the sum of the base torque and the amendment torque.
Preferably, the wriggling control activation unit includes that vehicle operating parameters obtain module, vehicle operation gear determines
Module and wriggling mode decision module；
The vehicle operating parameters obtain module for obtaining gas pedal state and brake pedal status；
The vehicle operation gear determination module is for judging that vehicle is locating gear；
The wriggling mode decision module is used to judge whether vehicle enters wriggling mould according to gas pedal and brake pedal status
Formula.
Preferably, the amendment moment of torsion control unit is used to compare the motor speed before current motor revolving speed and 100ms
Motor speed difference.
Wriggling moment of torsion control is driven the present invention also provides a kind of new energy vehicle electricity and protection control method of wriggling, including such as
Lower step:
S1. motor speed is obtained by motor speed sensor, and MCU is passed to by electric signal, when motor speed is lower than pre-
If when threshold value, the wriggling control in MCU activates unit activating wriggling function, and MCU repeats motor speed signal and passes to HCU；
S2. base torque is obtained according to the respective value of target motor revolving speed and base torque by base torque control unit, then
The motor speed for comparing current motor revolving speed and the sometime motor speed before difference by amendment moment of torsion control unit is poor
Value, the motor speed difference are to correct torque, and the sum of base torque and amendment torque obtain wriggling requested torque；
Wriggling requested torque is passed to MCU by the wriggling requested torque unit in S3.HCU, and MCU control motor output phase should be turned round
Square.
Preferably, the preset threshold in the S1 is 630r/min.
Preferably, the base torque in the S2 respectively corresponds different values in different stalls.
Technical effect and advantage of the invention:
A kind of new energy vehicle electricity provided by the invention drives wriggling moment of torsion control and wriggling Protection control system and method, based on electricity
Moment of torsion control is driven, mainly according to current motor revolving speed and motor speed change rate, wriggling target vehicle speed is compared and calculates electricity drive request
Torque, vehicle table look-up to obtain wriggling base torque according to the difference of motor actual speed and rotating speed of target after entering wriggling operating condition,
When difference is bigger, wriggling base torque is bigger, is tabled look-up to obtain wriggling amendment according to motor current rotating speed and motor speed change rate
Torque, this amendment torque may determine that car slipping, motor rotation blockage, at the uniform velocity, accelerate etc. operating conditions, according to different operating conditions and wriggle accelerate
Demand Introduced Malaria torque, it is that wriggling base torque adds wriggling amendment torque that final electricity, which drives wriggling operating condition requested torque, and basis is turned round
Square can control vehicle stabilization under target wriggling speed, increase that amendment requested torque is anti-slip, and stall is more than certain when car slipping
Torque resets protection electric drive system component after time, through the switching real vehicle of positive and negative requested torque under target wriggling speed
Traveling, steady torque transformation accelerates vehicle steadily when acceleration.The input quantity that the present invention needs only has motor speed, output quantity less
Only requested torque, to extraneous environmental change and vehicle-state variation it is adaptable, may be implemented electricity drive wriggle it is anti-slip, not
With target wriggling speed is steadily accelerated under road conditions, electric drive system service life and vehicle safety can protect.
Detailed description of the invention
Fig. 1 is the module diagram of system of the invention；
Fig. 2 is the module diagram of MCU of the invention；
Fig. 3 is the flow diagram of method of the invention.
In figure: 1, motor speed sensor；2,MCU；3,HCU；4, control of wriggling activates unit；5, base torque control is single
Member；6, the first wriggling moment of torsion control unit；7, the second wriggling moment of torsion control unit；8, third wriggling moment of torsion control unit；9, it repairs
Positive-torque control unit；10, wriggling requested torque unit.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to explain this hair
It is bright, it is not intended to limit the present invention.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creativeness
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of labour.
Fig. 1-3 is please referred to, the present invention provides a kind of new energy vehicle electricity drive wriggling moment of torsion control and protection control system of wriggling
System, comprising: motor speed sensor 1, MCU2 and HCU3；
The motor speed sensor 1 is by conducting wire and the MCU2 communication connection, and the motor speed sensor 1 is for obtaining
Motor speed, and the MCU2 is passed to by electric signal, the MCU2 again passes to the motor speed signal described
HCU3；
Wriggling control activation unit 4, base torque control unit 5, the first wriggling moment of torsion control unit are provided in the MCU2
6, the second wriggling moment of torsion control unit 7, third wriggling moment of torsion control unit 8 and amendment moment of torsion control unit 9；
The wriggling control activation unit 4 is used to be believed according to motor speed, speed, brake pedal signal, throttle signal and gear
Number activation or close wriggling function；
The base torque control unit 5 is used to demarcate the respective value of wriggling target motor revolving speed and base torque；
The first wriggling moment of torsion control unit 6 was used within the first time of setting, and control Motor torque reaches the first expectation
Torque；
The second wriggling moment of torsion control unit 7 increases Motor torque for controlling, based on current motor speed and the first mesh
The difference between revolving speed is marked, PID control is carried out to the first expectation torque, to obtain the second expectation torque；
The third wriggling moment of torsion control unit 8 increases Motor torque for controlling, based on current motor speed and the second mesh
The difference between revolving speed is marked, PID control is carried out to the second expectation torque, to obtain third expectation torque；
The amendment moment of torsion control unit 9 is used to compare current motor revolving speed and motor speed sometime between difference is poor
Value, the motor speed difference are to correct torque；
Wriggling requested torque unit 10 is provided in the HCU3, the wriggling requested torque unit 10 is turned round for the request that will wriggle
Square passes to the MCU2, and the wriggling requested torque is the sum of the base torque and the amendment torque.
Specifically, the wriggling control activation unit 4 includes that vehicle operating parameters obtain module, vehicle operation gear determines
Module and wriggling mode decision module；
The vehicle operating parameters obtain module for obtaining gas pedal state and brake pedal status；
The vehicle operation gear determination module is for judging that vehicle is locating gear；
The wriggling mode decision module is used to judge whether vehicle enters wriggling mould according to gas pedal and brake pedal status
Formula.
Specifically, the amendment moment of torsion control unit 9 is used to compare the motor speed before current motor revolving speed and 100ms
Motor speed difference.
Wriggling moment of torsion control is driven the present invention also provides a kind of new energy vehicle electricity and protection control method of wriggling, including such as
Lower step:
S1. motor speed is obtained by motor speed sensor, and MCU is passed to by electric signal, when motor speed is lower than pre-
If when threshold value, the wriggling control in MCU activates unit activating wriggling function, and MCU repeats motor speed signal and passes to HCU；
S2. base torque is obtained according to the respective value of target motor revolving speed and base torque by base torque control unit, then
The motor speed for comparing current motor revolving speed and the sometime motor speed before difference by amendment moment of torsion control unit is poor
Value, the motor speed difference are to correct torque, and the sum of base torque and amendment torque obtain wriggling requested torque；
Wriggling requested torque is passed to MCU by the wriggling requested torque unit in S3.HCU, and MCU control motor output phase should be turned round
Square.
Specifically, the preset threshold in the S1 is 630r/min.
Specifically, the base torque in the S2 respectively corresponds different values in different stalls.
In summary: a kind of new energy vehicle electricity provided by the invention drives wriggling moment of torsion control and wriggling Protection control system
And method, the present invention is based on electricity to drive moment of torsion control, mainly according to current motor revolving speed and motor speed change rate, compares wriggling mesh
It marks speed and calculates electricity drive requested torque, vehicle is tabled look-up after entering wriggling operating condition according to the difference of motor actual speed and rotating speed of target
Wriggling base torque is obtained, wriggling base torque is bigger when difference is bigger, according to motor current rotating speed and motor speed change
Rate tables look-up to obtain wriggling amendment torque, this amendment torque may determine that car slipping, motor rotation blockage, at the uniform velocity, the operating conditions such as accelerate, according to
Different operating conditions and wriggling acceleration demand Introduced Malaria torque, final electricity drive wriggling operating condition requested torque add compacted for wriggling base torque
Dynamic amendment torque, base torque can control vehicle stabilization under target wriggling speed, and it is anti-that when car slipping increases amendment requested torque
Car slipping, stall are more than the protection electric drive system component of torque clearing after a certain period of time, pass through the switching real vehicle of positive and negative requested torque
Steady torque transformation accelerates vehicle steadily in target wriggling speed downward driving, acceleration.The input quantity that the present invention needs is few
Only motor speed, output quantity only have requested torque, adaptable to extraneous environmental change and vehicle-state variation, may be implemented
Electricity drive wriggling is anti-slip, target wriggling speed is steadily accelerated under different road conditions, can protect electric drive system service life and vehicle
Safety.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (6)
1. a kind of new energy vehicle electricity drives wriggling moment of torsion control and wriggling Protection control system characterized by comprising motor turns
Fast sensor (1), MCU(2) and HCU(3)；
The motor speed sensor (1) passes through conducting wire and the MCU(2) communication connection, motor speed sensor (1) use
In acquisition motor speed, and the MCU(2 is passed to by electric signal), the MCU(2) motor speed signal is passed again
Pass the HCU(3)；
The MCU(2) in be provided with wriggling control activation unit (4), base torque control unit (5), the first wriggling torque control
Unit (6), the second wriggling moment of torsion control unit (7), third wriggling moment of torsion control unit (8) and amendment moment of torsion control unit processed
(9)；
Wriggling control activation unit (4) is used for according to motor speed, speed, brake pedal signal, throttle signal and gear
Signal activation closes wriggling function；
The base torque control unit (5) is used to demarcate the respective value of wriggling target motor revolving speed and base torque；
The first wriggling moment of torsion control unit (6) was used within the first time of setting, and control Motor torque reaches the first phase
Hope torque；
The second wriggling moment of torsion control unit (7) increases Motor torque for controlling, based on current motor speed and first
Difference between rotating speed of target carries out PID control to the first expectation torque, to obtain the second expectation torque；
The third wriggling moment of torsion control unit (8) increases Motor torque for controlling, based on current motor speed and second
Difference between rotating speed of target carries out PID control to the second expectation torque, to obtain third expectation torque；
Amendment moment of torsion control unit (9) is used to compare current motor revolving speed and motor speed sometime between difference is poor
Value, the motor speed difference are to correct torque；
The HCU(3) in be provided with wriggling requested torque unit (10), the wriggling requested torque unit (10) will be for that will wriggle
Requested torque passes to the MCU(2), the wriggling requested torque is the sum of the base torque and the amendment torque.
2. a kind of new energy vehicle electricity according to claim 1 drives wriggling moment of torsion control and wriggling Protection control system,
Be characterized in that: wriggling control activation unit (4) includes that vehicle operating parameters obtain module, vehicle operation gear determination module
With wriggling mode decision module；
The vehicle operating parameters obtain module for obtaining gas pedal state and brake pedal status；
The vehicle operation gear determination module is for judging that vehicle is locating gear；
The wriggling mode decision module is used to judge whether vehicle enters wriggling mould according to gas pedal and brake pedal status
Formula.
3. a kind of new energy vehicle electricity according to claim 1 drives wriggling moment of torsion control and wriggling Protection control system,
Be characterized in that: amendment moment of torsion control unit (9) is used to compare the electricity of the motor speed before current motor revolving speed and 100ms
Machine rotating speed difference.
4. a kind of new energy vehicle electricity as described in any one of claims 1-3 drives wriggling moment of torsion control and protection controlling party of wriggling
Method, which comprises the steps of:
S1. motor speed is obtained by motor speed sensor, and MCU is passed to by electric signal, when motor speed is lower than pre-
If when threshold value, the wriggling control in MCU activates unit activating wriggling function, and MCU repeats motor speed signal and passes to HCU；
S2. base torque is obtained according to the respective value of target motor revolving speed and base torque by base torque control unit, then
The motor speed for comparing current motor revolving speed and the sometime motor speed before difference by amendment moment of torsion control unit is poor
Value, the motor speed difference are to correct torque, and the sum of base torque and amendment torque obtain wriggling requested torque；
Wriggling requested torque is passed to MCU by the wriggling requested torque unit in S3.HCU, passes through the first wriggling moment of torsion control list
Member, the second wriggling moment of torsion control unit and third wriggling moment of torsion control unit obtain expectation identical with wriggling requested torque and turn round
Square can control motor by MCU and export torque identical with desired torque.
5. a kind of new energy vehicle electricity according to claim 4 drives wriggling moment of torsion control and protection control method of wriggling,
Be characterized in that: the preset threshold in the S1 is 630r/min.
6. a kind of new energy vehicle electricity according to claim 4 drives wriggling moment of torsion control and protection control method of wriggling,
Be characterized in that: the base torque in the S2 respectively corresponds different values in different stalls.
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Cited By (2)
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| CN112549992A (en) * | 2020-12-18 | 2021-03-26 | 智新控制系统有限公司 | Creep control method and system for ramp-free sensor of pure electric vehicle |
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Application publication date: 20190823 |