CN110501941A - A kind of electric automobile whole Controlling model acquisition methods - Google Patents
A kind of electric automobile whole Controlling model acquisition methods Download PDFInfo
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- CN110501941A CN110501941A CN201910756951.4A CN201910756951A CN110501941A CN 110501941 A CN110501941 A CN 110501941A CN 201910756951 A CN201910756951 A CN 201910756951A CN 110501941 A CN110501941 A CN 110501941A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a kind of electric automobile whole Controlling model acquisition methods, comprising the following steps: 1, acquisition obtain electric car model needed for various data；2, the crucial waypoint of data is obtained；3, adaptive curve matching is carried out to the data after segmentation, obtains the mathematical relationship between data not of the same race；4, the design parameter in full-vehicle control model is recognized.The present invention can be suitable for the modeling of mathematical relationship between various electric vehicle accelerator pedal apertures and car speed, and property that the operation is simple and flexible is high, realize the quick foundation to electric automobile whole Controlling model.
Description
Technical field
The invention belongs to Control of Electric Vehicles field, in particular to a kind of electric automobile whole Controlling model acquisition methods.
Background technique
Trendy electric car needs to carry out continual mileage test, traditional continual mileage on rotating hub platform before launch
Test needs veteran driver to complete, in order to save labour turnover and improve test accuracy, each major company in recent years
Rotating hub drive robot is developed instead of man-made chamber with scientific research institutions.Rotating hub test drive robot passes through control gas pedal
Aperture allows electric car accurately to follow the speed change curves of setting.However since electric automobile whole Controlling model is unknown, needle
Continual mileage test to different automobile types, needs to manually adjust the controller parameter of drive robot.Manually adjust driving machine
Device people's controller parameter often uses trial and error procedure, so that needing the debugging process of experience long period before test every time.Automatic adjusting
Drive robot controller parameter needs to know accurate electric automobile whole Controlling model.
Summary of the invention
Goal of the invention: in view of the foregoing drawbacks, the present invention provides a kind of electric automobile whole Controlling model acquisition methods, only needs
Car speed, motor the expectation torque, motor speed, time information data under different accelerator pedal aperture step signals are acquired,
The quick of electric automobile whole Controlling model is realized in the electric automobile whole model acquisition methods programming that can be provided according to the present invention
It obtains, is provided safeguard for the convenient and efficient progress continual mileage test of electric car.
Technical solution: the present invention proposes a kind of electric automobile whole Controlling model acquisition methods, includes the following steps:
(1) data needed for collecting and recording a variety of acquisition electric automobile whole Controlling models；
(2) crucial waypoint is carried out to the data of acquisition to obtain；
(3) adaptive curve matching is carried out to the data after segmentation, obtains the mathematical relationship between different data；
(4) design parameter in full-vehicle control model is obtained.
Further, number needed for a variety of acquisition electric automobile whole Controlling models being collected and recorded in the step (1)
According to specific step is as follows:
(1.3) it collects and records multiple groups difference accelerator pedal aperture step signal and acts on lower car speed, motor expectation torsion
Square, motor speed, temporal information；
(1.4) power of motor under every group of accelerator pedal aperture step signal effect is calculated
Wherein P is power of motor kw, and T is the motor expectation torque Nm acquired in step (1.1), and N is step (1.1)
In collected motor speed rpm；
(1.3) torque it is expected to car speed, the motor under the every group of identical accelerator pedal aperture acquired in step (1.1)
Calculated power of motor data add serial number all in accordance with chronological order in data, temporal information and step (1.2), accelerate
The starting point data serial number 1 of pedal opening step signal, each data sequence number later successively add 1.
Further, to the crucial waypoint acquisition of the data progress of acquisition, specific step is as follows in the step (2):
(2.1) in step (1.3) since the data point of serial number 1, successively by preceding n to power of motor with it is corresponding when
Between information point fitting be in line, and calculate the slope K 1 of straight line, wherein n >=2, while calculating two pairs of electricity of serial number n and n+1
Machine power and the straight slope K 2 of time information data dot；When k1 and K2 ratio are greater than threshold value δ, corresponding data point sequence
Number n is denoted as first waypoint number1；The calculation formula of slope are as follows:K indicates that slope, Xi indicate temporal information, and Yi is motor function
Rate；
(2.2) since the data point of serial number number1, successively by preceding n to car speed and corresponding temporal information
Point fitting is in line, and calculates the slope l1 of straight line, wherein n >=2, while calculating serial number number1+n-1 and number1
The two pairs of car speeds and the straight slope l2 of time information data dot of+n；It is corresponding when l1 and l2 ratio are greater than threshold value δ
Data point serial number number1+n-1 be denoted as second waypoint number2.
Further, specific step is as follows for the mathematical relationship for obtaining between different data in the step (3):
(3.1) serial number 1 under each accelerator pedal aperture step signal is asked to the motor expectation torque between number1
Power of motor between average value and serial number number1 to number2 is averaged；
(3.2) since the smallest data point of accelerator pedal aperture, successively by preceding n to accelerator pedal opening size with it is corresponding
The step of (3.1) in the power of motor average value fitting that finds out be in line, and calculate the slope L1 of straight line, wherein n >=2, simultaneously
Calculate the two pairs of powers of motor and the straight slope L2 of time information data dot of serial number n and n+1；As L1 and L2 ratio
When greater than threshold value δ, corresponding opening size is denoted as θ；
(3.3) average with the motor expectation torque found out in quartic polynomial fitting accelerator pedal aperture and step (3.1)
The relationship of value, then accelerator pedal aperture in step (3.1) is substituted into respectively in the multinomial of fitting, calculate motor expectation torque
Match value；Calculate the correlation coefficient r of motor expectation match value and motor expectation torque average value；The calculation formula of related coefficient
Are as follows:Wherein x indicates that motor it is expected that torque average value, y indicate that identical accelerator pedal is opened
The motor desired value fitted under degree；Compare the absolute value of r and the relationship of threshold value beta, if the absolute value of r is less than threshold value beta, opens
Degree is greater than the later motor expectation torque and fitting of a polynomial of accelerator pedal aperture relationship of θ.
Further, specific step is as follows for the design parameter in the step (4) in acquisition full-vehicle control model:
(4.1) Control of Electric Vehicles Policy model is established；Control of Electric Vehicles Policy model indicate accelerator pedal aperture with
Motor it is expected the mathematical relationship between torque；
(4.2) electric car Longitudinal Dynamic Model is established
Electric car Longitudinal Dynamic Model indicates the mathematical relationship between motor expectation torque and car speed；In above formula
M is that 1/4, the r of electric car quality kg is radius of wheel m, is obtained by measurement；J is rotary inertia kgm2, R is
Reduction ratio；fR0, fR1, fR2For coefficient of rolling resistance；Treq is motor expectation torque Nm, and v is car speed m/s；
(4.3) the motor expectation torque average value and vehicle that serial number number2 is later under different accelerator pedal apertures are selected
Speed average selects least square method to find out f as Treq and vR0, fR1, fR2；
(4.4) the motor expectation torque value under a certain accelerator pedal aperture step signal effect is chosen as Treq, is corresponded to
Car speed be v, and set the initial value of J and R, nonlinear least square method utilized to obtain the end value of J and R.
Further, Control of Electric Vehicles Policy model is segmentation in the step (4.1), and waypoint is by car speed
Size, power of motor size and accelerator pedal opening size determine, are divided into three sections, when power of motor is less than threshold value P_limit
When, it is in control strategy model first segment；When power of motor is more than or equal to threshold value P_limit and car speed is less than threshold value v_
Policy model is controlled when limit and is in second segment, and when car speed is more than or equal to threshold value v_limit, control Policy model is located at
Third section.
The present invention by adopting the above technical scheme, has the advantages that
The present invention need to only acquire the data such as car speed, motor expectation torque under different accelerator pedal apertures, pass through meter
Calculation machine programs the full-vehicle control model that can obtain accelerator pedal aperture and car speed, easy to operate.To progress continual mileage
Test and automatic Pilot research have important practical significance.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is the change curve of each data under 50% aperture of accelerator pedal in specific embodiment；
Fig. 3 it is expected torque average value and accelerator pedal aperture to the motor between number1 for serial number 1 in specific embodiment
Relational graph；
Fig. 4 is speed limit and accelerator pedal aperture relational graph in specific embodiment.
Specific embodiment
Combined with specific embodiments below, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate the present invention
Rather than limit the scope of the invention, after the present invention has been read, those skilled in the art are to various equivalences of the invention
The modification of form falls within the application range as defined in the appended claims.
Implementation method of the present invention is described in more detail with reference to the accompanying drawing
The embodiment of the present invention includes following steps as shown in Figure 1::
Step 1: collect and record accelerator pedal aperture be 30%, 35%, 40%, 45%, 50%, 55%, 60%,
65%, car speed, motor it is expected torque, motor speed, temporal information totally 11 groups of numbers under 70%, 75%, 80% step signal
According to.
Calculate the power of motor under every group of accelerator pedal aperture step signal effect
Wherein P is power of motor (kw), and T is motor expectation torque (Nm), and N is step motor speed (rpm)；
Torque data, temporal information it is expected to car speed, the motor under every group of identical accelerator pedal aperture and calculated
Power of motor data all in accordance with chronological order add serial number, the starting point data serial number of accelerator pedal aperture step signal
It is 1, each data sequence number later successively adds 1.
Step 2: Fig. 2 is the change curve of each data under 50% aperture of accelerator pedal.Wherein starting point is serial number 1
Data point, waypoint 1 are first waypoint number1, and waypoint 2 is second waypoint number2.Successively opened each
N is fitted power of motor with corresponding temporal information point and is in line before degree is lower, and calculates the slope K 1 of straight line, wherein n >=2, together
When calculate serial number n and n+1 two pairs of powers of motor and the straight slope K 2 of time information data dot.As k1 and K2 ratio
When greater than threshold value δ=1.5, corresponding data point serial number n is denoted as first waypoint number1.The calculation formula of slope are as follows:K indicates that slope, Xi indicate temporal information, and Yi is motor function
Rate.
Since the data point of serial number number1, successively preceding n is fitted car speed with corresponding temporal information point
Be in line, and calculate the slope l1 of straight line, wherein n >=2, while calculating the two of serial number number1+n-1 and number1+n
To car speed and the straight slope l2 of time information data dot.It is corresponding when l1 and l2 ratio are greater than threshold value δ=1.5
Data point serial number number1+n-1 be denoted as second waypoint number2.
Waypoint data sequence number is as shown in table 1 under each accelerator pedal aperture found out in this example:
Waypoint data sequence number under the different accelerator pedal apertures of table 1:
Step 3:
(3.1) serial number 1 under each accelerator pedal aperture step signal is asked to the motor expectation torque between number1
Average value.The motor expectation torque average value found out is as shown in Fig. 3.Then to the electricity between serial number number1 and number2
Machine power is averaged
(3.2) since the data point of accelerator pedal aperture 30%, successively by preceding n to accelerator pedal opening size with it is corresponding
The step of (3.1) in the power of motor average value fitting that finds out be in line, and calculate the slope L1 of straight line, wherein n >=2, simultaneously
Calculate the two pairs of powers of motor and the straight slope L2 of time information data dot of serial number n and n+1.As L1 and L2 ratio
When greater than threshold value 1.5, corresponding opening size θ percentage number is 65.The method and the method in step (2.1) for calculating slope
Unanimously
(3.3) torque it is expected with the motor found out in quartic polynomial fitting accelerator pedal opening size and step (3.1)
The relationship of average value:
Treq=0.00007737 θ4-0.0191θ3+1.6146θ2-50.5470θ+535.5933 (1)
Treq is Motor torque in above formula, and θ is accelerator pedal aperture (%).Again by size be 30 to 80 between 11
Accelerator pedal aperture (%) substitutes into the quartic polynomial of fitting, calculates motor expectation torque match value.Calculate the motor phase
Hope the correlation coefficient r of match value and motor expectation torque average value.If r less than 0.8, accelerator pedal aperture be more than or equal to θ with
Fitting of a polynomial of relationship for accelerator pedal opening size and motor expectation torque afterwards.The r=0.9952 found out herein,
The then relationship of the part no longer with a fitting of a polynomial accelerator pedal opening size more than or equal to 65 and motor expectation torque.
(3.4) with the power of motor average value p_limit and accelerator pedal found out in quartic polynomial fit procedure (3.1)
The relationship of opening size θ:
P_limit=0.0000186 θ4-0.0046θ3+0.3895θ-12.2942θ+131.6503 (2)
Determine the relationship between serial number number1 to number2 between motor expectation torque and accelerator pedal aperture.It is electronic
Relationship between power of motor p and motor expectation the torque T req of automobile are as follows:
Wherein r is electric car wheel radius, and v is car speed.Therefore motor expectation between number1 to number2
The relationship such as following formula of torque and accelerator pedal aperture:
(3.5) remember that the car speed at serial number number2 is limited constant speed degree v_limit.It is from accelerator pedal opening size
30 data point starts, and successively preceding n is in line to restriction speed with the fitting of corresponding accelerator pedal opening size, and calculates
The slope l1 of straight line, wherein n >=2, while calculate n-th and n+1 to limit speed and accelerator pedal aperture data shape it is straight
Slope l2.When l1 and l2 ratio are greater than threshold value δ=1.5, corresponding aperture (%) is 45.Limit speed and accelerator pedal aperture
Between relationship it is as shown in Fig. 4.It is fitted accelerator pedal aperture (%) respectively between 30-45 and 45 to 80 with an order polynomial
Relationship, such as following formula:
Torque it is expected with speed and motor corresponding under accelerator pedal aperture each after straight line fitting number2, and
Ask the slope and intercept of every straight line.The relationship of accelerator pedal aperture and corresponding Linear intercept is fitted with cubic polynomial, with one
The relationship of order polynomial fitting accelerator pedal aperture and corresponding straight slope.Size is stepped on for 11 acceleration between 30 to 80 again
Plate aperture (%) substitutes into an order polynomial of fitting, calculates straight slope match value.Then straight slope fitting is calculated
The correlation coefficient r of value and straight slope actual value.If r, less than 0.8, accelerator pedal aperture, which is more than or equal in step (3.2), to be asked
The relationship of θ out later accelerator pedal opening size and straight slope and less than the accelerator pedal opening size of the part θ and straight
Two different fitting of a polynomials of the relationship of line slope.The r=0.3926 found out herein.Claim after serial number number2
For constant-speed section, constant-speed section motor it is expected the relationship of torque and accelerator pedal aperture are as follows: Treq=d1(θ)v+d0(θ), wherein d1
(θ)
Indicate the relationship for the accelerator pedal aperture and straight slope that front is found out, d0The acceleration that (θ) indicates that front is found out is stepped on
The relationship of plate aperture and Linear intercept.Arrange constant-speed section motor expectation torque and the relationship of accelerator pedal aperture it is as follows:
Step 4:
(4.1) electric car Longitudinal Dynamic Model is established
Electric car Longitudinal Dynamic Model indicates the mathematical relationship between motor expectation torque and car speed.In above formula
M is that 1/4, the r of electric car quality (kg) is radius of wheel (m), is obtained by measurement.J is rotary inertia (kg
m2), R is reduction ratio.fR0, fR1, fR2For coefficient of rolling resistance.Treq is motor expectation torque (Nm), and v is car speed
(m/s)；
(4.2) the motor expectation torque average value and vehicle that serial number number2 is later under different accelerator pedal apertures are selected
Speed average selects least square method to find out f as Treq and vR0, fR1, fR2。
The motor expectation torque value under the effect of 60 step signal of accelerator pedal aperture is chosen as Treq, corresponding vehicle speed
Degree is v, and the initial value for setting J and R obtains the end value of J and R using nonlinear least square method as 33 and 6.
Each parameter of electric car Longitudinal Dynamic Model found out in this implementation use-case is as shown in table 2
2 electric car Longitudinal Dynamic Model parameter value of table
| m | r | fR0 | fR1 | fR2 | J | R |
| 340 | 0.261 | 101.048 | 12.639 | 0.106 | 35.3894 | 4.8853 |
(4.3) by table 2 parameter value substitute into formula (6), and found out in simultaneous step 3 formula (1), formula (2), formula (3),
Formula (4), that formula (5) finally obtains electric automobile whole Controlling model in this implementation use-case is as follows:
Treq is motor expectation torque (Nm) in above formula, and θ is accelerator pedal aperture (%), and v is car speed (m/s), p
It is power of motor (kw).
Embodiments of the present invention are described in detail in conjunction with attached drawing above, but the present invention is not limited to described reality
Apply mode.For those of ordinary skill in the art, in the range of the principle of the present invention and technical idea, to these implementations
Mode carries out a variety of variations of embodiment progress, modification, replacement and deformation and still falls in protection scope of the present invention.
Claims (6)
1. a kind of electric automobile whole Controlling model acquisition methods, which comprises the steps of:
(1) data needed for collecting and recording a variety of acquisition electric automobile whole Controlling models；
(2) crucial waypoint is carried out to the data of acquisition to obtain；
(3) adaptive curve matching is carried out to the data after segmentation, obtains the mathematical relationship between different data；
(4) design parameter in full-vehicle control model is obtained.
2. a kind of electric automobile whole Controlling model acquisition methods according to claim 1, which is characterized in that the step
(1) specific step is as follows for data needed for collecting and recording a variety of acquisition electric automobile whole Controlling models in:
(1.1) it collects and records multiple groups difference accelerator pedal aperture step signal and acts on lower car speed, motor expectation torque, electricity
Machine revolving speed, temporal information；
(1.2) power of motor under every group of accelerator pedal aperture step signal effect is calculated
Wherein P is power of motor kw, and T is that motor expectation the torque Nm, N acquired in step (1.1) is acquisition in step (1.1)
The motor speed rpm arrived；
(1.3) torque number it is expected to car speed, the motor under the every group of identical accelerator pedal aperture acquired in step (1.1)
Serial number is added all in accordance with chronological order according to calculated power of motor data in, temporal information and step (1.2), accelerates to step on
The starting point data serial number 1 of plate aperture step signal, each data sequence number later successively add 1.
3. a kind of electric automobile whole Controlling model acquisition methods according to claim 2, which is characterized in that the step
(2) carrying out crucial waypoint acquisition to the data of acquisition in, specific step is as follows:
(2.1) to since the data point of serial number 1, successively preceding n believes power of motor with the corresponding time in step (1.3)
Breath point fitting is in line, and calculates the slope K 1 of straight line, wherein n >=2, while calculating two pairs of motor function of serial number n and n+1
Rate and the straight slope K 2 of time information data dot；When k1 and K2 ratio are greater than threshold value δ, corresponding data point serial number n
It is denoted as first waypoint number1；The calculation formula of slope are as follows:K indicates that slope, Xi indicate temporal information, and Yi is motor function
Rate；
(2.2) since the data point of serial number number1, successively preceding n intends car speed with corresponding temporal information point
Synthesize straight line, and calculate the slope l1 of straight line, wherein n >=2, while calculating serial number number1+n-1 and number1+n
Two pairs of car speeds and the straight slope l2 of time information data dot；When l1 and l2 ratio are greater than threshold value δ, corresponding number
Strong point serial number number1+n-1 is denoted as second waypoint number2.
4. a kind of electric automobile whole Controlling model acquisition methods according to claim 1, which is characterized in that the step
(3) specific step is as follows for the mathematical relationship for obtaining between different data in:
(3.1) serial number 1 under each accelerator pedal aperture step signal is averaging to the motor expectation torque between number1
Power of motor between value and serial number number1 to number2 is averaged；
(3.2) since the smallest data point of accelerator pedal aperture, successively by preceding n to accelerator pedal opening size and corresponding step
Suddenly the power of motor average value fitting found out in (3.1) is in line, and calculates the slope L1 of straight line, wherein n >=2, calculate simultaneously
The two pairs of powers of motor and the straight slope L2 of time information data dot of serial number n and n+1；When L1 and L2 ratio are greater than threshold
When value δ, corresponding opening size is denoted as θ；
(3.3) with the motor expectation torque average value found out in quartic polynomial fitting accelerator pedal aperture and step (3.1)
Relationship, then accelerator pedal aperture in step (3.1) is substituted into respectively in the multinomial of fitting, calculate motor expectation torque fitting
Value；Calculate the correlation coefficient r of motor expectation match value and motor expectation torque average value；The calculation formula of related coefficient are as follows:Wherein x indicates that motor it is expected that torque average value, y indicate under identical accelerator pedal aperture
The motor desired value fitted；Compare the absolute value of r and the relationship of threshold value beta, if the absolute value of r is less than threshold value beta, aperture is big
In θ later motor expectation torque and fitting of a polynomial of accelerator pedal aperture relationship.
5. a kind of electric automobile whole Controlling model acquisition methods according to claim 1, which is characterized in that the step
(4) specific step is as follows for the design parameter in acquisition full-vehicle control model:
(4.1) Control of Electric Vehicles Policy model is established；Control of Electric Vehicles Policy model indicates accelerator pedal aperture and motor
It is expected that the mathematical relationship between torque；
(4.2) electric car Longitudinal Dynamic Model is established
Electric car Longitudinal Dynamic Model indicates the mathematical relationship between motor expectation torque and car speed；M is in above formula
1/4, the r of electric car quality kg is radius of wheel m, is obtained by measurement；J is rotary inertia kgm2, R is to slow down
Than；fR0, fR1, fR2For coefficient of rolling resistance；Treq is motor expectation torque Nm, and v is car speed m/s；
(4.3) the motor expectation torque average value and car speed that serial number number2 is later under different accelerator pedal apertures are selected
Average value selects least square method to find out f as Treq and vR0, fR1, fR2；
(4.4) the motor expectation torque value under a certain accelerator pedal aperture step signal effect is chosen as Treq, corresponding vehicle
Speed is v, and sets the initial value of J and R, and nonlinear least square method is utilized to obtain the end value of J and R.
6. a kind of electric automobile whole Controlling model acquisition methods according to claim 5, which is characterized in that the step
(4.1) Control of Electric Vehicles Policy model is segmentation in, and waypoint is stepped on by car speed size, power of motor size and acceleration
Plate opening size determines, is divided into three sections, when power of motor is less than threshold value P_limit, is in control strategy model first segment；
The is in when power of motor is more than or equal to control Policy model when threshold value P_limit and car speed are less than threshold value v_limit
Two sections, when car speed is more than or equal to threshold value v_limit, control Policy model is located at third section.
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