CN110877536B - Electric automobile slope parking method based on rotor angle and position sensor - Google Patents

Electric automobile slope parking method based on rotor angle and position sensor Download PDF

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Publication number
CN110877536B
CN110877536B CN201911129561.0A CN201911129561A CN110877536B CN 110877536 B CN110877536 B CN 110877536B CN 201911129561 A CN201911129561 A CN 201911129561A CN 110877536 B CN110877536 B CN 110877536B
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rotor angle
value
slope
judging whether
turning
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CN110877536A (en
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丛凤龙
管博
殷浩
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Gezhida Intelligent Technology (Jiangsu) Co.,Ltd.
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Global Intelligent Power Technology 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
    • B60L15/2072—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 for drive off
    • B60L15/2081—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 for drive off for drive off on a slope
    • 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
    • B60L15/2009—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 for braking
    • B60L15/2018—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 for braking for braking on a slope
    • 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
    • B60L15/28—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 without contact making and breaking, e.g. using a transductor
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/48—Drive Train control parameters related to transmissions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention relates to the field of controlling a vehicle or a driving motor thereof to achieve expected characteristics, in particular to an electric vehicle hill-holding method based on a rotor angle and a position sensor. Firstly, judging driving; judging the transformation direction; thirdly, slope sliding counting; fourthly, slope parking is carried out; judging the change of the zero degree angle; sixthly, recording the torque value; seventhly, conversion is carried out; driving the vehicle. The invention saves control time and improves control efficiency.

Description

Electric automobile slope parking method based on rotor angle and position sensor
Technical Field
The invention relates to the field of controlling a vehicle or a driving motor thereof to achieve expected characteristics, in particular to an electric vehicle hill-holding method based on a rotor angle and a position sensor.
Background
The automobile hill-holding capability enables the vehicle to start on a slope without a parking brake and not to slide, when the driver leaves the service brake pedal with the right foot, although the service brake pedal and the parking brake operating lever are not operated by the driver at the moment, the hill-holding system enables the vehicle to be kept in a braking state for a plurality of seconds, so that the driver can easily turn the right foot from the service brake pedal to the accelerator pedal, the backward sliding of the vehicle is avoided, and the situation that the driver feels busy when the driver operates the parking brake while moving the right foot during hill-holding is avoided.
The existing slope-stopping technology generally adopts the magnitude and the direction of speed as conditions for judging slope stopping and processing slope stopping, in principle, the motor control preferentially obtains a rotor angle value, the speed value is a result obtained by differentiating the rotor angle, and in execution time, the time for adjusting through the speed is obviously slower than that for adjusting through directly using the angle.
Disclosure of Invention
The invention provides a control method of a driving motor of an electric automobile, and discloses a slope-parking method of the electric automobile based on a rotor angle and a position sensor, aiming at overcoming the defects of the prior art.
The invention achieves the purpose by the following technical scheme:
an electric automobile hill-holding method based on rotor angle and position sensors is characterized in that: the method is implemented in sequence according to the following steps:
driving judgment: judging whether the vehicle is in a forward gear and has no brake and accelerator opening, if so, turning to the second step;
and secondly, judging the conversion direction: judging whether the angle transformation directions of two continuous times are reverse or not, if so, entering the step IV, if not, continuously judging whether the reverse increase of the rotor angle in fixed time is larger than a threshold value or not, if so, entering the step III, if not, continuously judging whether the forward increase of the rotor angle in fixed time is smaller than the threshold value or not, if so, turning to the step III, and if not, turning back to the step III;
thirdly, slope sliding counting: starting slope sliding counting, judging whether the slope sliding counting is larger than a slope parking judgment threshold value, if so, switching to the fourth step, and if not, switching back to the first step;
fourthly, slope parking: entering a slope-retaining state, and adjusting a torque value according to the angle transformation direction and the size of the rotor;
judging the change of the zero angle: judging whether the rotor angle variation is zero, if so, turning to the sixth step, and if not, continuously judging whether the rotor angle variation is zero;
record torque value: recording a current torque value and starting to stay on a slope;
and (c) conversion: judging whether a brake exists or not, if yes, entering the step (viii), if not, continuously judging whether an accelerator opening conversion torque value is larger than the recorded torque and in a forward mode, if yes, turning to the step (viii), otherwise, turning back to the step (viii);
eighthly, driving: and (5) exiting the slope and starting to advance.
The electric automobile slope-parking method based on the rotor angle and the position sensor is characterized in that:
when the step two is performed, the rotor angle conversion direction is rotated by a D' shaft controlled by a vector and is measured by a position sensor;
and fourthly, measuring the rotor angle transformation direction by a position sensor.
The electric automobile slope-parking method based on the rotor angle and the position sensor is characterized in that:
in the second step, in the threshold value of the reverse increase of the rotor angle in fixed time, the fixed time is not shorter than 4ms, and the threshold value is not smaller than 30 degrees;
step (c), the accelerator opening degree conversion torque value is implemented as follows: the stepping amplitude of the accelerator is converted into a voltage signal of 0-5V through analog-to-digital conversion (ADC for short) sampling, the voltage signal is processed by a per unit value, if the voltage signal value is not less than 4.5V, the accelerator pedal is judged to be stepped to the maximum amplitude, the maximum amplitude of the accelerator corresponds to the maximum torque set value, if the voltage signal value is not more than 0.8V, the accelerator pedal is judged not to be stepped, the accelerator pedal is not stepped, the corresponding torque set value is 0, and therefore the current torque set value is obtained through linear calculation through the acquired analog-to-digital conversion voltage value.
The position sensor comprises a rotary transformer, a photoelectric encoder, a magnetic encoder and the like, a rotor angle required by the implementation of the invention can be obtained through decoding of a decoding chip or software, and the rotor angle reflects the position state of the motor rotor.
The invention has the following beneficial effects: the method directly uses the angle for slope standing processing and judgment, can save speed conversion, saves time, and particularly saves a lot of filtering time for slope standing by using the speed.
Drawings
FIG. 1 is a flow chart of the present invention when a position sensor is used to measure the rotor angular direction change.
Detailed Description
The invention is further illustrated by the following specific examples.
Example 1
An electric vehicle hill-holding method based on rotor angle and position sensors is sequentially implemented according to the following steps as shown in fig. 1:
driving judgment: judging whether the vehicle is in a forward gear and has no brake and accelerator opening, if so, turning to the second step;
and secondly, judging the conversion direction: judging whether the angle transformation directions of two continuous times are reverse or not, if so, entering the step IV, if not, continuously judging whether the reverse increase of the rotor angle in fixed time is larger than a threshold value or not, if so, entering the step III, if not, continuously judging whether the forward increase of the rotor angle in fixed time is lower than the threshold value or not, if so, turning to the step III, and if not, turning back to the step IV;
the rotor angle conversion direction is rotated by a D' shaft controlled by a vector and is measured by a position sensor;
in the threshold value of the reverse increase of the rotor angle in the fixed time, the fixed time is not shorter than 4ms, and the threshold value is not smaller than 30 degrees;
thirdly, slope sliding counting: starting slope sliding counting, judging whether the slope sliding counting is larger than a slope stopping judgment threshold value, if so, turning to the fourth step, and if not, turning back to the first step;
fourthly, slope parking: entering a slope-retaining state, and adjusting a torque value according to the angle transformation direction and the size of the rotor;
the rotor angle transformation direction is measured by a position sensor;
judging a zero angle: judging whether the rotor angle variation is zero, if so, turning to the sixth step, and if not, continuously judging whether the rotor angle variation is zero;
record torque value: recording a current torque value and starting to stay on a slope;
and (c) conversion: judging whether a brake exists, if yes, entering into the step eight, if not, continuously judging whether an accelerator opening degree conversion torque value is larger than the recorded torque and in a forward mode, if so, turning to the step eight, and if not, turning back to the step sixteenth;
the accelerator opening degree converted torque value is implemented as follows: the stepping-on amplitude of the accelerator is converted into a voltage signal of 0-5V through analog-to-digital conversion (ADC for short) sampling, the voltage signal is processed through per unit value, if the voltage signal value is not less than 4.5V, the accelerator pedal is judged to be stepped on to the maximum amplitude, the maximum amplitude of the accelerator corresponds to the maximum torque set value, if the voltage signal value is not more than 0.8V, the accelerator pedal is judged not to be stepped on, the accelerator pedal is not stepped on to correspond to the torque set value to be 0, and thus the current torque set value is obtained through linear calculation through the acquired analog-to-digital conversion voltage value;
driving a vehicle: and (5) exiting the slope and starting to advance.
In this embodiment: the position sensor comprises a rotary transformer, a photoelectric encoder, a magnetic encoder and the like, a rotor angle required by the implementation of the invention can be obtained through decoding of a decoding chip or software, and the rotor angle reflects the position state of the motor rotor.

Claims (1)

1. An electric automobile hill-holding method based on rotor angle and position sensors is characterized in that: the method is implemented in sequence according to the following steps:
driving judgment: judging whether the vehicle is in a forward gear and has no brake and accelerator opening, if so, turning to the second step;
and secondly, judging the transformation direction: judging whether the angle transformation directions of two continuous times are reverse or not, if so, entering the step IV, if not, continuously judging whether the reverse increase of the rotor angle in fixed time is larger than a threshold value or not, if so, entering the step III, if not, continuously judging whether the forward increase of the rotor angle in fixed time is lower than the threshold value or not, if so, turning to the step III, and if not, turning back to the step IV;
the rotor angle conversion direction is rotated by a D' shaft controlled by a vector and is measured by a position sensor;
in the threshold value of the reverse increase of the rotor angle in the fixed time, the fixed time is not shorter than 4ms, and the threshold value is not smaller than 30 degrees;
thirdly, slope sliding counting: starting slope sliding counting, judging whether the slope sliding counting is larger than a slope stopping judgment threshold value, if so, turning to the fourth step, and if not, turning back to the first step;
fourthly, slope parking: entering a slope-retaining state, and adjusting a torque value according to the transformation direction and the size of the rotor angle; the rotor angle transformation direction is measured by a position sensor;
judging the change of the zero angle: judging whether the rotor angle variation is zero, if so, turning to the sixth step, and if not, continuously judging whether the rotor angle variation is zero;
record torque value: recording a current torque value and starting to stay on a slope;
and (c) conversion: judging whether a brake exists, if yes, entering into the step eight, if not, continuously judging whether an accelerator opening degree conversion torque value is larger than the recorded torque and in a forward mode, if so, turning to the step eight, and if not, turning back to the step sixteenth;
the accelerator opening degree converted torque value is implemented as follows: the stepping-on amplitude of the accelerator is converted into a voltage signal of 0-5V through analog-digital conversion sampling, the voltage signal is processed through per unit value, if the voltage signal value is not less than 4.5V, the accelerator pedal is judged to be stepped on to the maximum amplitude, the maximum amplitude of the accelerator corresponds to the maximum torque set value, if the voltage signal value is not more than 0.8V, the accelerator pedal is judged not to be stepped on, the accelerator pedal is not stepped on to correspond to the torque set value to be 0, and the current torque set value is obtained through linear calculation according to the acquired analog-digital conversion voltage value;
driving a vehicle: and (5) exiting the slope parking and starting to advance.
CN201911129561.0A 2019-10-13 2019-11-18 Electric automobile slope parking method based on rotor angle and position sensor Active CN110877536B (en)

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CN2019109703768 2019-10-13
CN201910970376 2019-10-13

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CN110877536B true CN110877536B (en) 2022-09-27

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Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108116404B (en) * 2016-11-29 2020-02-21 大陆汽车电子（连云港）有限公司 Parking assist system and method
CN109747431B (en) * 2017-11-06 2021-04-30 深圳市蓝海华腾技术股份有限公司 Slope-parking control method, system and device for electric automobile
CN108162799B (en) * 2017-12-26 2020-01-14 安徽江淮汽车集团股份有限公司 Method for preventing electric automobile from sliding down slope
CN109017438B (en) * 2018-06-25 2020-09-01 北京新能源汽车股份有限公司 Vehicle movement control method and device and automobile

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Effective date of registration: 20221123

Address after: 221323 South of Songhua Jiangxi Road and west of Yimengshan Road in Pizhou Economic Development Zone, Xuzhou City, Jiangsu Province (south of Pizhou Xinshun Packaging Co., Ltd.)

Patentee after: Gezhida Intelligent Technology (Jiangsu) Co.,Ltd.

Address before: 201499 Room 202, 1st and 2nd floor, No.5 Lane 2066, Wangyuan Road, Fengxian District, Shanghai

Patentee before: GLOBAL INTELLIGENT POWER TECHNOLOGY (SHANGHAI) CO.,LTD.