CN113232524A

CN113232524A - Control method of vehicle based on PLC control, vehicle and readable storage medium

Info

Publication number: CN113232524A
Application number: CN202110583388.2A
Authority: CN
Inventors: 张宏涛; 李松; 刘杰
Original assignee: Sany Heavy Equipment Co Ltd
Current assignee: Sany Intelligent Equipment Co ltd; Sany Heavy Equipment Co Ltd
Priority date: 2021-05-27
Filing date: 2021-05-27
Publication date: 2021-08-10
Anticipated expiration: 2041-05-27
Also published as: CN113232524B

Abstract

The invention belongs to the technical field of vehicle control, and provides a vehicle control method based on PLC control, a vehicle and a readable storage medium. The control method of the vehicle based on PLC control comprises the following steps: the control method of the vehicle based on PLC control comprises the following steps: acquiring a first torque value required by vehicle running; acquiring the torque loss of a transmission system; determining a second torque value required to be output by at least two motors according to the torque loss and the first torque value; a third torque value is assigned to each of the at least two electric machines based on the second torque value. Compared with the scheme of controlling the vehicle to run according to the vehicle speed in the prior art, the method has higher universality and compatibility, and can be used for applying the control system configured with the control method to other electric vehicles without secondary development, thereby reducing the production and development cost of the vehicle.

Description

Control method of vehicle based on PLC control, vehicle and readable storage medium

Technical Field

The invention belongs to the technical field of vehicle control, and particularly relates to a vehicle control method based on PLC control, a vehicle and a readable storage medium.

Background

With the development of the times, the requirements on energy and environment are more and more strict, so that the demand on pure electric vehicles is more and more increased.

At present, the development of the whole vehicle control manufacturers of the pure electric vehicle is different, and in the traditional whole vehicle controller development process, the functions and software of the whole vehicle controller can be designed and developed according to project requirements. The software universality of the controller is poor, the compatibility is not high, the re-development workload is large, and the cost is high.

Disclosure of Invention

The invention aims to solve the problems of poor software universality, low compatibility, large re-development workload and high cost of the vehicle controller in the prior art or the related art.

To this end, a first aspect of the present invention proposes a control method for a vehicle based on PLC control.

A second aspect of the invention proposes a vehicle.

A third aspect of the invention proposes a readable storage medium.

In view of this, according to a first aspect of the present invention, there is provided a control method for a vehicle based on PLC control, the vehicle including: the control method of the vehicle based on PLC control comprises the following steps: acquiring a first torque value required by vehicle running; acquiring the torque loss of a transmission system; determining a second torque value required to be output by at least two motors according to the torque loss and the first torque value; a third torque value is assigned to at least one of the at least two electric machines based on the second torque value.

The invention provides a control method of a vehicle based on PLC control, which is used for controlling the running of the vehicle. The vehicle comprises at least two motors and a transmission system, wherein the at least two motors are connected with the transmission system, and when the at least two motors operate, the transmission system drives wheels of the vehicle to rotate, so that the vehicle is driven to run. Through setting up two at least motors in the vehicle, when the controlled in-process that traveles of vehicle, carry out power take off's distribution to two at least motors, make two at least motors all work in the high-efficient district, improved the energy utilization ratio of vehicle in-process of traveling, reduced the energy waste.

The control method of the vehicle based on the PLC control provided by the invention is characterized in that the operation of at least two motors in the vehicle is controlled according to the torque required by the running of the vehicle, the torque required to be output by the at least two motors can be obtained according to the torque loss of a transmission system and the torque requirement of the whole vehicle in the process of controlling the operation of the motors according to the torque, and at least one motor in the at least two motors is controlled according to the torque required to be output by the at least two motors, so that the controlled motor works in a high-efficiency area. The control method controls the operation of the motor in the vehicle according to the torque, and thus can be applied to different types of electric vehicles. Compared with the scheme of controlling the vehicle to run according to the vehicle speed in the prior art, the method has higher universality and compatibility, and can be used for applying the control system configured with the control method to other electric vehicles without secondary development, thereby reducing the production and development cost of the vehicle.

Specifically, a first torque value required for the vehicle to travel in a preset manner, that is, a basic torque demand, is determined based on parameters such as an operation instruction output by a user. And calculating to obtain a second torque value according to the torque loss of the transmission system and the first torque value, wherein the second torque value is a total torque value required to be output by the at least two motors, and distributing torque in the at least two motors according to the second torque value, so that the motors work in a high-efficiency area, and the torque generated by the operation of the at least two motors can meet the torque requirement of the whole vehicle in a preset mode. The high-efficiency control of the whole vehicle is realized.

In some embodiments, the range of torque values that can be output by each of the at least two motors is determined, and then the second torque values that are required to be output by the at least two motors are determined by the above method, and when the second torque values are within the range of torque values that can be output by a single motor, a third torque value that is equal to the second torque value can be selected to be output by a single motor.

The control method of the vehicle based on the PLC control is configured in the vehicle and used for controlling the running of the vehicle. The method is implemented by programming through a Programmable Logic Controller (PLC) to obtain a control program of the vehicle, and the control program of the vehicle is operated through a controller in the vehicle, so that the effect of controlling the vehicle through the control method of the vehicle is achieved.

It is understood that the controller provided in the vehicle is a PLC controller, by which the vehicle is controlled according to the control method of the vehicle described above. In addition, according to the control method of the vehicle based on the PLC control in the above technical solution provided by the present invention, the following additional technical features may be further provided:

in one possible design, the step of deriving the torque loss of the driveline comprises: acquiring a set running speed in a running control command; and determining the torque loss of the transmission system in the transmission process according to the set running speed.

In this design, the transmission system must lose a portion of its kinetic energy during transmission, and the torque loss of the transmission system needs to be calculated during the control of the vehicle's travel based on the torque. The loss of the torque of the transmission system is related to the running speed of the vehicle, and in the process of acquiring the loss of the torque of the transmission system, the running speed of the vehicle needs to be acquired, and the set running speed in the running control command currently executed by the vehicle is determined. And searching the corresponding torque loss according to the corresponding relation between the running speed and the torque loss and the set running speed. Because the torque loss of the transmission system is related to the attribute and the running speed of the transmission system, the corresponding relation between the running speed and the torque loss is stored in the local storage area, and the torque loss can be quickly found according to the corresponding relation, so that the running control efficiency of the vehicle is improved.

In one possible design, the step of deriving the torque loss of the driveline comprises: the current running speed of the vehicle is collected, and the torque loss of the transmission system in the transmission process is determined according to the current running speed.

In the design, when the vehicle is in the running process, the running speed of the vehicle in the current running state can be selected and collected, and the corresponding torque loss is searched according to the running speed in the current running state and the corresponding relation between the running speed and the torque loss. When the vehicle is in the running process, the torque loss of the transmission system can be directly determined according to the actual running speed, and the accuracy of the searched torque loss is improved.

In one possible design, the step of determining a second torque value required to be output by the at least two electric machines based on the torque loss and the first torque value includes: determining a fourth torque value based on the first torque value and a gear ratio of the transmission system; and calculating according to the fourth torque value and the torque loss to obtain a second torque value.

In this design, the torque value required to be output by the transmission system, i.e., the fourth torque value, can be calculated from the first torque value and the transmission ratio of the transmission system. The torque value required to be output to the transmission system by the at least two motors, namely the second torque value, can be calculated through the fourth torque value and the torque loss. Because the transmission ratio of the transmission system is different, the torque required to be output by the power source for reaching the specified speed is also different, so that the fourth torque value output by the transmission system can be accurately calculated according to the transmission ratio of the transmission system and the first torque value, and the second torque value required to be output by the motor serving as the power source can be accurately calculated according to the torque loss of the transmission system. The second torque value is obtained through rapid calculation according to the first torque value, and therefore the operation of the motor in the running process of the vehicle is controlled.

In one possible design, the step of distributing the torque to at least one of the at least two electric machines according to the second torque value includes: determining a set torque value range corresponding to a set efficiency range of at least one of the at least two motors; and distributing the torque of at least one motor according to the set torque value range and the second torque value.

In the design, different motors have different optimal efficiency intervals, the motors are controlled to work in the optimal efficiency intervals, the energy utilization rate of the motors in the operation process can be improved, the set efficiency range corresponding to each motor is determined according to the optimal efficiency intervals of each motor, namely, the motors are controlled to operate in the set efficiency range, and the motors can be considered to work in the optimal efficiency intervals. The set efficiency range of the motor corresponds to the set torque value range, and the motor is controlled to be in the set efficiency range under the condition that the motor outputs the torque in the set torque value range, namely the motor works in the optimal efficiency range. The second torque value is the total amount of the torque values required to be output by the at least two motors, and the torque is distributed to at least one of the at least two motors, so that the total amount of the torque values output by the at least two motors reaches the second torque value. And referring to the set torque value range of at least one motor to distribute a third torque value, so that the third torque value corresponding to each motor is in the set torque value range, each motor operates in an optimal efficiency range, and the energy utilization rate of the whole vehicle is improved.

It can be understood that, according to the comparison between the specific value of the second torque value and the set efficiency range of each motor, if the second torque value is within the set efficiency range of a single motor, the second torque value is taken as a third torque value, and a single motor is controlled to output the third torque value. And when the second torque value is not in the set torque range of any one of the at least two motors, distributing a third torque value to a plurality of motors in the at least two motors so that the motors outputting the third torque values all work in the set efficiency range.

In one possible design, the step of obtaining the first torque value required for the vehicle to run further includes: receiving a control instruction, and determining a running state of the vehicle according to the control instruction, wherein the running state comprises: cruise status and manual control status.

In this design, the torque required for the vehicle to travel differs depending on the traveling state of the vehicle. Before the step of obtaining the first torque value required for the vehicle to run, the running state of the vehicle needs to be determined, and the running state of the vehicle comprises manual control, namely, a user directly controls the running of the vehicle through a control device. The running state of the vehicle also includes a cruising state, i.e., the vehicle performs cruising running according to a speed set by a user or automatically.

In one possible design, the step of obtaining a first torque value required for vehicle travel includes: acquiring a cruise parameter corresponding to the vehicle based on the fact that the vehicle is in a cruise state, and determining a first torque value according to the cruise parameter; receiving a manual control parameter based on the vehicle being in a manual control state, and determining a first torque value according to the manual control parameter, wherein the manual control parameter comprises: gear information, driving mode and power value request, the cruise parameters include: cruise mode, cruise speed, and cruise gear information.

In this design, when the vehicle is in a cruise condition, the corresponding first torque value is determined according to a cruise parameter of the vehicle. The cruise parameters include, but are not limited to, parameters such as a cruise mode, a cruise speed and cruise gear information, and a basic torque value, namely a first torque value, required by the whole vehicle to continuously run in a cruise state can be calculated according to the cruise parameters. When the vehicle is in a manual control state, receiving manual control parameters including but not limited to driving gear information, a driving mode, a power value request and the like, controlling the power output of the vehicle by a user through an accelerator pedal, a gear selector switch and a brake pedal when the vehicle is in the manual control state, and determining a basic torque value required by a current motor, namely a first torque value, according to the power required by the user at present. The basic torque value required by the running of the vehicle is determined by acquiring different parameters under different running states of the vehicle.

It can be understood that when the vehicle is in the cruising state, the vehicle runs in the set cruising mode, the cruising mode comprises the adaptive cruising mode and the constant-speed cruising mode, and the cruising speed of the vehicle needs to be set after the vehicle enters the cruising mode, namely, the user can set the cruising speed according to the requirement of the user. The cruise gear information is gear information of the vehicle in the driving process, specifically, different gear information corresponds to different transmission ratios of a transmission system, and a driving computer can automatically select a gear of the vehicle in a cruise state according to parameters such as road condition information, current speed and the like, namely the cruise gear information.

In one possible design, the control method of the vehicle based on the PLC control further includes: acquiring the running parameter limit value of the vehicle; adjusting the first torque value, the second torque value, and the third torque value based on the operating parameter limit; wherein the operating parameter limits comprise: torque limit, motor voltage limit, battery discharge power limit, temperature limit.

In the design, the first torque value, the second torque value and the third torque value of the vehicle are adjusted according to the running parameter limit value of the vehicle, so that the running parameter limit value of the vehicle is prevented from being operated in the running process, and the service life of the vehicle is prolonged.

Specifically, the torque limit value includes a finished automobile torque limit value of the automobile, that is, a limit value corresponding to the first torque value, when it is detected that the first torque value exceeds the finished automobile torque limit value, alarm information is output, and the first torque value is adjusted according to the finished automobile torque limit value, so that the first torque value is smaller than the finished automobile torque limit value.

Specifically, the torque limit value further includes a transmission system torque limit value, that is, a limit value corresponding to the second torque value, when it is detected that the second torque value exceeds the vehicle torque limit value, alarm information is output, and the first torque value and the second torque value are adjusted according to the transmission system torque limit value, so that the second torque value is smaller than the transmission system torque limit value.

Specifically, the torque limit value further includes a motor torque limit value, that is, a limit value corresponding to the third torque value, when it is detected that the third torque value exceeds the vehicle torque limit value, alarm information is output, and the first torque value, the second torque value and the third torque value are adjusted according to the transmission system torque limit value, so that the third torque value is smaller than the motor torque limit value.

In one possible design, the control method of the vehicle based on the PLC control further includes: receiving a brake control instruction, and determining a brake torque value according to the brake control instruction; and acquiring the current running speed of the vehicle, and adjusting the first torque value according to the current running speed and the braking torque value.

In the design, after the vehicle receives a brake control instruction, the brake control instruction is analyzed to determine a brake torque value in the brake control instruction, and a torque value required to be output by the whole vehicle is adjusted according to the collected current running speed and brake torque value of the vehicle, namely, the first torque value is adjusted. After the vehicle receives the brake control command, the first torque value of the whole vehicle is adjusted according to the brake torque value contained in the brake control command. Through adjusting the first torque value in the braking process, the problems of energy waste and prolonged braking distance caused by the fact that the motor outputs too high torque in the vehicle braking process are solved.

According to a second aspect of the present invention, there is provided a vehicle comprising: a memory for storing programs or instructions and a processor; the processor is configured to execute a program or instructions which, when executed by the processor, implement the steps of the PLC control-based vehicle control method according to any one of the first aspect. Therefore, the method has all the advantages of the vehicle control method based on the PLC control, and redundant description is not repeated herein.

In which a control program of the vehicle is stored, which is programmed by a PLC (programmable processor).

It is understood that a PLC controller may be further configured in the vehicle, and the control of the vehicle by the control method of the vehicle based on the PLC control is realized by executing the control program according to the above description through the PLC controller.

According to a third aspect of the present invention, there is provided a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the PLC control based vehicle control method as in any one of the possible designs described above. Therefore, the method has all the beneficial technical effects of any possible design of the control method of the vehicle based on the PLC control, and redundant description is not repeated herein.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows one of schematic flowcharts of a control method of a vehicle based on PLC control in a first embodiment of the invention;

fig. 2 shows a second schematic flowchart of a control method of a vehicle based on PLC control in the first embodiment of the present invention;

fig. 3 shows a third schematic flowchart of a control method of a vehicle based on PLC control in the first embodiment of the present invention;

fig. 4 shows a fourth schematic flowchart of a control method of a vehicle based on PLC control in the first embodiment of the invention;

fig. 5 shows a fifth schematic flowchart of a control method of a vehicle based on PLC control in the first embodiment of the invention;

fig. 6 shows a sixth schematic flowchart of a control method of a vehicle based on PLC control in the first embodiment of the invention;

fig. 7 shows a seventh schematic flowchart of a control method of a vehicle based on PLC control in the first embodiment of the present invention;

fig. 8 shows an eighth schematic flowchart of a control method of a vehicle based on PLC control in the first embodiment of the present invention;

fig. 9 shows a ninth schematic flowchart of a control method of a vehicle based on PLC control in the first embodiment of the invention;

fig. 10 shows ten schematic flow charts of a control method of a vehicle based on PLC control in the first embodiment of the invention;

fig. 11 shows a schematic block diagram of a vehicle in a second embodiment of the invention;

fig. 12 shows one of schematic block diagrams of a vehicle control system in a second embodiment of the invention;

fig. 13 shows a second schematic block diagram of a vehicle control system in a second embodiment of the invention.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A control method of a vehicle, and a readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 13.

The first embodiment is as follows:

as shown in fig. 1, a first embodiment of the present invention provides a control method of a vehicle based on PLC control, the vehicle including: at least two motors and a transmission system.

The vehicle comprises at least two motors and a transmission system, wherein the at least two motors are connected with the transmission system, and when the at least two motors operate, the transmission system drives wheels of the vehicle to rotate, so that the vehicle is driven to run. Through setting up two at least motors in the vehicle, when the controlled in-process that traveles of vehicle, carry out power take off's distribution to two at least motors, make two at least motors all work in the high-efficient district, improved the energy utilization ratio of vehicle in-process of traveling, reduced the energy waste.

The control method of the vehicle based on PLC control comprises the following steps:

step 102, acquiring a first torque value required by vehicle running;

step 104, acquiring the torque loss of the transmission system;

106, determining a second torque value required to be output by at least two motors according to the torque loss and the first torque value;

and 108, allocating a third torque value to at least one of the at least two motors according to the second torque value.

In the embodiment, the control method of the vehicle based on the PLC control is to control the operation of at least two motors in the vehicle according to the torque required by the vehicle to run, in the process of controlling the operation of the motors according to the torque, the torque required to be output by the at least two motors can be obtained according to the torque loss of a transmission system and the torque requirement of the whole vehicle, and at least one motor in the at least two motors is controlled according to the torque required to be output by the at least two motors, so that the controlled motors all work in a high-efficiency area. The control method controls the operation of the motor in the vehicle according to the torque, and thus can be applied to different types of electric vehicles. Compared with the scheme of controlling the vehicle to run according to the vehicle speed in the prior art, the method has higher universality and compatibility, and can be used for applying the control system configured with the control method to other electric vehicles without secondary development, thereby reducing the production and development cost of the vehicle.

Specifically, a first torque value required for the vehicle to travel in a preset manner, that is, a basic torque demand, is determined based on parameters such as an operation instruction output by a user. And calculating to obtain a second torque value according to the torque loss of the transmission system and the first torque value, wherein the second torque value is a total torque value required to be output by the at least two motors, and distributing torque to at least one of the at least two motors according to the second torque value, so that the at least one of the at least two motors works in a high-efficiency area, and the torque generated by the operation of the at least two motors can meet the torque requirement of the whole vehicle in a preset mode. The high-efficiency control of the whole vehicle is realized.

It is understood that the controller provided in the vehicle is a PLC controller, by which the vehicle is controlled according to the control method of the vehicle described above.

In any of the above embodiments, as shown in fig. 2, the step of obtaining the torque loss of the driveline comprises:

step 202, acquiring a set running speed in a running control command;

and step 204, determining the torque loss of the transmission system in the transmission process according to the set running speed.

In this embodiment, the transmission system must lose a part of its kinetic energy during transmission, and the torque loss of the transmission system needs to be calculated during the control of the vehicle's travel based on the torque. The loss of the torque of the transmission system is related to the running speed of the vehicle, and in the process of acquiring the loss of the torque of the transmission system, the running speed of the vehicle needs to be acquired, and the set running speed in the running control command currently executed by the vehicle is determined. And searching the corresponding torque loss according to the corresponding relation between the running speed and the torque loss and the set running speed. Because the torque loss of the transmission system is related to the attribute and the running speed of the transmission system, the corresponding relation between the running speed and the torque loss is stored in the local storage area, and the torque loss can be quickly found according to the corresponding relation, so that the running control efficiency of the vehicle is improved.

In any of the above embodiments, as shown in fig. 3, the step of obtaining the torque loss of the driveline comprises:

step 302, collecting the current running speed of the vehicle;

in step 304, the torque loss of the transmission system during the transmission process is determined according to the current running speed.

In this embodiment, in the running process of the vehicle, the running speed of the vehicle in the current running state can be selectively collected, and the corresponding torque loss is searched according to the running speed in the current running state and the corresponding relationship between the running speed and the torque loss. When the vehicle is in the running process, the torque loss of the transmission system can be directly determined according to the actual running speed, and the accuracy of the searched torque loss is improved.

As shown in fig. 4, in any of the above embodiments, the step of determining the second torque value required to be output by the at least two motors according to the torque loss and the first torque value includes:

step 402, determining a fourth torque value according to the first torque value and the transmission ratio of the transmission system;

and 404, calculating according to the fourth torque value and the torque loss to obtain a second torque value.

In this embodiment, the torque value required to be output by the transmission system, i.e., the fourth torque value, can be calculated from the first torque value and the transmission ratio of the transmission system. The torque value required to be output to the transmission system by the at least two motors, namely the second torque value, can be calculated through the fourth torque value and the torque loss. Because the transmission ratio of the transmission system is different, the torque required to be output by the power source for reaching the specified speed is also different, so that the fourth torque value output by the transmission system can be accurately calculated according to the transmission ratio of the transmission system and the first torque value, and the second torque value required to be output by the motor serving as the power source can be accurately calculated according to the torque loss of the transmission system. The second torque value is obtained through rapid calculation according to the first torque value, and therefore the operation of the motor in the running process of the vehicle is controlled.

In any of the above embodiments, as shown in fig. 5, the step of distributing the torque to at least one of the at least two electric machines according to the second torque value includes:

step 502, determining a set torque value range corresponding to a set efficiency range of at least one of at least two motors;

and 504, distributing the torque of at least one motor according to the set torque value range and the second torque value.

In the embodiment, different motors have different optimal efficiency intervals, the motors are controlled to work in the optimal efficiency intervals, the energy utilization rate of the motors in the operation process can be improved, the set efficiency range corresponding to each motor is determined according to the optimal efficiency intervals of each motor, namely, the motors are controlled to operate in the set efficiency range, and the motors can be considered to work in the optimal efficiency intervals. The set efficiency range of the motor corresponds to the set torque value range, and the motor is controlled to be in the set efficiency range under the condition that the motor outputs the torque in the set torque value range, namely the motor works in the optimal efficiency range. The second torque value is the total amount of the torque values required to be output by the at least two motors, and the torque is distributed to at least one of the at least two motors, so that the total amount of the torque values output by the at least two motors reaches the second torque value. And referring to the set torque value range of at least one motor to distribute a third torque value, so that the third torque value corresponding to each motor is in the set torque value range, each motor operates in an optimal efficiency range, and the energy utilization rate of the whole vehicle is improved.

As shown in fig. 6, in any of the above embodiments, before the step of obtaining the first torque value required for the vehicle to travel, the control method of the vehicle based on the PLC control further includes:

step 602, receiving a control instruction;

and step 604, determining the running state of the vehicle according to the control command.

Wherein the driving state includes: cruise status and manual control status.

In this embodiment, the torque required for the vehicle to travel differs depending on the traveling state of the vehicle. Before the step of obtaining the first torque value required for the vehicle to run, the running state of the vehicle needs to be determined, and the running state of the vehicle comprises manual control, namely, a user directly controls the running of the vehicle through a control device. The running state of the vehicle also includes a cruising state, i.e., the vehicle performs cruising running according to a speed set by a user or automatically.

As shown in fig. 7, in any of the above embodiments, the step of acquiring a first torque value required for vehicle running includes:

step 702, determining that the vehicle is in a cruising state, and acquiring cruising parameters corresponding to the vehicle;

in step 704, a first torque value is determined based on the cruise parameter.

In this embodiment, when the vehicle is in a cruise condition, the corresponding first torque value is determined in accordance with a cruise parameter of the vehicle. The cruise parameters include, but are not limited to, parameters such as a cruise mode, a cruise speed and cruise gear information, and a basic torque value, namely a first torque value, required by the whole vehicle to continuously run in a cruise state can be calculated according to the cruise parameters. The basic torque value required by the running of the vehicle is determined by acquiring different parameters under different running states of the vehicle.

It will be appreciated that cruise control of the vehicle includes cruise control of the entire vehicle including cruise enable, i.e. whether a cruise signal is on. Cruise conditions and cruise torque requests are also included.

As shown in fig. 8, in any of the above embodiments, the step of acquiring the first torque value required for the vehicle to run includes:

step 802, determining that the vehicle is in a manual control state, and receiving manual control parameters;

in step 804, a first torque value is determined based on the manual control parameter.

Wherein, the manual control parameter includes: gear information, driving mode and power value request, the cruise parameters include: cruise mode, cruise speed, and cruise gear information.

In this embodiment, when the vehicle is in the manual control state, the manual control parameters are received, the manual control parameters include, but are not limited to, driving gear information, driving mode, power value request, and the like, and when the vehicle is in the manual control state, the user controls the power output of the vehicle through an accelerator pedal, a gear selector switch, and a brake pedal, and a basic torque value required by the current motor, i.e., a first torque value, is determined according to the power currently required by the user. The basic torque value required by the running of the vehicle is determined by acquiring different parameters under different running states of the vehicle.

As shown in fig. 9, in any of the above embodiments, the method for controlling a vehicle based on PLC control further includes:

step 902, acquiring a running parameter limit value of a vehicle;

step 904 adjusts the first torque value, the second torque value, and the third torque value based on the operating parameter limit.

Wherein the operating parameter limits comprise: torque limit, motor voltage limit, battery discharge power limit, temperature limit.

In the embodiment, the first torque value, the second torque value and the third torque value of the vehicle are adjusted according to the running parameter limit value of the vehicle, so that the running parameter limit value of the vehicle is prevented from being operated in the running process of the vehicle, and the service life of the vehicle is prolonged.

As shown in fig. 10, in any of the above embodiments, the method for controlling a vehicle based on PLC control further includes:

step 1002, receiving a brake control command, and determining a brake torque value according to the brake control command;

and 1004, acquiring the current running speed of the vehicle, and adjusting the first torque value according to the current running speed and the braking torque value.

In the embodiment, after the vehicle receives the brake control instruction, the brake control instruction is analyzed to determine a brake torque value in the brake control instruction, and a torque value required to be output by the entire vehicle is adjusted according to the collected current running speed and brake torque value of the vehicle, that is, the first torque value is adjusted. After the vehicle receives the brake control command, the first torque value of the whole vehicle is adjusted according to the brake torque value contained in the brake control command. Through adjusting the first torque value in the braking process, the problems of energy waste and prolonged braking distance caused by the fact that the motor outputs too high torque in the vehicle braking process are solved.

Example two:

as shown in fig. 11, a second embodiment of the present invention provides a vehicle 1100 including: a memory 1102 and a processor 1104, the memory 1102 being for storing programs or instructions; the processor 1104 is used for executing a program or instructions, and the program or instructions when executed by the processor 1104 realize the steps of the control method of the vehicle based on the PLC control as in the first embodiment. Therefore, the method has all the advantages of the vehicle control method based on the PLC control, and redundant description is not repeated herein.

As shown in fig. 12, in the above-described embodiment, the vehicle 1100 is provided with the control system 1200 of the vehicle, which includes: a vehicle torque control module 1202, a transmission torque control module 1204, a torque management module 1206, an arbitration management module 1208, a mode management module 1210, an efficiency management module 1212, and a motor control management module 1214.

The vehicle torque control module 1202 is configured to obtain a first torque value, where the first torque value is a torque requirement of the vehicle.

The vehicle torque control module 1202 can translate the driver intent into a torque request, i.e., a first torque value, for the vehicle. The driver intention can be determined by acquiring the electric signal sent by the control equipment and according to the control parameter in the electric signal. The entire vehicle torque control module 1202 is also capable of collecting a torque demand, i.e., a first torque value, of the entire vehicle in a cruising state, and the entire vehicle torque control module is also capable of controlling a cruising mode of the vehicle.

The transmission torque control module 1204 is configured to determine a second torque value based on the first torque value. The torque demand of the transmission system, i.e. the fourth torque value, is calculated from the transmission ratio and the torque demand of the entire vehicle. The torque loss in the transmission system can be calculated through the vehicle speed, and the total torque required to be output by the motor, namely the second torque value, can be calculated according to the torque loss and the torque requirement of the transmission system.

The torque management module 1206 is used for adjustment of the first torque.

The torque management module 1206 includes: and the idle speed torque control module is specifically used for controlling whether to enter an idle speed mode, controlling the running speed of the vehicle in the idle speed mode and adjusting the torque limit value of the vehicle in the idle speed mode.

The torque management module 1206 may also be capable of brake regeneration torque correction, temperature correction, adaptive correction, and accessory loss correction for the first torque.

And the arbitration management module 1208 is used for distributing the torque of the at least two motors so that the at least two motors work in the high-efficiency area.

The mode management module 1210 can manage a shift position and a driving mode.

In particular, the state of the gear and the limit value of the first torque value are calculated by the driver's demand for the gear. The state of the driving mode and the limit value of the torque are calculated from the driving mode demand of the driver.

The efficiency management module 1212 is configured to calculate efficiencies of the at least two motors under different operating conditions, and includes: and calculating the optimal output torque and the optimal efficiency of different motors under different working conditions.

The motor control management module 1214 manages the modules for specific control of the motor, including:

the motor is self-adaptive controlled, and deviation correction is carried out on the motor so as to achieve accurate control on the motor.

And dynamically correcting the motor, and performing filtering control on the output of the motor so as to accurately control the motor.

And the motor torque limit value is used for limiting the torque of the motor.

As shown in fig. 13, the processor 1104 can receive the operation parameters fed back by the modules and control the torque arbitration module and the motor control management module according to the operation parameters fed back by the modules.

Example three:

a third embodiment of the present invention provides a readable storage medium having a program stored thereon, the program, when executed by a processor, implementing the control method of a vehicle based on PLC control as in any of the above-described embodiments, thereby having all the advantageous technical effects of the control method of a vehicle based on PLC control as in any of the above-described embodiments.

The readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.

It is to be understood that, in the claims, the specification and the drawings of the specification of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the terms "upper", "lower", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for the purpose of more conveniently describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element so referred to must have the particular orientation described, be constructed in a particular orientation, and be operated, and thus the description should not be construed as limiting the present invention; the terms "connect," "mount," "secure," and the like are to be construed broadly, and for example, "connect" may refer to a fixed connection between multiple objects, a removable connection between multiple objects, or an integral connection; the multiple objects may be directly connected to each other or indirectly connected to each other through an intermediate. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art from the above data specifically.

In the claims, specification and drawings of the specification, the description of the term "one embodiment," "some embodiments," "specific embodiments," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In the claims, specification and drawings of the present application, schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method of a vehicle based on PLC control, characterized in that the vehicle comprises: at least two motors and a transmission system, the control method of the vehicle based on PLC control comprises the following steps:

acquiring a first torque value required by the vehicle to run;

acquiring the torque loss of the transmission system;

determining a second torque value required to be output by the at least two motors according to the torque loss and the first torque value;

assigning a third torque value to at least one of the at least two electric machines based on the second torque value.

2. The PLC-control-based vehicle control method according to claim 1, wherein the step of acquiring the torque loss of the transmission system includes:

acquiring a set running speed in the running control instruction;

and determining the torque loss of the transmission system in the transmission process according to the set running speed.

3. The PLC control-based vehicle control method according to claim 2, wherein the step of determining a second torque value required to be output by the at least two motors according to the torque loss and the first torque value includes:

determining a fourth torque value based on the first torque value and a gear ratio of the transmission system;

and calculating according to the fourth torque value and the torque loss to obtain the second torque value.

4. The PLC control-based vehicle control method according to claim 1, wherein the step of distributing the torque of at least one of the at least two motors according to the second torque value includes:

determining a set torque value range corresponding to a set efficiency range of at least one of the at least two motors;

and distributing the torque of at least one motor according to the set torque value range and the second torque value.

5. The PLC control-based vehicle control method according to claim 1, wherein the step of obtaining the first torque value required for the vehicle to travel is preceded by:

receiving a control instruction, determining the running state of the vehicle according to the control instruction,

wherein the driving state includes: cruise status and manual control status.

6. The PLC-control-based vehicle control method according to claim 5, wherein the step of acquiring the first torque value required for the vehicle to travel comprises:

acquiring a cruise parameter corresponding to the vehicle based on the cruise state of the vehicle, and determining the first torque value according to the cruise parameter;

receiving a manual control parameter based on the vehicle being in a manual control state, determining the first torque value according to the manual control parameter,

wherein the manual control parameters include: driving gear information, a driving mode and a power value request, wherein the cruise parameters comprise: cruise mode, cruise speed, and cruise gear information.

7. The PLC-control-based vehicle control method according to any one of claims 1 to 6, further comprising:

acquiring a running parameter limit value of the vehicle;

adjusting the first, second, and third torque values as a function of the operating parameter limit;

8. The PLC control-based vehicle control method according to claim 7, further comprising:

receiving a brake control instruction, and determining a brake torque value according to the brake control instruction;

and acquiring the current running speed of the vehicle, and adjusting the first torque value according to the current running speed and the braking torque value.

9. A vehicle, characterized by comprising:

a memory for storing programs or instructions;

a processor for executing the program or instructions, which when executed by the processor, implements the steps of the PLC-based control method of controlling a vehicle according to any one of claims 1 to 8.

10. A readable storage medium, characterized in that the readable storage medium stores thereon a program or instructions which, when executed by a processor, implements the steps of the PLC control-based vehicle control method according to any one of claims 1 to 8.