CN110539650B - Method, system and device for simulating idle speed jitter of manual fuel oil transmission vehicle - Google Patents
Method, system and device for simulating idle speed jitter of manual fuel oil transmission vehicle Download PDFInfo
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- CN110539650B CN110539650B CN201910889251.2A CN201910889251A CN110539650B CN 110539650 B CN110539650 B CN 110539650B CN 201910889251 A CN201910889251 A CN 201910889251A CN 110539650 B CN110539650 B CN 110539650B
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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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- 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
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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
- 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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/50—Drive Train control parameters related to clutches
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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
Abstract
The invention discloses a method, a system and a device for simulating idle speed jitter of a manual-gear fuel vehicle, which are applied to electric automobiles. The method realizes the simulation of the idle speed shaking of the manual-gear fuel vehicle by adopting a mode of shaking and adjusting the target rotating speed of the electric automobile in a rotating speed control mode, and the response speed of the method is higher compared with that of a motor torque control mode, so that the shaking frequency and the shaking amplitude of the electric automobile can be well controlled, and the idle speed shaking of the manual-gear fuel vehicle can be well simulated. Therefore, the electric automobile serves as a driving school bus, fuel cost is saved, emission pollution is reduced, driving experience of idling vibration of a manual fuel oil-fired bus can be well simulated, and driving habits of driving the school bus by traditional fuel oil are kept.
Description
Technical Field
The invention relates to the field of motor drive control of new energy automobiles, in particular to a method, a system and a device for simulating idle speed jitter of a manual-gear fuel vehicle.
Background
At present, the energy consumption efficiency of a new energy automobile is higher than that of a fuel oil automobile (particularly a pure electric automobile), and the engine efficiency of the fuel oil automobile is very low under the working condition of low speed and low torque, generally not reaching 20 percent, and can only reach about 35 percent at most; the motor efficiency of the electric automobile can basically reach more than 70% under any working condition, and can reach about 96% at most. For driving school cars, most of the driving school cars operate under the working condition of low speed and low torque, so that the traditional fuel driving school cars have higher fuel consumption due to lower engine efficiency, and the electric cars are adopted as the driving school cars, so that a large amount of fuel cost can be saved.
For an electric vehicle, the electric vehicle can basically realize seamless switching compared with an automatic fuel-oil-retaining vehicle, but the electric vehicle has a larger difference compared with a manual fuel-oil-retaining vehicle, and the main difference is that the manual fuel-oil-retaining vehicle can stop flame and idle at a low speed under the condition of improper operation. In the prior art, in order to enable an electric vehicle to simulate the driving experience of idle speed jitter of a manual fuel oil shift vehicle, the idle speed jitter of the manual fuel oil shift vehicle is generally simulated by controlling the motor torque of the electric vehicle. However, the response speed of the motor torque control method is slow, so that the vibration frequency and vibration amplitude of the electric vehicle cannot be well controlled, and the idle vibration of the manual fuel vehicle cannot be well simulated.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a method, a system and a device for simulating idle speed jitter of a manual fuel oil retaining vehicle, which not only saves fuel oil cost and reduces emission pollution, but also can better simulate the driving experience of the idle speed jitter of the manual fuel oil retaining vehicle, and keep the driving habit of the traditional fuel oil driving school bus.
In order to solve the technical problem, the invention provides a method for simulating idle speed jitter of a manual transmission fuel vehicle, which is applied to an electric vehicle and comprises the following steps:
detecting state information of the electric automobile after the electric automobile is started in a neutral gear;
when the electric automobile is determined to be in an idle starting state according to the state information, controlling the motor rotating speed of the electric automobile to alternately track a target rotating speed with a larger value and a target rotating speed with a smaller value in a rotating speed control mode so as to enter automobile idle speed jitter control;
and in the process of the idle speed shaking of the electric automobile, when the electric automobile is detected to meet a preset shaking exit condition, exiting the automobile idle speed shaking control.
Preferably, the state information of the electric vehicle includes: clutch pedal travel information, gear information, motor speed and/or motor torque and/or vehicle driving speed.
Preferably, the process of determining that the electric vehicle satisfies the idle start state according to the state information includes:
if the fact that the gear of the electric automobile is engaged into a non-neutral gear when a clutch pedal is stepped on to the bottom is detected, and when the clutch pedal is released at a certain speed, the rotating speed of the motor is reduced to a preset first rotating speed threshold value or the torque of the motor is increased to a preset torque threshold value, it is determined that the electric automobile meets an idle starting state.
Preferably, the preset process of the jitter exit condition includes:
and when the rotating speed of the motor is greater than a preset second rotating speed threshold value or the running speed of the automobile is greater than a preset first automobile speed threshold value, determining that the electric automobile meets a shaking exit condition.
Preferably, the preset process of the jitter exit condition further includes:
and after the clutch pedal is completely released for a preset first time, or the electric automobile shakes for a preset second time after starting, or the shaking time of the electric automobile reaches a preset total shaking time, or the electric automobile is put back to a neutral gear, or the clutch pedal is stepped down, and the electric automobile does not start and shake for a preset third time, determining that the electric automobile meets a shaking exit condition.
Preferably, the process of detecting the clutch pedal stroke information includes:
determining that a clutch pedal is stepped to the bottom when the motor rotating speed or the motor torque is kept at a constant value;
determining that the clutch pedal starts to be released at a certain speed when the motor rotation speed starts to gradually decrease from a constant value or the motor torque starts to gradually increase from a constant value;
and when the electric automobile starts and the automobile running speed is greater than a preset second vehicle speed threshold value, determining that the clutch pedal is completely released.
Preferably, the process of detecting the clutch pedal stroke information includes:
and detecting the stroke information of the clutch pedal by using a stroke sensor arranged on the clutch pedal.
Preferably, the process of controlling the motor speed of the electric vehicle to alternately track a larger value of the target speed and a smaller value of the target speed comprises:
in a first alternating period, controlling the motor speed of the electric automobile to continuously track a basic target speed n1 with a larger value in a preset first tracking time, and then continuously track a basic target speed n2 with a smaller value in a preset second tracking time;
calculating the average value of the motor driving torque in a selected time period in the alternate period, and reducing the average value of the motor driving torque to obtain a coefficient b not less than 1;
and taking n 3-n 1-b as the target rotating speed with a larger value in the next alternating period, and taking n 4-n 1/b as the target rotating speed with a smaller value in the next alternating period, so as to realize that the rotating speed of the motor is periodically controlled to continuously track the target rotating speed with a larger value corresponding to the current period in the preset first tracking time, and then continuously track the target rotating speed with a smaller value corresponding to the current period in the preset second tracking time.
In order to solve the technical problem, the invention also provides a system for simulating idle speed jitter of a manual transmission fuel vehicle, which is applied to an electric vehicle and comprises the following components:
the detection module is used for detecting the state information of the electric automobile after the electric automobile is started in the neutral gear;
the idle speed jitter module is used for controlling the motor rotating speed of the electric automobile to alternately track a target rotating speed with a larger value and a target rotating speed with a smaller value so as to enter idle speed jitter control when the electric automobile is determined to meet an idle starting state according to the state information;
and the shaking exit module is used for exiting the idling shaking control when the electric automobile is detected to meet a preset shaking exit condition in the idling shaking process of the electric automobile.
In order to solve the technical problem, the invention also provides a device for simulating idle speed jitter of a manual fuel vehicle, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of any one of the above simulation methods for the idle shaking of the manual fuel vehicle when the computer program is executed.
The invention provides a method for simulating idle speed jitter of a manual-gear fuel vehicle, which is applied to an electric vehicle. The method realizes the simulation of the idle speed shaking of the manual-gear fuel vehicle by adopting a mode of shaking and adjusting the target rotating speed of the electric automobile in a rotating speed control mode, and the response speed of the method is higher compared with that of a motor torque control mode, so that the shaking frequency and the shaking amplitude of the electric automobile can be well controlled, and the idle speed shaking of the manual-gear fuel vehicle can be well simulated. Therefore, the electric automobile serves as a driving school bus, fuel cost is saved, emission pollution is reduced, driving experience of idling vibration of a manual fuel oil-fired bus can be well simulated, and driving habits of driving the school bus by traditional fuel oil are kept.
The invention also provides a system and a device for simulating idle speed jitter of the manual-gear fuel vehicle, and the system and the device have the same beneficial effects as the simulation method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flowchart of a method for simulating idle shaking of a manual fuel-oil vehicle according to an embodiment of the present invention;
FIG. 2 is a graph illustrating the shaking effect of the electric vehicle in which the 1 st gear is engaged and the clutch pedal is slowly released until shaking is achieved according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a system for simulating idle shaking of a manual fuel vehicle according to an embodiment of the present invention.
Detailed Description
The core of the invention is to provide a method, a system and a device for simulating idle speed jitter of a manual fuel oil retaining vehicle, which not only saves fuel oil cost and reduces emission pollution, but also can better simulate the driving experience of idle speed jitter of the manual fuel oil retaining vehicle, and keep the driving habit of the traditional fuel oil driving school bus.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a method for simulating idle shaking of a manual fuel vehicle according to an embodiment of the present invention.
The method for simulating idle speed jitter of the manual transmission fuel vehicle is applied to the electric vehicle and comprises the following steps:
step S1: and after the electric automobile is started in the neutral gear, detecting the state information of the electric automobile.
Specifically, the electric automobile of this application can be transformed into by manual fender fuel car: on the basis of a manual fuel oil retaining vehicle, a power system and an energy storage system of the manual fuel oil retaining vehicle are electrically modified, specifically, an engine is replaced by a motor, an Electronic Control Unit (ECU) of the engine is removed, and the modification amount is small.
An MCU (Motor Control Unit) of an electric vehicle can operate in two Control modes: the method comprises the following steps of (1) carrying out mode switching in a rotating speed Control mode and a torque Control mode (the mode switching is carried out by controlling a VCU (Vehicle Control Unit)), comparing the two Control modes, and giving a Control strategy applicable to the electric Vehicle in the idling (namely, the accelerator is not stepped on): when the electric automobile is in a rotating speed control mode at idle speed, the response speed is high. Wherein, the control process of the rotating speed control mode comprises the following steps: and the VCU sends a rotating speed instruction to the MCU, and the MCU controls the motor to operate based on the rotating speed instruction.
Based on this, when the electric vehicle is operated to start, the electric vehicle is operated according to the operation mode of the manual-gear fuel vehicle, firstly, the electric vehicle is started in a neutral gear, and at the moment, the electric vehicle can control the motor to operate according to a preset target starting rotating speed (specifically, a VCU issues a rotating speed instruction containing the preset target starting rotating speed to an MCU (microprogrammed control Unit), and the MCU controls the motor to operate at the target starting rotating speed), wherein the process is that the electric vehicle is started to an idle speed; and operating the electric automobile to execute a series of idle starting related operations so as to enable the electric automobile to be in an idle starting state.
Considering that the corresponding state information of the electric vehicle is different under different operations, the method and the device can determine whether the electric vehicle is in the idle-start state or not based on the state information of the electric vehicle. Based on this, this application can be after electric automobile neutral gear starts, the state information of real-time detection electric automobile for whether follow-up judgement electric automobile satisfies the idling starting state and lay the basis.
Step S2: and when the electric automobile is determined to be in the idle starting state according to the state information, controlling the motor rotating speed of the electric automobile to alternately track a target rotating speed with a larger value and a target rotating speed with a smaller value in a rotating speed control mode so as to enter automobile idle speed jitter control.
Specifically, when the electric automobile is determined to meet the idle starting state according to the state information of the electric automobile, the method starts to enter automobile idle shaking control, and aims to simulate the idle shaking phenomenon of a manual fuel oil-burning vehicle. The principle of the automobile idle speed jitter control of the application is as follows: the method comprises the steps of controlling the motor rotating speed of the electric automobile to track one target rotating speed for a period of time and then track the other target rotating speed for a period of time, and then circularly reciprocating (it can be understood that two target rotating speeds tracked by the electric automobile successively have a certain rotating speed difference in order to realize the shaking of the electric automobile), namely controlling the motor rotating speed of the electric automobile to track a larger target rotating speed and a smaller target rotating speed alternately (specifically, an MCU responds to the target rotating speed of a VCU, when the target rotating speed is larger than the motor rotating speed, the MCU controls the motor to output a driving torque, when the target rotating speed is smaller than the motor rotating speed, the MCU controls the motor to output a feedback torque or not to output the torque, and as the motor intermittently outputs the driving torque, the shaking effect can be.
Step S3: and in the process of idle speed shaking of the electric automobile, when the electric automobile is detected to meet the preset shaking exit condition, exiting the automobile idle speed shaking control.
Specifically, the method sets a shaking exit condition in advance, can detect whether the electric automobile meets the preset shaking exit condition in real time in the idling shaking process of the electric automobile, and if not, continuously controls the electric automobile to simulate the idling shaking phenomenon of the manual-gear fuel oil vehicle according to the automobile idling shaking control of the step S2; and if so, quitting the automobile idle speed shaking control to finish the simulation of the idle speed shaking of the manual fuel oil transmission vehicle.
The invention provides a method for simulating idle speed jitter of a manual-gear fuel vehicle, which is applied to an electric vehicle. The method realizes the simulation of the idle speed shaking of the manual-gear fuel vehicle by adopting a mode of shaking and adjusting the target rotating speed of the electric automobile in a rotating speed control mode, and the response speed of the method is higher compared with that of a motor torque control mode, so that the shaking frequency and the shaking amplitude of the electric automobile can be well controlled, and the idle speed shaking of the manual-gear fuel vehicle can be well simulated. Therefore, the electric automobile serves as a driving school bus, fuel cost is saved, emission pollution is reduced, driving experience of idling vibration of a manual fuel oil-fired bus can be well simulated, and driving habits of driving the school bus by traditional fuel oil are kept.
On the basis of the above-described embodiment:
as an alternative embodiment, the status information of the electric vehicle includes: clutch pedal travel information, gear information, motor speed and/or motor torque and/or vehicle driving speed.
Specifically, on the basis of a manual fuel oil-retaining vehicle, an engine of the electric vehicle is replaced by a motor, an engine ECU is removed, a clutch, a gearbox, an accelerator pedal (provided with a pedal stroke sensor for detecting stroke information of the accelerator pedal), a Brake pedal (only switched, and the Brake pedal is invalid and does not perform Brake operation) and a clutch pedal (only switched, and any stroke is invalid when the vehicle is stepped on, and the clutch plate is in full contact when the vehicle is not stepped on, of course, the switches can be in other forms and have the same principle), a VCU, an MCU and an ABS (Antilock Brake System).
Based on this, the state information of electric automobile of this application can include separation and reunion pedal stroke information, gear information, motor speed, motor moment of torsion, the car speed of traveling, still can include accelerator pedal stroke information (can gather electric automobile's state information by VCU, VCU specifically directly gathers gear information (acquireing through detecting the gear level position), accelerator pedal stroke information, brake pedal on-off state, separation and reunion pedal stroke information (including separation and reunion pedal on-off state), return motor speed and motor moment of torsion to VCU by MCU, return information such as car speed of traveling to VCU by ABS.
As an alternative embodiment, the process of determining that the electric vehicle satisfies the idle-start state according to the state information includes:
if the fact that the gear of the electric automobile is engaged into a non-neutral gear when the clutch pedal is stepped to the bottom is detected, and when the clutch pedal is loosened at a certain speed, the rotating speed of the motor is reduced to a preset first rotating speed threshold value or the torque of the motor is increased to a preset torque threshold value, it is determined that the electric automobile meets an idle starting state.
Specifically, the idle start-related operation includes: when the clutch plate is contacted, a load is transmitted to the motor through the clutch, the rotating speed of the motor is reduced, the MCU adjusts the output torque according to the target starting rotating speed, the more the clutch pedal is loosened, the larger the transmittable torque between the clutch plates is, the more the rotating speed of the motor is reduced, and the larger the output torque is. When the rotating speed of the motor is reduced to a certain threshold value or the torque of the motor is increased to a certain threshold value, the electric automobile is considered to be in an idle starting state, and then the automobile idle shaking control is started.
Based on the above, the application sets a first speed threshold n0 and a torque threshold T0 in advance according to experience so as to provide a basis for judging whether the electric automobile is in the idle starting state. Specifically, after the electric vehicle is started in the neutral gear, if it is detected that the electric vehicle is engaged into a non-neutral gear (obtained from gear information) when the clutch pedal is fully depressed (obtained from clutch pedal stroke information), and when the clutch pedal is released at a certain speed (obtained from clutch pedal stroke information), the motor speed is reduced to a first speed threshold (or the motor torque is increased to a torque threshold), it is determined that the electric vehicle is in the idle start state.
As an alternative embodiment, the pre-setting process of the jitter exit condition includes:
and when the rotating speed of the motor is greater than a preset second rotating speed threshold value or the running speed of the automobile is greater than a preset first automobile speed threshold value, determining that the electric automobile meets the shaking exit condition.
Specifically, when the running speed of the automobile is greater than a certain value, the electric automobile is started to a certain speed, and the automobile idle speed shaking control can be quitted; or when the rotating speed of the motor is greater than a certain value, the rotating speed of the motor of the electric automobile is adjusted to be close to the idle speed, and the automobile idle speed shaking control can be quitted.
Based on the above, the application sets a second rotating speed threshold n5 and a first vehicle speed threshold V1 in advance according to experience so as to provide a basis for judging whether the electric vehicle exits from the idle shaking control. Specifically, when the motor speed is greater than the second speed threshold or the vehicle running speed is greater than the first speed threshold, the electric vehicle exits the idle shake control.
As an optional embodiment, the preset process of the jitter exit condition further includes:
and after the clutch pedal is completely released for a preset first time, or the electric automobile shakes for a preset second time after starting, or the shaking time of the electric automobile reaches a preset total shaking time, or the electric automobile is put back to a neutral gear, or the clutch pedal is stepped on, and the electric automobile does not start and shake for a preset third time, determining that the electric automobile meets shaking exit conditions.
Further, according to the actual driving experience, other shake exit conditions can be added appropriately, such as after the clutch pedal is completely released (valid) for a preset first time t1, after the electric vehicle shakes for a preset second time t2 after starting (with a vehicle speed, that is, the vehicle speed fed back by the ABS is greater than 0), the shake time of the electric vehicle (starting from the start of shake of the electric vehicle, where the shake time is a time counted time) reaches a preset total shake time t0, the electric vehicle is put back to the neutral gear, the clutch pedal is pressed down (invalid) and the electric vehicle does not start (without a vehicle speed, and the vehicle speed fed back by the ABS is 0) and shakes for a preset third time t 3.
As an alternative embodiment, the process of detecting the clutch pedal stroke information includes:
when the motor rotating speed or the motor torque keeps a constant value, determining that the clutch pedal is stepped to the bottom;
when the rotating speed of the motor is gradually reduced from a constant value or the torque of the motor is gradually increased from the constant value, determining that the clutch pedal starts to be released at a certain speed;
and when the electric automobile starts and the running speed of the automobile is greater than a preset second vehicle speed threshold value, determining that the clutch pedal is completely released.
Specifically, considering that the clutch pedal stroke information has a certain correlation with the motor rotation speed (or the motor torque), the present application may determine the clutch pedal stroke information indirectly through the motor rotation speed (or the motor torque). More specifically, when the motor rotating speed is kept at a constant value (or the motor torque is kept at a small constant value, which indicates that the clutch plate is disconnected, namely the clutch switch is invalid), the clutch pedal is determined to be stepped to the bottom; when the rotating speed of the motor starts to gradually decrease from a constant value (or the torque of the motor starts to gradually increase from the constant value, which indicates that the clutch plate is gradually contacted), determining that the clutch pedal starts to be released at a certain speed; when the electric automobile starts and the automobile running speed is larger than a certain value (set according to experience), the clutch pedal is determined to be completely released.
As an alternative embodiment, the process of detecting the clutch pedal stroke information includes:
and detecting the stroke information of the clutch pedal by using a stroke sensor arranged on the clutch pedal.
Specifically, in addition to the above-mentioned embodiments in which the clutch pedal stroke information is indirectly determined by the motor speed or the motor torque, the present application may further provide a stroke sensor on the clutch pedal, so that the stroke sensor is used to detect the clutch pedal stroke information. More specifically, the clutch pedal is depressed to the end: the clutch pedal stroke is 100% or greater than a certain value; the clutch pedal is completely released: the clutch pedal stroke is equal to 0%.
As an alternative embodiment, the process of controlling the motor speed of the electric vehicle to alternatively track a target speed with a larger value and a target speed with a smaller value includes:
in a first alternate period, controlling the motor speed of the electric automobile to continuously track a basic target speed n1 with a larger value in a preset first tracking time, and then continuously track a basic target speed n2 with a smaller value in a preset second tracking time;
calculating the average value of the motor driving torque in a selected time period in the alternating period, and reducing the average value of the motor driving torque to obtain a coefficient b not less than 1;
and taking n 3-n 1-b as the target rotating speed with a larger value of the next alternating period, and taking n 4-n 1/b as the target rotating speed with a smaller value of the next alternating period, so as to realize that the rotating speed of the motor is periodically controlled to continuously track the target rotating speed with a larger value corresponding to the current period within the preset first tracking time, and then continuously track the target rotating speed with a smaller value corresponding to the current period within the preset second tracking time.
Specifically, when the rotating speed of the motor of the electric automobile is controlled to track a target rotating speed with a larger value, the MCU controls the motor to output a driving torque and is in a working stage; when the rotating speed of the motor of the electric automobile is controlled to track a target rotating speed with a small value, the MCU controls the motor to output feedback torque or not output torque, and the electric automobile is in a non-work-doing stage. It is understood that the present application should set the working phase duration (i.e., the first tracking time) and the non-working phase duration (i.e., the second tracking time) in advance.
Considering the operating characteristics of the engine of the fuel-oil vehicle, when the engine speed is n rpm, the number of engine work times in 1s is considered to be n × i1 × i2/240(i1 represents the stroke work coefficient, i2 represents the number of cylinders), for example, i1 is 2 for a two-stroke engine; the four-stroke engine i1 is 1. Currently, a four-stroke 4-cylinder engine is more commonly used, i1 is 2, and i2 is 4. For a four-stroke 4-cylinder engine, assuming that the work and non-work times are equal during a work cycle, the duration of each work is 30/n s. The process of simulating the shudder in the engine comprises: the VCU sends a target rotating speed with a larger value to the MCU for 30/n s continuously, and then sends a target rotating speed with a smaller value to the MCU for 30/n s continuously; and then cyclically reciprocate. Meanwhile, considering that the response speed of the MCU is limited, the coefficient 30 can be properly adjusted to other values according to the actual vehicle condition and the response speed of the MCU, and then the duration of the working stage can be set to be k1/n s, and the duration of the non-working stage can be set to be k2/n s (k1 and k2 are positive numbers, and n represents the target rotating speed of the current stage).
In addition, the present application also needs to set a larger value of the basic target rotation speed n1 (as the basic target rotation speed in the working stage) and a smaller value of the basic target rotation speed n2 (as the basic target rotation speed in the non-working stage) in advance. Simultaneously, consider that traditional fuel vehicle is when idle load is great, like the hill start, the separation and reunion footboard pine is more, and the car can be trembled more, this application can realize this simulation, and concrete implementation means is: calculating a motor driving torque average value Ta (namely the average value of motor torque values larger than 0) of a selected time period (such as k1/n s or k2/n s or (k1+ k2)/n s) in a current alternating period (namely the current working period: the duration of the current working stage plus the duration of the non-working stage), wherein the selected time period can be determined according to actual effects, and a response delay problem is considered in the process, and reducing the motor driving torque average value Ta to obtain a coefficient b (the motor driving torque average value Ta can be reduced through a proper operational relation to obtain the coefficient b, for example, the coefficient b is obtained by dividing by a constant a or substituting into a polynomial, and the maximum value and/or the minimum value of the coefficient b can be limited according to a test condition, for example, the coefficient b can be limited to be not smaller than 1); and taking n 3-n 1-b as the target rotating speed with a larger value of the next alternation period, taking n 4-n 1/b as the target rotating speed with a smaller value of the next alternation period to realize that the target rotating speed is n3 continuously k1/n s, and then the target rotating speed is n4 continuously k2/n s, and the steps are repeated in a circulating way, so that the driving experience that the clutch pedal is loosened more and the jitter is larger when the idling load is larger is achieved through the average magnitude of the motor driving torque.
For example, the parameters and conditions may be set as follows: idling 850rpm, n 0-800 rpm, T0-20 Nm, k 1-75, k 2-50, n 1-850 rpm, n 2-650 rpm, b-1, V1-5 km/h, n 5-850 rpm, T1-1 s, T2-3 s, and engaging in neutral to withdraw from shaking without setting the limits of T0 and T3.
In addition, referring to fig. 2, fig. 2 is a diagram illustrating a shaking effect of slowly releasing the clutch pedal to shake when the electric vehicle is in the 1-gear state according to the embodiment of the invention. As can be seen from fig. 2, when the clutch pedal is slowly released to a certain extent while the clutch is at the steady idle speed, the load is transmitted to the motor from the clutch, the rotational speed of the motor slightly decreases, the torque of the motor increases, and the motor starts to shake after the rotational speed increases to 20 Nm. Because the output torque of the motor has large variation amplitude, the stress of the clutch is unstable, the suspension is caused to shake, and the effect of idle speed shaking is achieved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a system for simulating idle shaking of a manual fuel vehicle according to an embodiment of the present invention.
This manual fender fuel vehicle idle speed shake's analog system is applied to electric automobile, includes:
the detection module 1 is used for detecting the state information of the electric automobile after the electric automobile is started in the neutral gear;
the idle speed shaking module 2 is used for controlling the motor rotating speed of the electric automobile to alternately track a target rotating speed with a larger value and a target rotating speed with a smaller value so as to enter idle speed shaking control when the electric automobile is determined to meet an idle speed starting state according to the state information;
and the shaking exit module 3 is used for exiting the idling shaking control when the electric automobile is detected to meet the preset shaking exit condition in the idling shaking process of the electric automobile.
For introduction of the simulation system provided in the present application, reference is made to the embodiments of the simulation method described above, and details of the simulation system are not repeated herein.
The invention also provides a device for simulating idle speed jitter of the manual fuel vehicle, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of any one of the above simulation methods for the idle speed shaking of the manual fuel-oil-shift vehicle when executing the computer program.
For the introduction of the simulation apparatus provided in the present application, reference is made to the above-mentioned embodiments of the simulation method, which are not repeated herein.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for simulating idle speed jitter of a manual-transmission fuel vehicle is applied to an electric vehicle and comprises the following steps:
detecting state information of the electric automobile after the electric automobile is started in a neutral gear;
when the electric automobile is determined to be in an idle starting state according to the state information, controlling the motor rotating speed of the electric automobile to alternately track a target rotating speed with a larger value and a target rotating speed with a smaller value in a rotating speed control mode so as to enter automobile idle speed jitter control;
in the process of idle speed shaking of the electric automobile, when the electric automobile is detected to meet a preset shaking exit condition, exiting the automobile idle speed shaking control;
wherein, electric automobile is transformed by manual fender fuel vehicle and is formed: the engine is replaced by a motor, an engine ECU is removed, and a clutch, a gearbox, an accelerator pedal, a brake pedal, a clutch pedal, a VCU, an MCU and an ABS are reserved.
2. The method for simulating idle shake of a manual fuel vehicle according to claim 1, wherein the status information of the electric vehicle comprises: clutch pedal travel information, gear information, motor speed and/or motor torque and/or vehicle driving speed.
3. The method for simulating idle shake of a manual fuel-cut vehicle according to claim 2, wherein the determining that the electric vehicle satisfies the idle start condition according to the status information comprises:
if the fact that the gear of the electric automobile is engaged into a non-neutral gear when a clutch pedal is stepped on to the bottom is detected, and when the clutch pedal is released at a certain speed, the rotating speed of the motor is reduced to a preset first rotating speed threshold value or the torque of the motor is increased to a preset torque threshold value, it is determined that the electric automobile meets an idle starting state.
4. The method for simulating idle shaking of a manual fuel-cut vehicle according to claim 2, wherein the preset process of the shaking exit condition comprises:
and when the rotating speed of the motor is greater than a preset second rotating speed threshold value or the running speed of the automobile is greater than a preset first automobile speed threshold value, determining that the electric automobile meets a shaking exit condition.
5. The method for simulating idle shaking of a manual fuel vehicle according to claim 4, wherein the presetting of the shaking exit condition further comprises:
and after the clutch pedal is completely released for a preset first time, or the electric automobile shakes for a preset second time after starting, or the shaking time of the electric automobile reaches a preset total shaking time, or the electric automobile is put back to a neutral gear, or the clutch pedal is stepped down, and the electric automobile does not start and shake for a preset third time, determining that the electric automobile meets a shaking exit condition.
6. The method for simulating idle shake of a manual fuel-cut vehicle according to claim 2, wherein the detecting process of the clutch pedal travel information comprises:
determining that a clutch pedal is stepped to the bottom when the motor rotating speed or the motor torque is kept at a constant value;
determining that the clutch pedal starts to be released at a certain speed when the motor rotation speed starts to gradually decrease from a constant value or the motor torque starts to gradually increase from a constant value;
and when the electric automobile starts and the automobile running speed is greater than a preset second vehicle speed threshold value, determining that the clutch pedal is completely released.
7. The method for simulating idle shake of a manual fuel-cut vehicle according to claim 2, wherein the detecting process of the clutch pedal travel information comprises:
and detecting the stroke information of the clutch pedal by using a stroke sensor arranged on the clutch pedal.
8. The method for simulating idle shaking of a manual fuel-fired vehicle according to any one of claims 1 to 7, wherein the process of controlling the motor speed of the electric vehicle to alternately track a target speed of a larger value and a target speed of a smaller value comprises:
in a first alternating period, controlling the motor speed of the electric automobile to continuously track a basic target speed n1 with a larger value in a preset first tracking time, and then continuously track a basic target speed n2 with a smaller value in a preset second tracking time;
calculating the average value of the motor driving torque in a selected time period in the alternate period, and reducing the average value of the motor driving torque to obtain a coefficient b not less than 1;
and taking n 3-n 1-b as the target rotating speed with a larger value in the next alternating period, and taking n 4-n 1/b as the target rotating speed with a smaller value in the next alternating period, so as to realize that the rotating speed of the motor is periodically controlled to continuously track the target rotating speed with a larger value corresponding to the current period in the preset first tracking time, and then continuously track the target rotating speed with a smaller value corresponding to the current period in the preset second tracking time.
9. The utility model provides a manual fender fuel vehicle idling shake's analog system which characterized in that is applied to electric automobile, includes:
the detection module is used for detecting the state information of the electric automobile after the electric automobile is started in the neutral gear;
the idle speed jitter module is used for controlling the motor rotating speed of the electric automobile to alternately track a target rotating speed with a larger value and a target rotating speed with a smaller value so as to enter idle speed jitter control when the electric automobile is determined to meet an idle starting state according to the state information;
the shaking exit module is used for exiting the idling shaking control when the electric automobile is detected to meet a preset shaking exit condition in the idling shaking process of the electric automobile;
wherein, electric automobile is transformed by manual fender fuel vehicle and is formed: the engine is replaced by a motor, an engine ECU is removed, and a clutch, a gearbox, an accelerator pedal, a brake pedal, a clutch pedal, a VCU, an MCU and an ABS are reserved.
10. The utility model provides a manual fender fuel vehicle idling shake's analogue means which characterized in that includes:
a memory for storing a computer program;
processor for implementing the steps of the method for simulating fuel manual transmission vehicle idle shaking according to any one of claims 1 to 8 when executing said computer program.
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| CN111559252B (en) * | 2020-05-21 | 2023-05-12 | 上海融和电科融资租赁有限公司 | Idle speed simulation control method, system and device for electric automobile |
| CN111559253B (en) * | 2020-05-26 | 2021-11-12 | 深圳市英威腾电动汽车驱动技术有限公司 | Idle speed control method, device and equipment for manual-gear new energy automobile |
| CN113758720B (en) * | 2020-06-01 | 2023-11-24 | 陕西汽车集团股份有限公司 | Truck driving jitter detection method |
| CN112158080B (en) * | 2020-09-30 | 2022-05-17 | 深圳市英威腾电动汽车驱动技术有限公司 | Control method, system and device for manual transmission electric automobile |
| CN114677871B (en) * | 2021-02-23 | 2023-09-26 | 北京新能源汽车股份有限公司 | Method and device for controlling simulated engine speed |
| CN112776613B (en) * | 2021-03-04 | 2022-07-19 | 潍柴雷沃重工股份有限公司 | Method, system, controller and agricultural machine for improving starting capability of agricultural machine |
| CN113071331B (en) * | 2021-04-22 | 2022-04-29 | 神龙汽车有限公司 | Method for simulating shaking and flameout of electric and manual shift instruction car |
| CN112977456B (en) * | 2021-04-25 | 2022-07-19 | 潍柴动力股份有限公司 | Crawler traveling vehicle control method and device and static pressure driven crawler traveling vehicle |
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| DE102011119845A1 (en) * | 2011-12-01 | 2013-06-06 | Max Kellner | Method for simulation of driving characteristics of internal combustion engine in vehicle, involves predetermining drive speed of drive, and changing directly rotational torque of drive by supplementary control element formed as clutch |
| CN104875629B (en) * | 2015-04-23 | 2018-01-19 | 北京新能源汽车股份有限公司 | The shift shock implementation method and shift control apparatus of electric automobile |
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