CN112874323A - Anti-skid control method for electric automobile - Google Patents
Anti-skid control method for electric automobile Download PDFInfo
- Publication number
- CN112874323A CN112874323A CN202110346742.XA CN202110346742A CN112874323A CN 112874323 A CN112874323 A CN 112874323A CN 202110346742 A CN202110346742 A CN 202110346742A CN 112874323 A CN112874323 A CN 112874323A
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- Prior art keywords
- motor
- electric automobile
- motor rotor
- output torque
- flight state
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000005070 sampling Methods 0.000 claims description 11
- 238000010586 diagram Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60L2240/421—Speed
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
An electric vehicle antiskid control method includes the following steps, S1: calculating the current acceleration of the motor rotor through a motor speed and position detection module, and S2: setting a motor rotor acceleration threshold value a0 and a continuous holding time threshold value t0, acquiring a continuous holding time t3 in an A > a0 state if A > a0 in the step S1, determining that the electric automobile is in a slip flight state if t3> t0, determining that the electric automobile is not in the slip flight state if A < = a0 or t3< = t0, and returning to S1; s3: and setting motor output torque T, and if the electric automobile is in a slipping flight state, automatically reducing the allowable output torque to T by the MCU control unit. The invention realizes the anti-skid of the electric automobile without increasing the hardware cost, can control the output torque in time, reduces the power output and avoids the phase current overcurrent fault of the motor controller.
Description
Technical Field
The invention relates to the field of automobiles, in particular to an electric automobile control technology, and specifically relates to an electric automobile anti-skid control method.
Background
When the automobile runs under high torque, if the automobile runs on a slippery road surface or a bumpy road surface causes the driving wheels to lift off the ground, the automobile can be in a slipping and emptying state, and the fact that the driving force of the automobile is larger than the adhesive force between the driving wheels and the road surface is a direct reason for the accelerated slip of the automobile. In the prior art, components such as an ABS (anti-skid system) and an ESP (electronic stability program) are arranged in a traditional automobile to assist in controlling wheels not to slip, and if a pure electric automobile is not provided with an anti-slip system, the output torque of a motor is too large when the automobile slips or empties, and the phase current overcurrent fault of a motor controller easily occurs.
Disclosure of Invention
The invention aims to provide an electric automobile anti-skid control method, which aims to solve the technical problem that in the prior art, when an electric automobile is in a slipping soaring state, a motor controller phase current overcurrent fault is easy to occur.
The invention provides an anti-skid control method of an electric automobile, which comprises the following steps,
s1: calculate the acceleration of current electric motor rotor through motor speed and position detection module, realize the calculation of motor rotor acceleration through sampling the motor rotor rotational speed of two moments, set up fast sampling moment t1 and slow speed sampling moment t2, wherein t2 > t1, sample the motor rotor rotational speed, obtain rotational speed w1 and the rotational speed w2 of t2 moment at t1 moment, calculate the acceleration A of current motor rotor through the formula, the formula be: a = | w 1-w 2|/(t 2-t 1);
s2: setting a motor rotor acceleration threshold value a0 and a continuous holding time threshold value t0, acquiring a continuous holding time t3 in the state of A > a0 if A > a0 in the step S1, determining that the electric vehicle is in a slip flight state if t3> t0, determining that the electric vehicle is not in the slip flight state if A < = a0 or t3< = t0, and returning to S11 to continue to calculate the current acceleration of the motor rotor;
s3: setting motor output torque T, if the electric automobile is in a slipping flight state, reducing the motor allowable output torque to T by using the MCU control unit, otherwise, restoring the motor allowable output torque to normal by using the MCU control unit;
s4: returning to S1, it is determined again whether the electric vehicle is in the slip flight state.
Further, the continuous holding time threshold t0 is set to 100 ms.
Further, the motor output torque T is set to 40N · m.
Compared with the prior art, the invention has positive and obvious effect. The anti-skid control method for the electric automobile realizes the anti-skid of the electric automobile, improves the safety and the reliability of an electric automobile system under the condition of not increasing the hardware cost, can control the output torque in time when the electric automobile is in a short-time skid state, reduces the power output and avoids the current overcurrent fault of the motor controller.
Drawings
FIG. 1 is a schematic diagram of the working steps of the present invention.
Fig. 2 is a schematic diagram of the acceleration of the electric vehicle in a slipping state and an anti-flying control state according to time.
Detailed Description
The present invention will be further described with reference to the drawings and examples, but the present invention is not limited to the examples, and all similar structures and similar variations using the present invention shall fall within the scope of the present invention.
As shown in fig. 1 and fig. 2, the anti-skid control method for an electric vehicle according to the present invention includes the following steps,
s1: calculating the current acceleration of the motor rotor through a motor rotating speed and position detection module, realizing the calculation of the acceleration of the motor rotor by sampling the rotating speeds of the motor rotor at two moments, setting a fast sampling moment t1 and a slow sampling moment t2, wherein t2 > t1, sampling the rotating speed of the motor rotor to obtain a rotating speed w1 at the moment t1 and a rotating speed w2 at the moment t2, and calculating the current acceleration A of the motor rotor through the following formula, wherein A = | w 1-w 2|/(t 2-t 1);
the software designer can calibrate t1 and t2 through the performance of hardware and the actual needs of software.
S2: setting a motor rotor acceleration threshold value a0 and a continuous holding time threshold value t0, acquiring a continuous holding time t3 in an A > a0 state if A > a0 in the step S1, determining that the electric automobile is in a slip flight state if t3> t0, determining that the electric automobile is not in the slip flight state if A < = a0 or t3< = t0, and returning to S1;
s3: setting motor output torque T, if the electric automobile is in a slipping flight state, reducing the allowable output torque to T by using the MCU control unit, otherwise, recovering the allowable output torque to be normal by the MCU control unit;
s4: returning to S1, it is determined again whether the electric vehicle is in the slip flight state.
Further, the continuous holding time threshold t0 is set to 100 ms.
Further, the motor output torque T is set to 40N · m.
As shown in fig. 2, a is a graph showing the change over time in the acceleration in the wheel slip state, and B is a graph showing the change over time in the acceleration into the anti-flying control state.
According to the anti-skid control method for the electric automobile, the current acceleration of the motor rotor is detected in real time under the condition that the hardware cost is not increased, the motor output torque is controlled by the automobile MCU control unit according to the change of the acceleration of the motor rotor, so that the anti-skid of the electric automobile is realized, the safety is improved, the reliability of an electric automobile system is improved, when the electric automobile is in a short-time slipping state, the output torque can be controlled in time, the power output is reduced, and the phase current overcurrent fault of a motor controller is avoided.
Claims (3)
1. An electric automobile antiskid control method is characterized in that: comprises the following steps of (a) carrying out,
s1: calculating the current acceleration of the motor rotor through a motor speed and position detection module, realizing the calculation of the acceleration of the motor rotor by sampling the motor rotor speeds at two moments, setting a fast sampling moment t1 and a slow sampling moment t2, wherein t2 > t1, sampling the motor rotor speeds, obtaining the rotating speeds w1 at the moment of t1 and the rotating speeds w2 at the moment of t2, calculating the current acceleration A of the motor rotor through the following formula: a = | w 1-w 2|/(t 2-t 1);
s2: setting a motor rotor acceleration threshold value a0 and a continuous holding time threshold value t0, acquiring a continuous holding time t3 in the state of A > a0 if A > a0 in the step S1, determining that the electric vehicle is in a slip flight state if t3> t0, determining that the electric vehicle is not in the slip flight state if A < = a0 or t3< = t0, and returning to S1 to continue to calculate the current acceleration of the motor rotor;
s3: setting motor output torque T, if the electric automobile is in a slipping flight state, reducing the motor allowable output torque to T by using the MCU control unit, otherwise, restoring the motor allowable output torque to normal by using the MCU control unit;
s4: returning to S1, it is determined again whether the electric vehicle is in the slip flight state.
2. The anti-skid control method of the electric automobile according to claim 1, characterized in that: the continuous hold time threshold t0 is set to 100 ms.
3. The anti-skid control method of the electric automobile according to claim 1, characterized in that: the motor output torque T is set to 40N · m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110346742.XA CN112874323A (en) | 2021-03-31 | 2021-03-31 | Anti-skid control method for electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110346742.XA CN112874323A (en) | 2021-03-31 | 2021-03-31 | Anti-skid control method for electric automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112874323A true CN112874323A (en) | 2021-06-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110346742.XA Withdrawn CN112874323A (en) | 2021-03-31 | 2021-03-31 | Anti-skid control method for electric automobile |
Country Status (1)
| Country | Link |
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| CN (1) | CN112874323A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113561797A (en) * | 2021-09-02 | 2021-10-29 | 广州小鹏汽车科技有限公司 | Vehicle torque control method, apparatus and readable storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1681680A (en) * | 2002-09-20 | 2005-10-12 | 丰田自动车株式会社 | Slip control device for vehicle, vehicle mounted with the device, and the method of controlling vehicle slip |
| US20100057284A1 (en) * | 2006-12-26 | 2010-03-04 | Byd Company Limited | Method and apparatus for controlling motor for skid mode of electric vehicle |
| CN109017449A (en) * | 2018-08-17 | 2018-12-18 | 南京越博动力系统股份有限公司 | A kind of the Anti-slip regulation control method and system of pure electric vehicle |
| CN110733354A (en) * | 2018-07-18 | 2020-01-31 | 长城汽车股份有限公司 | electric automobile torque control method and device and vehicle |
-
2021
- 2021-03-31 CN CN202110346742.XA patent/CN112874323A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1681680A (en) * | 2002-09-20 | 2005-10-12 | 丰田自动车株式会社 | Slip control device for vehicle, vehicle mounted with the device, and the method of controlling vehicle slip |
| US20100057284A1 (en) * | 2006-12-26 | 2010-03-04 | Byd Company Limited | Method and apparatus for controlling motor for skid mode of electric vehicle |
| CN110733354A (en) * | 2018-07-18 | 2020-01-31 | 长城汽车股份有限公司 | electric automobile torque control method and device and vehicle |
| CN109017449A (en) * | 2018-08-17 | 2018-12-18 | 南京越博动力系统股份有限公司 | A kind of the Anti-slip regulation control method and system of pure electric vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113561797A (en) * | 2021-09-02 | 2021-10-29 | 广州小鹏汽车科技有限公司 | Vehicle torque control method, apparatus and readable storage medium |
| CN113561797B (en) * | 2021-09-02 | 2023-08-25 | 广州小鹏汽车科技有限公司 | Vehicle torque control method, apparatus, and readable storage medium |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210601 |
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| WW01 | Invention patent application withdrawn after publication |