CN111845697A - Slope-parking control system, slope-parking control method and electric vehicle - Google Patents
Slope-parking control system, slope-parking control method and electric vehicle Download PDFInfo
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- CN111845697A CN111845697A CN201910355786.1A CN201910355786A CN111845697A CN 111845697 A CN111845697 A CN 111845697A CN 201910355786 A CN201910355786 A CN 201910355786A CN 111845697 A CN111845697 A CN 111845697A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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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
Abstract
The invention relates to the technical field of automobiles, and provides a slope parking control system, a slope parking control method and an electric vehicle. The hill-holding control system includes: state detection means for detecting an operation state of the electric vehicle; and hill-holding control means for performing the following operations in a case where the operation state satisfies a hill-holding condition: driving a motor in a non-zero speed locking speed control mode to control the electric vehicle to enter a hill-holding state; and controlling the frequency of a switching element of the motor controller to be switched to a first preset frequency so as to reduce the heating speed of the motor and the motor controller. The invention can shorten the response time of reaching the slope-stopping torque on one hand, and can reduce the switching frequency of the motor controller when the steam is stopped on the other hand, thereby effectively slowing down the heating speed of the motor and the motor controller, and ensuring the slope-stopping torque in enough time, thereby realizing the timeliness and the stability of slope stopping.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a slope parking control system, a slope parking control method and an electric vehicle.
Background
With the rapid development of new energy vehicles, people have higher and higher requirements on the running safety of pure electric vehicles. When the automobile is on a ramp (particularly on a crowded road condition and a road condition with large traffic flow), the automobile can slide backwards due to the backward sliding force generated under the influence of the load gravity of the automobile body, so that the driving safety of the automobile is damaged. In order to prevent the vehicle from sliding on the slope, most pure electric vehicles have a slope hill-holding function, and generally have two implementation modes, one mode is a speed closed-loop mode control based on zero-speed locking, and the other mode is a mode based on recording the non-zero torque of the last accelerator, and recorded torque or the recorded torque multiplied by a certain coefficient is provided as pre-torque during hill-holding. Although both of the slope parking modes can realize slope parking, the method has some defects in the aspects of slope parking response timeliness, accurate finding of the real torque required by slope parking and the like. In addition, when the automobile is in a hill-holding state, the motor is basically in a continuous locked-rotor state, which causes the heating and temperature rising of the motor to be rapid, and particularly if the frequency of a switch (for converting direct current into alternating current) of the motor controller is high, the heating of the motor and the motor controller is accelerated, which causes the temperature derating point of the motor or the motor controller to be reached, so that sufficient hill-holding torque cannot be provided.
Disclosure of Invention
In view of this, the present invention is directed to a hill-holding control system, which on one hand can shorten the response time to achieve the hill-holding torque, and on the other hand can reduce the frequency of switching of a motor controller during the steam hill-holding, effectively slow down the heating speed of the motor and the motor controller, and ensure the hill-holding torque within a sufficient time, thereby achieving the timeliness and the stability of the hill-holding.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a hill-holding control system comprising: state detection means for detecting an operation state of the electric vehicle; and hill-holding control means for performing the following operations in a case where the operation state satisfies a hill-holding condition: driving a motor in a non-zero speed locking speed control mode to control the electric vehicle to enter a hill-holding state; and controlling the frequency of a switching element of the motor controller to be switched to a first preset frequency so as to reduce the heating speed of the motor and the motor controller.
Further, the state detection device includes: the motor rotating speed detection module is used for detecting the rotating speed of the motor; the slope-staying enabling detection module is used for detecting a slope-staying enabling signal; the throttle signal detection module is used for detecting a signal of a throttle; and a brake signal detection module for detecting a signal of a brake, wherein the hill-holding condition includes: the hill-holding enabling signal meets the hill-holding enabling condition, the signal of the accelerator is 0, and the signal of the brake is 0, wherein the hill-holding enabling signal comprises: the motor speed sign and the direction of the gear, preferably, the hill-holding enabling detection module includes: the gear signal detection unit is used for detecting a gear signal; and a motor rotating speed symbol detection unit, which is used for executing the following operations in a slope-stopping enabling stage before the electric vehicle enters a slope-stopping state: comparing the rotating speed of the motor with a first preset rotating speed threshold value; and performing the following operations according to the comparison result: under the condition that the rotating speed of the motor is greater than or equal to the first preset rotating speed threshold value, outputting a positive value of the rotating speed symbol of the motor; under the condition that the rotating speed of the motor is smaller than or equal to the opposite value of the first preset rotating speed threshold value, outputting a negative value of the rotating speed sign of the motor; or under the condition that the magnitude of the motor rotating speed is smaller than the first preset rotating speed threshold value, outputting that the symbol of the motor rotating speed is 0, wherein the first preset rotating speed threshold value is a positive value, and the hill-holding enabling condition comprises: the motor speed sign becomes non-zero and the motor speed sign is opposite to the direction of the gear.
Further, the state detection device further includes: the entering slope pre-enabling detection module is used for executing the following operations in a slope pre-enabling stage before the electric vehicle enters the slope enabling stage: comparing the rotating speed of the motor with a second preset rotating speed threshold value; setting a hill-holding preset enabling symbol as a preset symbol under the condition that the rotating speed of the motor is less than or equal to a second preset rotating speed threshold value, wherein the second preset rotating speed threshold value is less than or equal to the first preset rotating speed threshold value; wherein the hill-holding enabling condition further includes that the hill-holding pre-enabling symbol is the preset symbol.
Further, the hill-holding control device is also used for outputting a hill-holding torque, wherein the hill-holding torque is a motor torque in a hill-holding state; the hill-holding control system further includes: hill start control means for performing the following operations in a case where the running state satisfies a hill start condition: driving the motor in a torque control mode to control the electric vehicle to enter a hill start state; and controlling the frequency of the switch to be switched to a second preset frequency so as to improve the control precision of the motor controller, wherein the second preset frequency is greater than the first preset frequency, and the torque control device is used for controlling the output torque of the accelerator to be the hill-holding torque under the condition that the electric vehicle enters a hill-start state.
Further, the hill start condition includes: the torque of the accelerator is greater than or equal to the hill-holding torque, the gear is changed to neutral, or the operating state does not satisfy the hill-holding condition.
Further, the state detection device further includes: the exit slope pre-enabling detection module is used for resetting a slope pre-enabling symbol under the condition that the following conditions are met, and the direction of the rotating speed of the motor is the same as the direction of the gear; the rotating speed of the motor is greater than a third preset rotating speed threshold value; and the mode of driving the motor is the torque control mode, wherein the third preset rotation speed threshold is greater than the second preset rotation speed threshold, and the hill start condition comprises: the hill hold pre-enable symbol is reset.
Compared with the prior art, the slope-standing control system has the following advantages:
(1) the motor is driven by a speed instruction of non-zero speed locking to generate forward pre-torque, so that the response time of reaching the slope-parking torque is shortened, meanwhile, the frequency of a switch of the motor controller during slope parking is reduced in a frequency conversion control mode to effectively slow down the heating speeds of the motor and the motor controller, the slope-parking torque in enough time is ensured, and the timeliness and the stability of slope parking are realized.
(2) When hill starting is carried out, the mode of giving the hill-holding torque to the accelerator starting torque is adopted, so that the mode of controlling the motor is smoothly switched from the speed control mode to the torque control mode, the continuity of the torque is ensured, and the stability of the hill starting can be realized.
Another objective of the present invention is to provide a hill-holding control method, which can shorten the response time to achieve the hill-holding torque, and can reduce the switching frequency of the motor controller when the vehicle is on the hill, so as to effectively slow down the heating speed of the motor and the motor controller, and ensure the hill-holding torque within a sufficient time, thereby achieving the timeliness and the stability of the hill-holding.
A hill-holding control method includes: detecting the running state of the electric vehicle; and in the case that the running state satisfies the hill-holding condition, performing the following operations: driving a motor in a non-zero speed locking speed control mode to control the electric vehicle to enter a hill-holding state; and controlling the frequency of a switching element of the motor controller to be switched to a first preset frequency so as to reduce the heating speed of the motor and the motor controller.
Further, the hill-holding control method further includes: detecting the motor speed, wherein the detecting the running state of the electric vehicle comprises the following steps: detecting a hill-holding enabling signal; detecting signals of an accelerator; and detecting a signal of braking, wherein the hill-holding condition comprises: the hill-holding enabling signal satisfies the hill-holding enabling condition, the signal of the accelerator is 0 and the signal of the brake is 0, preferably, the detecting the hill-holding enabling signal includes: detecting a signal of a gear; and in a hill-holding enabling stage before the electric vehicle enters the hill-holding state, performing the following operations: comparing the rotating speed of the motor with a first preset rotating speed threshold value; and according to the comparison result, executing the following operations: under the condition that the rotating speed of the motor is greater than or equal to the first preset rotating speed threshold value, outputting a positive value of the rotating speed symbol of the motor; under the condition that the rotating speed of the motor is smaller than or equal to the opposite value of the first preset rotating speed threshold value, outputting a negative value of the rotating speed sign of the motor; or under the condition that the magnitude of the motor rotating speed is smaller than the first preset rotating speed threshold value, outputting that the symbol of the motor rotating speed is 0, wherein the first preset rotating speed threshold value is a positive value, and the hill-holding enabling condition comprises: the motor speed sign becomes non-zero and the motor speed sign is opposite to the direction of the gear.
Further, the detecting the operation state of the electric vehicle further includes: in a hill-holding pre-enabling stage before the electric vehicle enters the hill-holding enabling stage, performing the following operations: comparing the rotating speed of the motor with a second preset rotating speed threshold value; and setting the slope-stopping pre-enabling symbol as a preset symbol under the condition that the rotating speed of the motor is smaller than or equal to the second preset rotating speed threshold value, wherein the second preset rotating speed threshold value is smaller than or equal to the first preset rotating speed threshold value, and the slope-stopping enabling condition further comprises that the slope-stopping pre-enabling symbol is the preset symbol.
Further, the hill-holding control method further includes: after the step of driving the motor in the speed control mode adopting non-zero speed locking to control the electric vehicle to enter a hill-holding state is executed, outputting a hill-holding torque, wherein the hill-holding torque is the motor torque in the hill-holding state; under the condition that the running state meets a hill start condition, driving the motor in a torque control mode to control the electric vehicle to enter a hill start state, and controlling the frequency of the switch to be switched into a second preset frequency to improve the control precision of a motor controller, wherein the second preset frequency is greater than the first preset frequency; and controlling the output torque of the accelerator to be the hill-holding torque under the condition that the electric vehicle enters the hill-start state.
Further, the hill start condition includes: the torque of the accelerator is greater than or equal to the hill-holding torque, the gear is changed to neutral, or the operating state does not satisfy the hill-holding condition.
Further, the detecting the operation state of the electric vehicle further includes: resetting a pre-enabling symbol of the hill-holding under the condition that the following conditions are met, wherein the direction of the rotating speed of the motor is the same as the direction of the gear; the rotating speed of the motor is greater than a third preset rotating speed threshold value; and the mode of driving the motor is the torque control mode, wherein the third preset rotation speed threshold is greater than the second preset rotation speed threshold, and the hill start condition comprises: the hill hold pre-enable symbol is reset.
Compared with the prior art, the slope-standing control method and the slope-standing control system have the same advantages, and are not described herein again.
The invention also aims to provide an electric vehicle which comprises the hill-holding control system.
Compared with the prior art, the electric vehicle has the same advantages as the slope-stopping control system, and the detailed description is omitted.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
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 structural diagram of a hill-holding control system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a status detection device according to an embodiment of the present invention;
fig. 3 is a flowchart of a hill-holding control process according to an embodiment of the present invention; and
fig. 4 is a flowchart of a hill-holding control method according to an embodiment of the present invention.
Description of reference numerals:
10 status detection device 20 hill-holding control device
30 entering into pre-hill-holding detection module 40 exiting from pre-hill-holding detection module
50 hill-holding enable detection module 60 entering hill-holding state detection module
70 exiting and staying state detection module 80 slope starting control device
90 torque control module 500 motor speed symbol detection unit
510 entering hill holding enable state detection unit
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Before explaining the technical scheme of the invention in detail, the direction and the symbol of the motor speed are briefly introduced. For the direction of the rotating speed of the motor, the motor needs to be correctly installed on the electric vehicle, the anticlockwise rotating direction along the output shaft of the motor is taken as a positive direction by default, and when the rotating speed of the motor is positive, the vehicle moves forward and the direction of a gear is positive; when the motor speed is negative, the vehicle backs up and the direction of the gear is negative. For the motor speed sign, the motor speed is determined by comparing the motor speed with a first preset speed threshold, and the process for determining the motor speed sign will be described in detail below. The embodiment of the invention is based on pure electric vehicle control without a vehicle controller, but is not limited to the situation.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a structural diagram of a hill-holding control system according to an embodiment of the present invention. As shown in fig. 1, the hill-holding control system may include: a state detecting device 10 for detecting an operation state of the electric vehicle; and a hill-holding control device 20 for performing the following operations in a case where the operation state satisfies a hill-holding condition: driving a motor in a non-zero speed locking speed control mode to control the electric vehicle to enter a hill-holding state; and controlling the frequency of a switching element of the motor controller to be switched to a first preset frequency so as to reduce the heating speed of the motor and the motor controller. Wherein the switching element may be an Insulated Gate Bipolar Transistor (IGBT) element. Specifically, under the condition that the running state meets the hill-holding condition, the rotating speed of the motor is adjusted based on the speed closed-loop PI adjusting device in the hill-holding control device, so that the rotating speed of the motor can be finally locked to a certain non-zero speed, and the non-zero speed can provide torque for maintaining the electric vehicle to be stably fixed on a slope through the speed closed-loop PI adjusting device. The non-zero speed is a preset speed which is small enough, so that the electric vehicle can be ensured not to have a forward trend, and meanwhile, the moment of backward slip of the vehicle caused by the gravity component of the whole vehicle can be balanced. Meanwhile, the frequency of a switch of the motor controller is reduced by adopting a frequency conversion control mode when the electric vehicle is parked on a slope, and the heating speed of the motor and the motor controller is effectively reduced, so that the slope parking torque in enough time is ensured, and the slope is parked on the slope more safely and reliably.
The state detection device 10 may include: the motor rotating speed detection module is used for detecting the rotating speed of the motor; the slope-staying enabling detection module is used for detecting a slope-staying enabling signal; the throttle signal detection module is used for detecting a signal of a throttle; and a brake signal detection module for detecting a signal of a brake, wherein the hill-holding condition includes: the hill-holding enabling signal meets the hill-holding enabling condition, the signal of the accelerator is 0, and the signal of the brake is 0, wherein the hill-holding enabling signal comprises: the motor rotation speed sign and the direction of the gear.
The hill-holding enabling detection module may include: the gear signal detection unit is used for detecting a gear signal; and a motor rotating speed symbol detection unit, which is used for executing the following operations in a slope-stopping enabling stage before the electric vehicle enters a slope-stopping state: comparing the rotating speed of the motor with a first preset rotating speed threshold value; and performing the following operations according to the comparison result: under the condition that the rotating speed of the motor is greater than or equal to the first preset rotating speed threshold value, outputting a positive value of the rotating speed symbol of the motor; under the condition that the rotating speed of the motor is smaller than or equal to the opposite value of the first preset rotating speed threshold value, outputting a negative value of the rotating speed sign of the motor; or under the condition that the magnitude of the motor rotating speed is smaller than the first preset rotating speed threshold value, outputting that the symbol of the motor rotating speed is 0, wherein the first preset rotating speed threshold value is a positive value, and the hill-holding enabling condition comprises: the motor speed sign becomes non-zero and the motor speed sign is opposite to the direction of the gear.
The hill-holding enabling condition is described in detail below, for example, during hill holding on an uphill slope, when the electric vehicle starts to roll down the slope from a standstill, the magnitude of the motor speed (which is a negative value) gradually increases, and in the case that the motor speed is less than or equal to the opposite value of the first preset speed Threshold value Threshold1, the motor speed sign changes from 0 to a negative value; at this time, the engaged gear is a forward gear (the sign of the gear is positive), so that the sign of the motor speed becomes a negative value and the direction of the sign of the motor speed is opposite to that of the gear, and the hill-holding enabling condition is met. In the process of descending and parking, when the electric vehicle starts to slide down from a standstill, the rotating speed (positive value) of the motor is gradually increased, and under the condition that the rotating speed of the motor is greater than or equal to a first preset rotating speed Threshold value Threshold1, the rotating speed sign of the motor is changed from 0 to the positive value; at this time, the engaged gear is a reverse gear (the sign of the gear is negative), so that the motor rotation speed sign becomes a positive value and the direction of the motor rotation speed sign is opposite to the direction of the gear, and the hill-holding enabling condition is satisfied. Therefore, in both cases, the result of multiplying the sign of the motor speed by the direction of the gear position is a negative value and the result of this multiplication changes from 0 to a negative value (i.e., has a falling edge).
The first preset rotating speed Threshold value Threshold1 in this embodiment may be provided by a hill-holding rotating speed Threshold adjusting unit, and the condition that the sign of the motor rotating speed in the hill-holding enabling condition is opposite to the direction of the gear is set, so that it can be ensured that the sign of the rotating speed is not 0, and therefore, the condition that the electric vehicle enters the hill-holding state due to the fact that the motor has a smaller rotating speed due to an accidental factor is eliminated.
Assuming that the electric vehicle erroneously executes a reverse shift when starting on a flat road (including a road surface with a small hole), although the motor rotation speed sign becomes non-zero and the motor rotation speed sign is opposite to the direction of the shift, that is, the hill-holding enabling condition is satisfied, the motor rotation speed in the above case is significantly increased as compared with the case of the same when hill-holding. In order to prevent the electric vehicle from entering the hill-holding state when the electric vehicle performs the reverse gear by mistake when moving forward on a flat road, in a preferred embodiment, a second preset rotating speed threshold is set, the rotating speed of the motor is compared with the second preset rotating speed threshold in the hill-holding preset enabling stage before the electric vehicle enters the hill-holding enabling stage, namely, under the condition that the rotating speed of the motor is very small, the hill-holding preset enabling symbol is set as a preset symbol only under the condition that the rotating speed of the motor is less than or equal to the second preset rotating speed threshold, the electric vehicle enters the hill-holding enabling stage, and then the running state of the electric vehicle is determined to meet the hill-holding condition under the condition that the running state of the electric vehicle meets the hill-holding enabling condition.
Specifically, the state detection device may further include: the entering slope pre-enabling detection module is used for executing the following operations in a slope pre-enabling stage before the electric vehicle enters the slope enabling stage: comparing the rotating speed of the motor with a second preset rotating speed threshold value; and setting a hill-holding pre-enabled symbol PreFlag as a preset symbol (e.g., 1) when the magnitude of the motor rotation speed is less than or equal to the second preset rotation speed threshold, wherein the second preset rotation speed threshold is less than or equal to the first preset rotation speed threshold, wherein the hill-holding enabled condition further includes that the hill-holding pre-enabled symbol PreFlag is the preset symbol (e.g., 1). And then, judging the running state of the electric vehicle through a slope-stopping control device, determining that the slope-stopping condition is met under the condition that the running state meets the slope-stopping enabling condition, the signal of the accelerator is 0 and the signal of the brake is 0, and then executing corresponding control operation.
And under the condition that the electric vehicle successfully enters the hill-holding state, the hill-holding control device is also used for outputting a hill-holding torque, wherein the hill-holding torque is a motor torque in the hill-holding state. In the process that the electric vehicle is in the hill-holding state, whether the running state of the electric vehicle meets the hill-starting condition or not can be detected in real time, so the hill-holding control system can further comprise: hill start control means for performing the following operations in a case where the running state satisfies a hill start condition: driving the motor in a torque control mode to control the electric vehicle to enter a hill start state; and controlling the frequency of the switch to be switched to a second preset frequency so as to improve the control performance of the motor controller (such as reducing ripple current and noise), wherein the second preset frequency is greater than the first preset frequency, and a torque control device for controlling the output torque of the accelerator to be the hill-holding torque when the electric vehicle enters a hill-start state. Therefore, the torque control mode is adopted to enter the hill starting state, and the hill-holding torque is assigned to the throttle torque to serve as the initial torque of the hill starting, so that the continuity of the torque in the transition from the hill-holding state to the hill starting state is ensured, the smooth transition of the state is realized, and abnormal noise, vehicle shaking and riding discomfort are avoided. Meanwhile, the frequency of the switch of the motor controller is increased in a frequency conversion control mode when the electric vehicle is parked on a slope, so that the frequency is recovered to be the normal switching frequency, and the control performance of the motor controller under the normal condition is maintained.
The hill start condition may include: the torque of the accelerator is greater than or equal to the hill-holding torque, the gear is changed to neutral, or the operating state does not satisfy the hill-holding condition. Once any one of the above conditions is determined to be satisfied, the exit hill state detection module 70 (shown in fig. 2) in the state detection device 10 sets the hill holding flag HillholdFlag to 0, which indicates that the operation state of the electric vehicle no longer satisfies the hill holding condition, and then controls the electric vehicle to enter the hill-start state.
In a preferred embodiment, the hill-holding control system further comprises: the exiting hill-holding pre-enabling detection module is used for resetting a hill-holding pre-enabling symbol (for example, setting a hill-holding pre-enabling symbol PreFlag to be 0) under the condition that the following conditions are met, and the direction of the rotating speed of the motor is the same as the direction of the gear; the rotating speed of the motor is greater than a third preset rotating speed threshold value; and the mode of driving the motor is the torque control mode, wherein the third preset rotation speed threshold is greater than the second preset rotation speed threshold, and the hill start condition may include: the hill hold pre-enable symbol is reset.
The slope-stopping control system is suitable for the permanent magnet synchronous motor and the asynchronous motor of the pure electric vehicle. The hill-holding control device and the hill-starting control device in the hill-holding control system can be independently arranged and can also be integrated in a motor controller.
Specifically, taking a hill-holding control system including a hill-holding control device and a hill-starting control device as an example, a hill-holding process and a hill-starting process of an electric vehicle are explained and explained in detail, as shown in fig. 3, the related steps are as follows:
step S301, judging whether the hill-holding pre-enabling symbol is a preset symbol, and if the hill-holding pre-enabling symbol is the preset symbol, executing step S302; otherwise, step S311 is performed.
In the pre-hill-holding enabling stage before the electric vehicle enters the pre-hill-holding enabling stage, since the electric vehicle starts to roll, the rotating speed of the motor is very low, and the pre-hill-holding enabling symbol PreFlag is set as a preset symbol by entering the pre-hill-holding enabling detection module 30 (as shown in fig. 2) under the condition that the rotating speed of the motor is less than or equal to the second preset rotating speed Threshold value Threshold 2. For example, the preset symbol PreFlag may be set to 1. And when the pre-hill-holding enable symbol PreFlag is 1, indicating that the hill-holding enable signal meets the hill-holding enable condition, and the electric vehicle enters a hill-holding enable stage. Next, step S301 is executed to determine other conditions to determine whether all the conditions satisfy the hill-holding condition; otherwise, when the motor speed and the gear are in the same direction, the motor speed exceeds the third preset speed Threshold value Threshold3, and the mode of the motor is in the torque control mode, the hill-holding pre-enable symbol PreFlag is reset by the exiting hill-holding pre-enable detection module 40 (shown in fig. 2) in the state detection device 10, that is, the hill-holding pre-enable symbol PreFlag is set to 0, and step S311 is executed to enter the hill-holding state.
Step S302, judging whether the rotating speed of the motor is larger than a first preset rotating speed threshold value or not, and if the rotating speed of the motor is larger than the first preset rotating speed threshold value, executing step S303; otherwise, step S305 is executed.
In the process of the electric vehicle sliding, the rotating speed of the motor is larger and larger. In a hill-holding enabling stage before the electric vehicle enters the hill-holding state, under the downhill condition, the rotating speed of the motor is positive, and when the rotating speed of the motor is greater than or equal to the first preset rotating speed threshold, the rotating speed sign of the motor is output as a positive value by a motor rotating speed sign detecting unit 500 (shown in fig. 2) in the hill-holding enabling detecting module 50; in the uphill condition, the motor speed is negative, and when the motor speed is less than or equal to the opposite value of the first preset speed threshold, the motor speed sign detection unit 500 (shown in fig. 2) in the hill-holding enabling detection module 50 outputs that the motor speed sign is a negative value. If the rotating speed of the motor is greater than the first preset rotating speed threshold value, executing step S303 to determine other conditions so as to determine whether all the conditions satisfy the hill-holding condition; otherwise, indicating that the hill-holding enabling condition is not satisfied, step S305 is performed.
Step S303, judging whether the direction of the motor rotating speed symbol is opposite to the direction of the gear and whether the product of the motor rotating speed symbol and the direction of the gear has a falling edge is simultaneously established, if so, executing step S304; otherwise, step S305 is executed.
It is determined whether the motor speed sign is opposite to the direction of the gear and the product of the motor speed sign and the direction of the gear has a falling edge by the entering hill enable state detection unit 510 (shown in fig. 2) in the hill enable detection module 50. Setting a hill-holding enabling flag EnFlag to be 1 under the conditions that the motor rotating speed sign is opposite to the direction of the gear and the product of the motor rotating speed sign and the direction of the gear has a falling edge and is simultaneously established, and executing a step S304 to judge other conditions so as to judge whether all conditions meet hill-holding conditions; otherwise, step S305 is executed.
Step S304, judging whether the brake signal is 0 and the accelerator signal is 0, and if yes, executing step S306; otherwise, step S305 is executed.
When the conditions in steps S301 to S304 are all satisfied, that is, when the hill-holding enable flag EnFlag is 1, the Accelerator signal Accelerator is 0, and the Brake signal Brake is 0, the hill-holding flag is set to 1 by the hill-holding state entering detection module 60 (shown in fig. 2) in the state detection device, which indicates that the operating state meets the hill-holding condition, step S306 is executed; otherwise, step S305 is executed.
And S305, determining that the electric vehicle does not need to be parked on a slope.
And S306, driving the motor by adopting a non-zero speed locking speed control mode to control the electric vehicle to enter a slope parking state, and controlling the frequency of a switch of the motor controller to be switched into a first preset frequency to slow down the heating speeds of the motor and the motor controller.
Based on the speed closed-loop PI regulation device in the hill-holding control device regulating the rotation speed of the motor, the hill-holding control device 20 (shown in fig. 2) can control the rotation speed of the motor to be finally locked to a preset speed small enough to provide torque for keeping the electric vehicle stably on the slope. That is to say, the preset speed can not only ensure that the electric vehicle has no forward trend, but also generate forward torque through the speed closed-loop PI adjusting device so as to balance the moment of backward slip of the vehicle caused by the gravity component of the whole vehicle. That is, the hill-holding control device 20 is configured to output a motor torque in a hill-holding state, i.e., hill-holding torque hillholdq.
In addition, the frequency of the switch of the motor controller is reduced by adopting a frequency conversion control mode when the electric vehicle is parked on the slope, and the heating speed of the motor and the motor controller is effectively reduced, so that the slope parking torque in enough time is ensured, and the slope parking is safer and more reliable.
Step S307, judging whether the running state of the electric vehicle does not meet the slope-stopping condition, and executing step S311 under the condition that the slope-stopping condition is not met; otherwise, step S310 is performed.
For example, the sign of the motor speed is different from zero when the sign of the motor speed is different from the direction of the shift position, the signal of the accelerator is not 0, or the signal of the brake is not 0. Once any one of the above conditions is determined to be satisfied, setting a hill holding flag HillholdFlag to 0 by using an exiting hill holding state detection module 70 (shown in fig. 2) in the state detection device, which indicates that the operation state of the electric vehicle no longer satisfies the hill holding condition, then executing step S310 to control the electric vehicle to enter a hill-start state; otherwise, if the running state of the electric vehicle meets the hill-holding condition, step S310 is executed to maintain the hill-holding state.
Step S308, judging whether the torque of the accelerator is larger than or equal to the hill-holding torque, and executing step S311 under the condition that the torque of the accelerator is larger than or equal to the hill-holding torque; otherwise, step S310 is performed.
When the torque of the accelerator is greater than or equal to the hill-holding torque hillholddq, the running state of the electric vehicle is indicated to meet the hill-holding condition, and step S311 is executed to control the electric vehicle to enter the hill-holding state; otherwise, step S310 is executed to maintain the hill-holding state.
Step S309, determining whether the shift position is neutral, and if the shift position is neutral, executing step S311; otherwise, step S310 is performed.
In the case that the gear is changed to the neutral gear, indicating that the running state of the electric vehicle meets the hill-start condition, executing step S311 to control the electric vehicle to enter the hill-start state; otherwise, step S310 is executed to maintain the hill-holding state.
And S310, determining that the electric vehicle does not need to be lifted on a slope, and controlling to be continuously in a slope-parking state.
And step S311, driving the motor in a torque control mode to control the electric vehicle to enter a hill-start state, and controlling the frequency of the switch to be switched to a second preset frequency to improve the control precision of the motor controller.
When any one of the conditions in the above steps S307 to S309 is satisfied, indicating that the operation state satisfies the hill-start condition, the hill-start control device 80 controls the electric vehicle to enter the hill-start state in the torque control mode, and switches the frequency of the switch to the normal switching frequency, thereby maintaining the control performance of the motor controller in the normal state.
In step S312, the output torque of the accelerator is controlled to be the hill-holding torque.
The hill-holding torque HillholdTq is given to the accelerator by the torque control module 90 and is used as the initial output torque for starting the accelerator slope, so that the smooth transition switching from the speed control mode to the torque control mode is ensured, and abnormal noise, vehicle shaking and discomfort of passengers are avoided.
The embodiment of the invention adopts a model-based development mode, and the whole set of control logic and algorithm are realized by adopting the model, thereby avoiding the defect of C code development and obviously improving the readability, continuity, agility and rapidity of the realization logic.
Through practical debugging and verification, the slope-parking control system greatly reduces the slope sliding distance before entering the slope parking, can control the back sliding distance of the automobile slope to be within 10 centimeters and immediately enter the slope parking, and solves the problem that other pre-torque modes (such as recording the last non-zero torque of an accelerator) control the automobile to swing back and forth before stably parking the slope.
In conclusion, the invention creatively drives the motor to generate the forward pre-torque by the speed command of non-zero speed locking, thereby shortening the response time of reaching the slope-stopping torque, simultaneously, reducing the frequency of the switch of the motor controller during slope stopping by a frequency conversion control mode to effectively slow down the heating speeds of the motor and the motor controller, ensuring the slope-stopping torque in enough time, and further realizing the timeliness and the stability of slope stopping.
Correspondingly, as shown in fig. 4, an embodiment of the present invention further provides a hill-holding control method, where the hill-holding control method may include the following steps: step S401, detecting the running state of the electric vehicle; and a step S402, executing the following operations when the running state meets the hill-holding condition: driving a motor in a non-zero speed locking speed control mode to control the electric vehicle to enter a hill-holding state; and controlling the frequency of a switching element of the motor controller to be switched to a first preset frequency so as to reduce the heating speed of the motor and the motor controller.
The slope-parking control method of the embodiment of the invention has the same specific implementation details and effects as those of the embodiment of the slope-parking control system, and is not repeated herein.
Correspondingly, the embodiment of the invention also provides an electric vehicle which can comprise the slope-stopping control system.
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 (13)
1. A hill-holding control system characterized by comprising:
state detection means for detecting an operation state of the electric vehicle; and
hill-holding control means for performing the following operations in a case where the operation state satisfies a hill-holding condition:
driving a motor in a non-zero speed locking speed control mode to control the electric vehicle to enter a hill-holding state; and
controlling the frequency of a switching element of a motor controller to be switched to a first preset frequency so as to reduce the heating speed of the motor and the motor controller.
2. The hill-holding control system according to claim 1, characterized in that the state detecting means includes:
The motor rotating speed detection module is used for detecting the rotating speed of the motor;
the slope-staying enabling detection module is used for detecting a slope-staying enabling signal;
the throttle signal detection module is used for detecting a signal of a throttle; and
a brake signal detection module for detecting the brake signal,
wherein the hill-holding condition comprises: the hill-holding enabling signal meets the hill-holding enabling condition, the signal of the accelerator is 0, and the signal of the brake is 0, wherein the hill-holding enabling signal comprises: the rotating speed symbol of the motor and the direction of the gear,
preferably, the hill-holding enabling detection module includes:
the gear signal detection unit is used for detecting a gear signal; and
the motor rotating speed symbol detection unit is used for executing the following operations in a slope-stopping enabling stage before the electric vehicle enters a slope-stopping state:
comparing the rotating speed of the motor with a first preset rotating speed threshold value; and
performing the following operations according to the comparison result:
under the condition that the rotating speed of the motor is greater than or equal to the first preset rotating speed threshold value, outputting a positive value of the rotating speed symbol of the motor;
under the condition that the rotating speed of the motor is smaller than or equal to the opposite value of the first preset rotating speed threshold value, outputting a negative value of the rotating speed sign of the motor; or
Under the condition that the rotating speed of the motor is smaller than the first preset rotating speed threshold value, outputting a rotating speed symbol of the motor to be 0, wherein the first preset rotating speed threshold value is a positive value,
wherein the hill-holding enabling condition includes: the motor speed sign becomes non-zero and the motor speed sign is opposite to the direction of the gear.
3. The hill-holding control system according to claim 2, characterized in that the state detecting means further includes:
the entering slope pre-enabling detection module is used for executing the following operations in a slope pre-enabling stage before the electric vehicle enters the slope enabling stage:
comparing the rotating speed of the motor with a second preset rotating speed threshold value; and
setting a hill-holding preset enabling symbol as a preset symbol under the condition that the rotating speed of the motor is less than or equal to a second preset rotating speed threshold value, wherein the second preset rotating speed threshold value is less than or equal to the first preset rotating speed threshold value;
wherein the hill-holding enabling condition further includes that the hill-holding pre-enabling symbol is the preset symbol.
4. The hill-holding control system according to claim 3, wherein the hill-holding control device is further configured to output a hill-holding torque, wherein the hill-holding torque is a motor torque in a hill-holding state;
The hill-holding control system further includes:
hill start control means for performing the following operations in a case where the running state satisfies a hill start condition:
driving the motor in a torque control mode to control the electric vehicle to enter a hill start state; and
controlling the frequency of the switching element to switch to a second preset frequency to improve the control accuracy of the motor controller, wherein the second preset frequency is greater than the first preset frequency, and
and the torque control device is used for controlling the output torque of the accelerator to be the hill-holding torque under the condition that the electric vehicle enters a hill-start state.
5. The hill hold control system of claim 4 wherein the hill start condition comprises: the torque of the accelerator is greater than or equal to the hill-holding torque, the gear is changed to neutral, or the operating state does not satisfy the hill-holding condition.
6. The hill hold control system according to claim 4, characterized in that the state detecting means further includes:
the exiting slope pre-enabling detection module is used for resetting the slope pre-enabling symbol under the condition that the following conditions are met,
the direction of the rotating speed of the motor is the same as the direction of the gears;
The rotating speed of the motor is greater than a third preset rotating speed threshold value; and
the mode of driving the motor is the torque control mode,
wherein the third preset rotation speed threshold is greater than the second preset rotation speed threshold;
the hill start condition includes: the hill hold pre-enable symbol is reset.
7. A hill-holding control method characterized by comprising:
detecting the running state of the electric vehicle; and
in the case where the running state satisfies the hill-holding condition, performing the following operation:
driving a motor in a non-zero speed locking speed control mode to control the electric vehicle to enter a hill-holding state; and
controlling a frequency of a switching element of a motor controller to switch to a first switching frequency to slow down a heating speed of the motor and the motor controller.
8. The hill-holding control method according to claim 7, characterized by further comprising: the rotating speed of the motor is detected,
the detecting the operating state of the electric vehicle includes:
detecting a hill-holding enabling signal;
detecting signals of an accelerator; and
the signal of the brake is detected and,
wherein the hill-holding condition comprises: the hill-holding enabling signal meets the hill-holding enabling condition, the signal of the accelerator is 0 and the signal of the brake is 0,
Preferably, the detecting the hill-holding enable signal includes:
detecting a signal of a gear; and
in a hill-holding enabling stage before the electric vehicle enters a hill-holding state, performing the following operations:
comparing the rotating speed of the motor with a first preset rotating speed threshold value; and
and according to the comparison result, executing the following operations:
under the condition that the rotating speed of the motor is greater than or equal to the first preset rotating speed threshold value, outputting a positive value of the rotating speed symbol of the motor;
under the condition that the rotating speed of the motor is smaller than or equal to the opposite value of the first preset rotating speed threshold value, outputting a negative value of the rotating speed sign of the motor; or
Under the condition that the rotating speed of the motor is smaller than the first preset rotating speed threshold value, outputting the rotating speed symbol of the motor to be 0,
wherein the first preset rotating speed threshold value is a positive value,
wherein the hill-holding enabling condition includes: the motor speed sign becomes non-zero and the motor speed sign is opposite to the direction of the gear.
9. The hill-holding control method according to claim 8, wherein the detecting an operation state of the electric vehicle further includes:
in a hill-holding pre-enabling stage before the electric vehicle enters the hill-holding enabling stage, performing the following operations:
Comparing the rotating speed of the motor with a second preset rotating speed threshold value; and
setting the hill-holding preset enabling symbol as a preset symbol when the rotating speed of the motor is smaller than or equal to a second preset rotating speed threshold value, wherein the second preset rotating speed threshold value is smaller than or equal to the first preset rotating speed threshold value,
wherein the hill-holding enabling condition further includes that the hill-holding pre-enabling symbol is the preset symbol.
10. The hill-holding control method according to claim 9, characterized by further comprising:
after the step of driving the motor in the speed control mode adopting non-zero speed locking to control the electric vehicle to enter a hill-holding state is executed, outputting a hill-holding torque, wherein the hill-holding torque is the motor torque in the hill-holding state;
under the condition that the running state meets a hill start condition, driving the motor in a torque control mode to control the electric vehicle to enter a hill start state, and controlling the frequency of the switch to be switched into a second preset frequency to improve the control precision of the motor controller, wherein the second preset frequency is greater than the first preset frequency; and
and under the condition that the electric vehicle enters a hill-start state, controlling the output torque of an accelerator to be the hill-holding torque.
11. The hill-holding control method according to claim 10, characterized in that the hill-starting condition includes: the torque of the accelerator is greater than or equal to the hill-holding torque, the gear is changed to neutral, or the operating state does not satisfy the hill-holding condition.
12. The hill-holding control method according to claim 10, wherein the detecting an operation state of the electric vehicle further comprises: resetting the hill-holding pre-enable symbol if the following condition is satisfied,
the direction of the rotating speed of the motor is the same as the direction of the gears;
the rotating speed of the motor is greater than a third preset rotating speed threshold value; and
the mode of driving the motor is the torque control mode,
wherein the third preset rotation speed threshold is greater than the second preset rotation speed threshold,
the hill start condition includes: the hill hold pre-enable symbol is reset.
13. An electric vehicle characterized in that it comprises a hill-holding control system according to any one of claims 1-6.
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