CN113320400A - Electric vehicle four-wheel drive torque distribution method and system and vehicle - Google Patents
Electric vehicle four-wheel drive torque distribution method and system and vehicle Download PDFInfo
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- CN113320400A CN113320400A CN202110732568.2A CN202110732568A CN113320400A CN 113320400 A CN113320400 A CN 113320400A CN 202110732568 A CN202110732568 A CN 202110732568A CN 113320400 A CN113320400 A CN 113320400A
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
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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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- 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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
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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
- Y02T10/64—Electric machine technologies in electromobility
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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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Abstract
The invention discloses a four-wheel-drive torque distribution method, a four-wheel-drive torque distribution system and a vehicle of an electric vehicle.
Description
Technical Field
The invention belongs to the technical field of electric vehicle control, and particularly relates to a four-wheel drive torque distribution method and system for an electric vehicle and a vehicle.
Background
In order to provide the dynamic property and the passing property of the electric automobile, a four-wheel drive mode is designed for some electric automobiles at present, a front axle motor and a rear axle motor are controlled to output torques according to a certain distribution proportion, and the output torque proportion of the front axle motor and the rear axle motor is distributed and adjusted in real time based on factors such as vehicle states (such as high-voltage battery electric quantity, vehicle speed and system fault states), working conditions (such as curves, ramps, highways, snow, mud and sand), user operations (such as acceleration, braking, steering, advancing and retreating) and the like.
For the general four-wheel drive torque distribution scheme, the following problems are still inevitable in practical application: firstly, a gap exists at the meshing position of a motor output shaft and a reducer gear in an electric drive transmission mechanism, so that impact can be generated when the positive and negative directions of output torque are switched, and particularly, the user can feel the impact under the working condition of low vehicle speed; secondly, because the meshing position of the electric drive transmission mechanism has a gap, the electric drive system needs to overcome the gap before outputting torque to output power, so that the power output response is slow.
Therefore, there is a need to develop a new method, system, vehicle and vehicle for distributing the four-wheel drive torque of the electric vehicle.
Disclosure of Invention
The invention aims to provide a four-wheel-drive torque distribution method, a four-wheel-drive torque distribution system and a four-wheel-drive torque distribution vehicle of an electric automobile, so as to solve the problem that the driving comfort of a user is poor due to the fact that impact is generated when the torque is switched in the positive direction and the negative direction under a low-speed working condition caused by the existence of a gap in an electric drive system frequently occurring in the existing four-wheel-drive torque distribution scheme; and the problem of poor dynamic performance caused by the fact that an electric drive system in the existing four-wheel drive torque distribution scheme needs to overcome a gap before outputting power is solved.
In a first aspect, the invention provides a four-wheel drive torque distribution method for an electric vehicle, comprising the following steps:
s1. forward gear running condition
When the vehicle is in the forward gear creeping running working condition, the vehicle speed is less than or equal to VD creep maxAnd the total torque demand is less than TqDmaxWhen the motor is in use, the rear axle motor is controlled to independently output creep torque, and the front axle motor is controlled to load positive idle small torque TqIdle low torque；
When the vehicle is in the accelerating running working condition of the forward gear, VD creep max<Speed of the vehicle is less than or equal to VD drive maxTotal torque demand is less than or equal to TqDmaxAnd when the acceleration value of the whole vehicle is not changed or the acceleration value is increased, the rear axle motor is controlled to independently output the driving torque in response to the total torque demand, and the front axle motor is controlled to load the positive idle small torque TqIdle low torque；
When the vehicle is in the accelerating running working condition of the forward gear, VD creep max<Speed of the vehicle is less than or equal to VD drive maxTotal torque demand is less than or equal to TqDmaxAnd when the acceleration value of the whole vehicle is judged to be reduced, the rear axle motor is controlled to independently output the driving torque in response to the total torque demand, and the front axle motor is controlled to load the reverse idle small torque-TqIdle low torque；
When the vehicle is in the working condition of accelerating running of the forward gear and the speed of the vehicle>VD drive maxControlling the front and rear axle motors to respond to the total torque demand and jointly outputting the driving torque according to a first preset four-wheel drive distribution proportion;
when the vehicle is in the forward gear sliding/braking working condition and the vehicle speed>VD feedback maxControlling the front and rear axle motors to respond to the total torque demand and jointly outputting feedback torque according to a second preset four-wheel drive distribution proportion;
when the vehicle is in the forward gear sliding/braking working condition, and VD feedback min<Speed of the vehicle is less than or equal to VD feedback maxWhen the motor is controlled to independently output feedback torque in response to the total torque demand, the motor of the rear axle is controlled to output 0Nm torque;
when the vehicle is in the forward gear sliding/braking working condition, and VD creep max<Speed of the vehicle is less than or equal to VD feedback minIn time, the front axle motor is controlled to independently output feedback torque in response to the total torque demand, and the rear axle motor is controlled to load positive idle small torque TqIdle low torque；
When the vehicle is in the acceleration running working condition of the forward gear and the total torque demand>TqDmaxControlling the front and rear axle motors to respond to the total torque demand, and outputting the accelerating torque together according to a third preset four-wheel drive distribution proportion;
s2. reverse gear running condition
When the vehicle is in a reverse-gear crawling running working condition and the vehicle speed is less than or equal to VR creep maxDuring the process, the front axle motor is controlled to independently output creep torque, and after the control, the creep torque is controlledSmall idle torque-Tq with reversed preload of shaft motorIdle low torque；
When the vehicle is in a reverse gear acceleration running condition, VR creep max<Speed of the vehicle is less than or equal to VR drive maxAnd when the acceleration value of the whole vehicle is not changed or the acceleration value is increased, the front axle motor is controlled to independently output the driving torque in response to the total torque demand, and the rear axle motor is controlled to pre-load the reverse idle small torque-TqIdle low torque；
When the vehicle is in a reverse gear acceleration running condition, VR creep max<Speed of the vehicle is less than or equal to VR drive maxAnd when the acceleration value of the whole vehicle is judged to be reduced, the front axle motor is controlled to respond to the total torque demand to independently output the driving torque, and the rear axle motor is controlled to preload the positive idle small torque TqIdle low torque；
When the vehicle is in reverse gear sliding/braking condition, and VR feedback min<Speed of the vehicle is less than or equal to VR feedback maxWhen the motor of the rear axle is controlled to respond to the total torque demand to independently output feedback torque, and the motor of the front axle is controlled to output 0 torque;
when the vehicle is in reverse gear sliding/braking condition, and VR creep max<Speed of the vehicle is less than or equal to VR feedback minIn time, the rear axle motor is controlled to respond to the total torque demand to independently output feedback torque, and the front axle motor is controlled to pre-load reverse idle small torque-TqIdle low torque。
In a second aspect, the electric vehicle four-wheel drive torque distribution system according to the present invention includes a memory and a controller, where the memory stores a computer readable program, and the computer readable program is capable of executing the steps of the electric vehicle four-wheel drive torque distribution method according to the present invention when called by the controller.
In a third aspect, the invention provides a vehicle, which adopts the four-wheel drive torque distribution system of the electric vehicle.
The invention has the following advantages: by applying the pre-loaded idle small torque, the whole vehicle can pre-load different idle small torques based on different four-wheel-drive torque distribution schemes under various working conditions when the vehicle runs in a forward gear and a reverse gear, so that the problem of slow power output response is solved, the problem of impact caused by the forward and reverse direction switching of the torque under the low-speed working condition is solved, the power performance of the electric vehicle is effectively improved, and the driving comfort of the electric vehicle is also improved.
Drawings
FIG. 1 is a timing diagram of a pre-loaded idle low torque application method based on different four-wheel-drive torque split schemes under various operating conditions while traveling in forward gear;
FIG. 2 is a timing diagram of a pre-load idle low torque application method based on different four-wheel-drive torque split schemes for various operating conditions during reverse.
Detailed Description
The invention is described in the following with reference to the accompanying drawings.
In this embodiment, an electric vehicle four-wheel drive torque distribution method includes the following steps:
as shown in fig. 1, s1. forward gear driving condition:
stage 1: when the vehicle is in the forward gear creeping running working condition, the vehicle speed is less than or equal to VD creep maxAnd the total torque demand is less than TqDmaxWhen the motor is in use, the rear axle motor is controlled to independently output creep torque, and the front axle motor which is idle and does not output torque is controlled to load small idle torque Tq in the positive directionIdle low torque。
And (2) stage: when the vehicle is in the accelerating running working condition of the forward gear, VD creep max<Speed of the vehicle is less than or equal to VD drive maxTotal torque demand is less than or equal to TqDmaxAnd when the acceleration value of the whole vehicle is not changed or the acceleration value is increased, the rear axle motor is controlled to independently output the driving torque in response to the total torque demand, and the front axle motor which is idle and does not output the torque is controlled to load the idle small torque Tq in the positive directionIdle low torque。
And (3) stage: when the vehicle is in the accelerating running working condition of the forward gear, VD creep max<Speed of the vehicle is less than or equal to VD drive maxTotal torque demand is less than or equal to TqDmaxAnd when the acceleration value of the whole vehicle is judged to be reduced, the rear axle motor is controlled to independently output the driving torque in response to the total torque demand, and the front axle motor which is idle and does not output the torque is controlled to load reverse idle small torque-TqIdle low torque。
And (4) stage: when the vehicle is in the working condition of accelerating running of the forward gear and the speed of the vehicle>VD drive maxAnd controlling the front and rear axle motors to respond to the total torque demand and jointly outputting the driving torque according to a first preset four-wheel drive distribution proportion.
And (5) stage: when the vehicle is in the forward gear sliding/braking working condition and the vehicle speed>VD feedback maxAnd controlling the front and rear shaft motors to respond to the total torque demand and jointly outputting feedback torque according to a second preset four-wheel drive distribution proportion.
And 6: when the vehicle is in the forward gear sliding/braking working condition, and VD feedback min<Speed of the vehicle is less than or equal to VD feedback maxAnd controlling the front axle motor to independently output feedback torque in response to the total torque demand and controlling the rear axle motor to output 0Nm torque.
And (7) stage: when the vehicle is in the forward gear sliding/braking working condition, and VD creep max<Speed of the vehicle is less than or equal to VD feedback minIn time, the front axle motor is controlled to independently output feedback torque in response to the total torque demand, and the rear axle motor which is idle and does not output torque is controlled to load positive idle small torque TqIdle low torque。
And (8): when the vehicle is in the acceleration running working condition of the forward gear and the total torque demand>TqDmaxAnd controlling the front and rear axle motors to respond to the total torque demand and jointly outputting the acceleration torque according to a third preset four-wheel drive distribution proportion.
As shown in FIG. 2, S2. reverse gear driving condition
Stage 1: when the vehicle is in a reverse-gear crawling running working condition and the vehicle speed is less than or equal to VR creep maxIn the process, the front axle motor is controlled to independently output creep torque, and the idle low torque-Tq in the reverse direction is pre-loaded by the rear axle motor which is controlled to be idle and does not output torqueIdle low torque；
And (2) stage: when the vehicle is in a reverse gear acceleration running condition, VR creep max<Speed of the vehicle is less than or equal to VR drive maxAnd when the acceleration value of the whole vehicle is not changed or the acceleration value is increased, the front axle motor is controlled to independently output the driving torque in response to the total torque demand, and the idle small torque-Tq with the reverse preloading of the rear axle motor which is idle and does not output the torque is controlledIdle low torque；
And (3) stage: when the vehicle is in a reverse gear acceleration running condition, VR creep max<Speed of the vehicle is less than or equal to VR drive maxAnd when the acceleration value of the whole vehicle is judged to be reduced, the front axle motor is controlled to respond to the total torque demand to independently output the driving torque, and the rear axle motor which is idle and does not output the torque is controlled to pre-load the positive idle small torque TqIdle low torque；
And (4) stage: when the vehicle is in reverse gear sliding/braking condition, and VR feedback min<Speed of the vehicle is less than or equal to VR feedback maxWhen the motor of the rear axle is controlled to respond to the total torque demand to independently output feedback torque, and the motor of the front axle is controlled to output 0 torque;
and (5) stage: when the vehicle is in reverse gear sliding/braking condition, and VR creep max<Speed of the vehicle is less than or equal to VR feedback minIn time, the rear axle motor is controlled to respond to the total torque demand to independently output feedback torque, and the front axle motor which is idle and does not output torque is controlled to pre-load reverse idle small torque-TqIdle low torque。
In the present embodiment, the vehicle speed is limited to V during reverse runningR drive maxThe torque will be limited to Tq at the same time as followsRmaxWithin, so that there is no vehicle speed exceeding VR drive maxTorque exceeding TqRmaxThe operating conditions of (1).
In this embodiment, an electric vehicle four-wheel drive torque distribution system includes a memory and a controller, where the memory stores a computer readable program, and when the computer readable program is called by the controller, the step of the electric vehicle four-wheel drive torque distribution method in this embodiment can be executed.
In the embodiment, a vehicle adopts the electric vehicle four-wheel drive torque distribution system as described in the embodiment. Through the application of preloading the idle small torque, the whole vehicle can preload different idle small torques based on different four-wheel-drive torque distribution schemes under different working conditions when the vehicle runs in a forward gear and a reverse gear, so that the problems of slow power output response and impact caused by the forward and reverse direction switching of low-speed working condition torque are solved, the dynamic property of the electric vehicle is effectively improved, and the driving comfort of the electric vehicle is also improved.
Claims (3)
1. A four-wheel drive torque distribution method of an electric vehicle is characterized by comprising the following steps: the method comprises the following steps:
s1. forward gear running condition
When the vehicle is in the forward gear creeping running working condition, the vehicle speed is less than or equal to VD creep maxAnd the total torque demand is less than TqDmaxWhen the motor is in use, the rear axle motor is controlled to independently output creep torque, and the front axle motor is controlled to load positive idle small torque TqIdle low torque；
When the vehicle is in the accelerating running working condition of the forward gear, VD creep max<Speed of the vehicle is less than or equal to VD drive maxTotal torque demand is less than or equal to TqDmaxAnd when the acceleration value of the whole vehicle is not changed or the acceleration value is increased, the rear axle motor is controlled to independently output the driving torque in response to the total torque demand, and the front axle motor is controlled to load the positive idle small torque TqIdle low torque；
When the vehicle is in the accelerating running working condition of the forward gear, VD creep max<Speed of the vehicle is less than or equal to VD drive maxTotal torque demand is less than or equal to TqDmaxAnd when the acceleration value of the whole vehicle is judged to be reduced, the rear axle motor is controlled to independently output the driving torque in response to the total torque demand, and the front axle motor is controlled to load the reverse idle small torque-TqIdle low torque；
When the vehicle is in the working condition of accelerating running of the forward gear and the speed of the vehicle>VD drive maxControlling the front and rear axle motors to respond to the total torque demand and jointly outputting the driving torque according to a first preset four-wheel drive distribution proportion;
when the vehicle is in the forward gear sliding/braking working condition and the vehicle speed>VD feedback maxControlling the front and rear axle motors to respond to the total torque demand and jointly outputting feedback torque according to a second preset four-wheel drive distribution proportion;
when the vehicle is in the forward gear sliding/braking working condition, and VD feedback min<Speed of the vehicle is less than or equal to VD feedback maxWhen the motor is controlled to independently output feedback torque in response to the total torque demand, the motor of the rear axle is controlled to output 0Nm torque;
coasting/braking when the vehicle is in forward gearDynamic regime, and VD creep max<Speed of the vehicle is less than or equal to VD feedback minIn time, the front axle motor is controlled to independently output feedback torque in response to the total torque demand, and the rear axle motor is controlled to load positive idle small torque TqIdle low torque；
When the vehicle is in the acceleration running working condition of the forward gear and the total torque demand>TqDmaxControlling the front and rear axle motors to respond to the total torque demand, and outputting the accelerating torque together according to a third preset four-wheel drive distribution proportion;
s2. reverse gear running condition
When the vehicle is in a reverse-gear crawling running working condition and the vehicle speed is less than or equal to VR creep maxWhen in use, the front axle motor is controlled to independently output creep torque, and the rear axle motor is controlled to pre-load reverse idle small torque-TqIdle low torque；
When the vehicle is in a reverse gear acceleration running condition, VR creep max<Speed of the vehicle is less than or equal to VR drive maxAnd when the acceleration value of the whole vehicle is not changed or the acceleration value is increased, the front axle motor is controlled to independently output the driving torque in response to the total torque demand, and the rear axle motor is controlled to pre-load the reverse idle small torque-TqIdle low torque；
When the vehicle is in a reverse gear acceleration running condition, VR creep max<Speed of the vehicle is less than or equal to VR drive maxWhen the acceleration value of the whole vehicle is judged to be reduced, the front axle motor is controlled to respond to the total torque requirement to independently output a driving torque, and the rear axle motor is controlled to preload a positive idle small torque Tq idle small torque;
when the vehicle is in reverse gear sliding/braking condition, and VR feedback min<Speed of the vehicle is less than or equal to VR feedback maxWhen the motor of the rear axle is controlled to respond to the total torque demand to independently output feedback torque, and the motor of the front axle is controlled to output 0 torque;
when the vehicle is in reverse gear sliding/braking condition, and VR creep max<Speed of the vehicle is less than or equal to VR feedback minIn time, the rear axle motor is controlled to respond to the total torque demand to independently output feedback torque, and the front axle motor is controlled to pre-load reverse idle small torque-TqIdle low torque。
2. The utility model provides an electric automobile four-wheel drive torque distribution system which characterized in that: the method comprises a memory and a controller, wherein the memory stores a computer readable program, and the computer readable program can execute the steps of the electric vehicle four-wheel drive torque distribution method according to claim 1 when the computer readable program is called by the controller.
3. A vehicle, characterized in that: the electric vehicle four-wheel drive torque distribution system of claim 2 is adopted.
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| CN114212091A (en) * | 2021-12-30 | 2022-03-22 | 重庆长安新能源汽车科技有限公司 | Control method for power transmission device of electric automobile, vehicle and computer readable storage medium |
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