CN113071331A - Method for simulating shaking and flameout of electric and manual shift instruction car - Google Patents

Method for simulating shaking and flameout of electric and manual shift instruction car Download PDF

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CN113071331A
CN113071331A CN202110462929.6A CN202110462929A CN113071331A CN 113071331 A CN113071331 A CN 113071331A CN 202110462929 A CN202110462929 A CN 202110462929A CN 113071331 A CN113071331 A CN 113071331A
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shaking
flameout
speed
dithering
condition
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CN113071331B (en
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王建波
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Dongfeng Peugeot Citroen Automobile Co Ltd
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Dongfeng Peugeot Citroen Automobile Co 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention belongs to the technical field of electric automobile control, and discloses a method for simulating shaking and flameout of an electric manual gear instruction car, which comprises the following steps: after the vehicle ready, reading the rotating speed, the gear information, the clutch information and the accelerator pedal information of the engine; judging whether a jitter setting condition is met or not according to the rotating speed and the vehicle speed; when in dithering, the dithering torque with certain frequency, amplitude and offset is output in an increasing way on the basis of the current request torque; judging whether to quit shaking according to the rotating speed of the engine; calculating whether flameout occurs or not according to the shaking duration time, the lowest threshold value of the rotating speed and the accelerator pedal information under different vehicle speeds and rotating speeds; and executing a flameout instruction, and turning off a 'ready' indicator lamp. The invention can make the shake and flameout characteristics more approximate to the traditional fuel vehicle, saves more energy when shaking is made, and better meets the practical requirements of driving test.

Description

Method for simulating shaking and flameout of electric and manual shift instruction car
Technical Field
The invention belongs to the technical field of electric automobile control, and particularly relates to a method for simulating shaking and flameout of an electric manual gear instruction car.
Background
When the rotating speed of the traditional internal combustion engine is low, the traditional internal combustion engine can automatically and rapidly pull up the rotating speed and then fall off, so that the traditional internal combustion engine has an acceleration jerk effect and can cause jerk in the front and back directions of a vehicle.
Zero emission of the electric and manual gear instructional car solves the problem of petroleum dependence, and the power consumption cost is obviously lower than that of fuel oil, so that the electric and manual gear instructional car becomes a hotspot applied to driving test places gradually. However, the traditional internal combustion engine manual-gear instruction car is still the mainstream, the operation skill of a student on the manual-gear electric instruction car should be attached to the operation of the internal combustion engine manual-gear instruction car, and the skill of the student can be better suitable for the traditional fuel oil car. And the electric automobile is driven by the motor, compared with an internal combustion engine, the electric automobile has no rotating speed dead zone, has no operating characteristics of engine shake and flameout in operation, but can imitate the shake and flameout operating characteristics of the engine. Shaking and flameout are common in teaching and examination of the traditional manual gear instruction car, and shaking and flameout of the vehicle are also frequently involved in driving examination evaluation standards, so that shaking and flameout are important characteristics of the electric manual gear instruction car which needs to be simulated.
Chinese patent "electric learner-driven vehicle and flameout control method thereof", grant No. CN105539199B, grant No. 2019.02.22, discloses a flameout determination method, which determines that the rotation speed of the motor is lower than the threshold, and determines flameout by considering the operation problem. In order to enhance the shaking feeling, the flywheel with certain inertia is adopted, and when the flywheel is flamed out, a section of negative torque is added to the motor, so that the shaking feeling is enhanced. Which uses only the engine speed as a threshold for determining misfire.
China patent CN109050348A, published Japanese 2018.12.21 discloses a method for judging shaking and flameout, which sets flameout thresholds of different motor rotating speeds according to different vehicle speeds, and is based on a clutch-free physical vehicle (note: the document mentions that the electric vehicle has a clutch pedal but no clutch). And (3) looking up a table through a clutch pedal position interpolation method to simulate the engine rotating speed, outputting pulse torque when the engine rotating speed is lower than a threshold value and the clutch is not separated, and simulating shaking for 1s and then extinguishing. The simulated engine speed is calculated by using the position of the clutch pedal as a threshold value for flameout judgment.
By analyzing the prior art, it was shown that jitter and misfire behavior was set according to a threshold, i.e., reached which triggered jitter and misfire, or reached a threshold that was jittered for 1s before misfire. The actual engine shakes and does not necessarily flameout, so that the prior art has obvious errors in simulating the shaking and flameout of the engine.
Through observing the target internal combustion engine vehicle, the driver actively refuels when the vehicle runs at a low speed and a high gear, and although the rotating speed of the engine cannot be raised in a short time, the shaking time can be prolonged, and the flameout probability can be reduced. The published literature fails to describe the effect of the driver's filler door on shudder and misfire when the engine is shudder.
However, in the prior art, no disclosure is made of the analog dither frequency. The published literature mentions that the flywheel is added to improve the vibration effect, and the proposal utilizes the natural frequency of a transmission system to improve the vibration effect by using the resonance principle. Meanwhile, in a semi-sliding state, the rotation speed of the engine is low, but the rotation speed of wheels is high, the rotation speed of the engine can be reversely dragged by a vehicle, the flameout risk is reduced, and the disclosed documents do not embody the characteristics.
The observation of the shudder and misfire of the target internal combustion engine vehicle suggests that the shudder and misfire of the engine have different behaviors in different speed intervals. The expression rule is as follows: when the engine speed is low, the possibility of flameout is high, the shaking duration is short, when the engine speed is high, the possibility of flameout is reduced, and the shaking duration is long.
Disclosure of Invention
Aiming at the problems in the background art, the invention aims to provide a method for simulating shaking and flameout of an electric manual gear instruction car, which enables the electric instruction car to better meet the operation requirements of the traditional internal combustion engine instruction car and meets the driving test teaching requirements.
In order to achieve the purpose, the invention provides a method for simulating shaking and flameout of an electric manual shift instruction car, which comprises the following steps of:
s1, after the vehicle ready, reading the engine speed, the vehicle speed, the gear information, the clutch information and the accelerator pedal information;
s2, judging whether a jitter setting condition is met according to the engine speed and the vehicle speed; starting dithering if the dithering setting condition is met, otherwise returning to S1;
s3, increasing the dithering torque which outputs a certain frequency, amplitude and offset on the basis of the current request torque during dithering;
s4, judging whether to quit shaking according to the engine speed; if the jitter condition is met, accumulating the jitter time, otherwise, ending the jitter, and returning to the step S1;
s5, calculating whether to extinguish according to the shaking duration and the lowest rotating speed threshold under different vehicle speeds and rotating speeds, if the flameout condition is not met, returning to S3, and if the flameout condition is met, performing the next step;
and S6, executing a flameout command, and turning off a 'ready' indicator light.
Preferably, in S2, the jitter setting condition is: when the opening degree of the clutch is detected to be less than 0.5, the gear is in a non-neutral gear, and when the rotating speed of the engine is lower than N31-gear speed is less than V3。
Further preferred, N3＝800rpm，V3＝7Km/h。
Preferably, in S3, the dithering torque TocsComprises the following steps:
Figure BDA0003033044810000031
in the formula, A represents square wave amplitude and is adjusted according to the shaking strength and weakness; b represents the offset during vibration, and the adjustment is carried out according to the rising speed of the shaking rotating speed; t represents; f. ofnRepresenting the dithering square wave frequency.
Further preferably, the jittered square wave frequency f n2 pi/tau, where tau is the transmission system torsional speed omegasPeriod between two adjacent peaks, omegas＝ω2-ω1/r，ω1Representing motor speed, ω2Representing wheel speed and r the current gear ratio.
Preferably, in S4, when the engine speed exceeds 850rpm, the shaking is ended, and the shaking duration accumulation time is cleared; if the engine speed does not exceed 850rpm, the dithering continues.
Preferably, in S5, a misfire command is issued when any one of the following conditions is satisfied, and if not, the dither is continued:
condition 1: if the shaking duration accumulation time exceeds 8 seconds and the accelerator pedal stroke does not exceed 10 percent during shaking, wherein 100 percent is the maximum accelerator pedal stroke;
condition 2: if in the shake, the vehicle speed is lower than V2And the engine speed is lower than N2Reaches 2 seconds, and no accelerator pedal travel exceeding 10% is detected during the shaking process, V2＝5km/h，N2＝520rpm；
Condition 3: if in the shake, the vehicle speed is lower than V1And the engine speed is lower than N1The cumulative time of (3) reaches 1.2 seconds. In this example, V1＝5km/h，N1＝380rpm；
Condition 4: if during shudder, the engine speed is below N0The value in this example is 200 rpm;
condition 5: if the accelerator pedal stroke is detected to exceed 10% in the shaking process, the shaking duration accumulation time exceeds 10 seconds;
condition 6: if the accelerator pedal stroke is detected to exceed 10% during the shaking process and the vehicle speed is lower than V2And the engine speed is lower than N2Up to 4 seconds.
The invention has the beneficial effects that: the invention adds the engine speed and the wheel speed as the shaking and flameout conditions, and sets different shaking and flameout performances according to different thresholds. The invention enables the jitter and flameout characteristics to be closer to those of the traditional fuel vehicle, saves more energy when making jitter and better meets the practical requirements of driving test.
The invention can realize that the electric learner-driven vehicle adopts charging to replace fuel oil, has zero emission and has obvious advantages. The good electric automobile simulates the shaking and flameout technology of the fuel vehicle, the electric driving school can be well integrated into a driving test system, a student can learn the driving skill and is also suitable for the traditional internal combustion engine vehicle, and therefore the manual-gear electric automobile can meet the teaching and test requirements.
Drawings
FIG. 1 is a flow chart of the present invention
FIG. 2 is a simplified schematic of the transmission system of the present invention
FIG. 3 is a waveform illustrating torsional speed of the drive train
Detailed Description
The technical solutions of the present invention (including the preferred ones) are further described in detail by way of fig. 1 to 3 and enumerating some alternative embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
As shown in figure 1, the method for simulating shaking and flameout of the electric manual gear instructional car is characterized in that the car is driven by a motor, is coupled with a manual transmission through a clutch, and an output shaft of the manual transmission is connected with a speed differentiator to transmit power to a left half shaft and a right half shaft so as to realize front wheel driving. The power source of the electric manual transmission automobile is a motor, and in the embodiment, the rotating speed of the engine is the rotating speed of a motor rotor. The specific process is as follows:
step one, after the vehicle ready, reading the engine speed, the vehicle speed, the gear information, the clutch information and the accelerator pedal information.
And step two, judging whether the jitter setting condition is met. When the clutch opening degree is detected to be less than 0.5(0 is that the clutch is completely combined and 1 is that the clutch is completely opened), and the gear is in a non-neutral gear, namely the gear is in 1, 2, 3, 4, 5 or R gear, and when the engine speed is lower than N3The value is 800rpm in the example, and the 1-gear speed is less than V3In the present example, the value is 7Km/h, the jitter state is entered, and the jitter time accumulation is started.
And step three, increasing and outputting the dithering torque with certain frequency, amplitude and offset on the basis of the current request torque during dithering. Noting the jitter square wave frequency as fnThe method is obtained by calculation according to the vibration characteristics of the system, and the calculation process is as follows:
as shown in fig. 2, the motor speed is represented by ω1Indicating wheel speed by ω2The torsional speed of the drive train then being ωsIs represented bys＝ω2-ω1And/r, wherein r is the current gear ratio.
When the gear is engaged and the clutch is completely released, the motor can be suddenly requested to load the driving torque by suddenly stepping on the accelerator, in the embodiment, the driving torque is in the range of 40Nm to 60Nm, the front and back oscillation of the vehicle can occur, and the measured value omega is recorded1And ω2And calculate ωsThe characteristic pattern as shown in fig. 3 is obtained.
In the figure, the period between two adjacent peaks is tau, the frequency of the jitter square wave can be calculated by the formula, f n2 pi/τ. Therefore, the inherent second-order frequency of the transmission system is obtained through a measuring method and is used as the excitation frequency, energy can be saved, and the vibration effect is improved.
Loaded dithering torque TocsThe expression is as follows:
Figure BDA0003033044810000051
in the formula, A represents the square wave amplitude and is adjusted according to the shaking strength and weakness, and 20Nm is adopted in the embodiment; b represents the offset during vibration, which can promote the oscillation rise of the vehicle rotation speed, and the magnitude of the offset is adjusted according to the strength of the rise speed of the jitter rotation speed, in this example, 7Nm is adopted.
And step four, judging whether the rotating speed of the engine exceeds 850rpm, finishing the shaking if the rotating speed of the engine exceeds 850rpm, clearing the shaking continuous accumulation time, and continuously shaking if the rotating speed of the engine cannot exceed 850 rpm.
And fifthly, judging flameout. If any one of the following conditions is satisfied, a flameout command is issued, and if the condition is not satisfied, the dithering is continued.
Condition 1: if the shaking duration accumulation time exceeds 8 seconds, and the accelerator pedal stroke does not exceed 10 percent during shaking, wherein 100 percent is the maximum accelerator pedal stroke.
Condition 2: if in the shake, the vehicle speed is lower than V2And the engine speed is lower than N2Reaches 2 seconds and no addition is detected during the dithering processThe travel of the accelerator pedal exceeds 10%. In this example, V2＝5km/h，N2＝520rpm。
Condition 3: if in the shake, the vehicle speed is lower than V1And the engine speed is lower than N1The cumulative time of (3) reaches 1.2 seconds. In this example, V1＝5km/h，N1＝380rpm。
Condition 4: if during shudder, the engine speed is below N0In this case 200 rpm.
Condition 5: if the travel of the accelerator pedal is detected to exceed 10% during shaking, the shaking duration accumulation time exceeds 10 seconds.
Condition 6: if the accelerator pedal stroke is detected to exceed 10% during the shaking process and the vehicle speed is lower than V2And the engine speed is lower than N2Up to 4 seconds.
And step six, executing a flameout instruction and turning off a ready indicator lamp.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and any modification, combination, replacement, or improvement made within the spirit and principle of the present invention is included in the scope of the present invention.

Claims (7)

1. A method for simulating shaking and flameout of an electric manual shift instruction car is characterized by comprising the following steps of: the method comprises the following steps:
s1, after the vehicle ready, reading the engine speed, the vehicle speed, the gear information, the clutch information and the accelerator pedal information;
s2, judging whether a jitter setting condition is met according to the engine speed and the vehicle speed; starting dithering if the dithering setting condition is met, otherwise returning to S1;
s3, increasing the dithering torque which outputs a certain frequency, amplitude and offset on the basis of the current request torque during dithering;
s4, judging whether to quit shaking according to the engine speed; if the jitter condition is met, accumulating the jitter time, otherwise, ending the jitter, and returning to the step S1;
s5, calculating whether to extinguish according to the shaking duration and the lowest rotating speed threshold under different vehicle speeds and rotating speeds, if the flameout condition is not met, returning to S3, and if the flameout condition is met, performing the next step;
and S6, executing a flameout command, and turning off a 'ready' indicator light.
2. The method for simulating shaking and flameout of an electric-manual gear instructional car according to claim 1, wherein: in S2, the jitter setting conditions are: when the opening degree of the clutch is detected to be less than 0.5, the gear is in a non-neutral gear, and when the rotating speed of the engine is lower than N31-gear speed is less than V3。
3. The method for simulating shaking and flameout of an electric-manual gear instructional car according to claim 2, wherein: n is a radical of3＝800rpm，V3＝7Km/h。
4. The method for simulating shaking and flameout of an electric-manual gear instructional car according to claim 1, wherein: at S3, the dithering torque TocsComprises the following steps:
Figure FDA0003033044800000011
in the formula, A represents square wave amplitude and is adjusted according to the shaking strength and weakness; b represents the offset during vibration, and the adjustment is carried out according to the rising speed of the shaking rotating speed; t represents; f. ofnRepresenting the dithering square wave frequency.
5. The method for simulating shaking and flameout of an electric-manual gear instructional car according to claim 4, wherein: the dithering square wave frequency fn2 pi/tau, where tau is the transmission system torsional speed omegasPeriod between two adjacent peaks, omegas＝ω2-ω1/r，ω1Representing motor speed, ω2Representing wheel speed and r the current gear ratio.
6. The method for simulating shaking and flameout of an electric-manual gear instructional car according to claim 1, wherein: in S4, when the engine speed exceeds 850rpm, shaking is finished, and shaking duration accumulation time is cleared; if the engine speed does not exceed 850rpm, the dithering continues.
7. The method for simulating shaking and flameout of an electric-manual gear instructional car according to claim 1, wherein: in S5, a flame-out command is issued when any one of the following conditions is satisfied, and if not, the dithering is continued:
condition 1: if the shaking duration accumulation time exceeds 8 seconds and the accelerator pedal stroke does not exceed 10 percent during shaking, wherein 100 percent is the maximum accelerator pedal stroke;
condition 2: if in the shake, the vehicle speed is lower than V2And the engine speed is lower than N2Reaches 2 seconds, and no accelerator pedal travel exceeding 10% is detected during the shaking process, V2＝5km/h，N2＝520rpm；
Condition 3: if in the shake, the vehicle speed is lower than V1And the engine speed is lower than N1Reaches an accumulated time of 1.2 seconds, V1＝5km/h，N1＝380rpm；
Condition 4: if during shudder, the engine speed is below N0，N0＝200rpm；
Condition 5: if the accelerator pedal stroke is detected to exceed 10% in the shaking process, the shaking duration accumulation time exceeds 10 seconds;
condition 6: if the accelerator pedal stroke is detected to exceed 10% during the shaking process and the vehicle speed is lower than V2And the engine speed is lower than N2Up to 4 seconds.
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017132406A (en) * 2016-01-29 2017-08-03 株式会社Ｓｕｂａｒｕ Vehicle control device and vehicle control method
CN109050350A (en) * 2018-08-17 2018-12-21 北京航空航天大学 A kind of electric car simulation manual gear fuel oil car engine shake torque control method
CN109177742A (en) * 2018-08-17 2019-01-11 北京航空航天大学 A kind of electric car simulation manual gear fuel vehicle torque control method
CN110539650A (en) * 2019-09-19 2019-12-06 深圳市英威腾电动汽车驱动技术有限公司 Method, system and device for simulating idle speed jitter of manual fuel oil transmission vehicle
CN110588369A (en) * 2019-09-27 2019-12-20 深圳市英威腾电动汽车驱动技术有限公司 Method, system and device for simulating flameout of manual fuel-oil-blocking vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017132406A (en) * 2016-01-29 2017-08-03 株式会社Ｓｕｂａｒｕ Vehicle control device and vehicle control method
CN109050350A (en) * 2018-08-17 2018-12-21 北京航空航天大学 A kind of electric car simulation manual gear fuel oil car engine shake torque control method
CN109177742A (en) * 2018-08-17 2019-01-11 北京航空航天大学 A kind of electric car simulation manual gear fuel vehicle torque control method
CN110539650A (en) * 2019-09-19 2019-12-06 深圳市英威腾电动汽车驱动技术有限公司 Method, system and device for simulating idle speed jitter of manual fuel oil transmission vehicle
CN110588369A (en) * 2019-09-27 2019-12-20 深圳市英威腾电动汽车驱动技术有限公司 Method, system and device for simulating flameout of manual fuel-oil-blocking vehicle

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