CN112198910B - Detection and implementation algorithm for automatic stable speed of battery car in downhill - Google Patents
Detection and implementation algorithm for automatic stable speed of battery car in downhill Download PDFInfo
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- CN112198910B CN112198910B CN202011191821.XA CN202011191821A CN112198910B CN 112198910 B CN112198910 B CN 112198910B CN 202011191821 A CN202011191821 A CN 202011191821A CN 112198910 B CN112198910 B CN 112198910B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The invention discloses a detection and realization algorithm for the downhill automatic stable speed of a battery car, which comprises a gyroscope accelerometer and a speed editor, wherein the gyroscope accelerometer is used for detecting the downhill automatic stable speed of the battery car; the mpu6050 gyroscope accelerometer is used for acquiring the current inclination angle of the battery car as a starting threshold value of the algorithm; the speed editor converts the collected rotating speed of the motor through a transmission ratio so as to obtain the actual speed of the battery car carrying the algorithm, and the actual speed is used as an input parameter of PID control; and then PID control is carried out, the output value is the relative difference between the current value and the expected constant speed, the relative difference is added to the PWM wave duty ratio of the output of the electric traction motor, and the rotating speed of the electric traction motor is stabilized after 2-3 times of adjustment, so that the downhill speed of the electric vehicle reaches the preset speed stabilization parameter of 5 m/s. The invention realizes stable speed downhill by the algorithm, ensures the safety problem of the driver, and can realize safe downhill by one key.
Description
Technical Field
The invention relates to a detection and implementation algorithm for automatically stabilizing the downhill speed of a battery car, and belongs to the field of automatic monitoring algorithms.
Background
Nowadays, a large amount of storage battery cars are used due to small volume and convenience, but the defects of the storage battery cars are obvious and the safety performance is not perfect enough. When the battery car is taken off a garage or goes downhill, manual control is needed, a driver brakes suddenly, the speed of the battery car is decelerated too fast, and the battery car is easy to fall off the battery car; the brake is not tightened, the vehicle speed does not reach the downhill safety speed, and the downhill speed is too high, so that safety accidents are easily caused; in case of an emergency, such as a driver's physical discomfort, a less safe situation may occur.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a detection and realization algorithm for the automatic stable speed of the battery car when going downhill, so as to solve the problem that the battery car is too fast to go downhill and is easy to cause safety accidents.
In order to achieve the purpose, the invention adopts the technical scheme that: a detection and realization algorithm for automatically stabilizing the speed of a battery car when going downhill is used for controlling the stable speed of the battery car when going downhill, and comprises a gyroscope accelerometer and a speed editor; the mpu6050 gyroscope accelerometer is used for acquiring the current inclination angle of the battery car as a starting threshold value of the algorithm; the speed editor converts the collected rotating speed of the motor through a transmission ratio so as to obtain the actual speed of the battery car carrying the algorithm, and the actual speed is used as an input parameter of PID control; then PID control is carried out, the output value is the relative difference between the current value and the expected constant speed, the relative difference is added to the PWM wave duty ratio of the output of the electric traction motor, and the rotating speed of the electric traction motor is stabilized after 2-3 times of adjustment, so that the downhill speed of the electric vehicle reaches the preset speed stabilization parameter of 5 m/s;
when the control switch is turned on and the current downhill inclination angle of the battery car is larger than the preset inclination angle, the speed stabilizing control is started, and the electric traction motor is controlled by an algorithm to stabilize the speed of the battery car to be the preset speed stabilizing parameter. When the control switch is closed, the algorithm is closed, and the speed stabilizing control is not started all the time;
when the speed stabilization control is started, the control algorithm of the speed of the electric traction motor is transited to the PID control speed stabilization algorithm by using a transition algorithm.
Further, the gyroscope accelerometer adopts an mpu6050 gyroscope accelerometer module; the speed editor employs an AB phase quadrature encoder.
Furthermore, the intelligent control system also comprises a battery car handle, and a hardware switch for turning on or off the algorithm is installed at the battery car handle.
Further, the PID adjusts the preset speed stabilizing parameter to be 5 m/s.
Further, a PIT timer is arranged on a microprocessor on the electric traction motor; the timing time interval of the PIT timer is 3ms-10ms
Furthermore, the transition algorithm is a PID control speed stabilization algorithm with low amplitude and low response, and coefficient values of P, I and D of the algorithm are adjusted, so that the speed of the battery car is reduced or slightly increased at a high speed in a medium-high speed under the conditions of normal bearing range of a human body and safety consideration, and the preset speed stabilization parameter is approached.
Further, the PID speed-stabilizing control algorithm includes: and measuring the inclination angle and acquiring the speed, inputting parameters to the PID control algorithm to obtain an output value of the PID control algorithm, and modifying the control of the rotating speed of the motor.
The invention has the beneficial effects that: the algorithm is used for realizing stable speed downhill, so that the safety problem of a driver is guaranteed, the functional system of the battery car is perfected, the cost is low, and the return is high; the practical operation is convenient, and the safe downhill can be realized by one key.
Drawings
FIG. 1 is a schematic control diagram of the PID process of the present invention;
FIG. 2 is a diagram of the PID algorithm architecture of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in the specification of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention.
In the embodiment, referring to fig. 1 and fig. 2, a detection and implementation algorithm for automatically stabilizing the speed of a battery car in a downhill state is used for controlling the stable speed of the battery car in the downhill state, and is characterized by comprising a gyroscope accelerometer and a speed editor; the mpu6050 gyroscope accelerometer is used for acquiring the current inclination angle of the battery car as a starting threshold value of the algorithm; the speed editor converts the collected rotating speed of the motor through a transmission ratio so as to obtain the actual speed of the battery car carrying the algorithm, and the actual speed is used as an input parameter of PID control; then PID control is carried out, the output value is the relative difference between the current value and the expected constant speed, the relative difference is added to the PWM wave duty ratio of the output of the electric traction motor, and the rotating speed of the electric traction motor is stabilized after 2-3 times of adjustment, so that the downhill speed of the electric vehicle reaches the preset speed stabilization parameter of 5 m/s;
when the control switch is turned on and the current downhill inclination angle of the battery car is larger than the preset inclination angle, the speed stabilizing control is started, and the electric traction motor is controlled by an algorithm to stabilize the speed of the battery car to be the preset speed stabilizing parameter. When the control switch is closed, the algorithm is closed, and the speed stabilizing control is not started all the time;
when the speed stabilization control is started, the control algorithm of the speed of the electric traction motor is transited to the PID control speed stabilization algorithm by using a transition algorithm.
Preferably, in this embodiment, the gyroscope accelerometer adopts an mpu6050 gyroscope accelerometer module; the speed editor employs an AB phase quadrature encoder.
The preferred, still include the storage battery car handle of this embodiment, storage battery car handle department installs the hardware switch who opens or close this algorithm.
Preferably, in this embodiment, the PID adjusts the preset steady speed parameter to be 5 m/s.
Preferably, in this embodiment, a PIT timer is provided on the microprocessor of the electric traction motor; the timing time interval of the PIT timer is 3ms-10 ms.
Preferably, the transition algorithm is a low-amplitude low-response PID control speed stabilization algorithm, and the coefficient values of the algorithms P, I and D are adjusted, so that the speed of the battery car is reduced or slightly increased at a high speed in a medium-high speed under the conditions of normal bearing range of a human body and safety consideration, and the preset speed stabilization parameter is approached.
Preferably, in this embodiment, the PID speed-stabilizing control algorithm includes: and measuring the inclination angle and acquiring the speed, inputting parameters to the PID control algorithm to obtain an output value of the PID control algorithm, and modifying the control of the rotating speed of the motor.
According to the invention, when the electric vehicle runs on a flat road, the PID control speed stabilization algorithm key is pressed, so that the algorithm cannot be started, and the motor speed cannot be changed; pressing a key before downhill, and then automatically starting a transition algorithm and a PID control speed stabilization algorithm in the process of the battery car going downhill to smooth and stabilize the speed; when a key is pressed down in a downhill, the battery car immediately runs a transition algorithm and a PID control speed stabilization algorithm to smooth and stabilize the speed; starting the electric vehicle on a half slope, pressing a key, and immediately running a transition algorithm and a PID control speed stabilization algorithm on the electric vehicle to smooth and stabilize the speed; this function is effective only for downhill slopes, and uphill speeds are inconvenient to control depending on the individual.
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 or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A detection and realization algorithm for the automatic stable speed of a battery car when going downhill is used for controlling the stable speed of the battery car when going downhill, and is characterized by comprising a gyroscope accelerometer and a speed editor; the mpu6050 gyroscope accelerometer is used for acquiring the current inclination angle of the battery car as a starting threshold value of the algorithm; the speed editor converts the collected rotating speed of the motor through a transmission ratio so as to obtain the actual speed of the battery car carrying the algorithm, and the actual speed is used as an input parameter of PID control; then PID control is carried out, the output value is the relative difference between the current value and the expected constant speed, the relative difference is added to the PWM wave duty ratio of the output of the electric traction motor, and the rotating speed of the electric traction motor is stabilized after 2-3 times of adjustment, so that the downhill speed of the electric vehicle reaches the preset speed stabilization parameter of 5 m/s; when the control switch is turned on, when the current downhill inclination angle of the battery car is greater than the preset inclination angle, the speed stabilizing control is started, the electric traction motor is controlled by an algorithm to stabilize the speed of the battery car to be a preset speed stabilizing parameter, when the control switch is turned off, the algorithm is turned off, and the speed stabilizing control is not started all the time; when the speed stabilization control is started, the control algorithm of the speed of the electric traction motor is transited to the PID control speed stabilization algorithm by using a transition algorithm; the transition algorithm is a PID control speed stabilization algorithm with low amplitude and low response, and the coefficient values of the algorithms P, I and D are adjusted, so that the speed of the battery car is reduced or slightly increased at a high speed in a medium-high speed under the conditions of normal bearing range of a human body and safety consideration, and the preset speed stabilization parameter is approached.
2. The algorithm for detecting and realizing the downhill automatic stabilizing speed of the battery car as claimed in claim 1, wherein the gyroscope accelerometer adopts an mpu6050 gyroscope accelerometer module; the speed editor employs an AB phase quadrature encoder.
3. The algorithm for detecting and realizing the downhill automatic stabilizing speed of the battery car as claimed in claim 1, further comprising a battery car handle, wherein a hardware switch for turning on or off the algorithm is installed at the battery car handle.
4. The algorithm for detecting and implementing the downhill automatic speed stabilization of the battery car according to claim 1, wherein the PID adjusts the preset speed stabilization parameter to be 5 m/s.
5. The algorithm for detecting and realizing the downhill automatic stable speed of the battery car as claimed in claim 1, wherein a PIT timer is arranged on a microprocessor on the electric traction motor; the timing time interval of the PIT timer is 3ms-10 ms.
6. The algorithm for detecting and realizing the downhill automatic speed stabilization of the battery car according to claim 1, wherein the PID control speed stabilization algorithm comprises: and measuring the inclination angle and acquiring the speed, inputting parameters to the PID control algorithm to obtain an output value of the PID control algorithm, and modifying the control of the rotating speed of the motor.
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| CN202011191821.XA CN112198910B (en) | 2020-10-30 | 2020-10-30 | Detection and implementation algorithm for automatic stable speed of battery car in downhill |
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| DE102011083610A1 (en) * | 2011-09-28 | 2013-03-28 | Robert Bosch Gmbh | Speed control for a motor vehicle |
| CN109839932A (en) * | 2019-02-20 | 2019-06-04 | 南通大学 | Automatic navigation method based on Inertial Measurement Unit and GPS |
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| KR20200067297A (en) * | 2018-12-03 | 2020-06-12 | 현대자동차주식회사 | Eco-friendly vehicle and method of hill descent control for the same |
| CN111376728A (en) * | 2018-12-29 | 2020-07-07 | 比亚迪汽车工业有限公司 | Control method and control system based on steep-slope slow-descent control system and electric vehicle |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8430792B2 (en) * | 2006-11-08 | 2013-04-30 | GM Global Technology Operations LLC | Downhill vehicle speed control algorithm for electric driven vehicles |
| CN110667398A (en) * | 2018-12-29 | 2020-01-10 | 长城汽车股份有限公司 | Drive control method and system for electric vehicle |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011083610A1 (en) * | 2011-09-28 | 2013-03-28 | Robert Bosch Gmbh | Speed control for a motor vehicle |
| KR20200067297A (en) * | 2018-12-03 | 2020-06-12 | 현대자동차주식회사 | Eco-friendly vehicle and method of hill descent control for the same |
| CN111376728A (en) * | 2018-12-29 | 2020-07-07 | 比亚迪汽车工业有限公司 | Control method and control system based on steep-slope slow-descent control system and electric vehicle |
| CN109839932A (en) * | 2019-02-20 | 2019-06-04 | 南通大学 | Automatic navigation method based on Inertial Measurement Unit and GPS |
| CN110203077A (en) * | 2019-06-04 | 2019-09-06 | 厦门金龙汽车新能源科技有限公司 | Crawling control method, system and its electric vehicle of electric vehicle |
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