CN110303902A - Electric car and its control method, control device and controller - Google Patents
Electric car and its control method, control device and controller Download PDFInfo
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- CN110303902A CN110303902A CN201910650878.2A CN201910650878A CN110303902A CN 110303902 A CN110303902 A CN 110303902A CN 201910650878 A CN201910650878 A CN 201910650878A CN 110303902 A CN110303902 A CN 110303902A
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- tachometer value
- electric car
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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
-
- 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
- B60L2240/48—Drive Train control parameters related to transmissions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention proposes a kind of electric car and its control method, control device and controller, wherein, the control method is the following steps are included: when working condition is forward gear or retreating gear, real-time reception is used to control the first control information of motor output parking torque, and the first control information is slowed down or stopped for controlling electric car；All tachometer values of the motor in current forward gear or retreating gear are obtained in real time；Whether the tachometer value of torque and motor of judging to stop meets the preset condition of Temporarily Closed IGBT module；If the tachometer value of parking torque and motor meets the preset condition of Temporarily Closed IGBT module, IGBT module is closed, so that the Mechanical & Electrical Combination System of electric car is in purely mechanic operating condition, prevents Mechanical & Electrical Combination System to be activated and generates abnormal sound or shake.
Description
Technical field
The present invention relates to electric car fields, and in particular to a kind of electric car and its control method, control device and control
Device processed.
Background technique
In several driving methods of electric car, the dynamical system of single motor driving is generally driven by single motor,
Motor connects left and right half-bridge by differential mechanism to drive wheel after retarder.In the prior art, the electronic vapour of single motor driving
The Mechanical & Electrical Combination System of vehicle, motor extremely low revolving speed (30km/h or less) to parking during, be easy to happen abnormal sound and
Shake, prior art normal open overregulate electric current loop PI parameter and carry out the mode such as handling the torque parameter of motor to solve machine
The abnormal sound and jitter problem of electrical coupling system, but aforesaid way is unable to the problem of comprehensively solve abnormal sound is with shaking, and to parameter
Adjusting and processing be very easy to influence dynamical system even running so that dynamical system can not work normally.
Summary of the invention
Based on problem of the prior art, the present invention provides a kind of electric car and its control method, control device and control
Device.
The present invention proposes a kind of control method for inhibiting electric car abnormal sound to shake, comprising the following steps:
When working condition is forward gear or retreating gear, real-time reception is used to control the first control of motor output parking torque
Information processed, the first control information are slowed down or stopped for controlling electric car；
All tachometer values of the motor in current forward gear or retreating gear are obtained in real time；
Judge whether the tachometer value of the parking torque and the motor meets the preset condition of Temporarily Closed IGBT module；
If the tachometer value of the parking torque and the motor meets the preset condition of IGBT module described in Temporarily Closed,
The IGBT module is closed, so that the Mechanical & Electrical Combination System of the electric car is in purely mechanic operating condition, prevents the machine
Electrical coupling system is activated and generates abnormal sound or shake.
Further, the preset condition includes: that current rotating speed value is less than preset first lower limit value, is deposited in history tachometer value
Be equal to 0Nm in the tachometer value and the parking torque for being greater than preset first upper limit value, the judgement parking torque with
Whether the tachometer value of the motor, which meets the step of preset condition of Temporarily Closed IGBT module, includes:
Judge whether the current rotating speed value is less than preset first lower limit value, in the history tachometer value with the presence or absence of big
Whether it is equal to 0Nm in the tachometer value and parking torque of preset first upper limit value.
Further, if the tachometer value of the parking torque and the motor meets IGBT module described in Temporarily Closed
Preset condition then closes the IGBT module, so that the Mechanical & Electrical Combination System of the electric car is in purely mechanic operating condition,
After the step of preventing the Mechanical & Electrical Combination System to be activated and generating abnormal sound or shake, the method also includes:
The second control information for controlling motor output target torque is received, the second control information is for controlling institute
State electric car acceleration；
Judge the target torque whether not for 0Nm；
If the target torque is not 0Nm, the IGBT module is opened.
Further, after the step of unlatching IGBT module, the method also includes:
Phase shift buffered is carried out to the target torque, executes second control again to postpone a preset time interval
Information processed after stablizing the breakdown action of the IGBT module, then responds the target torque.
Further, if the tachometer value of the parking torque and the motor meets IGBT module described in Temporarily Closed
Preset condition then closes the IGBT module, so that the Mechanical & Electrical Combination System of the electric car is in purely mechanic operating condition,
After the step of preventing the Mechanical & Electrical Combination System to be activated and generating abnormal sound or shake, the method also includes:
Judge in the following tachometer value with the presence or absence of the tachometer value greater than preset second upper limit value；
If it is described future tachometer value in exist greater than preset second upper limit value tachometer value, using the tachometer value as
The first following tachometer value, and open the IGBT module.
Further, if the tachometer value of the parking torque and the motor meets IGBT module described in Temporarily Closed
Preset condition then closes the IGBT module, so that the Mechanical & Electrical Combination System of the electric car is in purely mechanic operating condition,
After the step of preventing the Mechanical & Electrical Combination System to be activated and generating abnormal sound or shake, the method also includes:
Judge whether persistently occur being less than the tachometer value of preset second lower limit value in the following tachometer value；
If persistently occurring being less than the tachometer value of preset second lower limit value in the future tachometer value, occur lasting
The tachometer value less than the second lower limit value as the second following tachometer value, and judge the described second following tachometer value it is lasting when
Between whether be more than preset time；
If the described second following tachometer value duration was more than preset time, the IGBT module is opened.
The present invention also proposes a kind of control device for inhibiting electric car abnormal sound to shake, comprising:
First receiving unit, for when working condition is forward gear or retreating gear, real-time reception to be defeated for controlling motor
The first control information of parking torque, the first control information are slowed down or stopped for controlling electric car out；
Acquiring unit, for obtaining all tachometer values of the motor in current forward gear or retreating gear in real time；
First judging unit, for judging whether the tachometer value of the parking torque and the motor meets Temporarily Closed
The preset condition of IGBT module；
Closing unit, if the tachometer value for the parking torque and the motor meets IGBT module described in Temporarily Closed
Preset condition, then the IGBT module is closed, so that the Mechanical & Electrical Combination System of the electric car is in purely mechanic operating shape
State prevents the Mechanical & Electrical Combination System to be activated and generate abnormal sound or shake；Wherein,
The preset condition includes: that current rotating speed value is less than preset first lower limit value, exists in history tachometer value and is greater than
The history tachometer value of preset first upper limit value and the parking torque are equal to 0Nm, and the judging unit is described for judging
Whether current rotating speed value is less than preset first lower limit value, the history tachometer value whether there is greater than preset first upper limit value
History tachometer value and parking torque whether be equal to 0Nm.
Further, described device further include:
Second receiving unit, for receive for control motor output target torque second control information, described second
Control information accelerates for controlling the electric car；
Second judgment unit, for judging the target torque whether not for 0Nm；
First opening unit opens the IGBT module if not being 0Nm for the target torque；
Cache unit, for carrying out phase shift buffered to the target torque, to postpone a preset time interval again
The second control information is executed, after stablizing the breakdown action of the IGBT module, then the target torque is responded, avoids institute
The pulsewidth for stating IGBT module increases output high current suddenly and torque concussion occurs, and then the case where abnormal sound and shake occurs.
The present invention also proposes a kind of controller for electric car, including memory, processor and is stored in described deposit
On reservoir and the computer program that can run on the processor, the processor are realized when executing the computer program
State described in any item control methods for inhibiting electric car abnormal sound to shake.
The present invention also proposes that a kind of electric car, the electric car include controller described above.
Beneficial effects of the present invention: electric car is closed IGBT module, is made under the working condition of forward gear and retreating gear
The Mechanical & Electrical Combination System of electric car is in purely mechanic operating condition, efficiently solves Mechanical & Electrical Combination System and is activated and produces
The problem of raw abnormal sound or shake.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of the dynamical system of electric car provided in an embodiment of the present invention；
Fig. 2 is the schematic flow diagram for the method that a kind of electric car provided in an embodiment of the present invention inhibits abnormal sound shake；
Fig. 3 is the schematic flow diagram for the method that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake；
Fig. 4 is the schematic flow diagram for the method that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake；
Fig. 5 is the schematic flow diagram for the method that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake；
Fig. 6 is the schematic block diagram for the device that a kind of electric car provided in an embodiment of the present invention inhibits abnormal sound shake；
Fig. 7 is the schematic block diagram for the device that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake；
Fig. 8 is the schematic block diagram for the device that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake；
Fig. 9 is the schematic block diagram for the device that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment
Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution
Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not the present invention claims guarantor
Within the scope of shield.
It is a kind of structural block diagram of the dynamical system 100 of electric car provided in an embodiment of the present invention referring to Fig. 1, Fig. 1, such as
Shown in Fig. 1, in the present embodiment, dynamical system 100 includes VCU controller 101, MCU controller 102, IGBT module 104 and electricity
Machine 103；VCU controller 101 is electrically connected MCU controller 102；MCU controller 102 is electrically connected IGBT module 104 and motor 103；
IGBT module 104 is electrically connected motor 103；Wherein, VCU controller 101 is the entire car controller of electric car, electronic for controlling
Vehicle complete vehicle work；MCU controller 102 is 103 controller of motor, is worked for controlling motor 103；IGBT module 104 is exhausted
Edge grid bipolar junction transistor, English name Insulated Gate Bipolar Transistor work for driving motor 103.
Referring to fig. 2, Fig. 2 is a kind of control method for inhibiting electric car abnormal sound to shake provided in an embodiment of the present invention
Schematic flow diagram, in the present embodiment, the method includes the following steps as performed by MCU controller 102:
S10, working condition be forward gear or retreating gear when, real-time reception for control motor 103 output parking torque
The first control information, the first control information slows down or stops for controlling electric car.
In the present embodiment, electric car is under the working condition of forward gear or retreating gear, and motor 103 is in extremely low revolving speed
During (30km/h or less) to parking, Mechanical & Electrical Combination System just will receive excitation and generate abnormal sound or shake.MCU controller
The first control information that 102 real-time reception VCU controllers 101 are sent, to be stopped according to entrained by the first control information in time
Vehicle torque controls motor 103, and in the present embodiment, parking torque is 0Nm, when MCU controller 102 receives the first control
After information processed, the torque for being 0Nm according to parking 103 output size of torque control motors, so that electric car slows down or stops.
S20, all tachometer values of the motor 103 in current forward gear or retreating gear are obtained in real time.
In the present embodiment, MCU controller 102 obtains institute of the motor 103 in current forward gear or retreating gear in real time
There is tachometer value, all tachometer values are arranged sequentially in time, to monitor the rotary regimes of motor 103 in real time.
S30, judge to stop torque and motor 103 tachometer value whether meet the default item of Temporarily Closed IGBT module 104
Part.
In the present embodiment, for convenience of understanding, motor 103 is generated before present node using current rotating speed value as node
All tachometer values be defined as history tachometer value；All tachometer values generated after present node are defined as the following tachometer value.
In the present embodiment, the preset condition of Temporarily Closed IGBT module 104 is sentenced by the tachometer value of parking torque and motor 103
It is disconnected.Preset condition includes: that current rotating speed value is less than preset first lower limit value, exists in history tachometer value and is greater than preset first
The tachometer value and parking torque of upper limit value are equal to 0Nm.Whether the tachometer value of judge to stop torque and the motor 103, which meets, is faced
When close IGBT module 104 preset condition the step of include: judge current rotating speed value whether be less than preset first lower limit value,
Whether it is equal to 0Nm with the presence or absence of the tachometer value greater than preset first upper limit value and the torque that stops in history tachometer value.
If the tachometer value of S40, parking torque and motor 103 meet the preset condition of Temporarily Closed IGBT module 104, close
Close IGBT module 104 so that the Mechanical & Electrical Combination System of electric car is in purely mechanic operating condition, prevent Mechanical & Electrical Combination System by
Abnormal sound or shake are generated to excitation.
In the present embodiment, while meeting current rotating speed value and exist less than preset first lower limit value, in history tachometer value
When tachometer value and parking torque greater than preset first upper limit value are equal to 0Nm, the revolving speed of parking torque and motor 103 is obtained
Meet preset condition in three above condition as a result, when having a condition to be unsatisfactory for, then obtains parking torque and motor 103
Revolving speed is discontented with preset condition, return step S10.In the present embodiment, the first lower limit value is 30km/h, because usually in motor
103 tachometer value can just occur less than abnormal sound after 30km/h or shake, it is to be understood that in other embodiments, under first
Limit value may be 35km/h, 40km/h etc.；First upper limit value is 100km/h, because being usually more than in the tachometer value of motor 103
The state of forward or backward is in front of can determining electric car after 100km/h, it is to be understood that in other embodiments
In, the first upper limit value may be 80km/h, 90km/h etc.；The torque that stops is equal to 0Nm, because being usually equal in parking torque
It can determine that MCU controller 102 receives when 0Nm and slow down or stop the first control information for controlling electric car.
In the present embodiment, after MCU controller 102 receives the first control information, the closed-loop current control of FOC can be used
Method controls the torque that 103 output size of motor is 0Nm, but due to the influence of sampling channel hardware error, motor 103 is controlled
Can also there be lesser control electric current afterwards, lesser control electric current and motor 103 are arrived in extremely low revolving speed (30km/h or less)
The influence of gear clearance during parking can make Mechanical & Electrical Combination System be highly susceptible to motivate and generate abnormal sound and shake,
In the present embodiment, by motor 103 extremely low revolving speed (30km/h or less) to parking during close IGBT module 104,
It prevents in motor 103 that there are lesser control electric currents, the Mechanical & Electrical Combination System of electric car is made to be in purely mechanic operating condition, prevent
Only Mechanical & Electrical Combination System is activated and generates abnormal sound or shake.
It is the signal for the method that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake referring to Fig. 3, Fig. 3
Flow chart, in the present embodiment, if the tachometer value of parking torque and motor 103 meets the default of Temporarily Closed IGBT module 104
Condition then closes IGBT module 104, so that the Mechanical & Electrical Combination System of electric car is in purely mechanic operating condition, prevents electromechanics
Coupled system is activated and generates abnormal sound or shake, after this step, the method for the embodiment of the present invention further include:
S401, the second control information that target torque is exported for controlling motor 103 is received, the second control information is for controlling
Electric car processed accelerates.
In the present embodiment, close IGBT module 104 after, electric car be in dead ship condition or will stop state when,
If MCU controller 102 receives the second control information for controlling electric car acceleration, then need to reopen IGBT module
104。
S402, judge target torque whether not for 0Nm.
If S403, target torque are not 0Nm, IGBT module 104 is opened.
In the present embodiment, IGBT module 104 is reopened by target torque entrained by the second control information to sentence
It is disconnected, when target torque is not 0Nm, IGBT module 104 is opened, for example, determining that electric car needs when target torque is 50Nm
Accelerate, opens IGBT module 104.When target torque is 0Nm, return step S401.
In the present embodiment, after the step of opening IGBT module 104, further includes:
S404, phase shift buffered is carried out to target torque, executes the second control again to postpone a preset time interval
Information after stablizing the breakdown action of IGBT module 104, then responds target torque, the pulsewidth of IGBT module 104 is avoided to add suddenly
It is big to export high current and torque concussion occurs, and then there is the case where abnormal sound and shake.
In the present embodiment, after opening IGBT module 104, target torque is buffered by fifo buffer,
Fifo buffer is phase shift buffer, only carries out phase delay to the target torque of input, does not change the amplitude of its numerical value.At this
In embodiment, preset time interval can be the buffer time of the Milliseconds such as 100ms, 200ms or 300ms, not influence to drive
The driving experience of member.In an alternative embodiment, if being received before opening IGBT module 104 after closing IGBT module 104
To the second control information for carrying target torque, then the target torque of input is deferred to by fifo buffer and opens IGBT
It is responded again after module 104.
Referring to fig. 4, Fig. 4 is the signal for the method that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake
Flow chart, in the present embodiment, after the step s 40, also the even tachometer value of parking torque and motor 103 meets Temporarily Closed
The preset condition of IGBT module 104 then closes IGBT module 104, so that the Mechanical & Electrical Combination System of electric car is in purely mechanic
Operating condition, prevent Mechanical & Electrical Combination System to be activated and generate abnormal sound or shake the step of after, the side of the embodiment of the present invention
Method further include:
S411, judge in the following tachometer value with the presence or absence of the tachometer value greater than preset second upper limit value.
If there is the tachometer value greater than preset second upper limit value in S412, the following tachometer value, using the tachometer value as the
The one following tachometer value, and open IGBT module 104.
In the present embodiment, the second upper limit value is 100km/h, because can determine electronic vapour after usually more than 100km/h
Vehicle is in the state moved forward or back, needs to open IGBT module 104 at this time, will pass through 104 driving motor 103 of IGBT module
Work.It is understood that in other embodiments, the second upper limit value may be 80km/h, 90km/h etc..If the following revolving speed
The tachometer value greater than preset second upper limit value is not present in value, then return step S411.
It is the signal for the method that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake referring to Fig. 5, Fig. 5
Flow chart, in the present embodiment, if the tachometer value of S40, parking torque and motor 103 meet Temporarily Closed IGBT module 104
Preset condition then closes IGBT module 104, so that the Mechanical & Electrical Combination System of electric car is in purely mechanic operating condition, prevents
After the step of Mechanical & Electrical Combination System is activated and generates abnormal sound or shake, the method for the embodiment of the present invention further include:
S421, judge whether persistently occur being less than the tachometer value of preset second lower limit value in the following tachometer value.
If persistently occurring being less than the tachometer value of preset second lower limit value in S422, the following tachometer value, by lasting appearance
Less than the tachometer value of the second lower limit value as the second following tachometer value, and whether judged for the second following tachometer value duration
More than preset time；
If S423, the second following tachometer value duration are more than preset time, the IGBT module is opened.
In the present embodiment, the second lower limit value is close to 0km/h, such as 3km/h, 5km/h etc.；Preset time is 200ms,
In other embodiments, preset time can also be 100ms, 150ms or 250ms etc..After closing IGBT module 104, if future
Persistently occur the tachometer value less than the second lower limit value in tachometer value, then using the tachometer value as the second following tachometer value, and judges
Whether its time persistently occurred is more than preset time, and the time persistently occurred is more than preset time, then opens IGBT module
104, so that IGBT module 104 next time can be with fast driving motor 103, without being postponed by fifo buffer.If not
Carry out in tachometer value not have the tachometer value for continuing to occur being less than preset second lower limit value, or has and lasting occur being less than preset the
The tachometer value of two lower limit values, but be not continued above preset time, then return step S421.It is understood that the second future
Tachometer value may include a tachometer value in the following tachometer value, also may include multiple tachometer values.
It is a kind of control device for inhibiting electric car abnormal sound to shake provided in an embodiment of the present invention referring to Fig. 6, Fig. 6
Schematic block diagram, in the present embodiment, described device is configured in MCU controller 102, including the first receiving unit 10, is obtained
Take unit 20, the first judging unit 30 and closing unit 40；First receiving unit 10 be used for working condition be forward gear or after
When moving back gear, real-time reception is used to control the first control information of the output parking torque of motor 103, and the first control information is for controlling
Electric car slows down or stops；Acquiring unit 20 for obtaining motor 103 in current forward gear or retreating gear in real time
All tachometer values；First judging unit 30 is used to judge whether the tachometer value of parking torque and motor 103 meets Temporarily Closed
The preset condition of IGBT module 104；If closing unit 40 is used to stop, the tachometer value of torque and motor 103 meets Temporarily Closed
The preset condition of IGBT module 104 then closes IGBT module 104, so that the Mechanical & Electrical Combination System of electric car is in purely mechanic
Operating condition prevents Mechanical & Electrical Combination System to be activated and generates abnormal sound or shake；Wherein, preset condition includes: current rotating speed
Value is less than preset first lower limit value, there is the history tachometer value greater than preset first upper limit value in history tachometer value and stops
Vehicle torque is equal to 0Nm, and judging unit is for judging whether current rotating speed value is less than preset first lower limit value, history tachometer value is
It is no whether to be equal to 0Nm in the presence of the history tachometer value for being greater than preset first upper limit value and parking torque.
In the present embodiment, electric car is under the working condition of forward gear or retreating gear, and motor 103 is in extremely low revolving speed
During (30km/h or less) to parking, Mechanical & Electrical Combination System just will receive excitation and generate abnormal sound or shake.MCU controller
The first control information that 102 real-time reception VCU controllers 101 are sent, to be stopped according to entrained by the first control information in time
Vehicle torque controls motor 103, and in the present embodiment, parking torque is 0Nm, when MCU controller 102 receives the first control
After information processed, the torque for being 0Nm according to parking 103 output size of torque control motors, so that electric car slows down or stops.
In the present embodiment, MCU controller 102 obtains institute of the motor 103 in current forward gear or retreating gear in real time
There is tachometer value, all tachometer values are arranged sequentially in time, to monitor the rotary regimes of motor 103 in real time.
In the present embodiment, for convenience of understanding, motor 103 is generated before present node using current rotating speed value as node
All tachometer values be defined as history tachometer value；All tachometer values generated after present node are defined as the following tachometer value.
In the present embodiment, the preset condition of Temporarily Closed IGBT module 104 is sentenced by the tachometer value of parking torque and motor 103
It is disconnected.Preset condition includes: that current rotating speed value is less than preset first lower limit value, exists in history tachometer value and is greater than preset first
The tachometer value and parking torque of upper limit value are equal to 0Nm.First judging unit 30 is used to judge turn of parking torque and motor 103
The step of whether fast value meets the preset condition of Temporarily Closed IGBT module 104 includes: that judge whether current rotating speed value is less than pre-
If the first lower limit value, in history tachometer value with the presence or absence of greater than preset first upper limit value tachometer value and parking torque be
It is no to be equal to 0Nm.
In the present embodiment, while meeting current rotating speed value and exist less than preset first lower limit value, in history tachometer value
When tachometer value and parking torque greater than preset first upper limit value are equal to 0Nm, the revolving speed of parking torque and motor 103 is obtained
Meet preset condition in three above condition as a result, when having a condition to be unsatisfactory for, then obtains parking torque and motor 103
Revolving speed is discontented with preset condition, feeds back to the first receiving unit 10.In the present embodiment, the first lower limit value is 30km/h, because logical
Often abnormal sound or shake can just occur after the tachometer value of motor 103 is less than 30km/h, it is to be understood that in other embodiments
In, the first lower limit value may be 35km/h, 40km/h etc.；First upper limit value is 100km/h, because usually in motor 103
Tachometer value is more than the state that forward or backward is in front of can determining electric car after 100km/h, it is to be understood that at it
In his embodiment, the first upper limit value may be 80km/h, 90km/h etc.；The torque that stops is equal to 0Nm, because usually turning round in parking
Square can determine that MCU controller 102 is received and slow down or stop the first control letter for controlling electric car when being equal to 0Nm
Breath.
In the present embodiment, after MCU controller 102 receives the first control information, the closed-loop current control of FOC can be used
Method controls the torque that 103 output size of motor is 0Nm, but due to the influence of sampling channel hardware error, motor 103 is controlled
Can also there be lesser control electric current afterwards, lesser control electric current and motor 103 are arrived in extremely low revolving speed (30km/h or less)
The influence of gear clearance during parking can make Mechanical & Electrical Combination System be highly susceptible to motivate and generate abnormal sound and shake,
In the present embodiment, by motor 103 extremely low revolving speed (30km/h or less) to parking during close IGBT module 104,
It prevents in motor 103 that there are lesser control electric currents, the Mechanical & Electrical Combination System of electric car is made to be in purely mechanic operating condition, prevent
Only Mechanical & Electrical Combination System is activated and generates abnormal sound or shake.
It is the signal for the device that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake referring to Fig. 7, Fig. 7
Property block diagram, in the present embodiment, described device further include the second receiving unit 401, second judgment unit 402, first open it is single
Member 403 and cache unit 404；Second receiving unit 401 is used to receive the second control that target torque is exported for controlling motor 103
Information processed, the second control information is for controlling electric car acceleration；Not whether second judgment unit 402 for judging target torque
For 0Nm；If the first opening unit 403 is not 0Nm for target torque, IGBT module 104 is opened；Cache unit 404 is used for
Phase shift buffered is carried out to target torque, the second control information is executed again to postpone a preset time interval, makes IGBT mould
After the breakdown action of block 104 is stablized, then target torque is responded, the pulsewidth of IGBT module 104 is avoided to increase output high current suddenly
And torque concussion occurs, and then the case where abnormal sound and shake occur.
In the present embodiment, close IGBT module 104 after, electric car be in dead ship condition or will stop state when,
If MCU controller 102 receives the second control information for controlling electric car acceleration, then need to reopen IGBT module
104。
In the present embodiment, IGBT module 104 is reopened by target torque entrained by the second control information to sentence
It is disconnected, when target torque is not 0Nm, IGBT module 104 is opened, for example, determining that electric car needs when target torque is 50Nm
Accelerate, opens IGBT module 104.When target torque is 0Nm, the second receiving unit 401 is fed back to.
In the present embodiment, after opening IGBT module 104, target torque is buffered by fifo buffer,
Fifo buffer is phase shift buffer, only carries out phase delay to the target torque of input, does not change the amplitude of its numerical value.At this
In embodiment, preset time interval can be the buffer time of the Milliseconds such as 100ms, 200ms or 300ms, not influence to drive
The driving experience of member.In an alternative embodiment, if being received before opening IGBT module 104 after closing IGBT module 104
To the second control information for carrying target torque, then the target torque of input is deferred to by fifo buffer and opens IGBT
It is responded again after module 104.
It is the signal for the device that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake referring to Fig. 8, Fig. 8
Property block diagram, in the present embodiment, described device further includes third judging unit 411 and the second opening unit 412；Third judgement is single
Member 411 is for judging in the following tachometer value with the presence or absence of the tachometer value greater than preset second upper limit value；Second opening unit 412
If for there is the tachometer value greater than preset second upper limit value in the following tachometer value, using the tachometer value as the first following revolving speed
Value, and open IGBT module 104.
In the present embodiment, the second upper limit value is 100km/h, because can determine electronic vapour after usually more than 100km/h
Vehicle is in the state moved forward or back, needs to open IGBT module 104 at this time, will pass through 104 driving motor 103 of IGBT module
Work.It is understood that in other embodiments, the second upper limit value may be 80km/h, 90km/h etc..If the following revolving speed
There is no the tachometer value greater than preset second upper limit value in value, then third judging unit 411 is fed back to.
It is the signal for the device that another electric car provided in an embodiment of the present invention inhibits abnormal sound shake referring to Fig. 9, Fig. 9
Property block diagram, in the present embodiment, described device further include the 4th judging unit 421, the 5th judging unit 422 and third open it is single
Member 423；4th judging unit 421 is used to judge in the following tachometer value whether persistently occurring being less than turning for preset second lower limit value
Speed value；If the 5th judging unit 422 is used in the following tachometer value persistently occur being less than the tachometer value of preset second lower limit value, will
The tachometer value less than the second lower limit value persistently occurred judges that the second following tachometer value continues as the second following tachometer value
Time whether be more than preset time；If third opening unit 423 is more than pre- for the second following tachometer value duration
If the time, then the IGBT module is opened.
In the present embodiment, the second lower limit value is close to 0km/h, such as 3km/h, 5km/h etc.；Preset time is 200ms,
In other embodiments, preset time can also be 100ms, 150ms or 250ms etc..After closing IGBT module 104, if future
Persistently occur the tachometer value less than the second lower limit value in tachometer value, then using the tachometer value as the second following tachometer value, and judges
Whether its time persistently occurred is more than preset time, and the time persistently occurred is more than preset time, then opens IGBT module
104, so that IGBT module 104 next time can be with fast driving motor 103, without being postponed by fifo buffer.If not
Carry out in tachometer value not have the tachometer value for continuing to occur being less than preset second lower limit value, or has and lasting occur being less than preset the
The tachometer value of two lower limit values, but be not continued above preset time, then feed back to the 4th judging unit 421.It is understood that
The second following tachometer value may include a tachometer value in the following tachometer value, also may include multiple tachometer values.
The present invention also proposes a kind of controller for electric car, including memory, processor and is stored in described deposit
On reservoir and the computer program that can run on the processor, the processor are realized when executing the computer program
State described in any item control methods for inhibiting electric car abnormal sound to shake.
The present invention also proposes that a kind of electric car, the electric car include controller described above.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content is applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
Claims (10)
1. a kind of control method for inhibiting electric car abnormal sound to shake, which comprises the following steps:
When working condition is forward gear or retreating gear, real-time reception is used to control the first control letter of motor output parking torque
Breath, the first control information are slowed down or stopped for controlling electric car；
All tachometer values of the motor in current forward gear or retreating gear are obtained in real time；
Judge whether the tachometer value of the parking torque and the motor meets the preset condition of Temporarily Closed IGBT module；
If the tachometer value of the parking torque and the motor meets the preset condition of IGBT module described in Temporarily Closed, close
The IGBT module prevents the electromechanical coupling so that the Mechanical & Electrical Combination System of the electric car is in purely mechanic operating condition
Collaboration system is activated and generates abnormal sound or shake.
2. the control method for inhibiting electric car abnormal sound to shake as described in claim 1, which is characterized in that the default item
Part includes: that current rotating speed value is less than preset first lower limit value, is existed in history tachometer value greater than preset first upper limit value
Tachometer value and the parking torque are equal to 0Nm, and whether the tachometer value for judging the parking torque and the motor meets
The step of preset condition of Temporarily Closed IGBT module includes:
Judge whether the current rotating speed value is less than preset first lower limit value, pre- with the presence or absence of being greater than in the history tachometer value
If the first upper limit value tachometer value and parking torque whether be equal to 0Nm.
3. the control method for inhibiting electric car abnormal sound to shake as described in claim 1, which is characterized in that if described
The tachometer value of parking torque and the motor meets the preset condition of IGBT module described in Temporarily Closed, then closes the IGBT mould
Block so that the Mechanical & Electrical Combination System of the electric car is in purely mechanic operating condition, prevent the Mechanical & Electrical Combination System by
After the step of motivating and generating abnormal sound or shake, the method also includes:
The second control information for controlling motor output target torque is received, the second control information is for controlling the electricity
Electrical automobile accelerates；
Judge the target torque whether not for 0Nm；
If the target torque is not 0Nm, the IGBT module is opened.
4. the control method for inhibiting electric car abnormal sound to shake as claimed in claim 3, which is characterized in that the unlatching institute
After the step of stating IGBT module, the method also includes:
Phase shift buffered is carried out to the target torque, executes the second control letter again to postpone a preset time interval
Breath after stablizing the breakdown action of the IGBT module, then responds the target torque.
5. the control method for inhibiting electric car abnormal sound to shake as described in claim 1, which is characterized in that if described
The tachometer value of parking torque and the motor meets the preset condition of IGBT module described in Temporarily Closed, then closes the IGBT mould
Block so that the Mechanical & Electrical Combination System of the electric car is in purely mechanic operating condition, prevent the Mechanical & Electrical Combination System by
After the step of motivating and generating abnormal sound or shake, the method also includes:
Judge in the following tachometer value with the presence or absence of the tachometer value greater than preset second upper limit value；
If there is the tachometer value greater than preset second upper limit value in the future tachometer value, using the tachometer value as first
The following tachometer value, and open the IGBT module.
6. the control method for inhibiting electric car abnormal sound to shake as described in claim 1, which is characterized in that if described
The tachometer value of parking torque and the motor meets the preset condition of IGBT module described in Temporarily Closed, then closes the IGBT mould
Block so that the Mechanical & Electrical Combination System of the electric car is in purely mechanic operating condition, prevent the Mechanical & Electrical Combination System by
After the step of motivating and generating abnormal sound or shake, the method also includes:
Judge whether persistently occur being less than the tachometer value of preset second lower limit value in the following tachometer value；
If persistently occurring being less than the tachometer value of preset second lower limit value in the future tachometer value, by the small of lasting appearance
In the second lower limit value tachometer value as the second following tachometer value, and judge that the described second following tachometer value duration was
No is more than preset time；
If the described second following tachometer value duration was more than preset time, the IGBT module is opened.
7. a kind of control device for inhibiting electric car abnormal sound to shake characterized by comprising
First receiving unit, for when working condition is forward gear or retreating gear, real-time reception to stop for controlling motor output
First control information of vehicle torque, the first control information are slowed down or stopped for controlling electric car；
Acquiring unit, for obtaining all tachometer values of the motor in current forward gear or retreating gear in real time；
First judging unit, for judging whether the tachometer value of the parking torque and the motor meets Temporarily Closed IGBT mould
The preset condition of block；
Closing unit, if the tachometer value for the parking torque and the motor meets the pre- of IGBT module described in Temporarily Closed
If condition, then the IGBT module is closed, so that the Mechanical & Electrical Combination System of the electric car is in purely mechanic operating condition, prevented
Only the Mechanical & Electrical Combination System is activated and generates abnormal sound or shake；Wherein,
The preset condition includes: that current rotating speed value is less than preset first lower limit value, exists to be greater than in history tachometer value and preset
The first upper limit value history tachometer value and the parking torque be equal to 0Nm, the judging unit is described current for judging
Whether tachometer value is less than preset first lower limit value, the history tachometer value whether there is going through greater than preset first upper limit value
Whether history tachometer value and parking torque are equal to 0Nm.
8. the control device for inhibiting electric car abnormal sound to shake as claimed in claim 7, which is characterized in that described device is also
Include:
Second receiving unit, for receiving the second control information for controlling motor output target torque, second control
Information accelerates for controlling the electric car；
Second judgment unit, for judging the target torque whether not for 0Nm；
First opening unit opens the IGBT module if not being 0Nm for the target torque；
Cache unit is executed for carrying out phase shift buffered to the target torque with postponing a preset time interval again
The second control information, after stablizing the breakdown action of the IGBT module, then responds the target torque, avoids described
The pulsewidth of IGBT module increases output high current suddenly and torque concussion occurs, and then the case where abnormal sound and shake occurs.
9. a kind of controller for electric car, including memory, processor and it is stored on the memory and can be in institute
State the computer program run on processor, which is characterized in that the processor is realized when executing the computer program as weighed
Benefit require any one of 1 to 6 described in for inhibit electric car abnormal sound shake control method.
10. a kind of electric car, which is characterized in that the electric car includes controller as claimed in claim 9.
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