CN110979028A - Control method for acceleration limitation of pure electric bus - Google Patents

Control method for acceleration limitation of pure electric bus Download PDF

Info

Publication number
CN110979028A
CN110979028A CN201911423535.9A CN201911423535A CN110979028A CN 110979028 A CN110979028 A CN 110979028A CN 201911423535 A CN201911423535 A CN 201911423535A CN 110979028 A CN110979028 A CN 110979028A
Authority
CN
China
Prior art keywords
acceleration
vehicle
max
control method
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201911423535.9A
Other languages
Chinese (zh)
Other versions
CN110979028B (en
Inventor
康林
朱武喜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xiamen King Long United Automotive Industry Co Ltd
Original Assignee
Xiamen King Long United Automotive Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xiamen King Long United Automotive Industry Co Ltd filed Critical Xiamen King Long United Automotive Industry Co Ltd
Priority to CN201911423535.9A priority Critical patent/CN110979028B/en
Publication of CN110979028A publication Critical patent/CN110979028A/en
Application granted granted Critical
Publication of CN110979028B publication Critical patent/CN110979028B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B60L2240/14—Acceleration
    • 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
    • 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

Landscapes

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

Abstract

A control method for acceleration limitation of a pure electric bus comprises the following steps: (1) setting acceleration threshold a of vehiclemaxWhen the vehicle is running normally amaxEqual to a1, a when the driver continues to throttle full for time t1maxAutomatically switching to a value a2 greater than a 1; (2) calculating the acceleration a of the vehicle in real time; (3) when the vehicle acceleration a is larger than or equal to the set acceleration threshold amaxWhen the motor is in a normal state, recording the current motor torque value as a maximum torque value, and limiting the output torque of the motor; (4) setting the acceleration offset as a0 if the current acceleration a<amaxA0, the torque limit is exited. The invention is a control method based on the corresponding relation between the current torque and the acceleration of the motor, limits the acceleration of the vehicle, can properly release the limitation of the acceleration when a driver has clear and strong acceleration requirements, and has good adaptability to different vehicle weights, loads and road conditions.

Description

Control method for acceleration limitation of pure electric bus
Technical Field
The invention relates to the technical field of pure electric vehicle driving control, in particular to a control method for acceleration limitation of a pure electric bus.
Background
The traditional torque control of the pure electric vehicle adopts an open-loop control mode, namely the depth of an accelerator pedal determines the driving torque of a motor, and the output torque of the motor determines the acceleration of the vehicle. When the driver steps on the accelerator pedal deeply, the motor releases the maximum torque, and the vehicle can obtain the maximum acceleration under the current capability. And for the public transport vehicles, the special characteristics are provided. In the urban operation process of the bus, passengers often stand on the bus, and due to uncertainty of driving habits of a driver, the acceleration of the bus in the acceleration process is too high, so that the passengers can not stand stably and even fall down. The bus is used as a commercial vehicle, and the driver has a too violent driving habit, so that the energy consumption of the bus is higher, and the cost of a company is increased. In order to ensure the safety and riding comfort of the bus occupants while normalizing the operation behavior of the driver, it is necessary to limit the driving acceleration of the vehicle.
The invention patent publication CN 1733522a provides an improvement over existing powertrain control systems that can generally provide a constant amount of output torque depending on the demands in operation. The improvement comprises a method and an apparatus for controlling acceleration and deceleration of a vehicle, such a control method comprising monitoring acceleration of the vehicle and closed-loop limiting vehicle output torque as a function of a predetermined acceleration limit and vehicle acceleration. Closed loop limiting is only active when vehicle acceleration exceeds a predetermined value. The patent adopts a control method of closed-loop PI control, and has certain limitation, namely, for buses with different sizes, weights and loads, consistent PI parameters are difficult to adopt, and improper PI parameters can cause torque oscillation or other unexpected torque response.
Disclosure of Invention
The invention provides a control method for acceleration limitation of a pure electric bus, which aims to solve the problems that the existing limitation on the acceleration of the bus has certain limitation, and the buses with different sizes, weights and loads are difficult to adopt consistent PI parameters, possibly cause torque oscillation or other unexpected torque response and the like.
The invention adopts the following technical scheme:
a control method for acceleration limitation of a pure electric bus comprises the following steps: (1) setting acceleration threshold a of vehiclemaxA in normal running of the vehiclemaxEqual to a1, a when the driver continues to throttle full for time t1maxAutomatically switching to a value a2 which is greater than a1, otherwise still a 1; (2) calculating the acceleration a of the vehicle in real time; (3) when the vehicle acceleration a is larger than or equal to the set acceleration threshold amaxWhen the motor torque value is recorded, the current motor torque value is recordedLimiting the output torque of the motor under any accelerator opening as a maximum torque value; (4) setting the acceleration offset as a0 if the current acceleration a<amaxA0, the torque limit is exited.
Specifically, the fully stepping on the accelerator in step (1) means that the accelerator opening is greater than 90%.
Specifically, the vehicle acceleration is calculated as follows: the vehicle controller calculates the running speed of the vehicle through the motor speed fed back by the motor controller, the main reducer ratio and the tire radius, and then calculates the current acceleration a of the vehicle through the vehicle speed increment in a period time t.
Further, the motor controller is in communication connection with the vehicle control unit through a CAN.
Further, the cycle time t in the above step (2) is 200 ms.
Further, in the step (4), if the acceleration limit of a1 is released, the acceleration limit is released to a2, the torque limit is also exited, and when the vehicle acceleration reaches the threshold value a2, the corresponding torque limit is performed.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
1. the control method is based on the corresponding relation between the current torque and the acceleration of the motor, the acceleration of the vehicle is calculated in real time in the driving process of the vehicle, when the acceleration of the vehicle exceeds a threshold value, the torque of the motor at the moment is recorded and is used as a maximum allowable value to limit the output torque of the motor, and meanwhile, the control method designs a proper exit condition to ensure that the vehicle can exit the torque limitation in time when the road condition changes or the requirement of a driver changes, thereby ensuring the power output of the vehicle; the acceleration limit threshold can be appropriately released when the driver has a clearly greater acceleration demand. The control method of the invention is not limited by the size, weight and load of the vehicle, has good self-adaptability to different vehicle weights, loads and road conditions, and can automatically adjust the torque limit value according to the gradient when the vehicle runs on a slope.
2. The control method can obviously improve the driving comfort of the pure electric bus and the safety of passengers, is favorable for standardizing the driving operation of a driver and reduces the energy consumption of the bus.
3. The acceleration calculation method of the invention gives consideration to both calculation precision and real-time performance.
Detailed Description
The following describes specific embodiments of the present invention. Numerous details are set forth below in order to provide a thorough understanding of the present invention, but it will be apparent to those skilled in the art that the present invention may be practiced without these details. Well-known components, methods and processes are not described in detail below.
The invention provides a control method for acceleration limitation of a pure electric bus, which takes a motor as a unique power source, wherein the motor is driven by a motor controller, and converts electric energy from a battery into mechanical energy for rotation of the motor. The motor controller is in communication connection with the vehicle control unit through a CAN, and the vehicle control unit sends the power demand to the motor controller in a torque instruction mode by analyzing the driving intention of a driver so as to drive the motor to generate corresponding torque. Meanwhile, the motor controller feeds back the current rotating speed and the actual torque of the motor to the vehicle control unit. The method comprises the following steps:
1. acceleration threshold setting
Setting acceleration threshold a of vehiclemaxA in normal running of the vehiclemaxEqual to a1, a in the presence of acceleration demandmaxAutomatically switching to a value a2 which is greater than a1, otherwise still a 1; where a1 is the acceleration threshold for normal driving and a2 is the acceleration threshold for clear acceleration requirements. The switching from a1 to a2 is based on the condition that the accelerator is continuously fully pressed (the full pressing of the accelerator means that the accelerator opening is larger than 90%), that is, when the driver continuously fully presses the accelerator for a certain time, the acceleration threshold a is setmaxReleased from a1 to a2, otherwise it is still a 1.
2. Calculating the acceleration a of the vehicle in real time
The vehicle control unit calculates the running speed of the vehicle according to the motor speed fed back by the motor controller, the speed ratio of the main speed reducer and the radius of the tire, and then calculates the acceleration a of the vehicle according to the change rate of the vehicle speed in the period time t. If the calculation cycle time t is too short, small vehicle speed change caused by a vehicle speed algorithm can generate larger acceleration, and the precision is not high; if the calculation cycle time t is too long, the real-time performance is poor, and the torque limit cannot be adjusted according to the real-time change of the acceleration. Therefore, the invention adopts 200ms as the calculation cycle time t, and the vehicle speed increment in the cycle time t is calculated, so as to obtain the current acceleration a of the vehicle.
3. Motor torque limiting
When the vehicle acceleration a is larger than or equal to the set acceleration threshold amaxWhen the motor torque value is larger than the maximum torque value, the motor torque value is recorded as the maximum torque value, namely, the torque instruction sent to the motor controller cannot be larger than the maximum torque value under any accelerator opening.
4. Exit torque limiting
Setting the acceleration offset as a0 if the current acceleration a<amaxA0, the torque limit is exited. Meanwhile, if the acceleration limit of a1 is triggered to be released to a2, the torque limit is also exited, and when the acceleration of the vehicle reaches a2 threshold value, the corresponding torque limit is performed.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.

Claims (6)

1. A control method for acceleration limitation of a pure electric bus is characterized by comprising the following steps: (1) setting acceleration threshold a of vehiclemaxA in normal running of the vehiclemaxEqual to a1, a when the driver continues to throttle full for time t1maxAutomatically switching to a value a2 which is greater than a1, otherwise still a 1; (2) calculating the acceleration a of the vehicle in real time; (3) when the vehicle acceleration a is larger than or equal to the set acceleration threshold amaxWhen the throttle is opened, the current motor torque value is recorded as the maximum torque value, and any throttle is openedLimiting the output torque of the motor under the temperature; (4) setting the acceleration offset as a0 if the current acceleration a<amaxA0, the torque limit is exited.
2. The control method for acceleration limitation of pure electric bus according to claim 1, characterized in that: and (2) fully stepping on the accelerator in the step (1) means that the opening degree of the accelerator is more than 90%.
3. The control method for acceleration limitation of pure electric bus according to claim 1, characterized in that: the vehicle acceleration is calculated as follows: the vehicle controller calculates the running speed of the vehicle through the motor speed fed back by the motor controller, the main reducer ratio and the tire radius, and then calculates the current acceleration a of the vehicle through the vehicle speed increment in a period time t.
4. The control method of acceleration limitation of a pure electric bus according to claim 3, characterized in that: the motor controller is in communication connection with the vehicle control unit through a CAN.
5. The control method of acceleration limitation of a pure electric bus according to claim 3, characterized in that: the cycle time t in the step (2) is 200 ms.
6. The control method for acceleration limitation of pure electric bus according to claim 1, characterized in that: in the step (4), if the acceleration limit of a1 is triggered to be released to a2, the torque limit is also exited, and when the acceleration of the vehicle reaches a2 threshold, the corresponding torque limit is performed.
CN201911423535.9A 2019-12-31 2019-12-31 Control method for acceleration limitation of pure electric bus Active CN110979028B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911423535.9A CN110979028B (en) 2019-12-31 2019-12-31 Control method for acceleration limitation of pure electric bus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911423535.9A CN110979028B (en) 2019-12-31 2019-12-31 Control method for acceleration limitation of pure electric bus

Publications (2)

Publication Number Publication Date
CN110979028A true CN110979028A (en) 2020-04-10
CN110979028B CN110979028B (en) 2021-05-07

Family

ID=70080437

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911423535.9A Active CN110979028B (en) 2019-12-31 2019-12-31 Control method for acceleration limitation of pure electric bus

Country Status (1)

Country Link
CN (1) CN110979028B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113844427A (en) * 2021-09-29 2021-12-28 广西玉柴机器股份有限公司 Engine torque management method based on acceleration control
WO2023125133A1 (en) * 2021-12-28 2023-07-06 长城汽车股份有限公司 Vehicle acceleration control method and device, vehicle, and storage medium

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19935872A1 (en) * 1999-07-30 2001-02-01 Zahnradfabrik Friedrichshafen Method for limiting the maximum acceleration of a vehicle
CN1678474A (en) * 2002-08-29 2005-10-05 丰田自动车株式会社 Device and method for controlling prime mover
CN1733522A (en) * 2004-05-14 2006-02-15 通用汽车公司 Acceleration limiting for a vehicle
CN101830231A (en) * 2010-04-30 2010-09-15 株洲南车时代电气股份有限公司 Idling slide protective control method of locomotive
CN104670206A (en) * 2013-12-02 2015-06-03 通用汽车环球科技运作有限责任公司 Method and apparatus for monitoring unintended vehicle motion
CN104691555A (en) * 2015-01-05 2015-06-10 联合汽车电子有限公司 Full-vehicle function safety monitoring system
CN108909526A (en) * 2018-06-26 2018-11-30 北京新能源汽车股份有限公司 A kind of single pedal driving mode method for slowing-down control, device and electric car

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19935872A1 (en) * 1999-07-30 2001-02-01 Zahnradfabrik Friedrichshafen Method for limiting the maximum acceleration of a vehicle
CN1678474A (en) * 2002-08-29 2005-10-05 丰田自动车株式会社 Device and method for controlling prime mover
CN1733522A (en) * 2004-05-14 2006-02-15 通用汽车公司 Acceleration limiting for a vehicle
CN101830231A (en) * 2010-04-30 2010-09-15 株洲南车时代电气股份有限公司 Idling slide protective control method of locomotive
CN104670206A (en) * 2013-12-02 2015-06-03 通用汽车环球科技运作有限责任公司 Method and apparatus for monitoring unintended vehicle motion
CN104691555A (en) * 2015-01-05 2015-06-10 联合汽车电子有限公司 Full-vehicle function safety monitoring system
CN108909526A (en) * 2018-06-26 2018-11-30 北京新能源汽车股份有限公司 A kind of single pedal driving mode method for slowing-down control, device and electric car

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113844427A (en) * 2021-09-29 2021-12-28 广西玉柴机器股份有限公司 Engine torque management method based on acceleration control
WO2023125133A1 (en) * 2021-12-28 2023-07-06 长城汽车股份有限公司 Vehicle acceleration control method and device, vehicle, and storage medium

Also Published As

Publication number Publication date
CN110979028B (en) 2021-05-07

Similar Documents

Publication Publication Date Title
CN108544937B (en) Automobile storage battery charging and discharging management method and system
US10427685B2 (en) Vehicle capable of regenerative braking, and control method of a vehicle capable of regenerative braking
CN107791887B (en) Electric automobile hill start auxiliary control method
CN105365580A (en) Intelligent control method and system of electric automobile
CN110979028B (en) Control method for acceleration limitation of pure electric bus
CN104627001B (en) A kind of Brake energy recovery adjustment control method
CN105599636B (en) By the vehicle of electrical motor driven and the control method of vehicle
CN111348039B (en) Driving active intervention system and method based on acceleration change rate optimization
CN108859775B (en) Brake energy feedback control circuit and power distribution method
CN111391672B (en) Self-adaptive energy recovery method for pure electric vehicle
CN108583288A (en) A kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device
CN106740268A (en) A kind of pure electric automobile max. speed method for limiting speed
CN110920464B (en) Electric automobile charging coordination control method and electric automobile
CN105946856A (en) Self-adaptive slipping control method of pure electrically driven automobile
CN109808502A (en) A kind of energy feedback withdrawal control method suitable for pure electric vehicle
KR20190063844A (en) System for a electronic vehicle regenerative braking control
CN110667394A (en) Battery SOC brake recovery system and method and electric automobile
CN117429268A (en) Energy recovery control method and system for pure electric bus
CN209972433U (en) A whole car self-adaptation cruise control device for pure [ electric ] motor coach
CN105172788B (en) A kind of single shaft plug-in hybrid-power automobile HCU in parallel vehicle energy distributing method
CN111674263A (en) Auxiliary braking method and system for vehicle
CN114347803B (en) New energy vehicle torque safety monitoring and processing method
CN113580946B (en) Milling machine braking system, braking method and milling machine
CN107415771B (en) electric bicycle speed regulation control system and method
CN110979027B (en) Control method for economic mode of pure electric bus

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant