CN110466358A - A kind of electric car anti-skid control method and its Full Vehicle System - Google Patents
A kind of electric car anti-skid control method and its Full Vehicle System Download PDFInfo
- Publication number
- CN110466358A CN110466358A CN201910595557.7A CN201910595557A CN110466358A CN 110466358 A CN110466358 A CN 110466358A CN 201910595557 A CN201910595557 A CN 201910595557A CN 110466358 A CN110466358 A CN 110466358A
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- China
- Prior art keywords
- vehicle
- condition
- control method
- electric car
- skid control
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- 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
Abstract
Present invention discloses a kind of electric car anti-skid control method, VCU real-time reception gas pedal opening amount signal and motor speed signal, and output torque is requested to electric machine controller, when VCU judgement while being met the following conditions, is then determined that vehicle is in slipping state；Condition 1, motor speed are greater than the set value 1；Condition 2, the actual feedback of driving motor torque/driving motor demand distortion absolute value are less than setting value 2；Condition 3 meets the time of condition 1 and condition 2 more than setting value 3 simultaneously.The configuration of the present invention is simple, input cost is small, slipping phenomenon probability of happening when can reduce electric car driving.
Description
Technical field
The present invention relates to vehicle complete vehicle control fields.
Background technique
Since petroleum resources are non-renewable, new-energy automobile becomes an important development direction of auto industry.Pure electric vehicle
Automobile is one of the main technological route of national automobile industry development, the core component entire car controller (VCU) of pure electric automobile,
Control entire Vehicular behavior.
Work as cold districts, at band ice road surface, the adhesive force of wheel can sharply decline vehicle driving, driving motor
Driving wheel can generate slipping phenomenon under large torque, need to reduce the driving force of vehicle this moment, keep the stability of vehicle operation.
In the pure electric vehicle commercial vehicle for not installing ABS, above-mentioned phenomenon can often occur.
Summary of the invention
The technical problem to be solved by the present invention is to realize that a kind of whole-control system that passes through can identify that driving wheel skids
Method, it is intended to driving wheel skid when, prompt entire car controller vehicle for slipping state, reduce the driving force of vehicle.
To achieve the goals above, the technical solution adopted by the present invention are as follows: a kind of electric car anti-skid control method, VCU
Real-time reception gas pedal opening amount signal and motor speed signal, and output torque is requested to electric machine controller, when VCU judgement is same
When meet the following conditions, then determine that vehicle is in slipping state；
Condition 1, motor speed are greater than the set value 1；
Condition 2, the actual feedback of driving motor torque/driving motor demand distortion absolute value are less than setting value 2；
Condition 3 meets the time of condition 1 and condition 2 more than setting value 3 simultaneously.
The condition further include condition 4, vehicle vehicle communication vital values life it is normal.
The setting value 1 is that vehicle is more than the corresponding tachometer value of max. speed.
The setting value 2 is 20%.
The setting value 3 is communication cycle * 20.
When vehicle is in slipping state, output torque request is reduced, and reduced output torque is requested into conveying
To electric machine controller, and judge that vehicle is in slipping state again, if vehicle still in slipping state, recycles this
Step is not until vehicle is skidding.
In the reduction output torque request, reduced amount is the 50% of former output torque request.
A kind of Full Vehicle System executing the electric car anti-skid control method, including VCU and electric machine controller, it is described
VCU connects electric machine controller by CAN bus and requests to electric machine controller output torque, and receives the motor of torque request feedback
The actual feedback torque of revolving speed and driving motor.
The configuration of the present invention is simple, input cost is small, slipping phenomenon probability of happening when can reduce electric car driving.
Detailed description of the invention
The content of width attached drawing every in description of the invention expression is briefly described below:
Fig. 1 is electric car anti-skid control method schematic diagram.
Specific embodiment
Below against attached drawing, by the description of the embodiment, for example related each component of a specific embodiment of the invention
Shape, construction, the mutual alignment between each section and connection relationship, the effect of each section and working principle, manufacturing process and
Operate with method etc., is described in further detail, to help those skilled in the art to inventive concept of the invention, technology
Scheme has more complete, accurate and deep understanding.
The present invention sets judgment method program segment using vehicle communication bus CAN data and integrated vehicle control tactics, by VCU
Demand torque pass through this section of determining program, solve electric bicycle drive wheel slippage problems, improve the safety of vehicle, also make vehicle
The anti-skidding recognition methods of electric-control system integrated driving optimizes integrated vehicle control tactics.
The present invention judges that the driving wheel of vehicle is in slipping state by VCU internal control strategy and bus data.
Detailed process is as follows: under normal circumstances, VCU passes through one vehicle of the comprehensive output of driving motor revolving speed in gas pedal aperture and bus
Driving torque request (not described in specific troubleshooting process this patent, the part is unrelated with this patent content), general
Driving torque request is sent to electric machine controller MCU, and this patent is to request in the driving torque of VCU output to being sent to motor
Increase one-stage control algorithm in controller MCU, whether is in slipping state with algorithm identification vehicle.
Drive skidding recognition methods: under the driving torque request of vehicle output, by Rule of judgment, { vehicle of 1. vehicles is logical
It is normal to interrogate vital values life；(the revolving speed > N 2. vehicle traction motor dallies1 setting value)；3. actual feedback torque/driving of driving motor
Absolute value < N of motor demand torque2 setting values；4. the duration > communication cycle * 20 }, it is believed that meet simultaneously in this four conditions
In the case of, vehicle is for slipping state；N1 setting valueIt is set as vehicle more than the corresponding tachometer value of max. speed, N2 setting valuesSetting
It is 20%.
As shown in Figure 1, driving skidding processing method: 1. it is judged as when vehicle passes through judgment method for slipping state, that
By in flow chart, it will be 50% output to electric machine controller by the demand torque of vehicle, and see that demand torque will halve rear vehicle and is
It is no also to skid, while the numerical value that demand torque is halved loops to determine again as the demand torque of current VCU.Repeatedly follow
Ring is until vehicle no longer skids.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out is used, or without changing
It is within the scope of the present invention into the conception and technical scheme of the invention are directly applied to other occasions.
Claims (8)
1. a kind of electric car anti-skid control method, VCU real-time reception gas pedal opening amount signal and motor speed signal, and it is defeated
Torque request is to electric machine controller out, it is characterised in that: when VCU judges to meet the following conditions simultaneously, then determines that vehicle is in empty
Turn slipping state；
Condition 1, motor speed are greater than the set value 1；
Condition 2, the actual feedback of driving motor torque/driving motor demand torque absolute value are less than setting value 2；
Condition 3 meets the time of condition 1 and condition 2 more than setting value 3 simultaneously.
2. electric car anti-skid control method according to claim 1, it is characterised in that: the condition further include condition 4,
The vehicle communication vital values life of vehicle is normal.
3. electric car anti-skid control method according to claim 1 or 2, it is characterised in that: the setting value 1 is vehicle
Tachometer value corresponding more than max. speed.
4. electric car anti-skid control method according to claim 3, it is characterised in that: the setting value 2 is 20%.
5. electric car anti-skid control method according to claim 4, it is characterised in that: the setting value 3 is communication week
Phase * 20.
6. electric car anti-skid control method according to claim 1,2,4 or 5, it is characterised in that: when vehicle is in sky
When turning slipping state, output torque request is reduced, and reduced output torque request is delivered to electric machine controller, and sentence again
Disconnected vehicle is in slipping state, if vehicle still in slipping state, recycles this step until vehicle is not skidding.
7. electric car anti-skid control method according to claim 6, it is characterised in that: the reduction output torque request
In, reduced amount is the 50% of former output torque request.
8. a kind of Full Vehicle System of execution electric car anti-skid control method as described in any in claim 1-7, feature exist
In: including VCU and electric machine controller, the VCU connects electric machine controller by CAN bus and asks to electric machine controller output torque
It asks, and receives the motor speed of torque request feedback and the actual feedback torque of driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910595557.7A CN110466358B (en) | 2019-07-03 | 2019-07-03 | Anti-skid control method for electric automobile and whole automobile system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910595557.7A CN110466358B (en) | 2019-07-03 | 2019-07-03 | Anti-skid control method for electric automobile and whole automobile system thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN110466358A true CN110466358A (en) | 2019-11-19 |
| CN110466358B CN110466358B (en) | 2023-05-23 |
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| CN201910595557.7A Active CN110466358B (en) | 2019-07-03 | 2019-07-03 | Anti-skid control method for electric automobile and whole automobile system thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110834636A (en) * | 2019-11-21 | 2020-02-25 | 北京易控智驾科技有限公司 | Method and system for identifying and controlling wheel slip of unmanned mine car |
| CN112297876A (en) * | 2020-10-29 | 2021-02-02 | 合肥巨一动力系统有限公司 | Electric drive control system based on electric automobile speed reducer and control method thereof |
| CN112406556A (en) * | 2020-11-10 | 2021-02-26 | 东风越野车有限公司 | Active anti-slip control method for electric automobile |
| CN112895915A (en) * | 2021-03-02 | 2021-06-04 | 潍柴动力股份有限公司 | Motor control method, device and controller |
| CN113060116A (en) * | 2021-04-19 | 2021-07-02 | 奇瑞商用车（安徽）有限公司 | Electric automobile driving anti-skid control method |
| CN115107914A (en) * | 2022-06-07 | 2022-09-27 | 天津爱玛车业科技有限公司 | Anti-skid body stabilization system and method for electric vehicle |
| WO2023098257A1 (en) * | 2021-12-03 | 2023-06-08 | 广州汽车集团股份有限公司 | Vehicle anti-skid control method, motor controller, system, and storage medium |
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| CN106394254A (en) * | 2016-12-05 | 2017-02-15 | 潍柴动力股份有限公司 | Hill descent control method and device applied to electric automobile |
| CN107512175A (en) * | 2017-08-25 | 2017-12-26 | 北京新能源汽车股份有限公司 | Pure electric vehicle speed display methods and device |
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| CN109818549A (en) * | 2019-03-06 | 2019-05-28 | 浙江吉利汽车研究院有限公司 | A kind of guard method of motor |
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| CN102371912A (en) * | 2011-08-03 | 2012-03-14 | 深圳市航盛电子股份有限公司 | Motor stalling protection system and method, and electric vehicle |
| CN106394254A (en) * | 2016-12-05 | 2017-02-15 | 潍柴动力股份有限公司 | Hill descent control method and device applied to electric automobile |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110834636A (en) * | 2019-11-21 | 2020-02-25 | 北京易控智驾科技有限公司 | Method and system for identifying and controlling wheel slip of unmanned mine car |
| CN112297876A (en) * | 2020-10-29 | 2021-02-02 | 合肥巨一动力系统有限公司 | Electric drive control system based on electric automobile speed reducer and control method thereof |
| CN112297876B (en) * | 2020-10-29 | 2022-02-08 | 合肥巨一动力系统有限公司 | Electric drive control system based on electric automobile speed reducer and control method thereof |
| CN112406556A (en) * | 2020-11-10 | 2021-02-26 | 东风越野车有限公司 | Active anti-slip control method for electric automobile |
| CN112406556B (en) * | 2020-11-10 | 2022-03-29 | 东风越野车有限公司 | Active anti-slip control method for electric automobile |
| CN112895915A (en) * | 2021-03-02 | 2021-06-04 | 潍柴动力股份有限公司 | Motor control method, device and controller |
| CN112895915B (en) * | 2021-03-02 | 2022-06-28 | 潍柴动力股份有限公司 | Motor control method, device and controller |
| CN113060116A (en) * | 2021-04-19 | 2021-07-02 | 奇瑞商用车（安徽）有限公司 | Electric automobile driving anti-skid control method |
| CN113060116B (en) * | 2021-04-19 | 2023-05-26 | 奇瑞商用车（安徽）有限公司 | Anti-skid control method for driving electric automobile |
| WO2023098257A1 (en) * | 2021-12-03 | 2023-06-08 | 广州汽车集团股份有限公司 | Vehicle anti-skid control method, motor controller, system, and storage medium |
| CN115107914A (en) * | 2022-06-07 | 2022-09-27 | 天津爱玛车业科技有限公司 | Anti-skid body stabilization system and method for electric vehicle |
| CN115107914B (en) * | 2022-06-07 | 2023-10-20 | 天津爱玛车业科技有限公司 | Anti-skid vehicle body stabilization system and method for electric vehicle |
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| Publication number | Publication date |
|---|---|
| CN110466358B (en) | 2023-05-23 |
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