CN113147428B - Control method of electric drive system with braking function - Google Patents
Control method of electric drive system with braking function Download PDFInfo
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- CN113147428B CN113147428B CN202110631166.3A CN202110631166A CN113147428B CN 113147428 B CN113147428 B CN 113147428B CN 202110631166 A CN202110631166 A CN 202110631166A CN 113147428 B CN113147428 B CN 113147428B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000001172 regenerating effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity 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
- B60L15/2009—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 braking
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
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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)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a control method of an electric drive system with a braking function, wherein a vehicle control unit requests torque according to the opening degree of an accelerator pedal and the opening degree of a brake pedal, and the electric drive system responds to the torque request and feeds back the rotating speed and the torque processed by a motor in real time; when the rotating speed of the motor is lower than a set value, the whole vehicle controller sends an allowable zone bit to allow the electric drive system to actively enter an electric braking parking function; the electric drive system judges whether the entry condition is met according to the internal rotating speed of the motor; if so, entering an electric braking parking function, and simultaneously judging whether the parking process is safe or not to ensure stable parking; if not, the torque is fed back to the vehicle control unit, and the torque request of the vehicle control unit is responded in real time. According to the technical scheme, the braking function is added in the electric drive system, the efficient control of the motor is realized, particularly when the rotating speed of the motor is lower than a certain value, the parking is realized through the electric braking capability of the electric drive system, and the advantages of the electric drive system are fully exerted.
Description
The present application is a divisional application of the issued patent application:
original application number: 201910372095.2
The original application date: 6.5.2019
The name created by the original invention is as follows: control method of electric drive system with braking function
Technical Field
The invention belongs to the technical field of new energy automobiles, and particularly relates to a control method of an electric drive system with a braking function.
Background
With the continuous development of pure electric vehicles, the three-electric system is the most core standard for inspecting a pure electric vehicle, and the electric drive system is one of the core parts of the three-electric system and plays a vital role.
The electric drive system mainly provides power for the whole vehicle. When the electric vehicle is driven, the electric energy is converted into kinetic energy to control the whole vehicle to move forwards or backwards; when generating electricity, the kinetic energy is converted into electric energy to be stored in the battery.
The current electric drive system executes the torque request of the whole vehicle controller and simultaneously feeds back the rotating speed and the torque of a motor in real time; in the braking process, when the rotating speed of the motor is lower than a certain value, the vehicle control unit reduces the braking torque request, and the wheels are locked and stopped through the control machinery.
The chinese patent No. 2004100669873 discloses a technical solution of "a zero-speed electric braking torque controller for regenerative feedback electric braking electric car": the electric braking torque controller consists of a selector, a signal reverser and a multiplier, collects the signals of a pedal braking master command in real time on the basis of setting the minimum electric braking torque on the flat ground, and automatically selects the numerical value of the electric braking torque when the vehicle is controlled to be at zero speed according to the running state signals of the electric vehicle. The technical scheme of the patent is that a special functional device which is necessary for optimizing the parking effect of the electric brake of the frequency conversion drive electric vehicle with the regenerative feedback type electric brake can effectively coordinate the optimization control of the vehicle running posture of the electric vehicle with the regenerative feedback type electric brake in the electric brake process.
The disadvantages of the prior art are as follows: the electric drive system has no braking function and thus cannot actively enter an electric brake stop.
Disclosure of Invention
The invention provides a control method of an electric drive system with a braking function, and aims to realize efficient control of a motor by calling the internal rotating speed of the motor and actively entering electric braking to stop.
In order to achieve the purpose, the invention adopts the technical scheme that:
the control method of the electric drive system with the braking function is applied to a vehicle electric drive system to realize braking control, wherein the vehicle comprises a vehicle control unit and a motor controller;
the whole vehicle controller requests torque according to the opening degree of an accelerator pedal and the opening degree of a brake pedal, and the electric drive system responds to the torque request of the whole vehicle controller and feeds back the rotating speed and the torque processed by the motor in real time;
when the rotating speed of the motor is lower than a set value, the whole vehicle controller sends an allowable zone bit to allow the electric drive system to actively enter an electric braking parking function;
the electric drive system judges whether the entry condition is met according to the internal rotating speed of the motor; if so, entering an electric braking parking function, and simultaneously judging whether the parking process is safe or not to ensure stable parking; if not, the torque is fed back to the vehicle control unit, and the torque request of the vehicle control unit is responded in real time.
The control process of the electric braking parking process of the electric drive system comprises the following steps:
step 1, the vehicle control unit requests torque according to the opening degree of an accelerator pedal and the opening degree of a brake pedal;
step 2, the electric drive system responds to the torque request of the whole vehicle controller and feeds back the processed rotating speed and torque in real time;
step 3, the vehicle control unit judges whether the rotating speed of the motor is less than a set value and the motor is in a braking mode; if yes, entering step 4; if not, returning to the step 1;
step 4, the vehicle control unit sends an allowable zone bit to allow the electric drive system to actively enter an electric braking parking function;
step 5, judging whether the entering condition of the electric braking parking function is met by the motor controller; if yes, entering step 6; if not, returning to the step 2;
step 6, the electric drive system realizes parking through the electric braking function of the motor;
step 7, judging whether the exit condition of the electric braking parking function is met by the motor controller; if yes, entering step 8; if not, returning to the step 6;
and 8, the electric drive system quits the electric braking parking function and responds to the torque request of the whole vehicle controller in real time.
The electric brake parking function entry condition judgment process comprises the following steps:
step 1, calling an electric brake parking function to enter a condition;
step 2, judging that the electric drive system has no serious fault by the motor controller, wherein the rotating speed of the processed motor is less than N, and the motor is in a braking mode; if yes, entering step 3; if not, entering step 7;
step 3, whether the braking torque requested by the vehicle controller is smaller than T or not; if yes, entering step 4; if not, entering step 6;
step 4, judging whether the internal rotating speed of the motor is less than N1 by the motor controller; if yes, entering step 5; if not, entering step 7;
step 5, the electric drive system enters an electric braking parking function;
step 6, judging whether the internal rotating speed of the motor is less than N2 by the motor controller; if yes, returning to the step 5; if not, entering step 7;
and 7, responding the torque request of the whole vehicle controller in real time without entering the electric braking and parking function of the electric driving system.
The electric brake parking function quitting condition judgment process comprises the following steps:
step 1, calling an electric brake parking function quit condition;
step 2, judging whether the electric drive system has serious faults by the motor controller; if yes, entering step 7; if not, entering step 3;
step 3, judging whether the rotating speed of the processed motor is greater than N by the motor controller; if yes, entering step 7; if not, entering the step 4;
step 4, the motor controller judges whether the permission flag bit sent by the whole vehicle controller is forbidden; if yes, entering step 7; if not, entering step 5;
step 5, whether the torque requested by the vehicle controller is larger than the control torque of the motor controller or not is judged; if yes, entering step 7; if not, entering step 6;
step 6, the electric drive system maintains the electric braking parking function;
and 7, the electric drive system exits the electric braking parking function.
By adopting the technical scheme, the electric drive system in the prior art is added with the braking function, so that the electric drive system has the braking function, the efficient control of the motor is realized, particularly when the rotating speed of the motor is lower than a certain value, the parking is realized through the electric braking capability of the electric drive system, the advantages of the electric drive system are fully played, and the market competitiveness of the whole vehicle is improved.
Drawings
The contents of which are briefly described as follows:
FIG. 1 is a flow chart of the electric brake park process of the present invention;
FIG. 2 is a flow chart of the electric brake park function entry condition of the present invention;
FIG. 3 is a flow chart of the electric brake park function exit condition of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
Fig. 1 to 3 are flowcharts illustrating a control method of an electric drive system with a braking function according to the present invention. The control method is applied to the vehicle electric drive system to realize braking control. The vehicle comprises a vehicle control unit. The electric drive system with the braking function further comprises an accelerator pedal, a brake pedal, a motor controller and a motor.
In order to solve the problems in the prior art, overcome the defects and realize the purpose of efficiently controlling the motor, the invention adopts the technical scheme that:
fig. 1 to 3 show a flow chart of an electric braking process, in the control method of the electric drive system with a braking function, the vehicle control unit requests torque according to the opening degree of an accelerator pedal and the opening degree of a brake pedal, and the electric drive system responds to the torque request of the vehicle control unit and feeds back the rotating speed and the torque processed by the motor in real time;
when the rotating speed of the motor is lower than a set value, the whole vehicle controller sends an allowable zone bit to allow the electric drive system to actively enter an electric braking parking function;
the electric drive system judges whether the entry condition is met according to the internal rotating speed of the motor; if so, entering an electric braking parking function, and simultaneously judging whether the parking process is safe or not to ensure stable parking; if not, the torque is fed back to the vehicle control unit, and the torque request of the vehicle control unit is responded in real time.
The invention has the beneficial effects that: in the electric drive system in the prior art, the brake function of the electric drive system is added, the efficient control of the motor is realized, the advantages of the electric drive system are fully exerted, and the market competitiveness of the whole vehicle is improved.
As shown in fig. 1, the control process of the electric braking parking process of the electric drive system includes the following steps:
step 1, the vehicle control unit requests torque according to the opening degree of an accelerator pedal and the opening degree of a brake pedal;
step 2, the electric drive system responds to the torque request of the whole vehicle controller and feeds back the processed rotating speed and torque in real time;
step 3, the vehicle control unit judges whether the rotating speed of the motor is less than a set value and the motor is in a braking mode; if yes, entering step 4; if not, returning to the step 1;
step 4, the vehicle control unit sends an allowable zone bit to allow the electric drive system to actively enter an electric braking parking function;
step 5, judging whether the entering condition of the electric braking parking function is met by the motor controller; if yes, entering step 6; if not, returning to the step 2;
step 6, the electric drive system realizes parking through the electric braking function of the motor;
step 7, judging whether the exit condition of the electric braking parking function is met by the motor controller; if yes, entering step 8; if not, returning to the step 6;
and 8, the electric drive system quits the electric braking parking function and responds to the torque request of the whole vehicle controller in real time.
As shown in fig. 2, the electric brake parking function entry condition determination process includes the steps of:
step 1, calling an electric brake parking function to enter a condition;
step 2, judging that the electric drive system has no serious fault by the motor controller, wherein the rotating speed of the processed motor is less than N, and the motor is in a braking mode; if yes, entering step 3; if not, entering step 7;
step 3, the vehicle control unit requests whether the braking torque is smaller than a braking torque set value T; if yes, entering step 4; if not, entering step 6;
step 4, the motor controller judges whether the internal rotating speed of the motor is less than N1(N1 is the set value of the rotating speed of the motor when the braking torque is less than T); if yes, entering step 5; if not, entering step 7;
step 5, the electric drive system enters an electric braking parking function;
step 6, the motor controller judges whether the internal rotating speed of the motor is less than N2(N2 is the set value of the rotating speed of the motor when the braking torque is greater than T); if yes, returning to the step 5; if not, entering step 7;
and 7, responding the torque request of the whole vehicle controller in real time without entering the electric braking and parking function of the electric driving system.
As shown in fig. 3, the electric brake parking function exit condition determining process includes the steps of:
step 1, calling an electric brake parking function quit condition;
step 2, judging whether the electric drive system has serious faults by the motor controller; if yes, entering step 7; if not, entering step 3;
step 3, judging whether the rotating speed of the processed motor is greater than N (N is a set value of the rotating speed of the motor) by the motor controller; if yes, entering step 7; if not, entering the step 4;
step 4, the motor controller judges whether the permission flag bit sent by the whole vehicle controller is forbidden; if yes, entering step 7; if not, entering step 5;
step 5, whether the torque requested by the vehicle controller is larger than the control torque of the motor controller or not is judged; if yes, entering step 7; if not, entering step 6;
step 6, the electric drive system maintains the electric braking parking function;
and 7, the electric drive system exits the electric braking parking function.
In the technical scheme, the electric drive system with the braking function mainly calls the real-time rotating speed which is not filtered in the motor to realize the high-efficiency control of the electric drive system under the condition allowed by the vehicle control unit, and the real-time rotating speed is used as a judgment basis for the electric drive system to actively enter the electric braking parking function.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (1)
1. A control method of an electric drive system with a braking function is applied to a vehicle electric drive system to realize braking control, and the vehicle comprises a vehicle control unit and a motor controller;
the method is characterized in that:
the whole vehicle controller requests torque according to the opening degree of an accelerator pedal and the opening degree of a brake pedal, and the electric drive system responds to the torque request of the whole vehicle controller and feeds back the rotating speed and the torque processed by the motor in real time;
when the rotating speed of the motor is lower than a set value, the whole vehicle controller sends an allowable zone bit to allow the electric drive system to actively enter an electric braking parking function;
the electric drive system judges whether the entry condition is met according to the internal rotating speed of the motor; if so, entering an electric braking parking function, and simultaneously judging whether the parking process is safe or not to ensure stable parking; if not, feeding back to the vehicle control unit, and responding to the torque request of the vehicle control unit in real time;
the electric brake parking function quitting condition judgment process comprises the following steps:
step 1, calling an electric brake parking function quit condition;
step 2, judging whether the electric drive system has serious faults by the motor controller; if yes, entering step 7; if not, entering step 3;
step 3, judging whether the rotating speed of the processed motor is greater than N by the motor controller; if yes, entering step 7; if not, entering the step 4; n is a set value of the rotating speed of the motor;
step 4, the motor controller judges whether the permission flag bit sent by the whole vehicle controller is forbidden; if yes, entering step 7; if not, entering step 5;
step 5, whether the torque requested by the vehicle controller is larger than the control torque of the motor controller or not is judged; if yes, entering step 7; if not, entering step 6;
step 6, the electric drive system maintains the electric braking parking function;
and 7, the electric drive system exits the electric braking parking function.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110631166.3A CN113147428B (en) | 2019-05-06 | 2019-05-06 | Control method of electric drive system with braking function |
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| CN202110631166.3A CN113147428B (en) | 2019-05-06 | 2019-05-06 | Control method of electric drive system with braking function |
| CN201910372095.2A CN110103724B (en) | 2019-05-06 | 2019-05-06 | Control method of electric drive system with braking function |
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| CN201910372095.2A Division CN110103724B (en) | 2019-05-06 | 2019-05-06 | Control method of electric drive system with braking function |
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Also Published As
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| CN110103724B (en) | 2021-11-30 |
| CN110103724A (en) | 2019-08-09 |
| CN113147428A (en) | 2021-07-23 |
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