CN113306406A - Motor torque control device and method and automobile - Google Patents
Motor torque control device and method and automobile Download PDFInfo
- Publication number
- CN113306406A CN113306406A CN202010118479.4A CN202010118479A CN113306406A CN 113306406 A CN113306406 A CN 113306406A CN 202010118479 A CN202010118479 A CN 202010118479A CN 113306406 A CN113306406 A CN 113306406A
- Authority
- CN
- China
- Prior art keywords
- torque
- value
- gradient
- current moment
- sampling period
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to a motor torque control device and method and an automobile. The device includes: the current moment torque value acquisition module is used for acquiring a current moment torque value; the last sampling period torque value acquisition module is used for acquiring a last sampling period torque value; the torque difference value calculation module is used for obtaining a torque difference value; the enabling point judging module is used for judging whether the torque value at the current moment is an enabling point; and the gradient processing module is used for receiving the torque value at the current moment, searching a torque gradient value corresponding to the torque value in a pre-stored torque gradient table, judging whether the torque gradient value meets a preset gradient processing threshold value, and if so, obtaining a torque output value according to a preset torque gradient increase value and the torque gradient value. The invention can smoothly and smoothly output torque to ensure that the vehicle does not shake or pause, and can greatly improve the driving comfort of the vehicle.
Description
Technical Field
The invention relates to the field of electric automobiles, in particular to a motor torque control device and method and an automobile.
Background
Generally, torque gradient processing is performed in torque control of the electric vehicle, and smoothness of driving is guaranteed by controlling the rising and falling speed of torque. For a vehicle with good drivability control, the torque gradient is generally controlled by a one-dimensional or two-dimensional look-up table. However, the torque gradient strategy based on the table lookup has a defect that when the tip in/out torque is suddenly changed from a drop to a rise, the torque change has a corner and can not be smoothly transited. In real vehicle testing, if the corner is not well controlled, the driver may have a jerky driving feel.
Most of the current vehicle handling torque corner problems basically adopt an inertia filtering mode, but the control mode seriously changes the shape of a calibrated torque curve while rounding the corner torque. If a special calibration curve for some functions exists in calibration (for example, calibration for gearbox knocking abnormal sound is sensitive to torque line shape), the calibration effect can be seriously influenced after inertia filtering.
Disclosure of Invention
In view of the above problems, the present invention provides a motor torque control device, a motor torque control method and an automobile, so as to solve the problem that the existing electric automobile cannot smoothly transition when dealing with a motor torque corner.
In one aspect of the present invention, there is provided a motor torque control apparatus including:
the current moment torque value acquisition module is used for acquiring a current moment torque value and sending the current moment torque value to the torque difference value calculation module;
the last sampling period torque value acquisition module is used for acquiring a last sampling period torque value and sending the last sampling period torque value to the torque difference value calculation module;
the torque difference value calculation module is used for receiving the torque value at the current moment and the torque value in the previous sampling period, obtaining a torque difference value according to the torque value at the current moment and the torque value in the previous sampling period, and sending the torque difference value, the torque value at the current moment and the torque value in the previous sampling period to the enabling point judgment module;
the enabling point judging module is used for receiving the torque difference value, the torque value at the current moment and the torque value in the previous sampling period, judging whether the torque difference value and the torque value in the previous sampling period meet the preset enabling point threshold value or not, if yes, the torque value at the current moment is an enabling point, and sending the torque value at the current moment to the gradient processing module;
and the gradient processing module is used for receiving the torque value at the current moment, searching a torque gradient value corresponding to the torque value in a pre-stored torque gradient table, judging whether the torque gradient value meets a preset gradient processing threshold value, and if so, obtaining a torque output value according to a preset torque gradient increase value and the torque gradient value.
Optionally, the gradient processing module includes:
the torque gradient value searching unit is used for receiving the torque value at the current moment, searching a torque gradient value corresponding to the torque value in a prestored torque gradient table and sending the torque gradient value to the torque gradient value judging unit;
the torque gradient value judging unit is used for receiving the torque gradient value, judging whether the torque gradient value meets a preset gradient processing threshold value or not, and if so, sending the torque gradient value to the torque output value calculating unit;
and the torque output value calculating unit is used for receiving the torque gradient value and obtaining a torque output value according to the preset torque gradient increasing value and the torque gradient value.
Optionally, the motor torque control device further includes: and the torque gradient table storage unit is used for prestoring the torque value and the corresponding torque gradient value.
Optionally, the formula of the torque difference obtained by the torque difference calculation module is as follows: torque difference is the current moment torque value-last sampling period torque value.
Optionally, the formula of the torque output value obtained by the gradient processing module is as follows: the torque output value is equal to the torque gradient value + the preset torque gradient increase value.
The embodiment of the invention also provides a motor torque control method, which comprises the following steps:
acquiring a torque value at the current moment and acquiring a torque value in the last sampling period;
obtaining a torque value at the current moment and a torque value in the last sampling period to obtain a torque difference value;
judging whether the torque difference value and the torque value in the last sampling period meet a preset enabling point threshold value, if so, taking the torque value at the current moment as an enabling point;
and searching a corresponding torque gradient value in a pre-stored torque gradient table according to the torque value at the current moment, judging whether the torque gradient value meets a preset gradient processing threshold value, and if so, obtaining a torque output value according to a preset torque gradient increase value and the torque gradient value.
Optionally, the motor torque control method further includes: and prestoring the torque value and the corresponding torque gradient value.
Alternatively, the torque difference is the current time torque value-the last sample period torque value.
Alternatively, the torque output value is equal to the torque gradient value + the preset torque gradient increase value.
The embodiment of the invention also provides an automobile which comprises the vehicle control unit, wherein the vehicle control unit comprises the motor torque control device.
Compared with the prior art, the motor torque control device, the motor torque control method and the automobile provided by the invention have the following steps:
according to the invention, through the filtering processing mode of the corner in the torque change, the smooth processing of the corner is realized by controlling the change rate of the torque gradient, the vehicle can be ensured to quickly and accurately respond to the requirement of a driver, the smooth output torque can be ensured to ensure that the vehicle does not shake or pause, the driving comfort and the driving pleasure of the vehicle are greatly improved, and the quality of the whole vehicle is favorably improved.
Drawings
FIG. 1 is a block diagram of the connection of components of a motor torque control apparatus according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for controlling motor torque according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating the torque smoothing effect of the motor torque control apparatus according to the embodiment of the present invention;
fig. 4 is a diagram illustrating the effect of torque variation in the prior art.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 schematically shows a device connection block diagram of a motor torque control apparatus in the present embodiment. Referring to fig. 1, the motor torque control device of the present embodiment includes:
the current moment torque value acquisition module is used for acquiring a current moment torque value and sending the current moment torque value to the torque difference value calculation module;
the last sampling period torque value acquisition module is used for acquiring a last sampling period torque value and sending the last sampling period torque value to the torque difference value calculation module;
the torque difference value calculation module is used for receiving the torque value at the current moment and the torque value in the previous sampling period, obtaining a torque difference value according to the torque value at the current moment and the torque value in the previous sampling period, and sending the torque difference value, the torque value at the current moment and the torque value in the previous sampling period to the enabling point judgment module;
the enabling point judging module is used for receiving the torque difference value, the torque value at the current moment and the torque value in the previous sampling period, judging whether the torque difference value and the torque value in the previous sampling period meet the preset enabling point threshold value or not, if yes, the torque value at the current moment is an enabling point, and sending the torque value at the current moment to the gradient processing module;
and the gradient processing module is used for receiving the torque value at the current moment, searching a torque gradient value corresponding to the torque value in a pre-stored torque gradient table, judging whether the torque gradient value meets a preset gradient processing threshold value, and if so, obtaining a torque output value according to a preset torque gradient increase value and the torque gradient value.
According to the invention, through the filtering processing mode of the corner in the torque change, the smooth processing of the corner is realized by controlling the change rate of the torque gradient, the vehicle can be ensured to quickly and accurately respond to the requirement of a driver, the smooth output torque can be ensured to ensure that the vehicle does not shake or pause, the driving comfort and the driving pleasure of the vehicle are greatly improved, and the quality of the whole vehicle is favorably improved.
In specific implementation, as shown in fig. 1, the gradient processing module includes:
the torque gradient value searching unit is used for receiving the torque value at the current moment, searching a torque gradient value corresponding to the torque value in a prestored torque gradient table and sending the torque gradient value to the torque gradient value judging unit;
the torque gradient value judging unit is used for receiving the torque gradient value, judging whether the torque gradient value meets a preset gradient processing threshold value or not, and if so, sending the torque gradient value to the torque output value calculating unit;
and the torque output value calculating unit is used for receiving the torque gradient value and obtaining a torque output value according to the preset torque gradient increasing value and the torque gradient value.
In specific implementation, as shown in fig. 1, the motor torque control device further includes:
and the torque gradient table storage unit is used for prestoring the torque value and the corresponding torque gradient value.
The torque value and the corresponding torque gradient value are prestored in the torque gradient table storage unit, so that unified management is facilitated, the torque gradient value searching unit can quickly and accurately search the torque gradient value corresponding to the torque value at the current moment from the torque gradient table storage unit, and the working efficiency of the system is improved.
In specific implementation, the gradient processing module sends the torque output value to the micro-processing unit through the CAN line. A Controller Area Network (CAN) is an inherent device in the production of the electric vehicle, and the gradient processing module sends a torque output value to the microprocessing unit by using the CAN, so that the cost is saved, and the transmission efficiency and the safety are improved. During specific implementation, other modes can be adopted for transmission according to actual needs, such as a 3G/4G/WIFI wireless mode or a mode that the gradient processing module is electrically connected with the micro-processing unit through a cable.
In specific implementation, the torque difference value obtained by the torque difference value calculation module is represented by the formula: torque difference is the current moment torque value-last sampling period torque value.
In specific implementation, the formula of the torque output value obtained by the gradient processing module is as follows: the torque output value is equal to the torque gradient value + the preset torque gradient increase value.
During specific implementation, the torque value acquisition module at the current moment, the torque value acquisition module in the last sampling period and the enabling point judgment module are all electrically connected with the torque difference value calculation module, the enabling point judgment module is electrically connected with the gradient processing module, and the gradient processing module is electrically connected with the micro-processing unit.
Fig. 2 schematically shows a step diagram of a motor torque control method in the present embodiment. Referring to fig. 2, a motor torque control method of the present embodiment includes the following steps:
s1, acquiring a torque value at the current moment;
s2, collecting the torque value of the previous sampling period;
s3, obtaining a torque value at the current moment and a torque value in the last sampling period to obtain a torque difference value;
s4, judging whether the torque difference value and the torque value in the previous sampling period accord with a preset enabling point threshold value, if so, taking the torque value at the current moment as an enabling point;
and S5, searching a corresponding torque gradient value in a pre-stored torque gradient table according to the torque value at the current moment, judging whether the torque gradient value meets a preset gradient processing threshold value, and if so, obtaining a torque output value according to a preset torque gradient increase value and the torque gradient value.
According to the invention, the torque value at the current moment and the torque value in the previous sampling period are collected, the enabling point, namely the torque corner, is further calculated, whether the torque gradient value corresponding to the enabling point meets the preset gradient processing threshold value or not is judged, and the torque output value is further calculated and sent to the micro-processing unit.
In specific implementation, the motor torque control method may further include the steps of: and pre-storing the torque value and the corresponding torque gradient value by using a torque gradient table storage unit. The torque value and the corresponding torque gradient value are prestored in the torque gradient table storage unit, so that unified management is facilitated, the torque gradient value searching unit can quickly and accurately search the torque gradient value corresponding to the torque value at the current moment from the torque gradient table storage unit, and the working efficiency of the system is improved.
In specific implementation, the torque output value is sent to the micro-processing unit through the CAN line. A Controller Area Network (CAN) is an inherent device in the production of the electric vehicle, and the gradient processing module sends a torque output value to the microprocessing unit by using the CAN, so that the cost is saved, and the transmission efficiency and the safety are improved. During specific implementation, other modes can be adopted for transmission according to actual needs, such as a 3G/4G/WIFI wireless mode or a mode that the gradient processing module is electrically connected with the micro-processing unit through a cable.
In specific implementation, the torque difference value obtained by the torque difference value calculation module is represented by the formula: torque difference is the current moment torque value-last sampling period torque value.
The embodiment also provides an automobile which comprises a vehicle control unit, wherein the vehicle control unit comprises the motor torque control device in any one of the above embodiments.
The structure and the beneficial effects in the above device embodiment are also applicable to the method embodiment, and are not described in detail in the method embodiment.
A specific working embodiment of the motor torque smooth gradient control method of the present embodiment is as follows: the current moment torque value acquisition module acquires a current moment torque value and sends the current moment torque value to the torque difference value calculation module, wherein the current moment torque value can be obtained by looking up a table of an accelerator pedal and a vehicle speed; the last sampling period torque value acquisition module acquires a last sampling period torque value and sends the last sampling period torque value to the torque difference value calculation module, and the last sampling period torque value can be obtained by applying a unitdelay module of a tool matlab on the basis of the known current moment torque value; the torque difference value calculation module is used for receiving the torque value at the current moment and the torque value in the previous sampling period, and obtaining the torque difference value according to the torque value at the current moment and the torque value in the previous sampling period, namely according to a formula: the torque difference value is obtained by the torque value at the current moment and the torque value in the previous sampling period, and the torque difference value, the torque value at the current moment and the torque value in the previous sampling period are sent to an enabling point judgment module; the enabling point judging module is used for receiving the torque difference value, the torque value at the current moment and the torque value in the last sampling period, judging whether the torque difference value and the torque value in the last sampling period meet a preset enabling point threshold value (if the torque difference value is larger than 0, the torque value in the last sampling period is smaller than 0), if so, taking the torque value at the current moment as an enabling point, and sending the torque value at the current moment to the gradient processing module; and the gradient processing module is used for receiving the torque value at the current moment, searching a torque gradient value corresponding to the torque value in a pre-stored torque gradient table, judging whether the torque gradient value meets a preset gradient processing threshold value (if the torque gradient value is greater than a one-dimensional/two-dimensional table look-up torque gradient value (original gradient value)), and if the torque gradient value meets the preset gradient processing threshold value, obtaining a torque output value according to the preset torque gradient increasing value and the torque gradient value, and sending the torque output value to an MCU (micro control unit).
The invention realizes the linear transformation of the torque gradient by controlling the change rate of the torque gradient (the second derivative of the torque), thereby eliminating the inflection point in the torque change. The invention can realize the accurate control of the whole section of the torque, and has simpler calibration and stronger controllability of the torque linearity compared with the mode of controlling the torque smoothness by relying on the inertial filtering in the prior art. The detailed principle can be seen in the description of fig. 3 and 4:
FIG. 3 is a diagram illustrating the torque smoothing effect of the motor torque control apparatus according to the embodiment of the present invention; fig. 4 is a diagram showing the effect of torque variation in the prior art. In fig. 3 and 4, the torque line is shown at the upper side, and the torque rate curve is shown at the lower side; when the torque changes from descending to ascending (starting from the point A), the gradient of the torque lookup table is controlled to gradually increase (EF section) to the value F of the gradient lookup table, so that the torque curve generates a circular arc transition (AB section); without the addition of this control strategy, the rate of change of the lookup table based torque gradient strategy at point A ' would be abrupt, as shown by C ' D ', resulting in a torque inflection point.
As shown in fig. 3 and fig. 4, the motor torque rounding gradient control method of the present embodiment is to realize the torque rounding effect of the AB segment, and the working principle is as follows:
step 1, firstly, identifying a point A, namely identifying a process that torque is changed from descending to ascending; the specific method comprises the following steps: based on the difference value Torque3 between the Torque value Torque1 at the current moment and the Torque value Torque2 in the last sampling period, when the state that the Torque value Torque3 in the current period is greater than 0Nm and the Torque value in the last sampling period is less than 0Nm is detected, the state is the enabling point of the A point identification (at this time, it is confirmed that the identified A point str _ enable is 1).
And 2, controlling a curve of the torque gradient change rate from the point A to realize the shape of an EF curve in the figure 3. The program code of the specific method implementation is as follows:
start
en:
tqdu＝0；
du:
tqdu＝qdu+KfTQT_mapftupstradd_Nm；
none
du:
tqdu＝tq_map；
wherein, the start part is an EF line control part, and the torque change rate is gradually increased according to a fixed value; the none part is the gradient obtained by normal table look-up, namely an FG section; tqdu: optimizing the torque gradient value; tp _ map: one/two dimensional lookup of the torque gradient values (raw gradient values); KfTQR _ mapftupsttad _ Nm: a single sample period torque gradient value; str _ enable: and (4) the A point enabling condition identified in the step 1.
The motor torque control device provided by the embodiment of the invention can realize the linear accurate control of the torque on the torque control strategy, is convenient to calibrate a specific torque curve and realizes a partial calibration function. The invention is suitable for all pure electric driven automobiles, including pure electric automobiles, extended range electric automobiles, series hybrid electric automobiles and fuel cell automobiles.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A motor torque control device, comprising:
the current moment torque value acquisition module is used for acquiring a current moment torque value and sending the current moment torque value to the torque difference value calculation module;
the last sampling period torque value acquisition module is used for acquiring a last sampling period torque value and sending the last sampling period torque value to the torque difference value calculation module;
the torque difference value calculation module is used for receiving the torque value at the current moment and the torque value in the previous sampling period, obtaining a torque difference value according to the torque value at the current moment and the torque value in the previous sampling period, and sending the torque difference value, the torque value at the current moment and the torque value in the previous sampling period to the enabling point judgment module;
the enabling point judging module is used for receiving the torque difference value, the torque value at the current moment and the torque value in the previous sampling period, judging whether the torque difference value and the torque value in the previous sampling period meet the preset enabling point threshold value or not, if yes, the torque value at the current moment is an enabling point, and sending the torque value at the current moment to the gradient processing module;
and the gradient processing module is used for receiving the torque value at the current moment, searching a torque gradient value corresponding to the torque value in a pre-stored torque gradient table, judging whether the torque gradient value meets a preset gradient processing threshold value, and if so, obtaining a torque output value according to a preset torque gradient increase value and the torque gradient value.
2. The motor torque control device of claim 1, wherein the gradient processing module comprises:
the torque gradient value searching unit is used for receiving the torque value at the current moment, searching a torque gradient value corresponding to the torque value in a prestored torque gradient table and sending the torque gradient value to the torque gradient value judging unit;
the torque gradient value judging unit is used for receiving the torque gradient value, judging whether the torque gradient value meets a preset gradient processing threshold value or not, and if so, sending the torque gradient value to the torque output value calculating unit;
and the torque output value calculating unit is used for receiving the torque gradient value and obtaining a torque output value according to the preset torque gradient increasing value and the torque gradient value.
3. The motor torque control device according to claim 2, further comprising:
and the torque gradient table storage unit is used for prestoring the torque value and the corresponding torque gradient value.
4. The motor torque control device according to claim 3, wherein the torque difference value calculation module obtains the torque difference value by the formula:
torque difference is the current moment torque value-last sampling period torque value.
5. The motor torque control device of claim 4, wherein the gradient processing module obtains the torque output value by the formula:
the torque output value is equal to the torque gradient value + the preset torque gradient increase value.
6. A method of controlling torque of a motor, comprising the steps of:
acquiring a torque value at the current moment and acquiring a torque value in the last sampling period;
obtaining a torque value at the current moment and a torque value in the last sampling period to obtain a torque difference value;
judging whether the torque difference value and the torque value in the last sampling period meet a preset enabling point threshold value, if so, taking the torque value at the current moment as an enabling point;
and searching a corresponding torque gradient value in a pre-stored torque gradient table according to the torque value at the current moment, judging whether the torque gradient value meets a preset gradient processing threshold value, and if so, obtaining a torque output value according to a preset torque gradient increase value and the torque gradient value.
7. The motor torque control method of claim 6, further comprising:
and prestoring the torque value and the corresponding torque gradient value.
8. The motor torque control method of claim 6, wherein the torque difference is the current time torque value-last sample period torque value.
9. The motor torque control method of claim 6, wherein the torque output value is torque gradient value + preset torque gradient increase value.
10. A vehicle comprising a vehicle control unit, characterized in that the vehicle control unit comprises a motor torque control device according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010118479.4A CN113306406B (en) | 2020-02-26 | 2020-02-26 | Motor torque control device and method and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010118479.4A CN113306406B (en) | 2020-02-26 | 2020-02-26 | Motor torque control device and method and automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113306406A true CN113306406A (en) | 2021-08-27 |
| CN113306406B CN113306406B (en) | 2022-10-28 |
Family
ID=77369855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010118479.4A Active CN113306406B (en) | 2020-02-26 | 2020-02-26 | Motor torque control device and method and automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113306406B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407676A (en) * | 2022-01-29 | 2022-04-29 | 重庆长安新能源汽车科技有限公司 | Torque control method and system for strong-sliding energy recovery and vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150038286A1 (en) * | 2012-02-27 | 2015-02-05 | Nissan Motor Co., Ltd. | Vehicle drive control apparatus, and vehicle drive control method |
| CN106143162A (en) * | 2015-04-03 | 2016-11-23 | 比亚迪股份有限公司 | Electric automobile and torque safety monitoring and control method thereof and device |
| CN107719184A (en) * | 2017-09-07 | 2018-02-23 | 中通客车控股股份有限公司 | A kind of Control of Electric Vehicles method, system based on torque gradient |
| CN109795335A (en) * | 2017-11-16 | 2019-05-24 | 宝沃汽车（中国）有限公司 | Torque filtering method, system and the electric car of electric car |
| CN109955726A (en) * | 2017-12-26 | 2019-07-02 | 长城汽车股份有限公司 | A kind of Motor torque filtering method, device and vehicle |
| CN110254250A (en) * | 2019-06-26 | 2019-09-20 | 四川阿尔特新能源汽车有限公司 | Motor torque Super-zero control method, apparatus, controller, vehicle and storage medium |
-
2020
- 2020-02-26 CN CN202010118479.4A patent/CN113306406B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150038286A1 (en) * | 2012-02-27 | 2015-02-05 | Nissan Motor Co., Ltd. | Vehicle drive control apparatus, and vehicle drive control method |
| CN106143162A (en) * | 2015-04-03 | 2016-11-23 | 比亚迪股份有限公司 | Electric automobile and torque safety monitoring and control method thereof and device |
| CN107719184A (en) * | 2017-09-07 | 2018-02-23 | 中通客车控股股份有限公司 | A kind of Control of Electric Vehicles method, system based on torque gradient |
| CN109795335A (en) * | 2017-11-16 | 2019-05-24 | 宝沃汽车（中国）有限公司 | Torque filtering method, system and the electric car of electric car |
| CN109955726A (en) * | 2017-12-26 | 2019-07-02 | 长城汽车股份有限公司 | A kind of Motor torque filtering method, device and vehicle |
| CN110254250A (en) * | 2019-06-26 | 2019-09-20 | 四川阿尔特新能源汽车有限公司 | Motor torque Super-zero control method, apparatus, controller, vehicle and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407676A (en) * | 2022-01-29 | 2022-04-29 | 重庆长安新能源汽车科技有限公司 | Torque control method and system for strong-sliding energy recovery and vehicle |
| CN114407676B (en) * | 2022-01-29 | 2023-05-23 | 重庆长安新能源汽车科技有限公司 | Torque control method and system for strong coasting energy recovery and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113306406B (en) | 2022-10-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8214096B2 (en) | Apparatus and method for controlling an accelerator for electric vehicles | |
| CN107745712B (en) | Method and device for controlling vehicle cruise | |
| CN109484209B (en) | Motor torque adjusting method and system of electric automobile | |
| CN109795335B (en) | Torque filtering method and system of electric automobile and electric automobile | |
| CN107738649B (en) | Method and device for determining driving demand torque | |
| CN100532171C (en) | Control device and method for vehicle startup | |
| CN108312895B (en) | A kind of control method of Anti-slide, device and pure electric automobile | |
| KR101234652B1 (en) | Method and system for controllng acceleration torque of hybrid vehicle | |
| CN109398108B (en) | Torque filtering method and device for electric automobile | |
| CN111016876B (en) | Engine torque control strategy and system for single-motor hybrid electric vehicle | |
| WO2013123832A1 (en) | Engine self-adaptive system and fuel saving method based on vehicle operating condition | |
| CN108621859A (en) | A kind of drive control method of pure electric automobile | |
| CN110696833A (en) | Vehicle self-adaptive speed limit control method | |
| CN112721654B (en) | Electric motor coach constant-speed cruise control method and system | |
| CN113212435B (en) | Calculation method and calculation device for accelerator pedal torque and automobile | |
| CN106347352B (en) | Hybrid power Energy Management System and its control method | |
| CN113306406B (en) | Motor torque control device and method and automobile | |
| CN104822920A (en) | Method and device for improved switching over between accelerator pedal characteristic curves | |
| CN100374699C (en) | Method and device for controlling the drive unit of a vehicle | |
| CN110735725A (en) | Method and device for controlling rotation speed of vehicle engine | |
| CN114670659B (en) | Vehicle torque control method and device and electric automobile | |
| KR100792892B1 (en) | Method for detection and control engine full load of hev | |
| CN112829738B (en) | Power control equipment of plug-in hybrid electric vehicle | |
| CN100470076C (en) | Control device and method of clutch | |
| CN101659219A (en) | System and method for controlling output torque of motor in ascent state of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |