CN113119751A - Vehicle slope starting method and device, vehicle, electronic equipment and storage medium - Google Patents

Vehicle slope starting method and device, vehicle, electronic equipment and storage medium Download PDF

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Publication number
CN113119751A
CN113119751A CN202110519130.6A CN202110519130A CN113119751A CN 113119751 A CN113119751 A CN 113119751A CN 202110519130 A CN202110519130 A CN 202110519130A CN 113119751 A CN113119751 A CN 113119751A
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vehicle
current
speed
slope
target
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Granted
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CN202110519130.6A
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CN113119751B (en
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廖钢强
高明
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Hunan Sany Intelligent Control Equipment Co Ltd
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Hunan Sanyi Electric Control Technology 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
    • B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
    • B60L15/2081—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off for drive off on a slope
    • 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
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—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
    • B60L2240/423—Torque
    • 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
    • B60L2240/429—Current
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • 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

The invention provides a vehicle slope starting method, a device, a vehicle, electronic equipment and a storage medium, wherein the method comprises the following steps: if the slope stopping event is judged and known to occur, determining the target current of the vehicle, wherein the target current is determined based on the torque current of the vehicle before the vehicle stops on the slope; after receiving a slope starting instruction, controlling a speed controller of the vehicle to increase the current torque current to a target current; and controlling the vehicle to start in a slope after the duration that the current moment current is maintained at the target current is greater than or equal to the preset duration. When a slope parking event occurs, the current moment current is increased to the target current, and when a slope starting instruction is received and the duration of the current moment current maintained at the target current is greater than or equal to the preset duration, the slope starting of the vehicle is controlled, so that the vehicle has a moment slightly greater than the self-weight load of the vehicle body when the slope is started, and the problem of slipping after the slope is started is effectively solved.

Description

Vehicle slope starting method and device, vehicle, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of vehicle hill start, in particular to a vehicle hill start method and device, a vehicle, electronic equipment and a storage medium.
Background
At present, some work vehicles often stop on a road surface with a slope to work, and particularly for a pure electric overhead work vehicle without a hydraulic device, two driving wheels are generally provided with motor drivers, a motor is provided with an enclasping brake device, and a speed instruction is issued through a handle device to control the running speed of the overhead work vehicle. When the working vehicle is started on a slope, the handle device sends a speed instruction, and if the brake is released at the moment, the speed cannot be immediately controlled at zero speed, so that the phenomenon of backward slip or shaking occurs. The response of the high-altitude operation vehicle is accelerated as much as possible by adjusting parameters after the brake is released, so that the high-altitude operation vehicle does not slide down the slope or slides down less as much as possible, but the high-altitude operation vehicle still has the slope sliding phenomenon in some scenes with limited operation space, and further brings out-of-control risk.
Disclosure of Invention
The invention provides a vehicle slope starting method and device, a vehicle, electronic equipment and a storage medium, which are used for solving the defect that the slope starting of the vehicle cannot be effectively prevented from sliding down in the prior art.
The invention provides a vehicle slope starting method, which comprises the following steps:
if the slope stopping event is judged and known to occur, determining the target current of the vehicle, wherein the target current is determined based on the torque current of the vehicle before the vehicle stops on the slope;
after receiving a slope starting instruction, controlling a speed controller of the vehicle to increase the current torque current to a target current;
and controlling the vehicle to start in a slope after the duration that the current torque current is maintained at the target current is greater than or equal to a preset duration.
According to the vehicle hill start method provided by the invention, the target current is determined based on the following steps:
acquiring moment current of the vehicle at each moment before the vehicle stops on the slope;
and filtering the moment current at each moment to obtain the target current.
According to the invention, the vehicle slope starting control method comprises the following steps:
acquiring a target starting speed of the vehicle; the target start-up speed is determined based on a speed error and a speed controller parameter;
and controlling the vehicle to start on a slope based on the target starting speed after the time length that the current speed of the vehicle is maintained at the target starting speed is greater than or equal to the preset time length.
According to the invention, the method for starting the vehicle on the slope is used for controlling the vehicle on the slope based on the target starting speed of the vehicle, and comprises the following steps:
determining a first limit speed based on the speed error coefficient and a speed controller parameter;
determining the target start-up speed based on the first limit speed;
controlling the vehicle ramp start based on the target start speed.
According to the vehicle slope starting method provided by the invention, after controlling the vehicle slope starting, the method further comprises the following steps:
adjusting a present torque current of the vehicle based on the power of the speed controller;
adjusting a real-time speed of the vehicle based on the present torque current; wherein the real-time speed is not greater than a preset target speed.
According to the invention, the vehicle slope starting method comprises the following steps of adjusting the current torque current of the vehicle based on the power of a speed controller of the vehicle:
determining a limit current of a speed controller of the vehicle based on a power of the speed controller;
based on the limiting current, adjusting a present torque current of the vehicle.
The present invention also provides a vehicle hill start device comprising:
the determining unit is used for determining a target current of the vehicle if the slope stopping event is judged and known to occur, wherein the target current is determined based on the torque current of the vehicle before the vehicle stops on the slope;
the power accumulation unit is used for controlling a speed controller of the vehicle to increase the current torque current to a target current after receiving a slope starting instruction;
and the starting unit is used for controlling the vehicle to start in a slope mode after the duration that the current torque current is maintained at the target current is greater than or equal to the preset duration.
The present invention also provides a vehicle comprising: the vehicle hill start device as described above.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of any one of the vehicle hill start methods.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the vehicle hill start method as any one of the above.
According to the vehicle slope starting method, the vehicle slope starting device, the vehicle, the electronic equipment and the storage medium, when a slope stopping event occurs, the current moment current is added to the target current, and when a slope starting instruction is received and the duration of the current moment current maintained at the target current is greater than or equal to the preset duration, the vehicle slope starting is controlled, so that the vehicle has a moment slightly greater than the self-weight load of the vehicle body when the slope is started, and the problem of slipping after the slope is started is effectively solved. Compared with the traditional method which adopts the motor parameter adjustment to avoid slope slipping, the embodiment of the invention can effectively avoid the problem of slope slipping caused by the fact that the vehicle state cannot be adjusted in time due to the limitation of the response speed.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a vehicle hill start method provided by the present invention;
FIG. 2 is a schematic diagram of the torque current and time axes provided by the present invention;
FIG. 3 is a schematic diagram of the axes of speed versus time provided by the present invention;
FIG. 4 is a schematic structural diagram of a hill start device for a vehicle according to the present invention;
fig. 5 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
At present, some work vehicles often stop on a road surface with a slope to work, and particularly for a pure electric overhead work vehicle without a hydraulic device, two driving wheels are generally provided with motor drivers, a motor is provided with an enclasping brake device, and a speed instruction is issued through a handle device to control the running speed of the overhead work vehicle. When the working vehicle is started on a slope, the handle device sends a speed instruction, and if the brake is released at the moment, the speed cannot be immediately controlled at zero speed, so that the phenomenon of backward slip or shaking occurs. The response of the high-altitude operation vehicle is accelerated as much as possible by adjusting parameters after the brake is released, so that the high-altitude operation vehicle does not slide down the slope or slides down less as much as possible, but the high-altitude operation vehicle still has the slope sliding phenomenon in some scenes with limited operation space, and further brings out-of-control risk.
In addition, in the prior art, after the work vehicle releases the brake, a moment instruction with a higher rising rate than the accelerator is given by stepping on the accelerator pedal, so that the backward slip is prevented. However, for equipment such as an aerial lift truck and the like which comprises a low-precision encoder, such a quick torque response is difficult to generate in a short time, and the risk of back slip still exists, and meanwhile, the aerial lift truck is a speed instruction, and the risk of oscillation and runaway can also exist when the aerial lift truck is switched from the torque to the speed.
In view of this, the present invention provides a vehicle hill start method. Fig. 1 is a schematic flow chart of a vehicle hill start method provided by the present invention, as shown in fig. 1, the method includes the following steps:
step 110, if the slope stopping event is judged and known to occur, determining a target current of the vehicle, wherein the target current is determined based on the torque current of the vehicle before the vehicle stops on the slope;
step 120, after receiving a slope starting instruction, controlling a speed controller of the vehicle to increase the current torque current to a target current;
and step 130, controlling the vehicle to start in a slope after the duration that the current torque current is maintained at the target current is greater than or equal to the preset duration.
Specifically, when the vehicle stops on an incline, a speed command is sent to the speed controller so that the speed controller knows that the vehicle needs to be started. Meanwhile, as the vehicle is in a brake-holding state when stopping on a slope, if the brake is directly released, the vehicle may slide downwards to cause the vehicle to slide down the slope. At present, parameters are adjusted after the brake is released, so that the speed is controlled at zero speed, and the slope slipping is avoided. However, for equipment such as an overhead working truck and the like which is provided with a low-precision encoder, parameter adjustment may not be responded in time, and further the hidden danger of slope slipping still exists.
In addition, in the prior art, after the operation vehicle releases the brake, a moment instruction with a higher ascending rate than the accelerator is given by stepping on the accelerator pedal, so that the backward slip is prevented. However, for equipment such as an aerial lift truck and the like which comprises a low-precision encoder, such a quick torque response is difficult to generate in a short time, and the risk of back slip still exists, and meanwhile, the aerial lift truck is a speed instruction, and the risk of oscillation and runaway can also exist when the aerial lift truck is switched from the torque to the speed. Therefore, the torque command adopted in the prior art is also limited by the response speed, and the torque mode is switched to the speed mode to be easy to vibrate, so that the risk of runaway exists.
Therefore, the embodiment of the invention obtains the target current before the vehicle stops on the slope, namely, when the vehicle is in the running state, and the target current is used for representing the current required by the vehicle to run on the corresponding slope. Therefore, after the vehicle stops on the slope and the starting instruction is sent again, the current moment current of the vehicle is increased to the target current, and after the vehicle runs stably for a preset time, the motor can be started by a moment slightly larger than the self-weight load of the vehicle body, so that the problem that the vehicle slips after being started on the slope can be solved. The torque current refers to a q-axis current in vector control of a motor (electric motor), the target current is determined based on the torque current of the vehicle before the vehicle stops on a slope, and the target current may be an average value of the torque current of the vehicle before the vehicle stops or a maximum torque current of the vehicle before the vehicle stops.
In addition, the current moment current is added to the target current, the problem of slope slipping caused by the fact that motor parameters cannot be timely responded and adjusted in the traditional method is not relied on, high-precision encoder equipment (such as a sensor) is not relied on, and equipment cost is reduced.
As shown in fig. 2, at time 0-T1, the present torque current Isq of the vehicle is increased to a target current (Isq _ zero + D _ val, where Isq _ zero is the torque current of the vehicle before stopping on a slope, and D _ val is a threshold value increased in consideration of the influence of current surge), and after the present torque current of the vehicle reaches the target current, the vehicle is stably operated for a period of time (time T1-T2), so that the motor can be started with a torque slightly larger than the body weight load, and the vehicle is prevented from slipping back on the slope.
According to the vehicle slope starting method provided by the embodiment of the invention, when a vehicle stops on a slope, the current moment current is increased to the target current, the speed controller of the vehicle is controlled to increase the current moment current to the target current after receiving the slope starting instruction, and the vehicle slope is controlled to start after the time length of the current moment current maintaining the target current is greater than or equal to the preset time length, so that the vehicle has a moment slightly larger than the self-weight load of the vehicle body when starting on the slope, and the problem of slope slipping after starting on the slope is effectively prevented.
Based on the above embodiment, the target current is determined based on the following steps:
acquiring moment current at each moment before the vehicle stops on the slope;
and filtering the moment current at each moment to obtain the target current.
Specifically, before the vehicle stops on a slope, that is, while the vehicle is in a running state, a target current is obtained that is used to represent a current required for the vehicle to run on the corresponding slope. Therefore, when the vehicle stops on the slope, the current moment current of the vehicle is increased to the target current, and after the vehicle stably runs for a preset time, the motor can be started by a moment slightly larger than the self-weight load of the vehicle body, so that the problem that the vehicle slips after being started on the slope can be solved.
However, in the operation time period before the vehicle stops on the slope, the torque currents corresponding to different times may be different, and an unstable torque current may exist in the torque currents at each time. The filtering process may be low-pass filtering or mean filtering, which is not specifically limited in this embodiment of the present invention. The low-pass filtering is a filtering method, and the rule is that low-frequency signals can normally pass through, and high-frequency signals exceeding a set critical value are blocked and weakened.
Based on any embodiment above, controlling vehicle hill start comprises:
acquiring a target starting speed of a vehicle; the target start-up speed is determined based on the speed error and the speed controller parameter;
and controlling the vehicle to start on a slope based on the target starting speed after the time length that the current speed of the vehicle is maintained at the target starting speed is greater than or equal to the preset time length.
Specifically, entering the speed mode control after the vehicle starts may have a problem that smooth switching cannot be performed. When in the speed mode, the target current is given by changing the output limit value of the speed controller.
The ramp start-up procedure is as follows: after a starting command is received, according to speed planning, the target speed is increased to speed _ delta1, the output of the speed controller is the reference of q-axis current (target current), and the target current is used as the upper limit value and the lower limit value of the speed controller, so that the target current can be stabilized as starting torque current.
According to the embodiment of the invention, before the vehicle is started on a slope, the target starting speed of the vehicle is obtained, so that the vehicle can obtain the target starting speed and run when the vehicle is started on the slope. Since the speed controller of the vehicle has an error, in order to avoid the error of the speed controller caused by the over-large starting speed, the embodiment of the invention needs to combine the speed error and the speed controller parameter to determine the target starting speed of the vehicle, so that the vehicle can be started at the starting speed on the slope.
Based on any one of the above embodiments, controlling vehicle hill start based on the target start speed includes:
determining a first limit speed based on the speed error and the speed controller parameter;
determining a target starting speed based on the first limit speed;
and controlling the vehicle to start on a slope based on the target starting speed.
Specifically, if a speed command is sent to the vehicle after the vehicle is started on a slope to operate the vehicle, the operation efficiency of the vehicle may be reduced. In the embodiment of the invention, in the process of increasing the current torque current of the vehicle to the target current, the target starting speed of the vehicle can be set at the same time, so that the vehicle can obtain the target starting speed and run when starting on a slope. Since the speed controller of the vehicle has an error, in order to avoid the error of the speed controller caused by the over-large starting speed, the embodiment of the invention needs to combine the speed error and the speed controller parameter to determine the first limit speed, and determine the starting speed of the vehicle based on the first limit speed, so that the vehicle can be started at the starting speed on the slope. Wherein the starting speed of the vehicle is not greater than the first limit speed.
As shown in fig. 3, a Speed command Speed _ Target can be sent through the handle, and after receiving the command, the Speed controller enters an operation mode, starts Speed planning operation, sets a starting Speed in real time, and meanwhile, the starting Speed cannot be greater than a first Speed limit Speed _ Delta1 so as to avoid generating an overlarge Speed error at the stage.
According to any embodiment, after controlling the vehicle to start on a slope, the method further comprises:
adjusting a present torque current of the vehicle based on the power of the speed controller;
adjusting the real-time speed of the vehicle based on the current torque current; and the real-time speed is not greater than the preset target speed.
Specifically, as shown in FIG. 2, after the brakes are released (time T2), the vehicle now has speed and torque currents, and therefore also has power values. In the process of climbing the vehicle, the kinetic energy of the vehicle is converted into gravitational potential energy, and the larger the kinetic energy is, the larger the converted gravitational potential energy is, so that the vehicle is more favorable for climbing. Therefore, when the vehicle climbs a slope, the speed of the vehicle can be increased by increasing the power, and the kinetic energy of the vehicle can be increased. When the power is increased, the present torque current needs to be increased to meet the power demand, such as adjusting the torque current Isq _ ref to an appropriate value, but Isq _ ref does not exceed the limit current Isqmax at maximum, where Isqmax is determined based on the power of the speed controller.
As shown in fig. 3, based on the present torque current, the real-time speed of the vehicle may be adjusted after the brake is released (time T2) such that the real-time speed approaches the preset target speed. It should be noted that, due to the influence of the response Speed and the like, the Real-time Speed of the vehicle may not reach the ideal state shown by the dotted line in fig. 3 to perform the Speed increase to the preset target Speed _ Setpoint, and the Real-time Speed (Speed _ Real) thereof may perform the Speed increase as shown by the solid line.
Based on any one of the above embodiments, adjusting the present torque current of the vehicle based on the power of the speed controller of the vehicle comprises:
determining a limit current of a speed controller based on a power of the speed controller of the vehicle;
based on the limiting current, the present torque current of the vehicle is adjusted.
Specifically, as shown in FIG. 2, after the brakes are released (time T2), the vehicle now has speed and torque currents, and therefore also has power values. During the vehicle's climbing, the gradient will be steeper and hence the power required will be greater, so that the present torque current needs to be increased to meet the power demand, e.g. to adjust the torque current Isq _ ref to a suitable value, but Isq _ ref does not exceed the limit current Isqmax at the maximum, where Isqmax is determined based on the power of the speed controller.
Based on any of the above embodiments, the present invention further provides a ramp starting method, including:
after the high-altitude operation vehicle ascends from a flat road and in the running state before the vehicle stops, the Q-axis reference current output by the speed is stored after low-pass filtering, and the driving Q-axis current value output by the filter before the parking brake is recorded and marked as Iq _ zero.
In the starting process, when a speed command is received, the output of the waiting speed controller is that the reference input Iqref of the Q current rises to Iq _ zero + D _ va (the brake releasing starting is an accelerating process, so that the D _ va is generally floated on the Iq _ zero, and the D _ val is adjusted to realize the smoothness and the rapidness after the brake releasing starting), the motor is stably operated for a period of time, the motor is started by a moment slightly larger than the self-weight load of the vehicle body, the starting is not slipped and the operation can be stably started on a slope under the control of a speed mode, and the problem that the vehicle slips after being started on the slope is prevented. The specific implementation process is as follows:
(1) in the running state before the vehicle stops, q-axis reference current of the speed output is stored after being subjected to low-pass filtering. Recording the current value of the Q shaft before parking and braking as Iq _ zero, and then carrying out the brake locking and stopping.
(2) The handle sends a Speed command Speed _ Target, the controller receives the command, enters an operation mode, starts Speed planning operation, and sets the Speed _ Setpoint not to exceed Speed _ Delta1 in real time. In order to avoid excessive speed errors at this stage.
(3) The upper and lower limit values Isqmax of the output saturation value of the speed loop controller are set to ± (Isq _ zero + D _ val). The output of the speed controller is the input of the q-axis current (torque current).
As shown in fig. 2, the 0-T1 process is a power accumulation process, in which a real-time reference speed is added to speed _ delta1 according to a speed schedule, the output limit value of the speed loop controller is Isqmax, set to Isq _ zero + D _ val, the output stabilizes to Isq _ zero + D _ val after the speed loop controller has been calculated for several cycles, and the T1-T2 process is a power accumulation maintenance process, in which the q-axis current is maintained for an Isq _ zero + D _ val operation period, in which the reference speed should be at the first limit speed _ delta 1. The speed loop controller output limit value Isqmax remains Isq _ zero + D _ val.
After time T2, the band brake is released, the motor starts accelerating with actual speed, the real-time reference speed is increased to the target speed according to the speed plan, and the q-axis current is increased to Ismax (the value is obtained by the system power basic speed). The Iqref and q-axis real-time reference currents are calculated by the speed controller.
(4) When the speed loop controller output Isq _ ref reaches the limit value Isqmax + D _ val and runs steadily for a period of time, it means a steady hold of force. At the moment, the brake equipment is loosened, namely after the brake is loosened, the motor has enough force to overcome the resistance brought by the motor to start and cannot slide backwards.
(5) After the brake release is initiated, the real-time Speed command value SpeedSetpoint continues to approach Speed Target according to the Speed schedule.
(6) The limit value Isqmax output by the speed controller is also limited in accordance with the current limit value Ismax of the power plan.
(7) The speed controller may automatically adjust the Q-axis reference current Isq _ ref to an appropriate value, up to and including Ismax.
The vehicle hill start device provided by the invention is described below, and the vehicle hill start device described below and the vehicle hill start method described above can be referred to correspondingly.
Based on any one of the embodiments, the present invention further provides a vehicle hill start device, as shown in fig. 4, the device including:
a determining unit 410, configured to determine a target current of a vehicle if it is determined that a hill stop event occurs, where the target current is determined based on a torque current of the vehicle before the vehicle stops on a hill;
an accumulation unit 420 for controlling a speed controller of the vehicle to increase the present torque current to a target current;
the starting unit 430 is configured to control the vehicle to start the vehicle on the slope if a slope starting instruction is received and a duration that the current torque current is maintained at the target current is greater than or equal to a preset duration.
Based on any embodiment above, the apparatus further comprises:
the acquisition unit is used for acquiring moment current at each moment before the vehicle stops on the slope;
and the processing unit is used for carrying out low-pass filtering processing on the moment current at each moment to obtain the target current.
Based on any of the above embodiments, the starting unit 430 is configured to:
controlling the vehicle ramp start based on the start speed of the vehicle; wherein the start-up speed is determined based on a speed error coefficient of the speed controller.
Based on any of the above embodiments, the starting unit 430 includes:
a first determination unit configured to determine a first limit speed based on the speed error coefficient;
a second determination unit configured to determine the start-up speed based on the first limit speed;
and the control unit is used for controlling the vehicle to start on a slope based on the starting speed.
Based on any embodiment above, the apparatus further comprises:
a first adjusting unit for adjusting a present torque current of the vehicle based on a power of the speed controller after controlling the vehicle to start on a slope;
the second adjusting unit is used for adjusting the real-time speed of the vehicle based on the current torque current; wherein the real-time speed is not greater than a preset target speed.
Based on any embodiment above, the first adjusting unit includes:
a third determination unit for determining a limit current of the speed controller based on a power of the speed controller of the vehicle;
and a third adjusting unit for adjusting the current torque current of the vehicle based on the limiting current.
Based on any of the above embodiments, the present invention also provides a vehicle, including: the vehicle hill start device according to any one of the above embodiments.
Specifically, the embodiment of the invention obtains the target current before the vehicle stops on the slope, namely, when the vehicle is in the running state, wherein the target current is used for representing the current required by the vehicle to run on the corresponding slope. Therefore, when the vehicle stops on the slope, the current moment current of the vehicle is increased to the target current, and after the vehicle stably runs for a preset time, the motor can be started by a moment slightly larger than the self-weight load of the vehicle body, so that the problem that the vehicle slips after being started on the slope can be solved. The torque current refers to a Q-axis current of the generator, and the target current may be an average value of the torque current of the vehicle before the vehicle stops, or may be a maximum torque current of the vehicle before the vehicle stops.
In addition, the current moment current is added to the target current, the problem of slope slipping caused by the fact that motor parameters cannot be timely responded and adjusted in the traditional method is not relied on, high-precision encoder equipment (such as a sensor) is not relied on, and equipment cost is reduced.
Fig. 5 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 5, the electronic device may include: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a vehicle hill start method comprising: if the slope stopping event is judged and known to occur, determining the target current of the vehicle, wherein the target current is determined based on the torque current of the vehicle before the vehicle stops on the slope; controlling a speed controller of the vehicle to increase the current torque current to a target current; and if a slope starting instruction is received and the time length of the current moment current maintained at the target current is greater than or equal to the preset time length, controlling the vehicle to start in a slope.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the vehicle hill start method provided by the above methods, the method comprising: if the slope stopping event is judged and known to occur, determining the target current of the vehicle, wherein the target current is determined based on the torque current of the vehicle before the vehicle stops on the slope; controlling a speed controller of the vehicle to increase the current torque current to a target current; and if a slope starting instruction is received and the time length of the current moment current maintained at the target current is greater than or equal to the preset time length, controlling the vehicle to start in a slope.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform the vehicle hill start method provided above, the method comprising: if the slope stopping event is judged and known to occur, determining the target current of the vehicle, wherein the target current is determined based on the torque current of the vehicle before the vehicle stops on the slope; controlling a speed controller of the vehicle to increase the current torque current to a target current; and if a slope starting instruction is received and the time length of the current moment current maintained at the target current is greater than or equal to the preset time length, controlling the vehicle to start in a slope.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods of the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A vehicle hill start method, comprising:
if the slope stopping event is judged and known to occur, determining the target current of the vehicle, wherein the target current is determined based on the torque current of the vehicle before the vehicle stops on the slope;
after receiving a slope starting instruction, controlling a speed controller of the vehicle to increase the current torque current to a target current;
and controlling the vehicle to start in a slope after the duration that the current torque current is maintained at the target current is greater than or equal to a preset duration.
2. The vehicle hill start method according to claim 1, characterized in that the target current is determined based on the steps of:
acquiring moment current of the vehicle at each moment before the vehicle stops on the slope;
and filtering the moment current at each moment to obtain the target current.
3. The vehicle hill start method according to claim 1, wherein the controlling the vehicle hill start includes:
acquiring a target starting speed of the vehicle; the target start-up speed is determined based on a speed error and a speed controller parameter;
and controlling the vehicle to start on a slope based on the target starting speed after the time length that the current speed of the vehicle is maintained at the target starting speed is greater than or equal to the preset time length.
4. The vehicle hill start method according to claim 3, wherein the controlling the vehicle hill start based on the target start speed includes:
determining a first limit speed based on the speed error and a speed controller parameter;
determining the target start-up speed based on the first limit speed;
controlling the vehicle ramp start based on the target start speed.
5. The vehicle hill start method according to any one of claims 1 to 4, further comprising, after controlling the vehicle hill start:
adjusting a present torque current of the vehicle based on the power of the speed controller;
adjusting a real-time speed of the vehicle based on the present torque current; wherein the real-time speed is not greater than a preset target speed.
6. The vehicle hill start method of claim 5 wherein the adjusting the present torque current of the vehicle based on the power of the speed controller of the vehicle comprises:
determining a limit current of a speed controller of the vehicle based on a power of the speed controller;
based on the limiting current, adjusting a present torque current of the vehicle.
7. A vehicle hill start device, comprising:
the determining unit is used for determining a target current of the vehicle if the slope stopping event is judged and known to occur, wherein the target current is determined based on the torque current of the vehicle before the vehicle stops on the slope;
the power accumulation unit is used for controlling a speed controller of the vehicle to increase the current torque current to a target current after receiving a slope starting instruction;
and the starting unit is used for controlling the vehicle to start in a slope mode after the duration that the current torque current is maintained at the target current is greater than or equal to the preset duration.
8. A vehicle, characterized by comprising: the vehicle hill start device according to claim 7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, carries out the steps of the vehicle hill start method according to any one of claims 1 to 6.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the vehicle hill start method according to any one of claims 1 to 6.
CN202110519130.6A 2021-05-12 2021-05-12 Vehicle slope starting method and device, vehicle, electronic equipment and storage medium Active CN113119751B (en)

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