CN110816293A - Method for realizing stable control of whole vehicle based on motor controller - Google Patents

Method for realizing stable control of whole vehicle based on motor controller Download PDF

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Publication number
CN110816293A
CN110816293A CN201911138215.9A CN201911138215A CN110816293A CN 110816293 A CN110816293 A CN 110816293A CN 201911138215 A CN201911138215 A CN 201911138215A CN 110816293 A CN110816293 A CN 110816293A
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Prior art keywords
vehicle
motor controller
slip
controller
speed
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刘蕾
冯子鹏
杨昕樵
王泽达
钱啸君
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One Giant Automation Equipment (shanghai) Co Ltd
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One Giant Automation Equipment (shanghai) Co Ltd
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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
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—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
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/465—Slip
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a method for realizing the stable control of a whole vehicle based on a motor controller, which comprises the steps of firstly calculating the slip rate of the vehicle, and judging whether the vehicle slips or not according to the slip rate; if the slip rate exceeds a threshold value and lasts for a certain time t, determining that the vehicle slips, and determining a numerical value for reducing the torque according to the slip rate and the vehicle speed during slipping; meanwhile, an antiskid flag bit is sent to the vehicle controller, the vehicle controller judges whether the motor controller meets the antiskid requirement according to the vehicle requirement at the moment, and if not, the motor controller is required to exit; and if so, enabling the motor controller to execute driving antiskid. The method for realizing the stability control of the whole vehicle based on the motor controller can distinguish some false skids and distinguish all the false skids as far as possible through the slip rate and the judgment time. The threshold value of the slip rate and the threshold value of the judging time are dynamic, so that the slip of the whole vehicle can be judged as fast as possible on the premise of distinguishing the false slip.

Description

Method for realizing stable control of whole vehicle based on motor controller
Technical Field
The invention relates to the field of vehicle slip control, in particular to a method for realizing stable control of a whole vehicle based on a motor controller.
Background
When the driving wheel of the front-drive or rear-drive vehicle slips, the TCS function of the ESP calculates the slip rate by comparing the wheel speed and the vehicle speed, and further judges the vehicle slips, if the vehicle slips, the anti-slip is realized by adjusting the braking force on the driving wheel and degrading the output torque of the engine. All vehicle models with ESP (TCS function) can realize drive skid prevention.
The ESP is costly and is not a component that the entire vehicle must be equipped with, but the motor controller is a core component that the electric vehicle must be equipped with. When the ESP is not assembled or the assembled ESP has no TCS function, the whole vehicle slips, which easily causes the problems of vehicle slip, poor operability, vehicle sideslip, etc.
In addition, in the existing technology for judging vehicle slip, whether the vehicle slips or not can not be distinguished, if the vehicle passes through a bumpy road, a deceleration strip and the like, a driving wheel empties, so that the adhesive force is reduced, the speed of the driving wheel is suddenly increased, the rotating speed of a motor is also suddenly increased, and at the moment, if the vehicle is judged to slip, the vehicle cannot accelerate easily, so that the driving feeling is influenced.
Disclosure of Invention
The invention aims to: the method for realizing the stability control of the whole vehicle based on the motor controller can realize the drive antiskid through a motor system when an ESP is not available or an assembled ESP has no TCS function.
The technical scheme of the invention is as follows:
a method for realizing the stable control of a whole vehicle based on a motor controller comprises the following steps:
s1, firstly, calculating the slip ratio of the vehicle, and judging whether the vehicle slips or not according to the slip ratio;
s2, if the slip ratio exceeds the threshold value and lasts for a certain time t, determining that the vehicle slips, and determining a numerical value of torque reduction according to the slip ratio and the vehicle speed during slipping;
s3, simultaneously sending an anti-skid flag bit to the vehicle controller, judging whether the motor controller meets the anti-skid requirement or not by the vehicle controller according to the vehicle requirement at the moment, and if not, requiring the motor controller to exit; and if so, enabling the motor controller to execute driving antiskid.
Preferably, the slip ratio of the vehicle is calculated in step S1
Figure BDA0002280137420000011
The formula of (1) is:
Figure BDA0002280137420000012
where n is the absolute value of the motor speed, nVehicle with wheelsThe vehicle speed is converted into a value of r/min.
Preferably, after the vehicle is driven, the motor system receives wheel speed signals of the wheels, and calculates n through conversion by taking the average wheel speed of the non-driving wheels as the vehicle speedVehicle with wheels。
Preferably, in step S3, the basis for determining whether the anti-skid requirement is met in the vehicle controller is an accelerator pedal signal and a brake signal, and when the motor controller drives the anti-skid device: if the vehicle control unit finds that the accelerator is not stepped on at the moment and the brake is stepped on, the vehicle control unit quits driving antiskid; and if the vehicle control unit finds that the accelerator is pressed down at the moment, continuing to allow the drive antiskid to be executed.
Preferably, in step S2, the equation for determining the value of the torque reduction from the slip ratio at the time of the slip and the vehicle speed is:
Figure BDA0002280137420000021
wherein T is the limited target torque, Ts is the output torque of the motor during slipping, phi is the torque limiting coefficient under different slip rates, and sigma is the torque limiting coefficient under different vehicle speeds.
Preferably, the relationship between the torque limiting coefficient phi and the slip ratio under different slip ratios is as follows: the higher the slip ratio, the smaller φ, φ < 1.
Preferably, the relationship between the torque limit coefficient σ and the vehicle speed at different vehicle speeds is: the higher the vehicle speed, the larger the sigma, and the more sigma is 0.9-1.
The invention has the advantages that:
the method for realizing the stability control of the whole vehicle based on the motor controller can distinguish some false skids and distinguish all the false skids as far as possible through the slip rate and the judgment time. The threshold value of the slip rate and the threshold value of the judging time are dynamic, so that the slip of the whole vehicle can be judged as fast as possible on the premise of distinguishing the false slip.
Drawings
The invention is further described with reference to the following figures and examples:
fig. 1 is a flow chart of a method for realizing vehicle stability control based on a motor controller according to the present invention.
Detailed Description
As shown in fig. 1, the method for realizing the stability control of the whole vehicle based on the motor controller of the present invention includes:
s1, when the slip rate of the whole vehicle is large in the slip process, firstly, the slip rate of the vehicle is calculated, and whether the vehicle slips or not is judged according to the slip rate; calculating slip ratio of vehicle
Figure BDA0002280137420000022
The formula of (1) is:
Figure BDA0002280137420000023
where n is the absolute value of the motor speed, nVehicle with wheelsThe vehicle speed is converted to r/min (positive value). When the vehicle is driven, the motor system receives wheel speed signals of wheels, takes the average wheel speed of non-driving wheels as the vehicle speed, and calculates n through conversionVehicle with wheels。
S2, if the slip ratio exceeds the threshold value and lasts for a certain time t, determining that the vehicle slips, and determining a numerical value of torque reduction according to the slip ratio and the vehicle speed during slipping;
the calculation formula for determining the value of the reduced torque according to the slip ratio and the vehicle speed during the slipping is as follows:
Figure BDA0002280137420000031
wherein T is the limited target torque, Ts is the output torque of the motor during the slipping,
Figure BDA0002280137420000032
the torque limiting coefficient is under different slip rates, and the sigma is the torque limiting coefficient under different vehicle speeds. The relationship between the torque limiting coefficient sigma and the vehicle speed under different vehicle speeds is as follows: the higher the vehicle speed, the larger the sigma is, and the sigma is more than or equal to 0.9<1. Torque limiting coefficient at said different slip ratesThe relationship to slip ratio is: the higher the rate of slip is,
Figure BDA0002280137420000034
the smaller the size of the tube is,
Figure BDA0002280137420000035
sigma of this example,
Figure BDA0002280137420000036
The coefficients of (A) are shown in tables 1 and 2.
TABLE 1 value of torque limiting coefficient sigma at different vehicle speeds
Vehicle speed (Km/h) 0-10 10-20 20-30 30-45 ＞45
Value of sigma 0.9 0.92 0.94 0.96 0.97
TABLE 2 Torque limiting factor
Figure BDA0002280137420000037
Value at different slip rates
S3, simultaneously sending an anti-skid flag bit to the vehicle controller, judging whether the motor controller meets the anti-skid requirement or not by the vehicle controller according to the vehicle requirement at the moment, and if not, requiring the motor controller to exit; and if so, enabling the motor controller to execute driving antiskid.
The basis of judging whether the anti-skid requirement is met inside the vehicle controller is an accelerator pedal signal and a brake signal, and when the motor controller executes driving anti-skid, the vehicle controller comprises the following steps: if the vehicle controller finds that the accelerator is not stepped on (namely the accelerator signal is 0) and the brake is stepped on (namely the brake signal is 1), the vehicle controller quits from driving the antiskid; if the vehicle control unit finds that the accelerator is pressed down at the moment (namely the accelerator signal is 1), the vehicle control unit continues to allow the driving antiskid to be executed.
The threshold value of the slip rate and the threshold value of the judging time are dynamic, so that the slip of the whole vehicle can be judged as fast as possible on the premise of distinguishing the false slip, and the relationship among the slip rate, the vehicle speed and the judging time (ms) of the slip of the vehicle is shown in a table 3.
TABLE 3 relationship between slip rate, vehicle speed and determination time of vehicle slip
Figure BDA0002280137420000041
The relationship between the threshold value of the slip ratio and the vehicle speed at the time of determining and withdrawing the vehicle slip is shown in table 4.
TABLE 4 relationship between slip rate threshold and vehicle speed at the time of determining and exiting vehicle slip
Vehicle speed (km/h) 0-10 10-20 20-30 30-45 ＞45
Slip ratio (trigger) 0.1 0.12 0.15 0.18 0.22
Slip ratio (off) 0.08 0.1 0.12 0.15 0.18
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All modifications made according to the spirit of the main technical scheme of the invention are covered in the protection scope of the invention.

Claims (7)

1. A method for realizing the stable control of a whole vehicle based on a motor controller is characterized by comprising the following steps:
s1, firstly, calculating the slip ratio of the vehicle, and judging whether the vehicle slips or not according to the slip ratio;
s2, if the slip ratio exceeds the threshold value and lasts for a certain time t, determining that the vehicle slips, and determining a numerical value of torque reduction according to the slip ratio and the vehicle speed during slipping;
s3, simultaneously sending an anti-skid flag bit to the vehicle controller, judging whether the motor controller meets the anti-skid requirement or not by the vehicle controller according to the vehicle requirement at the moment, and if not, requiring the motor controller to exit; and if so, enabling the motor controller to execute driving antiskid.
2. The method for achieving vehicle stability control based on the motor controller as claimed in claim 1, wherein the slip ratio of the vehicle is calculated in step S1
Figure FDA0002280137410000011
The formula of (1) is:
Figure FDA0002280137410000012
where n is the absolute value of the motor speed, nVehicle with wheelsThe vehicle speed is converted into a value of r/min.
3. The method of claim 2, wherein after the vehicle is driven, the motor system receives the wheel speed signal of the wheel, and calculates n by converting the average wheel speed of the non-driving wheel as the vehicle speedVehicle with wheels。
4. The method for realizing stable control of the whole vehicle based on the motor controller according to claim 2, wherein in step S3, the basis for judging whether the anti-skid requirement is met inside the whole vehicle controller is an accelerator pedal signal and a brake signal, and when the motor controller drives the anti-skid, the method comprises the following steps: if the vehicle control unit finds that the accelerator is not stepped on at the moment and the brake is stepped on, the vehicle control unit quits driving antiskid; and if the vehicle control unit finds that the accelerator is pressed down at the moment, continuing to allow the drive antiskid to be executed.
5. The motor controller-based vehicle stability control method according to claim 4, wherein in step S2, the formula for determining the torque reduction value according to the slip ratio and the vehicle speed at the time of slipping is:
Figure FDA0002280137410000013
wherein T is the limited target torque, Ts is the output torque of the motor during the slipping,
Figure FDA0002280137410000014
the torque limiting coefficient is under different slip rates, and the sigma is the torque limiting coefficient under different vehicle speeds.
6. The method for realizing stability control of the whole vehicle based on the motor controller as claimed in claim 5, wherein the torque limiting coefficients at different slip rates
Figure FDA0002280137410000015
The relationship to slip ratio is: the higher the rate of slip is,
Figure FDA0002280137410000016
the smaller the size of the tube is,
Figure FDA0002280137410000017
7. the method for realizing the stability control of the whole vehicle based on the motor controller according to the claim 5 or the claim, wherein the relation between the torque limiting coefficient sigma and the vehicle speed under different vehicle speeds is as follows: the higher the vehicle speed, the larger the sigma, and the more sigma is 0.9-1.
CN201911138215.9A 2019-11-20 2019-11-20 Method for realizing stable control of whole vehicle based on motor controller Pending CN110816293A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN113734171A (en) * 2021-08-20 2021-12-03 合众新能源汽车有限公司 Anti-slip control method and device based on vehicle control unit and electronic equipment
CN113978466A (en) * 2021-10-25 2022-01-28 智新控制系统有限公司 Antiskid control method and system for electric vehicle driving system
CN114368385A (en) * 2022-03-21 2022-04-19 北京宏景智驾科技有限公司 Cruise control method and apparatus, electronic device, and storage medium
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
WO2024082922A1 (en) * 2022-10-21 2024-04-25 华为数字能源技术有限公司 Controller of electric motor control module, control method for electric motor, and related device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017022870A (en) * 2015-07-10 2017-01-26 Ntn株式会社 Slip control device
CN106740266A (en) * 2017-01-25 2017-05-31 北京新能源汽车股份有限公司 The control method and system of a kind of output torque
CN110103963A (en) * 2019-03-22 2019-08-09 同济大学 Consider the torque distribution control system and method that maneuverability and wheel stability are coordinated

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017022870A (en) * 2015-07-10 2017-01-26 Ntn株式会社 Slip control device
CN106740266A (en) * 2017-01-25 2017-05-31 北京新能源汽车股份有限公司 The control method and system of a kind of output torque
CN110103963A (en) * 2019-03-22 2019-08-09 同济大学 Consider the torque distribution control system and method that maneuverability and wheel stability are coordinated

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN113734171A (en) * 2021-08-20 2021-12-03 合众新能源汽车有限公司 Anti-slip control method and device based on vehicle control unit and electronic equipment
CN113734171B (en) * 2021-08-20 2023-09-29 合众新能源汽车股份有限公司 Anti-slip control method and device based on whole vehicle controller and electronic equipment
CN113978466A (en) * 2021-10-25 2022-01-28 智新控制系统有限公司 Antiskid control method and system for electric vehicle driving system
CN113978466B (en) * 2021-10-25 2024-04-05 智新控制系统有限公司 Anti-skid control method and system for electric automobile driving system
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
CN114368385A (en) * 2022-03-21 2022-04-19 北京宏景智驾科技有限公司 Cruise control method and apparatus, electronic device, and storage medium
WO2024082922A1 (en) * 2022-10-21 2024-04-25 华为数字能源技术有限公司 Controller of electric motor control module, control method for electric motor, and related device

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Application publication date: 20200221