CN111942167A - Pure electric vehicle driving motor control method based on driver acceleration intention recognition - Google Patents

Pure electric vehicle driving motor control method based on driver acceleration intention recognition Download PDF

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Publication number
CN111942167A
CN111942167A CN201910397396.0A CN201910397396A CN111942167A CN 111942167 A CN111942167 A CN 111942167A CN 201910397396 A CN201910397396 A CN 201910397396A CN 111942167 A CN111942167 A CN 111942167A
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motor
torque
vehicle
driver
accelerator pedal
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张农
王星宇
朱波
郑敏毅
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Hefei University of Technology
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Hefei University of Technology
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention relates to a pure electric vehicle driving motor control method based on driver acceleration intention recognition. The method mainly comprises the following steps: (A) the vehicle control unit is respectively distributed to the motor reference output torque and the dynamic compensation torque, and the total output torque of the driving motor is obtained by adding the reference output torque and the dynamic compensation torque. (B) The vehicle control unit collects real-time signals of an accelerator pedal position sensor and real-time signals of the motor rotating speed and controls the driving motor to output corresponding reference torque. (C) The vehicle control unit collects a real-time vehicle speed signal and an accelerator pedal opening change rate signal, identifies the acceleration intention of a driver, and gives different dynamic compensation torques to the driving motor according to the strength of the acceleration intention. (D) Before the vehicle control unit applies compensation torque to the motor, whether the received acceleration instruction is misoperation of a driver is judged, and if the received acceleration instruction is not misoperation, the motor is dynamically provided with compensation torque. The invention ensures the instantaneous acceleration performance of the electric automobile and effectively improves the economy.

Description

Pure electric vehicle driving motor control method based on driver acceleration intention recognition
Technical Field
The invention belongs to the technical field of electric automobile drive control, and particularly relates to a drive motor control method based on driver acceleration intention recognition.
Background
The driving range becomes an important factor for limiting the development and popularization of the pure electric vehicle, a more complete vehicle driving control strategy is developed while the power battery of the electric vehicle is vigorously researched, the output torque of the driving motor is reasonably distributed, the vehicle-mounted energy utilization efficiency is improved, and the driving range is also a measure capable of effectively improving the driving range of the electric vehicle.
In the existing pure electric vehicle whole vehicle driving control strategy, a multi-mode driving control strategy is widely used in the market, the working mode of the whole vehicle driving is divided into 3 types of common mode, power mode and economic mode, and when the vehicle runs in the power mode or the economic mode, the dynamic property and the economic property of the vehicle are respectively highlighted. However, under the complex working conditions of cities, the energy consumption of the whole vehicle and the energy consumption of drivers are higher due to frequent switching of the working modes.
In the control method of the driving motor of the electric automobile, a control strategy of adopting acceleration torque compensation is common in the market, and an acceleration torque compensation algorithm is designed to be used for calculating compensation torque on the basis of linear stable driving torque output. However, the method only highlights the acceleration performance of the vehicle, does not consider the loss of the economy of the whole vehicle, and ignores the great influence on the driving range of the electric vehicle.
Disclosure of Invention
In view of the above problems, the present invention aims to design a driving control strategy that considers both the dynamic performance and the economic performance of an electric vehicle, and in particular relates to a driving motor control method based on driver acceleration intention identification, so that a driver does not need to frequently switch driving working modes in order to highlight a certain performance of the vehicle, and when the driver inputs an acceleration instruction, the driver's acceleration intention can be identified, and the requirement of the instantaneous acceleration capability of the whole vehicle can be ensured, and when the driver has no obvious acceleration intention and the vehicle runs at an approximately constant speed, the economic performance of the whole vehicle is improved, thereby effectively improving the narrative mileage of the electric vehicle.
In order to achieve the purpose, the invention adopts the technical scheme that: a driving motor control method based on driver acceleration intention recognition comprises the following steps: (A) the whole electric vehicle controller is respectively distributed to the motor reference output torque and the dynamic compensation torque, and the total output torque of the driving motor is obtained by adding the reference output torque and the dynamic compensation torque. (B) The vehicle control unit collects signals of an accelerator pedal position sensor and signals of motor rotating speed, and controls the driving motor to output corresponding reference torque. (C) The vehicle control unit collects a real-time vehicle speed signal and an accelerator pedal opening change rate signal, identifies the acceleration intention of a driver, and gives different dynamic compensation torques to the driving motor according to the strength of the acceleration intention. (D) Before the vehicle control unit applies compensation torque to the motor, whether the received acceleration instruction is misoperation of a driver is judged, and if the received acceleration instruction is not misoperation, the motor is dynamically provided with compensation torque.
In the step A, the vehicle control unit collects an accelerator pedal position sensor signal and a motor rotating speed signal, obtains a motor torque coefficient L corresponding to the current accelerator pedal opening S and the motor rotating speed n through table lookup, multiplies the current motor maximum torque by the motor torque coefficient L, and calculates the reference output torque T (T) of the motorn) Expressed as:
T(tn)＝L×Tmax(tn)
wherein L is the motor torque coefficient, Tmax(tn) The current maximum torque of the motor.
The vehicle control unit collects a real-time vehicle speed signal and an accelerator pedal opening change rate signal, and obtains a dynamic compensation torque corresponding to the current vehicle speed V and the accelerator pedal opening change rate through table lookup, so that the total output torque T of the driving motorreExpressed as:
Tre＝T(tn)+ΔT(tn)
in the formula, T (T)n) For reference output torque of the motor, Δ T (T)n) Dynamically compensating the motor for torque.
In the step B, a numerical table of the motor torque coefficient L is determined by utilizing a Matlab fuzzy control tool box according to a specified fuzzy inference rule, the opening degree S of an accelerator pedal and the rotating speed n of the motor are used as input, the motor torque coefficient L is used for output, and a two-input single-output fuzzy controller is designed, wherein the corresponding motor torque coefficient L in the fuzzy inference rule is low, so that the purpose is to reduce the reference output torque of the motor and emphasize the overall economy of the electric automobile.
In said step C, the dynamic compensation torque DeltaT (T)n) The numerical table is determined by a Matlab fuzzy control tool box according to a specified fuzzy inference rule, takes a real-time vehicle speed variable V and an accelerator pedal opening change rate as input, and takes dynamic compensation torque delta T (T)n) And designing a two-input single-output fuzzy controller for output, wherein the design of a fuzzy inference rule mainly focuses on the instantaneous acceleration performance of the vehicle.
The vehicle control unit takes a combined signal of the real-time vehicle speed and the accelerator pedal opening change rate as a judgment condition for identifying the acceleration intention of the driver, collects the two variable signals and matches the two variable signals with an inference rule of the compensation torque fuzzy controller, and the process is the process for identifying the acceleration intention of the driver.
And determining dynamic compensation torque given to the motor according to the real-time vehicle speed signal, the accelerator pedal opening change rate signal and a result matched with the fuzzy inference rule.
In the step D, a driver misoperation recognition module is added, before the vehicle controller applies the compensation torque to the motor, the vehicle controller needs to judge whether the received acceleration command is the driver misoperation, if not, the compensation torque is given, and if the acceleration command is the misoperation, the compensation torque is not given.
The vehicle control unit judges whether the driver mistakenly steps on the accelerator pedal as a brake pedal in real time according to the collected current vehicle speed signal and the collected accelerator pedal position sensor signal. In the present invention, if the current vehicle speed is greater than 100km/h and the accelerator pedal opening change rate is greater than 90%/s, it is determined that the accelerator pedal depression command is an erroneous operation.
Drawings
Fig. 1 is a schematic block diagram of the present invention.
Fig. 2 is a three-dimensional control surface diagram of a motor torque coefficient of the motor reference output torque of the invention.
Fig. 3 is a three-dimensional control surface diagram of the dynamic compensation torque of the motor of the invention.
Fig. 4 is a flow chart of the control of the drive motor of the present invention.
Detailed Description
The present invention will be described in further detail with reference to fig. 1 to 4.
1. Referring to fig. 1, a driving motor control method based on driver acceleration intention recognition mainly includes the following steps:
(1) the method specifically comprises the steps of determining a numerical table of a motor torque coefficient L, specifically determining the numerical table according to a specified fuzzy inference rule by utilizing a Matlab fuzzy control tool box, taking an accelerator pedal opening S and a motor rotating speed n as input, outputting the motor torque coefficient L, and designing a two-input single-output fuzzy controller, wherein the corresponding motor torque coefficient L in the fuzzy inference rule is low, and the purpose is to adjust the motor reference output torque and emphasize the whole vehicle economy of the electric vehicle.
In the running process of a vehicle, a vehicle control unit collects an accelerator pedal position sensor signal and a motor rotating speed signal, obtains a motor torque coefficient L corresponding to the current accelerator pedal opening S and the motor rotating speed n through table lookup, multiplies the current motor maximum torque by the motor torque coefficient L, and calculates the reference output torque T (T) of a motorn) Expressed as:
T(tn)＝L×Tmax(tn)
wherein L is the motor torque coefficient, Tmax(tn) The current maximum torque of the motor.
(2) Determining a dynamic compensation torque Δ T (T)n) The numerical table is determined by a Matlab fuzzy control tool box according to a specified fuzzy inference rule, takes a real-time vehicle speed variable V and an accelerator pedal opening change rate as input, and takes dynamic compensation torque delta T (T)n) And designing a two-input single-output fuzzy controller for output, wherein the design of a fuzzy inference rule mainly focuses on the instantaneous acceleration performance of the vehicle.
In the running process of the vehicle, the vehicle control unit collects a real-time vehicle speed signal and an accelerator pedal opening change rate signal, and obtains a dynamic compensation torque conversion delta T (T) corresponding to the current vehicle speed V and the accelerator pedal opening change rate through table lookupn) Thereby driving the total output torque T of the motorreExpressed as:
Tre＝T(tn)+ΔT(tn)
in the formula, T (T)n) For reference output torque of the motor, Δ T (T)n) Dynamically compensating the motor for torque.
2. Referring to fig. 2, a three-dimensional control surface map of the motor torque coefficient L is specifically generated by the following steps:
selecting an accelerator pedal opening variable S and a motor rotating speed variable n as inputs, using a motor torque coefficient L as an output, designing a two-input single-output fuzzy controller, respectively carrying out domain division and fuzzification on the input variable and the output variable, and selecting a Gaussian function as a membership function of the input variable and the output variable.
The range of discourse domain values of the accelerator pedal opening variable S is defined to be 0-100%, the range is unitless, and fuzzy subsets are JT1, JT2, … and JT 10.
The universe of discourse of the motor speed variable n is defined to be 0-10000, the unit is r/min, and the fuzzy subsets are DZ1, DZ2, … and DZ 10.
The universe of discourse of the motor torque coefficient L n is defined to be 0-1, no unit is available, and fuzzy subsets are ZX1, ZX2, … and ZX 10.
And designing a fuzzy inference rule, wherein the corresponding motor torque coefficient L is low, so that the aim of reducing the reference output torque of the motor is to emphasize the whole vehicle economy of the electric vehicle.
TABLE 1 fuzzy inference rule for motor torque coefficient L
Figure BDA0002058605740000041
The fuzzy inference method of 'Mamdani' is adopted, the center of gravity method is used for realizing defuzzification, and the three-dimensional control curve of the motor torque coefficient is shown in figure 2.
3. Referring to FIG. 3, the dynamic compensation torque Δ T (T)n) The three-dimensional control surface graph specifically comprises the following steps:
selecting a real-time vehicle speed variable V and an accelerator pedal opening change rate as input, and dynamically compensating the torque delta T (T)n) Designing two-input single-output fuzzy control as outputAnd the device is used for performing domain partitioning and fuzzification processing on the input variable and the output variable respectively, and selecting a triangular function as a membership function of the input variable and the output variable.
And defining the range of the real-time vehicle speed in the fuzzy controller as 0-140, and the unit is km/h. The speed range of 0-140 km/h is fuzzified into five domain regions, and the voice variables in the fuzzy control are respectively expressed as: very low (HD), low (D), medium (Z), high (G) and very High (HG).
Defining a domain value range of the accelerator pedal opening change rate to be 0-300 with a unit of%/s, dividing the accelerator pedal opening change rate into five domain intervals, and respectively expressing voice variables in fuzzy control as follows: very small (HX), small (X), medium (Z), large (D) and very large (HD).
And defining the universe value range of the dynamic compensation torque to be 0-25 in Nm. And correspondingly, the discourse domain interval is divided into five variable intervals of zero (L), small (X), middle (Z), large (D) and large (HD) according to the size of the compensation torque value.
And designing a fuzzy inference rule to highlight the instantaneous acceleration performance of the vehicle.
TABLE 2 dynamic compensation Torque Δ r (t)n) Fuzzy inference rules of
Figure BDA0002058605740000051
4. Referring to fig. 4, the specific process of controlling the output torque of the driving motor by the vehicle controller is as follows:
the electric automobile starts to run from a starting state, and the vehicle control unit acquires an accelerator pedal position sensor signal and a motor rotating speed signal.
And the vehicle control unit obtains a motor torque coefficient by looking up a table and calculates a motor reference output torque.
The vehicle control unit collects a real-time vehicle speed signal and an accelerator pedal opening change rate signal.
And matching the acquired signals with a fuzzy control rule to identify the acceleration intention of the driver.
And the vehicle control unit judges whether the acceleration instruction of the driver is misoperation or not by combining the current vehicle state information.
If the current speed is more than 100km/h and the accelerator pedal opening change rate is more than 90%/s, the accelerator pedal stepping instruction is judged to be misoperation, and no dynamic compensation torque is given to the motor.
And if the acceleration command of the driver is judged to be normal operation, dynamic compensation torque is given to the motor.
And adding the reference torque and the dynamic compensation torque to obtain the total output torque of the driving motor, and controlling the motor to output by the vehicle control unit.

Claims (4)

1. A driving motor control method based on driver acceleration intention recognition is characterized in that: under the condition of the existing vehicle controller hardware system of the electric vehicle, the power economy performance of the whole vehicle is improved by changing the software control strategy of the driving motor; the motor controller controls the driving motor to output a reference torque T (T)n) On the basis of the acceleration intention of the driver, a dynamic compensation torque Delta T (T) identified on the basis of the acceleration intention of the driver is applied to the vehiclen) The two are added to obtain the total output torque T of the motorreI.e. Tre＝T(tn)+ΔT(tn) (ii) a The reference output torque value and the dynamic compensation torque value of the driving motor are downloaded to the vehicle control unit in advance, and the reference output torque value and the dynamic compensation torque value are called by the vehicle control unit through table lookup when the vehicle is controlled to run.
2. The drive motor control method based on driver's acceleration intention recognition according to claim 1, characterized in that: in the running process of the vehicle, the vehicle control unit collects an accelerator pedal position sensor signal and a motor rotating speed signal, obtains a motor torque coefficient L corresponding to the current accelerator pedal opening S and the motor rotating speed n through table lookup, and then outputs a reference torque T (T) of the motor at the momentn) Expressed as:
T(tn)＝L×Tmax(tn)
wherein L is the motor torque coefficient, Tmax(tn) The current maximum torque of the motor is obtained;
a downloaded motor torque coefficient numerical table of the vehicle controller is determined by a fuzzy logic controller in a Matlab fuzzy control toolbox according to a specified fuzzy inference rule, a two-input single-output fuzzy controller is designed by taking the opening degree S of an accelerator pedal and the rotating speed n of a motor as input and taking a motor torque coefficient L as output, and the motor torque coefficient L is low in the design of the fuzzy control rule, so that the economic performance of the vehicle is emphasized.
3. The drive motor control method based on driver's acceleration intention recognition according to claim 1, characterized in that:
in the running process of the vehicle, the vehicle control unit collects real-time vehicle speed signals and accelerator pedal position sensor signals, dynamic compensation torque values corresponding to the current vehicle speed V and the accelerator pedal opening change rate are obtained through table lookup, and then the total torque T output by the driving motor at the momentreExpressed as:
Tre＝T(tn)+ΔT(tn)
in the formula, T (T)n) For reference output torque of the motor, Δ T (T)n) Dynamically compensating the torque for the motor;
the vehicle control unit is provided with a downloaded dynamic compensation torque value table, the dynamic compensation torque value table is determined by utilizing a fuzzy logic controller in a Matlab fuzzy control toolbox according to a specified fuzzy inference rule, a two-input single-output fuzzy controller is designed by taking a real-time vehicle speed V and an accelerator pedal opening change rate as input and taking dynamic compensation torque as output, and the acceleration intention recognition of a driver is embodied by the design of the fuzzy control rule, so that the specific compensation torque value is determined, wherein the design of the fuzzy control rule highlights the instantaneous acceleration performance of the whole vehicle.
4. The drive motor control method based on driver's acceleration intention recognition according to claim 1, characterized in that: the method comprises the steps that dynamic compensation torque is given to a driving motor, so that the instantaneous acceleration performance of a vehicle can be effectively improved, but potential safety hazards exist, particularly, under the condition that a driver has misoperation, if the driver mistakenly takes an accelerator pedal as a brake pedal to step on, the vehicle control unit further applies compensation torque to the motor, so that the risk of traffic accidents is very high, a driver misoperation identification module is added in a driving motor control method, before the vehicle control unit applies the compensation torque to the motor, whether a received acceleration instruction is driver misoperation needs to be judged, if not, the compensation torque is given, and if the received acceleration instruction is misoperation, the compensation torque is not given;
the vehicle control unit judges whether the driver mistakenly steps on the accelerator pedal as a brake pedal in real time according to the collected current vehicle speed signal and the collected accelerator pedal position sensor signal; and if the current vehicle speed is more than 100km/h and the accelerator pedal opening change rate is more than 90%/s, determining that the accelerator pedal stepping instruction is misoperation.
CN201910397396.0A 2019-05-14 2019-05-14 Pure electric vehicle driving motor control method based on driver acceleration intention recognition Pending CN111942167A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112721629A (en) * 2021-01-12 2021-04-30 广州橙行智动汽车科技有限公司 Acceleration control method, acceleration control device, vehicle and storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112721629A (en) * 2021-01-12 2021-04-30 广州橙行智动汽车科技有限公司 Acceleration control method, acceleration control device, vehicle and storage medium

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Application publication date: 20201117