CN111404446A - Motor anti-stalling control method under EPB working condition - Google Patents
Motor anti-stalling control method under EPB working condition Download PDFInfo
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- CN111404446A CN111404446A CN202010205700.XA CN202010205700A CN111404446A CN 111404446 A CN111404446 A CN 111404446A CN 202010205700 A CN202010205700 A CN 202010205700A CN 111404446 A CN111404446 A CN 111404446A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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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 relates to the field of automobile transmission, in particular to a motor anti-stalling control method under EPB and AVH working conditions. Under the condition of EPB (AVH) triggering, if the requested torque of the user is smaller than the grade stopping torque of the EPB, the requested torque of the user is limited, the large torque stalling of the motor is prevented, if the user continues to request larger driving torque, when the driving torque is larger than the grade stopping torque of the EPB, the limitation of the requested torque is released, the requested torque of the user is output, and the vehicle can rush away the EPB and successfully ascend because the requested torque is larger than the grade stopping torque of the EPB. The invention effectively solves the problem of high torque locked rotor under the working condition of EPB (AVH).
Description
Technical Field
The invention relates to the field of automobile transmission, in particular to a motor anti-stalling control method under EPB and AVH working conditions.
Background
An ESP system is generally equipped in the conventional middle-high-grade electric automobile, EPB and AVH of the ESP system provide parking functions on a level road and a slope, after EPB (AVH) is triggered, the torque required by stepping on the accelerator by a user is larger than the slope-parking torque of EPB (AVH), EPB (AVH) can be flushed away for continuous driving or climbing, when the slope is larger, the slope-parking torque of EPB is larger, the motor can be blocked by large torque for a long time, the motor temperature is overhigh due to long-time blockage, and faults are generated, even hardware is damaged.
Disclosure of Invention
In order to solve the problems, the invention provides a motor stalling prevention control method under EPB and AVH working conditions, under the condition of EPB (AVH) triggering, if the requested torque of a user is smaller than the hill-holding torque of the EPB, the requested torque of the user is limited, the motor stalling with large torque is prevented, if the user continues to request larger driving torque, and if the driving torque is larger than the hill-holding torque of the EPB, the limitation of the requested torque is released, the requested torque of the user is output, and as the requested torque is larger than the hill-holding torque of the EPB, the vehicle can rush away the EPB and successfully start the slope. The specific technical scheme is as follows:
(1) when the EPB is triggered, the ESP brakes the vehicle by controlling the brake calipers;
(2) the VCU calculates the unlocking torque of the EPB at the current gradient in real time and compares the torque requested by the user to step on the accelerator;
(3) when the request torque of the user is smaller than the unlocking torque of the current EPB, the output torque is used for reducing the request torque and the limiting torque, and the motor is prevented from being locked up by large torque; the requested torque of the user is increased along with the opening degree of the accelerator, and when the requested torque of the user is larger than the unlocking torque of the current EPB, the requested torque of the user is output, the EPB is unlocked, and the vehicle can run.
Further, the torque required for flushing the EPB in the step (2) is calculated by:
EPB_ReleaseTrq=ESP_Algt×mVeh×CoeffEPB×WheelRadius
wherein EPB _ ReleaseTrq is the torque required to break the EPB;
ESP _ Algt is an Algt sensor value sent by the ESP;
mVeh is the calibrated mass of the whole vehicle;
CoeffEPB is the amplification factor;
wheelradius is the nominal tire radius.
Further, the amplification factor is used to adjust the magnitude of the torque release threshold, which is typically greater than 1, so that the VCU torque release threshold is slightly greater than the actual hill-holding torque of the entire vehicle to prevent the vehicle from rolling back after the torque release.
The invention aims to provide a motor anti-stalling control method under EPB (electric power steering) and AVH (automatic voltage regulation) working conditions, which solves the problem of high-torque stalling under EPB (automatic voltage regulation) working conditions, and specifically, different torque selection operations are carried out by calculating the magnitude of EPB untwisting torque and throttle torque, so that the high-torque stalling of a motor is effectively prevented.
Drawings
FIG. 1 is an algorithm flow for EPB untwisting torque of the present invention;
FIG. 2 is a flow chart of the VCU processing EPB untwisting torque of the present invention;
FIG. 3 is a comparison graph of curves obtained after the EPB anti-stalling control method is added in the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Under the condition of EPB (AVH) triggering, if the requested torque of the user is smaller than the grade stopping torque of the EPB, the requested torque of the user is limited, the large torque stalling of the motor is prevented, if the user continues to request larger driving torque, when the driving torque is larger than the grade stopping torque of the EPB, the limitation of the requested torque is released, the requested torque of the user is output, and the vehicle can rush away the EPB and successfully ascend because the requested torque is larger than the grade stopping torque of the EPB. The method comprises the following steps:
(1) when the EPB is triggered, the ESP brakes the vehicle by controlling the brake calipers;
(2) the VCU calculates the unlocking torque of the EPB at the current gradient in real time and compares the torque requested by the user to step on the accelerator;
(3) when the request torque of the user is smaller than the unlocking torque of the current EPB, the output torque is used for reducing the request torque and the limiting torque, and the motor is prevented from being locked up by large torque; the requested torque of the user is increased along with the accelerator opening, when the requested torque of the user is larger than the unlocking torque of the current EPB, the requested torque of the user is output, the EPB is unlocked, the vehicle can run, and the control strategy is shown in figure 2.
Further, the torque required to break the EPB in step (2) is calculated as shown in fig. 1:
EPB_ReleaseTrq=ESP_Algt×mVeh×CoeffEPB×WheelRadius
wherein EPB _ ReleaseTrq is the torque required to break the EPB;
ESP _ Algt is an Algt sensor value sent by the ESP;
mVeh is the calibrated mass of the whole vehicle;
CoeffEPB is the amplification factor;
wheelradius is the nominal tire radius.
The amplification factor is used to adjust the magnitude of the torque release threshold, which is typically greater than 1, so that the VCU torque release threshold is slightly greater than the actual hill holding torque of the vehicle to avoid the vehicle rolling back after the torque is released.
Example 1
The curve comparison graph after the EPB anti-stalling control method is added by the method is shown in figure 3:
on a slope, a user gradually and deeply steps on an accelerator under an EPB (AVH) working condition, the torque limit (Trq-L init) is reached at a point A, but the EPB (AVH) unlocking threshold is not reached at the moment, EPB (AVH) can not be unlocked, as the opening degree of the accelerator is increased, the internal request torque (an original torque curve) is gradually increased, the EPB-ReleaseTrq (the unlocking torque of the EPB) is reached, a point B in the graph is reached, the VCU judges that the release torque at the point can be used for unlocking the EPB to unlock the vehicle, the output torque is immediately released, the actual output torque rapidly rises according to the slope and is consistent with the original torque, the EPB is unlocked at the moment, the vehicle smoothly ascends the slope, and the problem of large-torque locked-rotation caused by the fact that the EPB cannot be unlocked at the point A-B section is reasonably avoided.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (3)
1. A motor anti-locked-rotor control method under EPB and AVH working conditions is characterized in that: the method comprises the following steps:
when the EPB is triggered, the ESP brakes the vehicle by controlling the brake calipers;
the VCU calculates the unlocking torque of the EPB at the current gradient in real time and compares the torque requested by the user to step on the accelerator;
when the request torque of the user is smaller than the unlocking torque of the current EPB, the output torque is used for reducing the request torque and the limiting torque, and the motor is prevented from being locked up by large torque; the requested torque of the user is increased along with the opening degree of the accelerator, when the requested torque of the user is larger than the unlocking torque of the current EPB, the requested torque of the user is output, the EPB is unlocked, and the vehicle can run; .
2. The motor anti-stalling control method under the EPB and AVH working conditions according to claim 1, characterized in that: the calculation mode of the torque required for flushing the EPB in the step (2) is as follows:
EPB_ReleaseTrq=ESP_Algt×mVeh×CoeffEPB×WheelRadius
wherein EPB _ ReleaseTrq is the torque required to break the EPB;
ESP _ Algt is an Algt sensor value sent by the ESP;
mVeh is the calibrated mass of the whole vehicle;
CoeffEPB is the amplification factor;
wheelradius is the nominal tire radius.
3. The motor anti-stalling control method under the EPB and AVH working conditions according to claim 2, characterized in that: the amplification factor is greater than 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010205700.XA CN111404446A (en) | 2020-03-23 | 2020-03-23 | Motor anti-stalling control method under EPB working condition |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010205700.XA CN111404446A (en) | 2020-03-23 | 2020-03-23 | Motor anti-stalling control method under EPB working condition |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112217444A (en) * | 2020-10-13 | 2021-01-12 | 东风汽车有限公司 | Electric automobile water pump control method, electronic equipment and storage medium |
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| CN109017436A (en) * | 2018-06-14 | 2018-12-18 | 中兴智能汽车有限公司 | A kind of electric car exits the Motor torque follower method of when in slope |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112217444A (en) * | 2020-10-13 | 2021-01-12 | 东风汽车有限公司 | Electric automobile water pump control method, electronic equipment and storage medium |
| CN112217444B (en) * | 2020-10-13 | 2022-07-08 | 东风汽车有限公司 | Electric automobile water pump control method, electronic equipment and storage medium |
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