CN112519591B - Control method and control system for power battery discharge power - Google Patents

Control method and control system for power battery discharge power Download PDF

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CN112519591B
CN112519591B CN201910798425.4A CN201910798425A CN112519591B CN 112519591 B CN112519591 B CN 112519591B CN 201910798425 A CN201910798425 A CN 201910798425A CN 112519591 B CN112519591 B CN 112519591B
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speed
wheel speed
driving motor
current
preset
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CN112519591A (en
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王林
张霏霏
顾铮珉
谷靖
蔡恒奕
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SAIC Motor Corp Ltd
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SAIC Motor Corp Ltd
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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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/14—Preventing excessive discharging
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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 application discloses a control method and a control system for power battery discharge power, wherein the control method for power battery discharge power obtains the current slip ratio of a motor vehicle, and predicts a next possible rotation speed of the drive motor based on the current slip ratio (i.e. the drive motor predicted rotation speed), and determining the current torque threshold of the driving motor according to the predicted rotating speed of the driving motor and the preset discharge power threshold of the power battery, and the actual request torque of the driving motor is controlled by utilizing the determined current torque threshold value of the driving motor, so that when the actual request torque of the driving motor exceeds the driving motor torque corresponding to the preset discharging power threshold value of the power battery, the situation occurs in which the power battery discharge power exceeds the preset discharge power threshold due to the actual requested torque control of the drive motor.

Description

Control method and control system for power battery discharge power
Technical Field
The present disclosure relates to the field of motor vehicle technologies, and more particularly, to a method and a system for controlling power battery discharge power.
Background
With the continuous development of new energy technology, motor vehicles using electric energy as a driving energy source are produced.
Such a motor vehicle usually comprises a power battery and at least one driving motor, and in practical applications, the power battery outputs electric energy to the driving motor so that the driving motor drives wheels of the vehicle to rotate through a transmission system. In order to ensure that the power battery can maintain a stable working state under all working conditions, the discharge power of the power battery needs to be controlled so as to avoid the discharge power of the power battery exceeding a set discharge power threshold. When the motor vehicle slips on ice or other low-adhesion road surfaces (low-adhesion road surfaces), the rotational inertia of the drive system is small, so that the power of the drive motor changes rapidly. Due to communication delay among the vehicle controller, the motor controller and the battery controller and physical delay of response of each component to a control command, the conventional control method for the discharge power of the power battery is difficult to ensure that the discharge power of the power battery is lower than a set discharge power threshold under the condition, the requirement on safe operation of the power battery is difficult to meet, the service life of the power battery is possibly damaged, and even the power battery is possibly directly overheated, so that the safety of lives and properties of a driver and passengers of the motor vehicle is endangered.
Disclosure of Invention
In order to solve the technical problems, the application provides a control method and a control system for power battery discharge power, so as to avoid the situation that the power battery discharge power exceeds a set discharge power threshold value possibly caused by communication delay and command response delay, and ensure that the discharge power of a power battery can meet the requirement of safe operation of the power battery on a low-attachment road surface.
In order to achieve the technical purpose, the embodiment of the application provides the following technical scheme:
a control method of power battery discharging power is applied to a motor vehicle, the motor vehicle comprises a power battery and a driving motor, and the control method of the power battery discharging power comprises the following steps:
acquiring the current speed, the current slip ratio and the current rotating speed of a driving motor of the motor vehicle;
when the current slip rate is larger than or equal to a preset threshold corresponding to the current vehicle speed, calculating the predicted rotating speed of the driving motor according to the rotating speed of the current driving motor;
determining a current torque threshold of the driving motor according to the predicted rotating speed of the driving motor and a preset discharging power threshold of the power battery;
and controlling the actual requested torque of the driving motor to be smaller than the current torque threshold value so as to enable the actual discharge power of the power battery to be smaller than the preset discharge power threshold value.
Optionally, the obtaining the current vehicle speed, the current slip ratio and the current driving motor rotation speed of the motor vehicle includes:
acquiring the current speed of the motor vehicle, the current rotating speed of a driving motor, the speed of a left front wheel, the speed of a right front wheel, the speed of a left rear wheel and the speed of a right rear wheel;
calculating the wheel speed of a front shaft according to the left front wheel speed and the right front wheel speed;
calculating the wheel speed of a rear shaft according to the left rear wheel speed and the right rear wheel speed;
and calculating the current slip rate of the motor vehicle according to the wheel speed of the front axle and the wheel speed of the rear axle.
Optionally, the calculating the wheel speed of the front axle according to the left front wheel speed and the right front wheel speed includes:
substituting the left front wheel speed and the right front wheel speed into a first preset formula to calculate and obtain the wheel speed of a front shaft;
the calculating the wheel speed of the rear axle according to the left rear wheel speed and the right rear wheel speed comprises:
substituting the left rear wheel speed and the right rear wheel speed into a second preset formula to calculate and obtain the wheel speed of the front shaft;
the calculating the current slip ratio of the motor vehicle according to the wheel speed of the front axle and the wheel speed of the rear axle comprises:
substituting the wheel speed of the front axle and the wheel speed of the rear axle into a third preset formula to calculate and obtain the current slip rate of the motor vehicle;
the first preset formula is as follows:
Figure BDA0002181617990000031
wherein, WhlSpdFrontRepresenting the wheel speed of said front axle, WhlSpdFrontLeftIndicating the left front wheel speed, WhlSpdFrontRightRepresenting the right front wheel speed;
the second preset formulaComprises the following steps:
Figure BDA0002181617990000032
wherein, WhlSpdRearRepresenting the wheel speed of said rear axle, WhlSpdRearLeftIndicating the wheel speed of the left rear wheel, WhlSpdRearRightRepresenting a wheel speed of the right rear wheel;
the third preset formula is as follows:
Figure BDA0002181617990000033
wherein WhlSlipRto represents the current slip rate, MAX [ ]]Representing the operation of taking the maximum value, abs]Representing an absolute value operation.
Optionally, the calculating the predicted rotation speed of the driving motor according to the current rotation speed of the driving motor includes:
calculating the rotating speed acceleration of the driving motor by utilizing the current rotating speed of the driving motor according to a fourth preset formula;
calculating the predicted rotating speed of the driving motor by using the rotating speed acceleration of the driving motor according to the fifth preset formula;
the fourth preset formula is as follows:
Figure BDA0002181617990000034
wherein, EMSpdAcctRepresenting the acceleration of the rotational speed of the drive motor, EMSpdtRepresenting the current drive motor speed, EMSpdt-1Indicating the speed of rotation of the drive motor, T, in the previous predetermined periodintervalRepresenting the preset period;
the fifth preset formula is as follows: EMSpdPrdt＝EMSpdAcct*Tm+EMSpdt(ii) a Wherein, EMSpdAcctAnd the predicted rotating speed of the driving motor is represented, and Tm represents preset delay time.
Optionally, the determining a current torque threshold of the driving motor according to the predicted rotation speed of the driving motor and a preset discharge power threshold of the power battery includes:
and taking the ratio of the preset discharge power threshold of the power battery to the predicted rotating speed of the driving motor as the current torque threshold of the driving motor.
A control system of power battery discharging power is applied to a motor vehicle, the motor vehicle comprises a power battery and a driving motor, and the control system of the power battery discharging power comprises:
the acquisition module is used for acquiring the current speed, the current slip ratio and the current rotating speed of the driving motor of the motor vehicle;
the judging module is used for calculating the predicted rotating speed of the driving motor according to the rotating speed of the current driving motor when the current slip rate is larger than or equal to a preset threshold corresponding to the current vehicle speed;
the threshold value determining module is used for determining a current torque threshold value of the driving motor according to the predicted rotating speed of the driving motor and a preset discharging power threshold value of the power battery;
and the protection control module is used for controlling the actual requested torque of the driving motor to be smaller than the current torque threshold value so as to enable the actual discharge power of the power battery to be smaller than the preset discharge power threshold value.
Optionally, the obtaining module includes:
an information acquisition unit for acquiring a current vehicle speed, a current drive motor rotational speed, a left front wheel speed, a right front wheel speed, a left rear wheel speed, and a right rear wheel speed of the motor vehicle;
a first calculation unit for calculating a wheel speed of a front axle from the left front wheel speed and the right front wheel speed;
a second calculation unit for calculating a wheel speed of the rear axle from the left rear wheel speed and the right rear wheel speed;
a third calculation unit for calculating a current slip ratio of the motor vehicle based on the wheel speed of the front axle and the wheel speed of the rear axle.
Optionally, the first calculating unit is specifically configured to substitute the left front wheel speed and the right front wheel speed into a first preset formula to calculate and obtain a wheel speed of a front axle;
the second calculating unit is specifically configured to substitute the left rear wheel speed and the right rear wheel speed into a second preset formula to calculate and obtain a wheel speed of the front axle;
the third calculating unit is specifically configured to substitute a wheel speed of the front axle and a wheel speed of the rear axle into a third preset formula to calculate and obtain a current slip ratio of the motor vehicle;
the first preset formula is as follows:
Figure BDA0002181617990000041
wherein, WhlSpdFrontRepresenting the wheel speed of said front axle, WhlSpdFrontLeftIndicating the left front wheel speed, WhlSpdFrontRightRepresenting the right front wheel speed;
the second preset formula is as follows:
Figure BDA0002181617990000042
wherein, WhlSpdRearRepresenting the wheel speed of said rear axle, WhlSpdRearLeftIndicating the wheel speed of the left rear wheel, WhlSpdRearRightRepresenting a wheel speed of the right rear wheel;
the third preset formula is as follows:
Figure BDA0002181617990000051
wherein WhlSlipRto represents the current slip rate, MAX [ ]]Representing the operation of taking the maximum value, abs]Representing an absolute value operation.
Optionally, the determining module calculates the predicted rotation speed of the driving motor according to the current rotation speed of the driving motor, and specifically calculates the acceleration of the rotation speed of the driving motor according to a fourth preset formula by using the current rotation speed of the driving motor;
calculating the predicted rotating speed of the driving motor by using the rotating speed acceleration of the driving motor according to the fifth preset formula;
the fourth preset formula is as follows:
Figure BDA0002181617990000052
wherein EMSpdAccttRepresenting the acceleration of the rotational speed of the drive motor, EMSpdtIndicating the current precursorSpeed of motor, EMSpdt-1Indicating the speed of rotation of the drive motor, T, in the previous predetermined periodintervalRepresenting the preset period;
the fifth preset formula is as follows: EMSpdPrdt＝EMSpdAcct*Tm+EMSpdt(ii) a Wherein, EMSpdAcctAnd the predicted rotating speed of the driving motor is represented, and Tm represents preset delay time.
Optionally, the threshold determination module is specifically configured to use a ratio of a preset discharge power threshold of the power battery to the predicted rotation speed of the driving motor as a current torque threshold of the driving motor.
It can be seen from the above technical solutions that the embodiments of the present application provide a control method and a control system for power battery discharge power, wherein the control method of the power battery discharging power comprises the steps of obtaining the current slip ratio of the motor vehicle, and predicts a next possible rotation speed of the drive motor based on the current slip ratio (i.e. the drive motor predicted rotation speed), and determining the current torque threshold of the driving motor according to the predicted rotating speed of the driving motor and the preset discharge power threshold of the power battery, and the actual request torque of the driving motor is controlled by utilizing the determined current torque threshold value of the driving motor, so that when the actual request torque of the driving motor exceeds the driving motor torque corresponding to the preset discharging power threshold value of the power battery, the situation that the discharge power of the power battery exceeds a preset discharge power threshold value due to the fact that actual request torque control of the driving motor is carried out occurs; the reason is that when the motor vehicle is on a low-attachment road surface, the predicted rotating speed of the driving motor rapidly rises and is higher than the actual rotating speed of the driving motor, the current torque threshold of the driving motor determined by the preset rotating speed of the driving motor and the preset discharging power threshold is smaller, the actual request torque of the driving motor can be controlled in advance for a certain time, the communication delay and the instruction response delay are made up by the advanced time, the situation that the discharging power of the power battery exceeds the preset discharging power threshold is avoided, and the discharging power of the power battery can meet the requirement of safe operation of the power battery on the low-attachment road surface.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the variation of the motor speed of a motor vehicle under low-adhesion road surfaces;
fig. 2 is a schematic diagram showing a change of an actual discharge power of a battery under a low-adhesion road surface under the control of a control method of a discharge power of a power battery in the prior art;
fig. 3 is a schematic flowchart of a method for controlling discharge power of a power battery according to an embodiment of the present application;
fig. 4 is a schematic flowchart of a method for controlling discharge power of a power battery according to another embodiment of the present application;
fig. 5 is a flowchart illustrating a method for controlling discharge power of a power battery according to another embodiment of the present application.
Detailed Description
As described in the background art, the main purpose of the method for controlling the discharge power of the power battery in the prior art is to ensure that the discharge power of the power battery used by the driving motor does not exceed the discharge power that can be carried by the power battery (i.e. a preset discharge power threshold), that is, refer to formula (1):
EMSpdact*EMTqReq≤PwrLimbatt (1)；
wherein, EMSpdactRepresenting the current speed of rotation of the drive motor, EMTqReq representing the actual torque requested calculated by the controller from the depth of the accelerator pedal of the motor vehicle, PwrLimbattRepresenting a preset discharge power threshold;
from equation (1):
EMTqReq≤PwrLimbatt/EMSpdact (2)；
that is, referring to formula (1) and formula (2), in the prior art, the method for controlling the discharge power of the power battery determines a torque threshold corresponding to the current rotation speed by using a ratio of the preset discharge power to the current rotation speed of the driving motor, and then controls the actual requested torque of the driving motor to be smaller than the torque threshold so as to achieve the purpose of controlling the discharge power of the power battery not to exceed the preset discharge power threshold. However, referring to fig. 2, when the actual requested torque of the driving motor starts to be limited due to communication delay between the controllers and command response delay between the components in the prior art, a situation that the discharging power of the power battery (actual discharging power of the battery) exceeds a preset discharging power threshold (battery discharging power limit) for a while may occur, which may cause the service life of the power battery to be damaged, and may even directly cause the power battery to be overheated, thereby endangering the life and property safety of the driver and passengers of the motor vehicle.
In view of this, the embodiments of the present application provide a control method and a control system for power battery discharge power, wherein the control method of the power battery discharging power comprises the steps of obtaining the current slip ratio of the motor vehicle, and predicts a next possible rotation speed of the drive motor based on the current slip ratio (i.e. the drive motor predicted rotation speed), and determining the current torque threshold of the driving motor according to the predicted rotating speed of the driving motor and the preset discharge power threshold of the power battery, and the actual request torque of the driving motor is controlled by utilizing the determined current torque threshold value of the driving motor, so that when the actual request torque of the driving motor exceeds the driving motor torque corresponding to the preset discharging power threshold value of the power battery, the situation that the discharge power of the power battery exceeds a preset discharge power threshold value due to the fact that actual request torque control of the driving motor is carried out occurs; the reason is that when the motor vehicle is on a low-attachment road surface, the predicted rotating speed of the driving motor rapidly rises and is higher than the actual rotating speed of the driving motor, the current torque threshold of the driving motor determined by the preset rotating speed of the driving motor and the preset discharging power threshold is smaller, the actual request torque of the driving motor can be controlled in advance for a certain time, the communication delay and the instruction response delay are made up by the advanced time, the situation that the discharging power of the power battery exceeds the preset discharging power threshold is avoided, and the discharging power of the power battery can meet the requirement of safe operation of the power battery on the low-attachment road surface.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a control method of discharge power of a power battery, as shown in fig. 3, and the control method is applied to a motor vehicle, wherein the motor vehicle comprises the power battery and a driving motor, and the control method of the discharge power of the power battery comprises the following steps:
s101: acquiring the current speed, the current slip ratio and the current rotating speed of a driving motor of the motor vehicle;
s102: when the current slip rate is larger than or equal to a preset threshold corresponding to the current vehicle speed, calculating the predicted rotating speed of the driving motor according to the rotating speed of the current driving motor;
it should be noted that, in step S102, the preset thresholds corresponding to different vehicle speed states of the motor vehicle are different, and the preset thresholds are used for determining whether the motor vehicle is on a low-attachment road surface (or determining whether the motor vehicle is in a slipping state), when the slip ratio of the motor vehicle is greater than or equal to the preset threshold corresponding to the current vehicle speed, the motor vehicle is considered to be on the low-attachment road surface, and when the slip ratio of the motor vehicle is less than the preset threshold corresponding to the current vehicle speed, the motor vehicle is considered not to be on the low-attachment road surface.
The preset threshold value for each vehicle speed of the motor vehicle is determined based on a previous experiment or an empirical value. For example, when the vehicle speed of the motor vehicle is 3 km/h, the corresponding preset threshold value may be 8%, that is, when the slip ratio of the motor vehicle exceeds or equals to 8%, the motor vehicle may be considered to be on a low-attachment road surface. When the speed of the motor vehicle is 40 km/h, the corresponding preset threshold value may be 3%, that is, when the slip ratio of the motor vehicle exceeds or equals to 3%, the motor vehicle may be considered to be on a low-attachment road surface.
S103: determining a current torque threshold of the driving motor according to the predicted rotating speed of the driving motor and a preset discharging power threshold of the power battery;
s104: and controlling the actual requested torque of the driving motor to be smaller than the current torque threshold value so as to enable the actual discharge power of the power battery to be smaller than the preset discharge power threshold value.
The actual request torque of the driving motor is obtained by the vehicle controller of the motor vehicle through calculation according to the depth of an accelerator pedal, and the current torque threshold is lower than a threshold determined by the current rotating speed of the motor vehicle and the preset discharging power threshold of the power battery, so that the actual request torque of the driving motor can be controlled in advance for a certain time in step S104, communication delay and instruction response delay are made up by the advanced time, the situation that the discharging power of the power battery exceeds the preset discharging power threshold is avoided, and the discharging power of the power battery can meet the requirement of safe operation of the power battery on a low-attachment road surface.
On the basis of the above embodiments, in an embodiment of the present application, as shown in fig. 4, the method for controlling the power discharged by the power battery includes:
s201: acquiring the current speed of the motor vehicle, the current rotating speed of a driving motor, the speed of a left front wheel, the speed of a right front wheel, the speed of a left rear wheel and the speed of a right rear wheel;
s202: calculating the wheel speed of a front shaft according to the left front wheel speed and the right front wheel speed;
s203: calculating the wheel speed of a rear shaft according to the left rear wheel speed and the right rear wheel speed;
s204: calculating the current slip rate of the motor vehicle according to the wheel speed of the front axle and the wheel speed of the rear axle;
s205: when the current slip rate is larger than or equal to a preset threshold corresponding to the current vehicle speed, calculating the predicted rotating speed of the driving motor according to the rotating speed of the current driving motor;
s206: determining a current torque threshold of the driving motor according to the predicted rotating speed of the driving motor and a preset discharging power threshold of the power battery;
s207: and controlling the actual requested torque of the driving motor to be smaller than the current torque threshold value so as to enable the actual discharge power of the power battery to be smaller than the preset discharge power threshold value.
Specifically, the calculating the wheel speed of the front axle from the left front wheel speed and the right front wheel speed includes:
substituting the left front wheel speed and the right front wheel speed into a first preset formula to calculate and obtain the wheel speed of a front shaft;
the calculating the wheel speed of the rear axle according to the left rear wheel speed and the right rear wheel speed comprises:
substituting the left rear wheel speed and the right rear wheel speed into a second preset formula to calculate and obtain the wheel speed of the front shaft;
the calculating the current slip ratio of the motor vehicle according to the wheel speed of the front axle and the wheel speed of the rear axle comprises:
substituting the wheel speed of the front axle and the wheel speed of the rear axle into a third preset formula to calculate and obtain the current slip rate of the motor vehicle;
the first preset formula is as follows:
Figure BDA0002181617990000091
wherein, WhlSpdFrontRepresenting the wheel speed of said front axle, WhlSpdFrontLeftIndicating the left front wheel speed, WhlSpdFrontRightRepresenting the right front wheel speed;
the second preset formula is as follows:
Figure BDA0002181617990000092
wherein, WhlSpdRearRepresenting the wheel speed of said rear axle, WhlSpdRearLeftIndicating the wheel speed of the left rear wheel, WhlSpdRearRightRepresenting a wheel speed of the right rear wheel;
the third preset formula is as follows:
Figure BDA0002181617990000101
wherein WhlSlipRto represents the current slip rate, MAX [ ]]Representing the operation of taking the maximum value, abs]Representing an absolute value operation.
In the present embodiment, a specific step of calculating the current slip ratio specifically from wheel speeds of front and rear wheels of the motor vehicle is proposed.
It should be noted that the front left wheel, the rear left wheel, the front right wheel and the rear right wheel of the motor vehicle are determined with the forward direction of the motor vehicle as the front, that is, the front left wheel refers to the front left wheel of the motor vehicle.
Accordingly, the left front wheel speed represents the rotational speed of the left front wheel, the left rear wheel speed represents the rotational speed of the left rear wheel, the right front wheel speed represents the rotational speed of the right front wheel, and the right rear wheel speed represents the rotational speed of the right rear wheel.
On the basis of the above embodiment, in another embodiment of the present application, as shown in fig. 5, the method for controlling the power discharged by the power battery includes:
s301: acquiring the current speed of the motor vehicle, the current rotating speed of a driving motor, the speed of a left front wheel, the speed of a right front wheel, the speed of a left rear wheel and the speed of a right rear wheel;
s302: calculating the wheel speed of a front shaft according to the left front wheel speed and the right front wheel speed;
s303: calculating the wheel speed of a rear shaft according to the left rear wheel speed and the right rear wheel speed;
s304: calculating the current slip rate of the motor vehicle according to the wheel speed of the front axle and the wheel speed of the rear axle;
s305: when the current slip rate is greater than or equal to a preset threshold corresponding to the current vehicle speed, calculating the rotating speed acceleration of the driving motor by using the rotating speed of the current driving motor according to a fourth preset formula;
calculating the predicted rotating speed of the driving motor by using the rotating speed acceleration of the driving motor according to the fifth preset formula;
the fourth stepThe formula is as follows:
Figure BDA0002181617990000102
wherein, EMSpdAcctRepresenting the acceleration of the rotational speed of the drive motor, EMSpdtRepresenting the current drive motor speed, EMSpdt-1Indicating the speed of rotation of the drive motor, T, in the previous predetermined periodintervalRepresenting the preset period;
the fifth preset formula is as follows: EMSpdPrdt＝EMSpdAcct*Tm+EMSpdt(ii) a Wherein, EMSpdAcctThe predicted rotating speed of the driving motor is represented, and Tm represents preset delay time;
s306: determining a current torque threshold of the driving motor according to the predicted rotating speed of the driving motor and a preset discharging power threshold of the power battery;
s307: and controlling the actual requested torque of the driving motor to be smaller than the current torque threshold value so as to enable the actual discharge power of the power battery to be smaller than the preset discharge power threshold value.
In the present embodiment, step S305 proposes a method of calculating a rotational speed acceleration of the driving motor using the current rotational speed of the driving motor, and predicting (calculating) a predicted rotational speed of the driving motor based on the rotational speed acceleration of the driving motor.
It should be noted that, in this embodiment, the preset period refers to a calculation period of the vehicle controller, and may be 10ms, 5ms, and the like, which is not limited in this application and is determined according to an actual situation.
On the basis of the above embodiment, in another embodiment of the present application, the determining the current torque threshold of the driving motor according to the predicted rotation speed of the driving motor and the preset discharging power threshold of the power battery includes:
and taking the ratio of the preset discharge power threshold of the power battery to the predicted rotating speed of the driving motor as the current torque threshold of the driving motor.
The following describes a control system for power battery discharge power provided in an embodiment of the present application, and the control system for power battery discharge power described below may be referred to in correspondence with the control method for power battery discharge power described above.
Accordingly, the embodiment of the present application provides a control system for power battery discharging power, which is applied to a motor vehicle, wherein the motor vehicle comprises a power battery and a driving motor, and the control system for power battery discharging power comprises:
the acquisition module is used for acquiring the current speed, the current slip ratio and the current rotating speed of the driving motor of the motor vehicle;
the judging module is used for calculating the predicted rotating speed of the driving motor according to the rotating speed of the current driving motor when the current slip rate is larger than or equal to a preset threshold corresponding to the current vehicle speed;
the threshold value determining module is used for determining a current torque threshold value of the driving motor according to the predicted rotating speed of the driving motor and a preset discharging power threshold value of the power battery;
and the protection control module is used for controlling the actual requested torque of the driving motor to be smaller than the current torque threshold value so as to enable the actual discharge power of the power battery to be smaller than the preset discharge power threshold value.
Optionally, the obtaining module includes:
an information acquisition unit for acquiring a current vehicle speed, a current drive motor rotational speed, a left front wheel speed, a right front wheel speed, a left rear wheel speed, and a right rear wheel speed of the motor vehicle;
a first calculation unit for calculating a wheel speed of a front axle from the left front wheel speed and the right front wheel speed;
a second calculation unit for calculating a wheel speed of the rear axle from the left rear wheel speed and the right rear wheel speed;
a third calculation unit for calculating a current slip ratio of the motor vehicle based on the wheel speed of the front axle and the wheel speed of the rear axle.
Optionally, the first calculating unit is specifically configured to substitute the left front wheel speed and the right front wheel speed into a first preset formula to calculate and obtain a wheel speed of a front axle;
the second calculating unit is specifically configured to substitute the left rear wheel speed and the right rear wheel speed into a second preset formula to calculate and obtain a wheel speed of the front axle;
the third calculating unit is specifically configured to substitute a wheel speed of the front axle and a wheel speed of the rear axle into a third preset formula to calculate and obtain a current slip ratio of the motor vehicle;
the first preset formula is as follows:
Figure BDA0002181617990000121
wherein, WhlSpdFrontRepresenting the wheel speed of said front axle, WhlSpdFrontLeftIndicating the left front wheel speed, WhlSpdFrontRightRepresenting the right front wheel speed;
the second preset formula is as follows:
Figure BDA0002181617990000122
wherein, WhlSpdRearRepresenting the wheel speed of said rear axle, WhlSpdRearLeftIndicating the wheel speed of the left rear wheel, WhlSpdRearRightRepresenting a wheel speed of the right rear wheel;
the third preset formula is as follows:
Figure BDA0002181617990000123
wherein WhlSlipRto represents the current slip rate, MAX [ ]]Representing the operation of taking the maximum value, abs]Representing an absolute value operation.
Optionally, the determining module calculates the predicted rotation speed of the driving motor according to the current rotation speed of the driving motor, and specifically calculates the acceleration of the rotation speed of the driving motor according to a fourth preset formula by using the current rotation speed of the driving motor;
calculating the predicted rotating speed of the driving motor by using the rotating speed acceleration of the driving motor according to the fifth preset formula;
the fourth preset formula is as follows:
Figure BDA0002181617990000131
wherein，EMSpdAcctRepresenting the acceleration of the rotational speed of the drive motor, EMSpdtRepresenting the current drive motor speed, EMSpdt-1Indicating the speed of rotation of the drive motor, T, in the previous predetermined periodintervalRepresenting the preset period;
the fifth preset formula is as follows: EMSpdPrdt＝EMSpdAcct*Tm+EMSpdt(ii) a Wherein, EMSpdAcctAnd the predicted rotating speed of the driving motor is represented, and Tm represents preset delay time.
Optionally, the threshold determination module is specifically configured to use a ratio of a preset discharge power threshold of the power battery to the predicted rotation speed of the driving motor as a current torque threshold of the driving motor.
In summary, the embodiments of the present application provide a method and a system for controlling power discharge of a power battery, wherein the control method of the power battery discharging power comprises the steps of obtaining the current slip ratio of the motor vehicle, and predicts a next possible rotation speed of the drive motor based on the current slip ratio (i.e. the drive motor predicted rotation speed), and determining the current torque threshold of the driving motor according to the predicted rotating speed of the driving motor and the preset discharge power threshold of the power battery, and the actual request torque of the driving motor is controlled by utilizing the determined current torque threshold value of the driving motor, so that when the actual request torque of the driving motor exceeds the driving motor torque corresponding to the preset discharging power threshold value of the power battery, the situation that the discharge power of the power battery exceeds a preset discharge power threshold value due to the fact that actual request torque control of the driving motor is carried out occurs; the reason is that when the motor vehicle is on a low-attachment road surface, the predicted rotating speed of the driving motor rapidly rises and is higher than the actual rotating speed of the driving motor, the current torque threshold of the driving motor determined by the preset rotating speed of the driving motor and the preset discharging power threshold is smaller, the actual request torque of the driving motor can be controlled in advance for a certain time, the communication delay and the instruction response delay are made up by the advanced time, the situation that the discharging power of the power battery exceeds the preset discharging power threshold is avoided, and the discharging power of the power battery can meet the requirement of safe operation of the power battery on the low-attachment road surface.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A control method of power battery discharge power is characterized by being applied to a motor vehicle, wherein the motor vehicle comprises a power battery and a driving motor, and the control method of power battery discharge power comprises the following steps:
acquiring the current speed, the current slip ratio and the current rotating speed of a driving motor of the motor vehicle;
when the current slip rate is larger than or equal to a preset threshold corresponding to the current vehicle speed, calculating the rotating speed acceleration of the driving motor according to the current rotating speed of the driving motor, and calculating the predicted rotating speed of the driving motor according to the rotating speed acceleration of the driving motor;
determining a current torque threshold of the driving motor according to the predicted rotating speed of the driving motor and a preset discharging power threshold of the power battery;
and controlling the actual requested torque of the driving motor to be smaller than the current torque threshold value so as to enable the actual discharge power of the power battery to be smaller than the preset discharge power threshold value.
2. The method of claim 1, wherein the obtaining a current vehicle speed, a current slip ratio, and a current drive motor speed of the motor vehicle comprises:
acquiring the current speed of the motor vehicle, the current rotating speed of a driving motor, the speed of a left front wheel, the speed of a right front wheel, the speed of a left rear wheel and the speed of a right rear wheel;
calculating the wheel speed of a front shaft according to the left front wheel speed and the right front wheel speed;
calculating the wheel speed of a rear shaft according to the left rear wheel speed and the right rear wheel speed;
and calculating the current slip rate of the motor vehicle according to the wheel speed of the front axle and the wheel speed of the rear axle.
3. The method of claim 2, wherein calculating a wheel speed of a front axle from the left and right front wheel speeds comprises:
substituting the left front wheel speed and the right front wheel speed into a first preset formula to calculate and obtain the wheel speed of a front shaft;
the calculating the wheel speed of the rear axle according to the left rear wheel speed and the right rear wheel speed comprises:
substituting the left rear wheel speed and the right rear wheel speed into a second preset formula to calculate and obtain the wheel speed of the front shaft;
the calculating the current slip ratio of the motor vehicle according to the wheel speed of the front axle and the wheel speed of the rear axle comprises:
substituting the wheel speed of the front axle and the wheel speed of the rear axle into a third preset formula to calculate and obtain the current slip rate of the motor vehicle;
the first preset formula is as follows:
Figure FDA0003410692120000021
wherein, WhlSpdFrontRepresenting the wheel speed of said front axle, WhlSpdFrontLeftIndicating the left front wheel speed, WhlSpdFrontRightRepresenting the right front wheel speed;
the second preset formula is as follows:
Figure FDA0003410692120000022
wherein, WhlSpdRearRepresenting the wheel speed of said rear axle, WhlSpdRearLeftIndicating the wheel speed of the left rear wheel, WhlSpdRearRightRepresenting a wheel speed of the right rear wheel;
the third preset formula is as follows:
Figure FDA0003410692120000023
wherein WhlSlipRto represents the current slip rate, MAX [ ]]Representing a maximum value operation and abs () representing an absolute value operation.
4. The method of claim 1, wherein calculating the drive motor speed acceleration based on the current drive motor speed and calculating a drive motor predicted speed based on the drive motor speed acceleration comprises:
calculating the rotating speed acceleration of the driving motor by utilizing the current rotating speed of the driving motor according to a fourth preset formula;
calculating the predicted rotating speed of the driving motor by using the rotating speed acceleration of the driving motor according to a fifth preset formula;
the fourth preset formula is as follows:
Figure FDA0003410692120000024
wherein, EMSpdAcctRepresenting the acceleration of the rotational speed of the drive motor, EMSpdtRepresenting the current drive motor speed, EMSpdt-1Indicating the speed of rotation of the drive motor, T, in the previous predetermined periodintervalRepresenting the preset period;
the fifth preset formula is as follows: EMSpdprdt＝EMSpdAcct*Tm+EMSpdt(ii) a Wherein, EMSpdAcctAnd the predicted rotating speed of the driving motor is represented, and Tm represents preset delay time.
5. The method of claim 1, wherein determining the current torque threshold of the drive motor based on the predicted speed of the drive motor and a preset discharge power threshold of the power battery comprises:
and taking the ratio of the preset discharge power threshold of the power battery to the predicted rotating speed of the driving motor as the current torque threshold of the driving motor.
6. A control system for power battery discharge power, which is applied to a motor vehicle including a power battery and a drive motor, the control system for power battery discharge power comprising:
the acquisition module is used for acquiring the current speed, the current slip ratio and the current rotating speed of the driving motor of the motor vehicle;
the judging module is used for calculating the rotating speed acceleration of the driving motor according to the rotating speed of the current driving motor when the current slip rate is larger than or equal to a preset threshold corresponding to the current vehicle speed, and calculating the predicted rotating speed of the driving motor according to the rotating speed acceleration of the driving motor;
the threshold value determining module is used for determining a current torque threshold value of the driving motor according to the predicted rotating speed of the driving motor and a preset discharging power threshold value of the power battery;
and the protection control module is used for controlling the actual requested torque of the driving motor to be smaller than the current torque threshold value so as to enable the actual discharge power of the power battery to be smaller than the preset discharge power threshold value.
7. The system of claim 6, wherein the acquisition module comprises:
an information acquisition unit for acquiring a current vehicle speed, a current drive motor rotational speed, a left front wheel speed, a right front wheel speed, a left rear wheel speed, and a right rear wheel speed of the motor vehicle;
a first calculation unit for calculating a wheel speed of a front axle from the left front wheel speed and the right front wheel speed;
a second calculation unit for calculating a wheel speed of the rear axle from the left rear wheel speed and the right rear wheel speed;
a third calculation unit for calculating a current slip ratio of the motor vehicle based on the wheel speed of the front axle and the wheel speed of the rear axle.
8. The system of claim 7, wherein the first calculating unit is specifically configured to substitute the left front wheel speed and the right front wheel speed into a first preset formula to calculate and obtain the wheel speed of the front axle;
the second calculating unit is specifically configured to substitute the left rear wheel speed and the right rear wheel speed into a second preset formula to calculate and obtain a wheel speed of the front axle;
the third calculating unit is specifically configured to substitute a wheel speed of the front axle and a wheel speed of the rear axle into a third preset formula to calculate and obtain a current slip ratio of the motor vehicle;
the first preset formula is as follows:
Figure FDA0003410692120000041
wherein, WhlSpdFrontRepresenting the wheel speed of said front axle, WhlSpdFrontLeftIndicating the left front wheel speed, WhlSpdFrontRightRepresenting the right front wheel speed;
the second preset formula is as follows:
Figure FDA0003410692120000042
wherein, WhlSpdRearRepresenting the wheel speed of said rear axle, WhlSpdRearLeftIndicating the wheel speed of the left rear wheel, WhlSpdRearRightRepresenting a wheel speed of the right rear wheel;
the third preset formula is as follows:
Figure FDA0003410692120000043
wherein WhlSlipRto represents the current slip rate, MAX [ ]]Representing a maximum value operation and abs () representing an absolute value operation.
9. The system of claim 6, wherein the determining module calculates a predicted rotational speed of the driving motor according to the current rotational speed of the driving motor, and is specifically configured to calculate the acceleration of the rotational speed of the driving motor according to a fourth preset formula by using the current rotational speed of the driving motor;
calculating the predicted rotating speed of the driving motor by using the rotating speed acceleration of the driving motor according to a fifth preset formula;
the fourth preset formula is as follows:
Figure FDA0003410692120000044
wherein, EMSpdAcctRepresenting the acceleration of the rotational speed of the drive motor, EMSpdtRepresenting the current drive motor speed, EMSpdt-1Indicating the speed of rotation of the drive motor, T, in the previous predetermined periodintervalRepresenting the preset period;
the fifth preset formula is as follows: EMSpdprdt＝EMSpdAcct*Tm+EMSpdt(ii) a Wherein, EMSpdAcctAnd the predicted rotating speed of the driving motor is represented, and Tm represents preset delay time.
10. The system of claim 6, wherein the threshold determination module is specifically configured to use a ratio of a preset discharge power threshold of the power battery to the predicted rotational speed of the drive motor as the current torque threshold of the drive motor.
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