CN112248823B - Torque control method and system for electric automobile and electric automobile - Google Patents
Torque control method and system for electric automobile and electric automobile Download PDFInfo
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- CN112248823B CN112248823B CN202011045469.9A CN202011045469A CN112248823B CN 112248823 B CN112248823 B CN 112248823B CN 202011045469 A CN202011045469 A CN 202011045469A CN 112248823 B CN112248823 B CN 112248823B
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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
- B60L15/2072—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 for drive off
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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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a torque control method and system for an electric automobile and the electric automobile, wherein the method divides the electric automobile into a moving state and a static state, judges tooth-leaning torque according to the gear of the electric automobile when the electric automobile is in the static state, judges the tooth-leaning torque according to the torque requested by a driver when the electric automobile is in the moving state, and determines the final requested torque according to the positive and negative of the judged tooth-leaning torque, so that the obtained final requested torque only has a unique determined value, the situation that the tooth-leaning torque and the torque requested by the driver are overlapped can not occur, and the driver can not feel gear impact in the starting process of the electric automobile.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a torque control method and system for an electric automobile and the electric automobile.
Background
The electric vehicle (BEV) is a vehicle which takes a vehicle-mounted power supply as power and drives wheels by a motor, and meets various requirements of road traffic and safety regulations. Because the influence on the environment is smaller than that of the traditional automobile, the prospect is widely seen. Research on electric vehicles has shown that energy efficiency is superior to gasoline vehicles. Especially, when the electric automobile runs in a city, the automobile stops when the automobile runs, the running speed is not high, and the electric automobile is more suitable. The electric automobile does not consume electric quantity when stopping, and in the braking process, the motor can be automatically converted into a generator, so that the energy can be recycled when the braking is decelerated. Some researches show that the same crude oil is subjected to rough refining, sent to a power plant for power generation, charged into a battery and then used for driving an automobile by the battery, so that the energy utilization efficiency of the crude oil is higher than that of the crude oil which is refined into gasoline and then used for driving the automobile by a gasoline engine, and therefore, the crude oil is beneficial to saving energy and reducing the discharge amount of carbon dioxide. On the other hand, the application of electric vehicles can effectively reduce the dependence on petroleum resources, and limited petroleum can be used for more important aspects. The power charged to the battery can be converted from energy sources such as coal, natural gas, water power, nuclear power, solar power, wind power, tides, and the like. In addition, if the storage battery is charged at night, the peak of power utilization can be avoided, the load balancing of a power grid is facilitated, and the cost is reduced.
At present, electric vehicles are very popular, and consumers feel more severe about driving of the electric vehicles. The electric automobile can feel gear impact when a driver steps on an accelerator for starting due to the clearance between the gears. The existing method for solving the problems is that a driver puts in a running gear (a D gear or an R gear), and then gives tooth-leaning torque according to the D gear or the R gear, but the tooth-leaning torque is superposed on the torque requested by the driver, so that the torque requested by the motor is deviated from the true torque requested by the driver.
Disclosure of Invention
Therefore, the invention aims to solve the problem that in the prior art, during the starting process of an electric automobile, the gear torque and the torque requested by a driver are superposed because the driver does not feel the gear impact.
The invention provides a torque control method for an electric automobile, which comprises the following steps:
judging whether the tooth-leaning torque of the electric automobile is a positive value or a negative value, wherein the specific numerical value of the tooth-leaning torque is obtained by checking according to the current speed table;
when the gear leaning torque is judged to be a positive value, taking the larger value of the gear leaning torque and the driver request torque as a final request torque;
and when the gear-leaning torque is judged to be a negative value, taking the smaller value of the gear-leaning torque and the driver request torque as the final request torque.
The torque control method for the electric automobile determines the final request torque according to the positive and negative judged tooth-leaning torque, and obtains the specific value of the running rule torque according to the difference of the current speedometer, so that the obtained final request torque only has a unique determined value, the situation that the tooth-leaning torque and the torque requested by a driver are overlapped cannot occur, and the driver cannot feel gear impact in the starting process of the electric automobile.
In addition, the torque control method for the electric vehicle provided by the invention can also have the following additional technical characteristics:
the step of judging whether the tooth-leaning torque of the electric automobile is a positive value or a negative value specifically comprises the following steps of:
when the electric automobile is in a static state, judging the gear-leaning torque according to the gear of the electric automobile;
when the gear is a D gear, judging that the tooth-leaning torque is a positive value;
and when the gear is the R gear, judging that the gear leaning torque is a negative value.
Further, the step of determining whether the tooth-contact torque of the electric vehicle is a positive value or a negative value specifically further includes:
when the electric automobile is in a motion state, judging the tooth-leaning torque according to the torque requested by the driver;
when the driver request torque is positive, judging that the tooth leaning torque is a positive value;
and when the torque requested by the driver is negative, judging that the tooth-leaning torque is a negative value.
Further, the electric vehicle includes an electric motor, and the method further includes:
judging whether the absolute value of the rotating speed of the motor is smaller than a preset value or not;
if yes, determining that the electric automobile is in a static state;
if not, the electric automobile is judged to be in a motion state.
Further, the method further comprises:
recording the current rotating speed of the motor, timing, and judging whether the current rotating speed of the motor changes within a preset time;
if not, judging the state of the electric automobile according to the recorded current rotating speed of the motor;
if yes, judging whether the state of the electric automobile changes or not after the rotating speed of the motor changes;
if yes, recording the current rotating speed of the motor again and timing after the state of the electric automobile changes.
And further, after the numerical value of the tooth-leaning torque is obtained by looking up a table according to the current vehicle speed, the numerical value of the tooth-leaning torque is subjected to slope limit processing.
The invention also proposes a torque control system for an electric vehicle, comprising:
the judging module is used for judging whether the tooth-leaning torque of the electric automobile is a positive value or a negative value, and the specific numerical value of the tooth-leaning torque is obtained by checking according to the current speed table;
the first value taking module is used for taking the larger value of the tooth leaning torque and the driver request torque as the final request torque when the tooth leaning torque is judged to be a positive value;
and the second value taking module is used for taking the smaller value of the tooth-leaning torque and the driver request torque as the final request torque when the tooth-leaning torque is judged to be a negative value.
Further, the judging module includes:
the first judging unit is used for judging the gear-leaning torque according to the gear of the electric automobile when the electric automobile is in a static state;
the second judgment unit is used for judging that the tooth leaning torque is a positive value when the gear is a D gear;
and the third judging unit is used for judging that the tooth-leaning torque is a negative value when the gear is an R gear.
Further, the determining module further includes:
the fourth judging unit is used for judging the tooth-leaning torque according to the torque requested by the driver when the electric automobile is in a motion state;
a fifth judging unit configured to judge that the tooth abutment torque is a positive value when the driver requested torque is positive;
and a sixth judging unit configured to judge that the tooth abutment torque is a negative value when the driver requested torque is negative.
The invention also provides an electric automobile which comprises the torque control system for the electric automobile.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a flow chart of a torque control method provided in a first embodiment of the present invention;
fig. 2 is a flowchart illustrating a specific step of step S101 in the torque control method according to the first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a torque control system according to a second embodiment of the present invention.
Description of the symbols of the main elements
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Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
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. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a torque control method for an electric vehicle according to a first embodiment of the present invention is shown, where the electric vehicle includes a motor, and the torque control method includes the following steps:
and S101, judging whether the absolute value of the rotating speed of the motor is smaller than a preset value.
When judging the motor rotating speed, in order to prevent the occurrence of the back-and-forth jumping, the step of judging whether the absolute value of the motor rotating speed is smaller than the preset value specifically comprises the following steps:
s1011, recording the current rotating speed of the motor, timing, and judging whether the current rotating speed of the motor changes within preset time;
s1012, judging the state of the electric automobile according to the recorded current rotating speed of the motor if the current rotating speed of the motor is not the same as the recorded current rotating speed of the motor;
s1013, if yes, judging whether the state of the electric automobile changes after the rotation speed of the motor changes;
and S1014, if so, recording the current rotating speed of the motor again and timing after the state of the electric automobile is changed.
That is to say, in the process of determining the motor rotation speed, a period of time needs to be observed and determined after the value is taken, and in this period of time, if the motor rotation speed changes and the state of the electric vehicle changes after the change, the motor rotation speed taken by the previous value cannot be used as a judgment basis. When the rotating speed of the motor changes and the state of the electric automobile changes, the rotating speed of the motor needs to be evaluated again, and the electric automobile is observed for a period of time after evaluation and then judged to be in a stable state.
It should be noted that, in the preset time, if the rotation speed of the motor changes, but the state of the electric vehicle is not affected after the change, in this case, the state of the electric vehicle may still be determined according to the recorded current rotation speed.
In combination with the foregoing, in the embodiment, the determining of the state of the electric vehicle is based on the absolute value of the current motor rotation speed, the absolute value of the motor rotation speed is static when being smaller than the preset value, and in order to prevent the motor rotation speed from changing and causing the state of the electric vehicle to jump back and forth, Debounce (anti-shake) processing is required in the process of determining the state of the electric vehicle, and when the state of the electric vehicle is from "0" to "1", it is determined that a certain time elapses, and when the state of the electric vehicle is from "1" to "0", it is determined that a certain time elapses.
And S102, if so, the electric automobile is in a static state, and when the electric automobile is in the static state, the gear-dependent torque is judged according to the gear of the electric automobile.
Wherein, when the vehicle is static, lean on tooth torque and gear are relevant, specifically:
when the gear is a D gear, judging that the tooth-leaning torque is a positive value;
and when the gear is the R gear, judging that the gear leaning torque is a negative value.
S103, if not, the electric automobile is in a motion state, and when the electric automobile is in the motion state, the tooth-leaning torque is judged according to the torque requested by the driver.
When the electric automobile moves, the tooth-based torque is related to the sign of the torque requested by the driver, and specifically:
when the driver request torque is positive, judging that the tooth leaning torque is a positive value;
and when the torque requested by the driver is negative, judging that the tooth-leaning torque is a negative value.
In this embodiment, as shown in tables 1 and 2, the specific value of the tooth-engaging torque is obtained by looking up a table according to the current vehicle speed, and specifically, the tooth-engaging torque corresponding to each vehicle speed has a value, which is a positive value and a negative value.
Table 1:
| vehicle speed | 0 | 2 | 5 | 6 | 15 | 20 |
| Torque by tooth | 2 | 2 | 2 | 2 | 2 | 0 |
Table 2:
| vehicle speed | 0 | 2 | 5 | 6 | 15 | 20 |
| Torque by tooth | -2 | -2 | -2 | -2 | -2 | 0 |
And S104, when the tooth leaning torque is judged to be positive, taking the larger value of the tooth leaning torque and the driver request torque as the final request torque.
And S105, when the tooth-leaning torque is judged to be negative, taking the smaller value of the tooth-leaning torque and the driver request torque as the final request torque.
According to the control method, the value of the final requested torque is unique, and the situation that the requested torque for the motor deviates from the real requested torque of the driver due to superposition of tooth torque and the requested torque of the driver does not occur.
In this embodiment, after the numerical value of the tooth-leaning torque is obtained by looking up a table according to the current vehicle speed, the numerical value of the tooth-leaning torque is subjected to slope limit processing.
Specifically, the rising slope and the falling slope are calibration amounts.
In summary, the torque control method for an electric vehicle in the embodiment determines whether the electric vehicle is stationary or moving based on the motor speed: the absolute value of the rotating speed of the motor is less than a certain value and is static. And if the electric automobile is in a static state, judging the gear-dependent torque according to the gear: if the gear is D, the tooth-leaning torque is positive, and the tooth-leaning torque is obtained by looking up a table according to the speed; and if the gear is an R gear, the tooth-leaning torque is negative, and the tooth-leaning torque is obtained by looking up a table according to the speed. And if the whole vehicle moves, judging the torque of the gear according to the torque requested by the driver: if the torque requested by the driver is positive, the tooth-leaning torque is positive, and the tooth-leaning torque is obtained by looking up a table according to the speed; if the driver request torque is negative, the tooth-leaning torque is negative, and the tooth-leaning torque is obtained by looking up a table according to the speed. Taking the larger value of the tooth leaning torque and the driver request torque as the final request torque when the tooth leaning torque is positive; and when the tooth-leaning torque is negative, taking the smaller value of the tooth-leaning torque and the driver request torque as the final request torque.
In the torque control method for the electric vehicle in the embodiment, the electric vehicle is divided into the moving state and the stationary state, the tooth-leaning torque is judged according to the gear of the electric vehicle when the electric vehicle is in the stationary state, the tooth-leaning torque is judged according to the torque requested by the driver when the electric vehicle is in the moving state, and the final requested torque is determined according to the positive and negative of the judged tooth-leaning torque.
Referring to fig. 3, a schematic structural diagram of a torque control system for an electric vehicle according to a second embodiment of the present invention is shown.
A torque control system for an electric vehicle, comprising:
the judging module 10 is used for judging whether the tooth-leaning torque of the electric automobile is a positive value or a negative value, and the specific numerical value of the tooth-leaning torque is obtained by checking according to a current speed table;
the first value taking module 20 is configured to take a larger value of the tooth-leaning torque and the driver requested torque as a final requested torque when it is determined that the tooth-leaning torque is a positive value;
and the second value taking module 30 is configured to take a smaller value of the tooth leaning torque and the driver requested torque as a final requested torque when the tooth leaning torque is determined to be a negative value.
Further, the determining module 10 includes:
the first judging unit 11 is configured to judge the gear-dependent torque according to a gear of the electric vehicle when the electric vehicle is in a stationary state;
a second determination unit 12, configured to determine that the tooth-leaning torque is a positive value when the gear is a D gear;
and a third determining unit 13, configured to determine that the tooth-leaning torque is a negative value when the shift position is an R-range.
Further, the determining module 10 further includes:
a fourth judging unit 14, configured to judge the tooth-leaning torque according to the torque requested by the driver when the electric vehicle is in a moving state;
a fifth judging unit 15 configured to judge that the tooth abutment torque is a positive value when the driver requested torque is positive;
a sixth determining unit 16, configured to determine that the tooth abutment torque is a negative value when the driver requested torque is negative.
In this embodiment, the electric vehicle further includes a motor, and the determination module 10 further includes:
a seventh judging unit 17, configured to judge whether an absolute value of the motor rotation speed is smaller than a preset value;
if yes, determining that the electric automobile is in a static state;
and if not, the electric automobile is judged to be in the motion state.
Specifically, the determining module 10 further includes:
the data recording unit 18 is configured to record and time the current rotation speed of the motor, and the seventh judging unit 17 judges whether the current rotation speed of the motor changes within a preset time;
if not, judging the state of the electric automobile according to the recorded current rotating speed of the motor;
if yes, the seventh judging unit 17 judges whether the state of the electric vehicle changes after the rotation speed of the motor changes;
if yes, recording the current rotating speed of the motor again and timing after the state of the electric automobile changes.
And further, after the numerical value of the tooth-leaning torque is obtained by looking up a table according to the current vehicle speed, the numerical value of the tooth-leaning torque is subjected to slope limit processing.
In summary, in the present embodiment, the seventh determining unit 17 determines whether the electric vehicle is stationary or moving based on the motor speed: the absolute value of the rotating speed of the motor is less than a certain value and is static. The electric vehicle is in a stationary state, and the first determining unit 11 determines the gear-dependent torque according to the gear: if the gear is D, the tooth-leaning torque is positive, and the tooth-leaning torque is obtained by looking up a table according to the speed; and if the gear is an R gear, the tooth-leaning torque is negative, and the tooth-leaning torque is obtained by looking up a table according to the speed. The fourth determining unit 14 determines the tooth-leaning torque according to the torque requested by the driver when the electric vehicle is in a moving state: if the torque requested by the driver is positive, the tooth-leaning torque is positive, and the tooth-leaning torque is obtained by looking up a table according to the speed; if the driver request torque is negative, the tooth-leaning torque is negative, and the tooth-leaning torque is obtained by looking up a table according to the speed. The first value taking module 20 takes the larger value of the tooth leaning torque and the driver request torque as the final request torque when the tooth leaning torque is positive; the second value taking module 30 takes the smaller value of the tooth leaning torque and the driver requested torque as the final requested torque when the tooth leaning torque is negative.
In the embodiment, the torque control system for the electric vehicle divides the electric vehicle into the moving state and the static state, determines the tooth-leaning torque according to the gear of the electric vehicle when the electric vehicle is in the static state, determines the tooth-leaning torque according to the torque requested by the driver when the electric vehicle is in the moving state, and determines the final requested torque according to the positive and negative of the determined tooth-leaning torque.
A fourth embodiment of the present invention also provides an electric vehicle including the torque control system for an electric vehicle described above.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (4)
1. A torque control method for an electric vehicle, characterized by comprising the steps of:
judging whether the tooth-leaning torque of the electric automobile is a positive value or a negative value, wherein the specific numerical value of the tooth-leaning torque is obtained by checking according to the current speed table;
when the gear leaning torque is judged to be a positive value, taking the larger value of the gear leaning torque and the driver request torque as a final request torque;
when the gear-leaning torque is judged to be a negative value, taking the smaller value of the gear-leaning torque and the driver request torque as a final request torque;
the electric vehicle includes an electric machine, the method further comprising:
judging whether the absolute value of the rotating speed of the motor is smaller than a preset value or not;
if yes, determining that the electric automobile is in a static state;
if not, judging that the electric automobile is in a motion state;
the method further comprises the following steps:
recording the current rotating speed of the motor, timing, and judging whether the current rotating speed of the motor changes within a preset time;
if not, judging the state of the electric automobile according to the recorded current rotating speed of the motor;
if yes, judging whether the state of the electric automobile changes or not after the rotating speed of the motor changes;
if so, recording the current rotating speed of the motor again and timing after the state of the electric automobile is changed;
the step of judging whether the tooth-leaning torque of the electric automobile is a positive value or a negative value specifically comprises the following steps of:
when the electric automobile is in a static state, judging the gear-leaning torque according to the gear of the electric automobile;
when the gear is a D gear, judging that the tooth-leaning torque is a positive value;
when the gear is an R gear, judging that the gear leaning torque is a negative value;
the step of judging whether the tooth-leaning torque of the electric automobile is a positive value or a negative value specifically comprises the following steps of:
when the electric automobile is in a motion state, judging the tooth-leaning torque according to the torque requested by the driver;
when the driver request torque is positive, judging that the tooth leaning torque is a positive value;
and when the torque requested by the driver is negative, judging that the tooth-leaning torque is a negative value.
2. The torque control method for the electric vehicle according to claim 1, wherein the tooth-leaning torque value is subjected to slope limiting processing after the tooth-leaning torque value is obtained by looking up a table according to a current vehicle speed.
3. A torque control system for an electric vehicle, comprising:
the judging module is used for judging whether the tooth-leaning torque of the electric automobile is a positive value or a negative value, and the specific numerical value of the tooth-leaning torque is obtained by checking according to the current speed table;
the first value taking module is used for taking the larger value of the tooth leaning torque and the driver request torque as the final request torque when the tooth leaning torque is judged to be a positive value;
the second value taking module is used for taking the smaller value of the tooth-leaning torque and the driver request torque as the final request torque when the tooth-leaning torque is judged to be a negative value;
the electric automobile includes the motor, the judgement module still includes:
a seventh judging unit, configured to judge whether an absolute value of the motor rotation speed is smaller than a preset value;
if yes, determining that the electric automobile is in a static state;
if not, judging that the electric automobile is in a motion state;
the judging module further comprises:
the data recording unit is used for recording the current rotating speed of the motor, timing and judging whether the current rotating speed of the motor changes within preset time;
if not, judging the state of the electric automobile according to the recorded current rotating speed of the motor;
if yes, the seventh judging unit judges whether the state of the electric automobile changes after the rotating speed of the motor changes;
if so, recording the current rotating speed of the motor again and timing after the state of the electric automobile is changed;
the judging module comprises:
the first judging unit is used for judging the gear-leaning torque according to the gear of the electric automobile when the electric automobile is in a static state;
the second judgment unit is used for judging that the tooth leaning torque is a positive value when the gear is a D gear;
the third judging unit is used for judging that the tooth-leaning torque is a negative value when the gear is an R gear;
the judging module comprises:
the fourth judging unit is used for judging the tooth-leaning torque according to the torque requested by the driver when the electric automobile is in a motion state;
a fifth judging unit configured to judge that the tooth abutment torque is a positive value when the driver requested torque is positive;
and a sixth judging unit configured to judge that the tooth abutment torque is a negative value when the driver requested torque is negative.
4. An electric vehicle characterized by comprising the torque control system for an electric vehicle according to claim 3.
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| CN113270935B (en) * | 2021-06-01 | 2022-12-02 | 江铃汽车股份有限公司 | Solar charging control method for electric automobile |
| CN113829896B (en) * | 2021-11-10 | 2024-01-19 | 浙江奥思伟尔电动科技有限公司 | Gear leaning method for electric automobile |
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