CN111376717B - Power output control method and system - Google Patents
Power output control method and system Download PDFInfo
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- CN111376717B CN111376717B CN201811629342.4A CN201811629342A CN111376717B CN 111376717 B CN111376717 B CN 111376717B CN 201811629342 A CN201811629342 A CN 201811629342A CN 111376717 B CN111376717 B CN 111376717B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
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Abstract
The invention provides a control method of power output, which comprises the following steps: when the current vehicle state is a READY state and the gear is a forward gear, acquiring the accelerator pedal opening and the accelerator pedal opening change rate of the current vehicle; when the opening degree of the accelerator pedal is greater than a first opening degree threshold value, and the absolute value of the opening degree change rate of the accelerator pedal is greater than a first change rate threshold value, compensating the current output torque and the current filtering duration by using the opening degree change rate of the accelerator pedal to obtain a first output torque and a first filtering duration; and realizing the control of power output by using the first output torque and the first filtering time length. The invention also provides a control system of power output. The acceleration intention of the driver can be predicted in advance through the change rate of the accelerator pedal, and the acceleration intention is considered to be urgent if the change rate is high, so that the acceleration and deceleration performance required by the driver can be identified in a mode of compensating torque and filtering.
Description
Technical Field
The invention relates to the technical field of automobile transmission, in particular to a power output control method and system.
Background
The accelerator pedal is used as a core part for identifying the driving intention of a driver, the output torque is coordinated according to the relation between the opening degree of the accelerator pedal and the vehicle speed in the prior art, the acceleration intention of the driver cannot be completely identified by the method, and the power output is controlled only by using the opening degree value of the accelerator pedal as the operation result of the driver.
Disclosure of Invention
In view of the above, the present invention is directed to a method and a system for controlling power output to solve the above technical problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method of controlling power output, the method comprising:
when the current vehicle state is a READY state and the gear is a forward gear, acquiring the accelerator pedal opening and the accelerator pedal opening change rate of the current vehicle;
when the absolute value of the opening of the accelerator pedal is greater than a first opening threshold value, and the opening change rate of the accelerator pedal is greater than a first change rate threshold value, compensating the current output torque and the current filtering duration by using the opening change rate of the accelerator pedal to obtain a first output torque and a first filtering duration;
and realizing the control of power output by using the first output torque and the first filtering time length.
Further, when the current vehicle state is READY state and the gear is forward gear, acquiring the accelerator pedal opening and the accelerator pedal opening change rate of the current vehicle includes:
when the current vehicle state is a READY state and the gear is a forward gear, acquiring the opening degree of an accelerator pedal by using an opening degree sensor arranged on the accelerator pedal of the current vehicle;
by using
And calculating the accelerator pedal opening change rate, wherein a (k-1) is the accelerator pedal opening acquired at the k-1 st time, a (k) is the accelerator pedal opening acquired at the k-th time, and delta t is the sampling period of the accelerator pedal opening.
Further, the control of the power output using the first output torque and the first filter period may include:
and providing the first output torque to a motor controller of the vehicle, and controlling the motor to provide the first power to the vehicle in the first filtering period so as to realize the control of power output.
Further, the absolute value of the first opening degree threshold is set to 47% -52%, and the first change rate threshold is set to 13% -17%.
Further, the sampling period of the opening degree of the accelerator pedal is 0.3-0.5S.
Compared with the prior art, the control method of the power output has the following advantages:
(1) the method is based on a torque coordination mode realized by the accelerator pedal opening and the accelerator pedal opening change rate together, the acceleration intention of a driver can be predicted in advance through the accelerator pedal change rate, and the acceleration intention is considered to be urgent when the accelerator pedal change rate is high, so that different power outputs can be realized in a compensation torque and filtering mode.
(2) The method realizes the acceleration intention recognition of the driver through the change rate of the opening degree of the accelerator pedal, takes the change amount of the opening degree of the accelerator pedal as a reference, and corrects the deterioration influence on the function when the accelerator pedal shakes.
(3) The method realizes the acceleration intention recognition of the driver through the change rate of the opening degree of the accelerator pedal, takes the opening degree of the accelerator pedal as a reference, and can more accurately recognize the acceleration intention of the driver under the condition of large opening degree.
Another object of the present invention is to propose a control system of power output, the system comprising:
the opening and opening change rate acquiring module is used for acquiring the opening and opening change rate of an accelerator pedal of the current vehicle to acquire the opening and opening change rate of the accelerator pedal of the current vehicle when the current vehicle state is READY and the gear is a forward gear;
the compensation module is used for compensating the current output torque and the current filtering duration by using the accelerator pedal opening change rate to obtain a first output torque and a first filtering duration when the absolute value of the accelerator pedal opening is greater than a first opening threshold and the accelerator pedal opening change rate is greater than a first change rate threshold;
and the power module realizes the control of power output by utilizing the first output torque and the first filtering time length.
Further, the opening degree and the opening degree change rate acquisition module include:
the opening obtaining sub-module is used for obtaining the opening of an accelerator pedal by using an opening sensor arranged on the accelerator pedal of the current vehicle when the current vehicle state is a READY state and the gear is a forward gear;
a rate of change of opening acquisition submodule, using
And calculating the accelerator pedal opening change rate, wherein a (k-1) is the accelerator pedal opening acquired at the k-1 st time, a (k) is the accelerator pedal opening acquired at the k-th time, and delta t is the sampling period of the accelerator pedal opening.
Further, the power module includes:
and the power submodule is used for providing the first output torque to a motor controller of the vehicle and controlling the motor to provide the first power to the vehicle in the first filtering duration so as to realize the control of power output.
Further, the system comprises:
the first opening degree threshold value setting module is used for setting the absolute value of the first opening degree threshold value to 47% -52%;
a first rate of change threshold setting module to set the first rate of change threshold to 13% -17%.
Further, the system comprises:
and the sampling period setting module is used for setting the sampling period of the opening degree of the accelerator pedal to be 0.3-0.5S.
Compared with the prior art, the power output control system has the following advantages:
(1) the system provided by the invention can predict the acceleration intention of a driver in advance through the change rate of the accelerator pedal based on a torque coordination mode realized by the accelerator pedal opening and the accelerator pedal opening change rate together, and the acceleration intention is considered to be urgent when the change rate is high, so that the control of different power outputs is realized in the forms of compensation torque and filtering.
(2) The system realizes the acceleration intention recognition of the driver through the accelerator pedal opening change rate, takes the pedal opening change as a reference, and corrects the deterioration influence on the function when the accelerator pedal shakes.
(3) The system provided by the invention realizes the acceleration intention recognition of the driver through the change rate of the opening degree of the accelerator pedal, takes the opening degree of the accelerator pedal as a reference, and can more accurately recognize the acceleration intention of the driver under the condition of large opening degree.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a power output control method according to an embodiment of the present invention;
FIG. 2(a) is a graph relating accelerator pedal rate of change to compensated torque in accordance with an embodiment of the present invention;
FIG. 2(b) is a graph showing the relationship between the accelerator pedal variation rate and the compensation filter according to the embodiment of the present invention;
FIG. 3 is a detailed implementation of a method for controlling power output according to an embodiment of the present invention;
fig. 4 is a structural diagram of a power output control system according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, an embodiment of the present invention provides a power output control method, including:
102, when the absolute value of the opening degree of the accelerator pedal is greater than a first opening degree threshold value, and the opening degree change rate of the accelerator pedal is greater than a first change rate threshold value, compensating the current output torque and the current filtering duration by using the opening degree change rate of the accelerator pedal to obtain a first output torque and a first filtering duration;
In this embodiment, the current vehicle being in READY state indicates that the current vehicle has been started. According to the control strategy, under the condition that the original driving habit is not changed, the control strategy that different driving intentions are controlled by a single accelerator pedal is realized by superposing the opening change rate of the accelerator pedal on the original required torque and filtering duration. The method is realized by matching an accelerator pedal, a gear shifter, a vehicle control unit, a motor controller and a power battery.
In a specific embodiment, the accelerator pedal is provided with an opening sensor and is connected to the vehicle control unit through a hard wire, the gear shifter is connected to the vehicle control unit through a hard wire, and the driving motor, the power battery and the vehicle control unit are connected through a CAN bus. The accelerator pedal is used for identifying power required to be provided according to the driving action of a driver. The power battery is a power source of the vehicle and provides the maximum power which can be achieved in real time for the vehicle through the residual electric quantity, the maximum available power, the maximum recovered power, the working voltage/current, the fault state and the like. The driving motor is used for converting electric energy of the power battery into kinetic energy, and the kinetic energy is utilized to provide power for the vehicle. The vehicle control unit is used for coordinating the relation between the required power of an accelerator pedal, the maximum power which can be provided by a power battery in real time and the actual output power of a driving motor, and specifically comprises the following steps: the vehicle control unit identifies the current required power of the vehicle through the throttle opening electric signal, judges the maximum power which can be provided by the power battery through the state signal of the power battery, and judges the current state of the motor and the capacity boundary through the state signal of the driving motor. After the vehicle control unit coordinates the information of the nodes, whether the redundant capacity of the vehicle can be used for compensating the power output required currently can be judged, and the limitation of the compensation size is realized. And finally, the vehicle control unit sends the coordinated required power output request to the driving motor to realize the driving of the vehicle.
In this embodiment, the vehicle control unit identifies the torque compensation value and the filtering compensation value under different opening change rates according to a signal of the accelerator pedal opening sensor. Referring to fig. 2(a), the principle of torque compensation is: firstly, in the process of stepping on the accelerator pedal, the compensation positive torque value is increased along with the increase of the opening change rate of the accelerator pedal; in the process of loosening the accelerator pedal, the compensation negative torque value is reduced along with the increase of the opening change rate of the accelerator pedal; referring to fig. 2(b), the principle of filter compensation is: and the compensation filtering is reduced along with the increase of the opening change rate of the accelerator pedal. The accelerator is stepped on more fast power compensation, and the loosening fast torque is reduced more; the pedal response time is short.
In a specific embodiment, referring to fig. 3, when the vehicle is in a READY state, the shift position is a forward gear, the vehicle is in a drivable state, the vehicle controller compensates the currently required torque to be output according to the collected absolute value of the variation of the accelerator pedal opening degree exceeding 15% and the current accelerator pedal opening degree exceeding 50%, the magnitude of the compensation varies with the variation of the accelerator pedal opening degree, the larger the absolute value of the accelerator pedal opening degree is, the larger the compensated torque is, and the smaller the absolute value of the accelerator pedal opening degree is, the smaller the compensated torque is. And compensating the current torque filtering time length, wherein the time is shortened along with the increase of the opening change rate. And finally, the vehicle controller identifies the power required to be output through an accelerator pedal, and sends the total required torque of the current vehicle to the motor controller through torque coordination, so that the motor provides corresponding power output.
Further, step 101 comprises:
when the current vehicle state is a READY state and the gear is a forward gear, acquiring the opening degree of an accelerator pedal by using an opening degree sensor arranged on the accelerator pedal of the current vehicle;
by using
And calculating the accelerator pedal opening change rate, wherein a (k-1) is the accelerator pedal opening acquired at the k-1 st time, a (k) is the accelerator pedal opening acquired at the k-th time, and delta t is the sampling period of the accelerator pedal opening.
In another embodiment of the present invention, the accelerator pedal opening may also be directly obtained by another module, for example, the control unit of the other module has converted the voltage signal transmitted by the accelerator pedal opening position sensor into the accelerator pedal opening information, and only needs to directly transmit the accelerator pedal opening information to the vehicle controller through the CAN bus.
Further, step 103 comprises:
and providing the first output torque to a motor controller of the vehicle, and controlling the motor to provide the first power to the vehicle in the first filtering period so as to realize the control of power output.
In this embodiment, the first torque is composed of a current output torque and a compensation torque obtained from an accelerator pedal opening change rate, and the first filtering duration is obtained by subtracting a compensation filtering duration obtained from the accelerator pedal opening change rate from a current filtering duration. In the embodiment, a torque coordination mode is realized based on the opening degree of the accelerator pedal and the change rate of the opening degree of the accelerator pedal, the power required to be provided can be predicted in advance through the change rate of the accelerator pedal, and if the change rate is high, the power is considered to be required to be output greatly, so that the acceleration and deceleration performance required by a driver is identified in a compensation torque and filtering mode.
Further, the absolute value of the first opening degree threshold is set to 47% -52%, and the first change rate threshold is set to 13% -17%.
In the embodiment, the acceleration intention of the driver is recognized by the change rate of the opening degree of the accelerator pedal, the opening degree of the accelerator pedal is used as a reference, and the acceleration intention of the driver can be recognized more accurately under a large opening degree. Therefore, the present embodiment uses the accelerator pedal opening greater than the first opening threshold as the basis for the driver's intention to accelerate. The present embodiment expresses the accelerator pedal opening as a percentage, 0% representing no depression of the accelerator pedal, and 100% representing full depression of the accelerator pedal. In a more preferred embodiment, the first opening degree threshold comprises 50% and the first rate of change threshold comprises 15%.
Further, the sampling period of the opening degree of the accelerator pedal is 0.3-0.5S.
In this embodiment, the sampling period of the accelerator pedal opening is 0.3-0.5S, which represents that the time interval for acquiring the accelerator pedal opening once is 0.3-0.5S.
In a more preferred embodiment, the sampling period of the accelerator pedal opening is 0.35S.
The method is based on a torque coordination mode realized by the accelerator pedal opening and the accelerator pedal opening change rate together, the acceleration intention of a driver can be predicted in advance through the accelerator pedal change rate, if the accelerator pedal change rate is high, the acceleration intention is considered to be urgent, and the acceleration and deceleration performance required by the driver is recognized in a compensation torque and filtering mode.
The method described in the present embodiment corrects the deteriorating influence on the function when the accelerator pedal is shaken, with the amount of change in the pedal opening as a reference in realizing the driver's intention to accelerate by the rate of change in the accelerator pedal opening.
In the method of the embodiment, in the process of identifying the acceleration intention of the driver through the change rate of the opening degree of the accelerator pedal, the opening degree of the accelerator pedal is taken as a reference, and the acceleration intention of the driver can be identified more accurately under the condition of large opening degree.
Referring to fig. 4, an embodiment of the present invention further discloses a power output control system, including:
the opening degree and opening degree change rate obtaining module 401 is configured to obtain an accelerator pedal opening degree and an accelerator pedal opening degree change rate of the current vehicle when the current vehicle state is READY and the gear is a forward gear;
the compensation module 402 is configured to, when the absolute value of the accelerator pedal opening is greater than a first opening threshold and the accelerator pedal opening change rate is greater than a first change rate threshold, compensate the current output torque and the current filtering duration by using the accelerator pedal opening change rate to obtain a first output torque and a first filtering duration;
the power module 403 controls the power output using the first output torque and the first filter duration.
Further, the opening degree and the opening degree change rate acquisition module 401 includes:
the opening obtaining sub-module is used for obtaining the opening of an accelerator pedal by using an opening sensor arranged on the accelerator pedal of the current vehicle when the current vehicle state is a READY state and the gear is a forward gear;
a rate of change of opening acquisition submodule, using
And calculating the accelerator pedal opening change rate, wherein a (k-1) is the accelerator pedal opening acquired at the k-1 st time, a (k) is the accelerator pedal opening acquired at the k-th time, and delta t is the sampling period of the accelerator pedal opening.
Further, the power module 403 includes:
and the power submodule is used for providing the first output torque to a motor controller of the vehicle and controlling the motor to provide the first power to the vehicle in the first filtering duration so as to realize the control of power output.
Further, the system comprises:
the first opening degree threshold value setting module is used for setting the absolute value of the first opening degree threshold value to 47% -52%;
a first rate of change threshold setting module to set the first rate of change threshold to 13% -17%.
Further, the system comprises:
and the sampling period setting module is used for setting the sampling period of the opening degree of the accelerator pedal to be 0.3-0.5S.
The system described in this embodiment can predict the acceleration intention of the driver in advance through the magnitude of the accelerator pedal change rate based on the torque coordination mode realized by the accelerator pedal opening and the accelerator pedal opening change rate together, and the acceleration intention is considered to be urgent when the accelerator pedal change rate is large, so as to realize the control of power output in the form of compensation torque and filtering.
The system of the embodiment realizes the acceleration intention recognition of the driver by the accelerator pedal opening change rate, and corrects the deterioration influence on the function when the accelerator pedal shakes by taking the pedal opening change amount as a reference.
In the system of the embodiment, the acceleration intention of the driver is recognized through the change rate of the opening degree of the accelerator pedal, the opening degree of the accelerator pedal is used as a reference, and the acceleration intention of the driver can be recognized more accurately under the condition of large opening degree.
For the system embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method of controlling power output, the method comprising:
when the current vehicle state is a READY state and the gear is a forward gear, acquiring the accelerator pedal opening and the accelerator pedal opening change rate of the current vehicle;
when the absolute value of the opening degree of the accelerator pedal is greater than a first opening degree threshold value, and the opening degree change rate of the accelerator pedal is greater than a first change rate threshold value, compensating the current output torque and the current filtering duration by using the opening degree change rate of the accelerator pedal to obtain a first output torque and a first filtering duration;
the control of power output is realized by utilizing the first output torque and the first filtering time length;
the first output torque is composed of a current output torque and a compensation torque obtained by the accelerator pedal opening change rate, and the first filtering duration is obtained by subtracting a compensation filtering duration obtained by the accelerator pedal opening change rate from the current filtering duration.
2. A power output control method in accordance with claim 1, wherein said obtaining the accelerator pedal opening and the accelerator pedal opening change rate of the current vehicle when the current vehicle state is READY state and the shift position is forward gear comprises:
when the current vehicle state is a READY state and the gear is a forward gear, acquiring the opening degree of an accelerator pedal by using an opening degree sensor arranged on the accelerator pedal of the current vehicle;
by using
And calculating the accelerator pedal opening change rate, wherein a (k-1) is the accelerator pedal opening collected at the k-1 th time, a (k) is the accelerator pedal opening collected at the k-th time, and delta t is the sampling period of the accelerator pedal opening.
3. A power output control method in accordance with claim 1, wherein said controlling of the power output using the first output torque and the first filter period comprises:
and providing the first output torque to a motor controller of the vehicle, and controlling the motor to provide the first power to the vehicle in the first filtering period so as to realize the control of power output.
4. A power output control method in accordance with claim 1, wherein the absolute value of the first opening degree threshold is set to 47% -52%, and the first change rate threshold is set to 13% -17%.
5. A power output control method in accordance with claim 2, wherein the sampling period of the accelerator pedal opening degree is 0.3-0.5S.
6. A control system for a power output, the system comprising:
the opening and opening change rate acquiring module is used for acquiring the opening and opening change rate of an accelerator pedal of the current vehicle to acquire the opening and opening change rate of the accelerator pedal of the current vehicle when the current vehicle state is READY and the gear is a forward gear;
the compensation module is used for compensating the current output torque and the current filtering duration by using the accelerator pedal opening change rate to obtain a first output torque and a first filtering duration when the absolute value of the accelerator pedal opening is greater than a first opening threshold and the accelerator pedal opening change rate is greater than a first change rate threshold;
the first output torque is composed of a current output torque and a compensation torque obtained by the accelerator pedal opening change rate, and the first filtering duration is obtained by subtracting a compensation filtering duration obtained by the accelerator pedal opening change rate from a current filtering duration;
and the power module realizes the control of power output by utilizing the first output torque and the first filtering time length.
7. A control system of power output according to claim 6, characterized in that the opening degree and opening degree change rate acquisition module includes:
the opening obtaining sub-module is used for obtaining the opening of an accelerator pedal by using an opening sensor arranged on the accelerator pedal of the current vehicle when the current vehicle state is a READY state and the gear is a forward gear;
a rate of change of opening acquisition submodule, using
And calculating the accelerator pedal opening change rate, wherein a (k-1) is the accelerator pedal opening collected at the k-1 th time, a (k) is the accelerator pedal opening collected at the k-th time, and delta t is the sampling period of the accelerator pedal opening.
8. A control system for a power output according to claim 6, wherein the power module includes:
and the power submodule is used for providing the first output torque to a motor controller of the vehicle and controlling the motor to provide the first power to the vehicle in the first filtering duration so as to realize the control of power output.
9. A control system of power output according to claim 6, characterized in that the system comprises:
the first opening degree threshold value setting module is used for setting the absolute value of the first opening degree threshold value to 47% -52%;
a first rate of change threshold setting module to set the first rate of change threshold to 13% -17%.
10. A control system of power output according to claim 7, characterized in that the system comprises:
and the sampling period setting module is used for setting the sampling period of the opening degree of the accelerator pedal to be 0.3-0.5S.
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| CN112943468A (en) * | 2021-02-05 | 2021-06-11 | 潍柴动力股份有限公司 | Control method for vehicle rapid acceleration process and vehicle |
| CN114061977A (en) * | 2021-11-15 | 2022-02-18 | 合众新能源汽车有限公司 | Accelerator pedal calibration method |
| CN115075959B (en) * | 2022-08-04 | 2024-02-20 | 潍柴动力股份有限公司 | Vehicle filtering time adjusting method and device |
| CN115478944B (en) * | 2022-09-26 | 2024-09-17 | 潍柴动力股份有限公司 | Vehicle engine control method and device, electronic equipment and storage medium |
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