CN113459831A - Electric vehicle motor interactive control method and device and electric vehicle - Google Patents
Electric vehicle motor interactive control method and device and electric vehicle Download PDFInfo
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- CN113459831A CN113459831A CN202110884215.4A CN202110884215A CN113459831A CN 113459831 A CN113459831 A CN 113459831A CN 202110884215 A CN202110884215 A CN 202110884215A CN 113459831 A CN113459831 A CN 113459831A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000002452 interceptive effect Effects 0.000 title description 5
- 238000013507 mapping Methods 0.000 claims abstract description 49
- 230000003993 interaction Effects 0.000 claims abstract description 38
- 230000001815 facial effect Effects 0.000 claims description 8
- 239000000463 material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The embodiment of the invention discloses an electric vehicle motor interaction control method and device and an electric vehicle. In the electric vehicle motor interaction control method, an accelerator pedal signal is obtained, the pre-output torque of the upper motor and the pre-output torque of the walking motor are obtained according to the accelerator pedal signal, the motor torque coefficient of the walking motor is determined according to the pre-output torque of the upper motor and a first mapping relation, the first mapping relation is a corresponding relation between the pre-output torque of the upper motor and the motor torque coefficient of the walking motor, the required torque of the walking motor is further determined according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor, and a control signal is output to a motor controller of the walking motor according to the required torque of the walking motor, so that the associated control of the walking motor and the upper motor is realized, the accurate operation of a driver on the electric vehicle is facilitated, and the operation feeling and the working efficiency are improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of engineering machinery, in particular to an electric vehicle motor interaction control method and device and an electric vehicle.
Background
The existing power transmission systems of the electric loaders mainly have two types. One kind adopts a motor to replace a crude fuel engine and directly combines with a double-variable (torque converter gearbox assembly) on a crude fuel vehicle, and the power sources of a hydraulic system and a traveling system are from one motor, so that the mutual correlation is strong, the operation feeling is good, the working efficiency is high, but because the efficiency of the torque converter is lower, the energy consumption of the electric loader of the technical route is high, and the endurance capability of the whole machine is poor. One type adopts an upper-mounted motor to drive a hydraulic system to work, and a walking motor to drive a transmission system to work, and compared with the former type, the technical route of the type has the advantages that a torque converter is eliminated, the defect of low efficiency of the torque converter is overcome, the cruising ability of the whole machine is improved, but the technical route has no mutual correlation because the walking motor and the upper-mounted motor are controlled independently, and in the working process, different drivers are difficult to operate accurately, the operation feeling is low, and the working efficiency is low.
Disclosure of Invention
The embodiment of the invention provides an electric vehicle motor interaction control method and device and an electric vehicle, which are used for realizing the associated control of a walking motor and an upper motor, thereby being beneficial to the accurate operation of a driver on the electric vehicle and improving the operation feeling and the working efficiency.
In a first aspect, an embodiment of the present invention provides a motor interaction control method for an electric vehicle, where the electric vehicle includes a top-mounted motor and a walking motor, and the method includes:
acquiring an accelerator pedal signal;
acquiring the pre-output torque of the upper motor and the pre-output torque of the walking motor according to the accelerator pedal signal;
determining a motor torque coefficient of the walking motor according to the pre-output torque of the upper motor and a first mapping relation; the first mapping relation is a corresponding relation between a pre-output torque of the upper motor and a motor torque coefficient of the walking motor;
determining the required torque of the walking motor according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor;
and outputting a control signal to a motor controller of the walking motor according to the required torque of the walking motor.
Optionally, determining the required torque of the walking motor according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor includes:
and determining the required torque of the walking motor according to the product of the pre-output torque of the walking motor and the motor torque coefficient of the walking motor.
Optionally, determining the motor torque coefficient of the walking motor according to the pre-output torque of the upper motor and the first mapping relationship includes:
the smaller the pre-output torque of the upper motor is, the larger the motor torque coefficient of the walking motor is; the larger the pre-output torque of the upper motor is, the smaller the motor torque coefficient of the walking motor is;
wherein, the motor torque coefficient of the walking motor is more than 0 and less than or equal to 1.
Optionally, after outputting a control signal to a motor controller of the walking motor according to the required torque of the walking motor, the method further includes:
acquiring the pre-output rotating speed of the upper motor;
determining a motor rotating speed coefficient of the upper motor according to the pre-output torque of the walking motor and a second mapping relation; the second mapping relation is a corresponding relation between the pre-output torque of the walking motor and the motor speed coefficient of the upper motor;
determining the required rotating speed of the upper motor according to the pre-output rotating speed of the upper motor and the motor rotating speed coefficient of the upper motor;
and outputting a control signal to a motor controller of the upper motor according to the required rotating speed of the upper motor.
Optionally, determining the required rotation speed of the upper motor according to the pre-output rotation speed of the upper motor and the motor rotation speed coefficient of the upper motor includes:
and determining the required rotating speed of the upper motor according to the product of the pre-output rotating speed of the upper motor and the motor rotating speed coefficient of the upper motor.
Optionally, determining the motor speed coefficient of the upper mounted motor according to the pre-output torque of the walking motor and the second mapping relationship includes:
when the pre-output torque of the walking motor is smaller than or equal to a preset value, the motor rotating speed coefficient of the upper motor is a constant value;
when the pre-output torque of the walking motor is larger than the preset value, the larger the pre-output torque of the walking motor is, the smaller the motor rotation speed coefficient of the upper motor is, the smaller the pre-output torque of the walking motor is, and the larger the motor rotation speed coefficient of the upper motor is;
and the motor rotating speed coefficient of the upper motor is greater than 0 and less than or equal to 1.
In a second aspect, an embodiment of the present invention further provides an apparatus for controlling motor interaction of an electric vehicle, where the electric vehicle includes an upper motor and a traveling motor, and the apparatus includes:
the accelerator pedal signal acquisition module is used for acquiring an accelerator pedal signal;
the pre-output torque acquisition module is used for acquiring the pre-output torque of the upper motor and the pre-output torque of the walking motor according to the accelerator pedal signal;
the torque coefficient determining module is used for determining a motor torque coefficient of the walking motor according to the pre-output torque of the upper motor and the first mapping relation; the first mapping relation is a corresponding relation between a pre-output torque of the upper motor and a motor torque coefficient of the walking motor;
the required torque determining module is used for determining the required torque of the walking motor according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor;
and the control module is used for outputting a control signal to a motor controller of the walking motor according to the required torque of the walking motor.
Optionally, the apparatus further comprises:
the pre-output rotating speed acquisition module is used for acquiring the pre-output rotating speed of the upper motor;
the rotating speed coefficient determining module is used for determining a motor rotating speed coefficient of the upper motor according to the pre-output torque of the walking motor and a second mapping relation; the second mapping relation is a corresponding relation between the pre-output torque of the walking motor and the motor speed coefficient of the upper motor;
the required rotating speed determining module is used for determining the required rotating speed of the upper motor according to the pre-output rotating speed of the upper motor and the motor rotating speed coefficient of the upper motor;
the control module is also used for outputting a control signal to a motor controller of the upper motor according to the required rotating speed of the upper motor.
Optionally, the required torque determining module is configured to determine a required torque of the walking motor according to a product of a pre-output torque of the walking motor and a motor torque coefficient of the walking motor;
the required rotating speed determining module is used for determining the required rotating speed of the upper motor according to the product of the pre-output rotating speed of the upper motor and the motor rotating speed coefficient of the upper motor.
In a third aspect, an embodiment of the present invention further provides an electric vehicle, where the electric vehicle includes a motor controller of a traveling motor, a motor controller of an upper-mounted motor, a vehicle controller, and the electric vehicle motor interaction control apparatus in the first aspect; the motor interaction control device of the electric vehicle receives the accelerator pedal signal from the vehicle control unit.
According to the electric vehicle motor interaction control method and the device thereof and the electric vehicle, the accelerator pedal signal is obtained, the pre-output torque of the upper motor and the pre-output torque of the walking motor are obtained according to the accelerator pedal signal, the motor torque coefficient of the walking motor is determined according to the pre-output torque of the upper motor and the first mapping relation, the required torque of the walking motor is further determined according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor, and the control signal is output to the motor controller of the walking motor according to the required torque of the walking motor, so that the associated control of the walking motor and the upper motor is realized, the accurate operation of a driver on the electric vehicle is facilitated, and the operation feeling and the working efficiency are improved.
Drawings
FIG. 1 is a flow chart of a method for interactive control of an electric vehicle motor according to an embodiment of the present invention;
FIG. 2 is a graph of a first mapping relationship provided by an embodiment of the invention;
FIG. 3 is a flowchart of a method for interactive control of an electric vehicle motor according to an embodiment of the present invention;
FIG. 4 is a graph of a second mapping relationship provided by an embodiment of the invention;
fig. 5 is a schematic structural diagram of an electric vehicle motor interaction control device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electric vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The electric vehicle is, for example, an electric loader, an electric excavator, an electric road roller, an electric backhoe loader, or the like in an electric construction machine. The electric vehicle includes a hydraulic system and a traveling system. The hydraulic system is mainly controlled by an upper mounted motor, for example, the operation and steering of a bucket of an electric vehicle are controlled by the upper mounted motor. The traveling system is mainly controlled by a traveling motor, for example, the traveling of the vehicle is controlled by the traveling motor.
When a driver steps on an accelerator pedal, the upper motor controls the operation of the bucket according to signals of the accelerator pedal, and the walking motor controls the electric vehicle to walk according to the signals of the accelerator pedal; if the switch handle of the hydraulic system in the hydraulic system is switched on, the upper motor controls the operation of the bucket inefficiently according to the signal of the accelerator pedal, and at the moment, the electric vehicle only walks.
When a switch handle of a hydraulic system in the hydraulic system is switched on, if the walking motor and the upper motor are controlled independently, the operation speed of a bucket of the electric vehicle is high or the bucket is shoveling materials, the electric vehicle walks fast or the electric vehicle does not walk continuously, so that a driver is difficult to operate accurately, the operation efficiency is low and the operation feeling is poor.
In view of this, the embodiment of the present invention provides an interactive control method for a motor of an electric vehicle. Fig. 1 is a flowchart of an electric vehicle motor interaction control method according to an embodiment of the present invention. Referring to fig. 1, the electric vehicle motor interaction control method includes:
and S10, acquiring an accelerator pedal signal. The vehicle control unit may acquire an accelerator pedal signal through an accelerator pedal sensor, and the driver may generate an accelerator pedal signal every time the driver steps on the accelerator pedal.
And S11, acquiring the pre-output torque of the upper motor and the pre-output torque of the walking motor according to the accelerator pedal signal.
Each accelerator pedal signal corresponds to a pre-output torque of the upper motor (which can also be understood as a target torque of the upper motor corresponding to the accelerator pedal signal) and a pre-output torque of the walking motor (which can also be understood as a target torque of the walking motor corresponding to the accelerator pedal signal). The pre-output torque of the upper motor and the pre-output torque of the walking motor can be respectively obtained from the motor controller of the upper motor and the motor controller of the walking motor according to signals of an accelerator pedal.
In the prior art, the walking motor is not associated with the upper motor, so the upper motor directly outputs torque according to the pre-output torque, and the walking motor directly outputs torque according to the pre-output torque, so that the operation speed of a bucket of the electric vehicle is high or the bucket is shoveling the materials, the electric vehicle walks fast or does not walk continuously, the driver is difficult to operate accurately, the operation efficiency is low and the operation feeling is poor.
S12, determining a motor torque coefficient of the walking motor according to the pre-output torque of the upper motor and the first mapping relation; the first mapping relation is a corresponding relation between the pre-output torque of the upper motor and the motor torque coefficient of the walking motor.
In this embodiment, in order to associate the control of the traveling motor with the control of the upper motor, the control of the pre-output torque of the traveling motor is associated with the pre-output torque of the upper motor, that is, the pre-output torque of the traveling motor is adjusted according to the pre-output torque of the upper motor. In the first mapping relation, each pre-output torque of the upper-mounted motor corresponds to a motor torque coefficient of one walking motor. In the first mapping relationship, all the motor torque coefficients of the traveling motor may be set according to actual needs, which is not limited in this embodiment, for example, all the motor torque coefficients of the traveling motor are set to be a number greater than zero and less than or equal to 1.
And S13, determining the required torque of the walking motor according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor.
The required torque of the walking motor is determined according to the motor torque coefficient of the walking motor corresponding to the pre-output torque of the upper motor and the pre-output torque of the walking motor. The required torque of the walking motor is the torque required to be output by the walking motor after the pre-output torque of the walking motor is adjusted. This embodiment has realized the regulation of the output torque in advance to the walking motor according to the output torque in advance of facial make-up motor, the control of the output torque in advance to the walking motor and the correlation of the output torque in advance of facial make-up motor have been realized promptly, walking motor and facial make-up motor independent control have been avoided, make can be according to the higher or the scraper bowl condition of shoveling material of electric vehicle's scraper bowl functioning speed, control electric vehicle walking can not be too fast or the driving can not too disconnected, guarantee whole car harmony, thereby be favorable to the driver to carry out the accurate operation, and then guarantee operating efficiency.
And S14, outputting a control signal to a motor controller of the walking motor according to the required torque of the walking motor.
The vehicle control unit may output a control signal to a motor controller of the traveling motor according to the required torque of the traveling motor, and the motor controller of the traveling motor controls the traveling motor to output the required torque according to the control signal.
On the basis of the foregoing embodiment, optionally, determining the required torque of the walking motor according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor includes: and determining the required torque of the walking motor according to the product of the pre-output torque of the walking motor and the motor torque coefficient of the walking motor. For example, when the pre-output torque of the travel motor is represented by T1, the motor torque coefficient of the travel motor in the first mapping relation is represented by P1, and the required torque of the travel motor is represented by T2, T2 is T1 · P1.
On the basis of the foregoing embodiments, optionally, determining the motor torque coefficient of the traveling motor according to the pre-output torque of the upper mounted motor and the first mapping relationship includes: the smaller the pre-output torque of the upper motor is, the larger the motor torque coefficient of the walking motor is; the larger the pre-output torque of the upper motor is, the smaller the motor torque coefficient of the walking motor is; wherein, the motor torque coefficient of the walking motor is more than 0 and less than or equal to 1.
Specifically, when the pre-output torque of the upper motor is increased, the scraper bowl of the electric vehicle can shovel materials, the walking speed of the electric vehicle can be greatly reduced, namely the motor torque coefficient of the walking motor is small, so that the driving of the electric vehicle is continuous, the good coordination of the whole vehicle is guaranteed, and the accurate shoveling of the driver is facilitated. When the pre-output torque of the upper motor is in a decreasing trend, it is indicated that the bucket of the electric vehicle may have been shoveled or the running speed of the bucket is low, and the running speed of the electric vehicle can be adjusted by a small amplitude at the moment, i.e. the motor torque coefficient of the running motor is set to be large, so that the electric vehicle enters a new, coherent and coordinated driving state, and the operation feeling of a driver is improved.
For example, fig. 2 is a graph of a first mapping relationship provided by an embodiment of the present invention, and the table is a data table corresponding to the first mapping relationship of fig. 2. Referring to fig. 2, the horizontal axis represents the pre-output torque of the upper motor in (N · m); the vertical axis represents the motor torque coefficient of the walking motor corresponding to the pre-output torque of the upper motor, and is indicated in percentage. In fig. 2, the smaller the pre-output torque of the upper motor is, the larger the motor torque coefficient of the traveling motor is; the larger the pre-output torque of the upper motor is, the lower the motor torque coefficient of the walking motor is; wherein, the motor torque coefficient of the walking motor is more than 0 and less than or equal to 1.
Fig. 3 is a flowchart of an electric vehicle motor interaction control method according to an embodiment of the present invention. On the basis of the foregoing embodiments, optionally, after outputting a control signal to a motor controller of the travel motor according to the required torque of the travel motor, the method further includes: acquiring the pre-output rotating speed of the upper motor; determining a motor rotating speed coefficient of the upper motor according to the pre-output torque of the walking motor and the second mapping relation; the second mapping relation is a corresponding relation between the pre-output torque of the walking motor and the motor speed coefficient of the upper motor; determining the required rotating speed of the upper motor according to the pre-output rotating speed of the upper motor and the motor rotating speed coefficient of the upper motor; and outputting a control signal to a motor controller of the upper motor according to the required rotating speed of the upper motor. Referring to fig. 3, the electric vehicle motor interaction control method includes:
and S20, acquiring an accelerator pedal signal.
And S21, acquiring the pre-output torque of the upper motor and the pre-output torque of the walking motor according to the accelerator pedal signal.
S22, determining a motor torque coefficient of the walking motor according to the pre-output torque of the upper motor and the first mapping relation; the first mapping relation is a corresponding relation between the pre-output torque of the upper motor and the motor torque coefficient of the walking motor.
And S23, determining the required torque of the walking motor according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor.
And S24, outputting a control signal to a motor controller of the walking motor according to the required torque of the walking motor.
And S25, acquiring the pre-output rotating speed of the upper motor.
The rotating speed of the upper motor can directly influence the running speed of the electric vehicle bucket, for example, the larger the rotating speed of the upper motor is, the higher the lifting or descending speed of the electric vehicle bucket is, the smaller the rotating speed of the upper motor is, and the lower the lifting or descending speed of the electric vehicle bucket is. Here, each accelerator pedal signal corresponds to a pre-output rotation speed of the upper motor (which may also be understood as a target rotation speed of the upper motor corresponding to the accelerator pedal signal), and the pre-output rotation speed of the upper motor may be obtained from a motor controller of the upper motor according to the accelerator pedal signal.
S26, determining a motor speed coefficient of the upper motor according to the pre-output torque of the walking motor and the second mapping relation; and the second mapping relation is a corresponding relation between the pre-output torque of the walking motor and the motor speed coefficient of the upper motor.
In the embodiment, in order to associate the control of the upper motor with the control of the traveling motor, and considering that the rotation speed of the upper motor can directly influence the running speed of the electric vehicle bucket, the control of the pre-output rotation speed of the upper motor is associated with the pre-output torque of the traveling motor, that is, the pre-output rotation speed of the upper motor is adjusted according to the pre-output torque of the traveling motor. In the second mapping relation, each pre-output torque of the walking motor corresponds to a motor speed coefficient of the upper-mounted motor. In the second mapping relationship, all the motor rotation speed coefficients of the upper-mounted motor may be set according to actual needs, which is not limited in this embodiment, for example, all the motor rotation speed coefficients of the upper-mounted motor are set to be a number greater than zero and less than or equal to 1.
And S27, determining the required rotating speed of the upper motor according to the pre-output rotating speed of the upper motor and the motor rotating speed coefficient of the upper motor.
Namely, the required rotating speed of the upper motor is determined according to the motor rotating speed coefficient of the upper motor corresponding to the pre-output torque of the walking motor and the pre-output rotating speed of the upper motor. The required rotating speed of the upper motor is the rotating speed required to be output by the upper motor after the pre-output rotating speed of the upper motor is adjusted. This embodiment from this, realized according to the regulation of the output rotational speed in advance of walking motor to the facial make-up motor, realized the control of the output rotational speed in advance of facial make-up motor and the correlation of the output torque in advance of walking motor promptly, facial make-up motor and walking motor independent control have been avoided, make can be according to electric vehicle's the walking condition, control electric vehicle's scraper bowl functioning speed, for example when electric vehicle walks very fast, control electric vehicle's scraper bowl operation can not be too fast, guarantee whole car harmony, be favorable to the driver to carry out the accurate operation, and then guarantee operating efficiency.
And S28, outputting a control signal to a motor controller of the upper motor according to the required rotating speed of the upper motor. The vehicle control unit may output a control signal to the motor controller of the upper motor according to the required rotating speed of the upper motor, and the motor controller of the upper motor controls the upper motor to output the required rotating speed according to the control signal.
On the basis of the foregoing embodiments, optionally, determining the required rotation speed of the upper motor according to the pre-output rotation speed of the upper motor and the motor rotation speed coefficient of the upper motor includes: and determining the required rotating speed of the upper motor according to the product of the pre-output rotating speed of the upper motor and the motor rotating speed coefficient of the upper motor. For example, when the pre-output rotation speed of the upper-mounted motor is represented by N1, the motor rotation speed coefficient of the upper-mounted motor in the second mapping relation is represented by P2, and the required rotation speed of the upper-mounted motor is represented by N2, N2 is N1 · P2.
On the basis of the foregoing embodiments, optionally, determining the motor rotation speed coefficient of the upper mounted motor according to the pre-output torque of the traveling motor and the second mapping relationship includes: when the pre-output torque of the walking motor is smaller than or equal to a preset value, the motor rotating speed coefficient of the upper motor is a constant value; when the pre-output torque of the walking motor is larger than the preset value, the larger the pre-output torque of the walking motor is, the smaller the motor rotating speed coefficient of the upper motor is, the smaller the pre-output torque of the walking motor is, and the larger the motor rotating speed coefficient of the upper motor is; wherein, the motor speed coefficient of the upper motor is more than 0 and less than or equal to 1.
Specifically, when the pre-output torque of the traveling motor is smaller than or equal to the preset value and the pre-output torque of the traveling motor is in a decreasing trend, it is indicated that the traveling speed of the electric vehicle is slow and the shoveling operation may be performed, and at this time, the operation speed of the bucket may not be adjusted according to the torque of the traveling motor. When the pre-output torque of the walking motor is larger than the preset value and the pre-output torque of the walking motor is increased, the electric vehicle is indicated to be possibly in a fast walking state, the running speed of a bucket of the electric vehicle can be greatly reduced, namely the motor rotating speed coefficient of the upper motor is set to be small, so that the situation that the running speed of the bucket is too fast to influence the whole vehicle coordination performance when the electric vehicle walks fast is avoided, and the accurate operation of a driver is facilitated. When the pre-output torque of the walking motor is larger than the preset value and the pre-output torque of the walking motor is in a decreasing trend, the electric vehicle is possibly in a normal walking state or a material shoveling state, the running speed of a bucket of the electric vehicle can be reduced to a smaller extent at the moment, namely the motor rotating speed coefficient of the upper motor is set to be larger, so that the electric vehicle is guaranteed to shovel the material stably at a proper walking speed, the whole vehicle coordination performance is guaranteed, and the accurate operation of a driver is facilitated.
For example, fig. 4 is a graph of a second mapping relationship provided in the embodiment of the present invention, and the second table is a data table corresponding to the second mapping relationship of fig. 4. Referring to fig. 4, the horizontal axis represents the pre-output torque of the traveling motor in (N · m); the vertical axis represents the motor speed coefficient of the upper motor corresponding to the pre-output torque of the walking motor, and the motor speed coefficient is expressed in percentage. In fig. 4, the preset value is 1100(N · m), which can be set according to actual needs, and when the pre-output torque of the walking motor is less than or equal to the preset value, the motor rotation speed coefficient of the upper motor is a constant value, and the constant value is equal to 1; when the pre-output torque of the walking motor is larger than the preset value, the larger the pre-output torque of the walking motor is, the smaller the motor rotating speed coefficient of the upper motor is, the smaller the pre-output torque of the walking motor is, and the larger the motor rotating speed coefficient of the upper motor is; wherein, the motor speed coefficient of the upper motor is more than 0 and less than or equal to 1.
Watch two
In addition, it can be understood that the two schemes of adjusting the pre-output rotation speed of the upper motor according to the pre-output torque of the walking motor and adjusting the pre-output torque of the walking motor according to the pre-output torque of the upper motor provided by the embodiment of the invention can be performed simultaneously, or the pre-output rotation speed of the upper motor according to the pre-output torque of the walking motor can be adjusted after adjusting the pre-output torque of the walking motor according to the pre-output torque of the upper motor as exemplarily shown in fig. 2, but both the two schemes are performed once when the driver steps on the accelerator pedal once, whether performed simultaneously or performed sequentially.
The embodiment of the invention also provides an electric vehicle motor interaction control device. Fig. 5 is a schematic structural diagram of an electric vehicle motor interaction control device according to an embodiment of the present invention. Electric vehicle includes facial make-up motor and walking motor, and referring to fig. 5, electric vehicle motor interaction control device includes:
and the accelerator pedal signal acquisition module 10 is used for acquiring an accelerator pedal signal. And the pre-output torque acquisition module 20 is used for acquiring the pre-output torque of the upper motor and the pre-output torque of the walking motor according to the accelerator pedal signal. The torque coefficient determining module 30 is configured to determine a motor torque coefficient of the walking motor according to the pre-output torque of the upper-mounted motor and the first mapping relation; the first mapping relation is a corresponding relation between the pre-output torque of the upper motor and the motor torque coefficient of the walking motor. And the required torque determining module 40 is used for determining the required torque of the walking motor according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor. And the control module 50 is used for outputting a control signal to a motor controller of the walking motor according to the required torque of the walking motor.
With continued reference to fig. 5, optionally, the electric vehicle motor interaction control device further includes: the pre-output rotating speed obtaining module 60 is configured to obtain a pre-output rotating speed of the upper motor, and the pre-output rotating speed of the upper motor may be obtained by the rotating speed obtaining module 60 according to an accelerator pedal signal. A rotation speed coefficient determining module 70, configured to determine a motor rotation speed coefficient of the upper mounted motor according to the pre-output torque of the traveling motor and the second mapping relationship; and the second mapping relation is a corresponding relation between the pre-output torque of the walking motor and the motor speed coefficient of the upper motor. And a required rotating speed determining module 80, configured to determine a required rotating speed of the upper mounted motor according to the pre-output rotating speed of the upper mounted motor and the motor rotating speed coefficient of the upper mounted motor. The control module 50 is further configured to output a control signal to a motor controller of the upper mounted motor based on a desired speed of the upper mounted motor.
Optionally, the required torque determining module 40 is configured to determine the required torque of the walking motor according to a product of the pre-output torque of the walking motor and a motor torque coefficient of the walking motor. The required rotating speed determining module 80 is configured to determine a required rotating speed of the upper motor according to a product of the pre-output rotating speed of the upper motor and a motor rotating speed coefficient of the upper motor.
The electric vehicle motor interaction control device and the electric vehicle motor interaction control method provided by the embodiment of the invention belong to the same invention concept, can realize the same technical effect, and repeated contents are not repeated herein.
The embodiment of the invention also provides an electric vehicle. Fig. 6 is a schematic structural diagram of an electric vehicle according to an embodiment of the present invention. Referring to fig. 6, the electric vehicle includes a motor controller 1 of a traveling motor, a motor controller 2 of an upper mounted motor, a vehicle control unit 3, and an electric vehicle motor interaction control device 4 according to any of the above technical solutions.
The electric vehicle motor interaction control device 4 receives an accelerator pedal signal from the vehicle control unit 3, or the electric vehicle motor interaction control device 4 may be integrated in the vehicle control unit 3. The motor controller 1 of the walking motor and the motor controller 2 of the upper motor are respectively connected with the whole vehicle controller 3. The motor controller 1 of the walking motor is connected with the walking motor 5, and the motor controller 1 of the walking motor is used for receiving a control signal output by the vehicle control unit 3 or the electric vehicle motor interaction control device 4 to control the walking motor to output a required torque. The motor controller 2 of the upper motor is connected with the upper motor 6, and the motor controller 2 of the upper motor is used for receiving a control signal output by the vehicle control unit 3 or the electric vehicle motor interaction control device 4 to control the upper motor to output a required rotating speed.
The electric vehicle, the electric vehicle motor interaction control device and the electric vehicle motor interaction control method provided by the embodiment of the invention belong to the same invention concept, can realize the same technical effect, and repeated contents are not repeated herein.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An electric vehicle motor interaction control method, characterized in that the electric vehicle comprises a top-loading motor and a walking motor, and the method comprises the following steps:
acquiring an accelerator pedal signal;
acquiring the pre-output torque of the upper motor and the pre-output torque of the walking motor according to the accelerator pedal signal;
determining a motor torque coefficient of the walking motor according to the pre-output torque of the upper motor and a first mapping relation; the first mapping relation is a corresponding relation between a pre-output torque of the upper motor and a motor torque coefficient of the walking motor;
determining the required torque of the walking motor according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor;
and outputting a control signal to a motor controller of the walking motor according to the required torque of the walking motor.
2. The electric vehicle motor interaction control method according to claim 1, wherein determining the required torque of the walking motor according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor comprises:
and determining the required torque of the walking motor according to the product of the pre-output torque of the walking motor and the motor torque coefficient of the walking motor.
3. The electric vehicle motor interaction control method according to claim 1, wherein determining the motor torque coefficient of the travel motor according to the pre-output torque of the upper motor and the first mapping relationship comprises:
the smaller the pre-output torque of the upper motor is, the larger the motor torque coefficient of the walking motor is; the larger the pre-output torque of the upper motor is, the smaller the motor torque coefficient of the walking motor is;
wherein, the motor torque coefficient of the walking motor is more than 0 and less than or equal to 1.
4. The method for controlling motor interaction of an electric vehicle according to claim 1, further comprising, after outputting a control signal to a motor controller of the travel motor according to the required torque of the travel motor:
acquiring the pre-output rotating speed of the upper motor;
determining a motor rotating speed coefficient of the upper motor according to the pre-output torque of the walking motor and a second mapping relation; the second mapping relation is a corresponding relation between the pre-output torque of the walking motor and the motor speed coefficient of the upper motor;
determining the required rotating speed of the upper motor according to the pre-output rotating speed of the upper motor and the motor rotating speed coefficient of the upper motor;
and outputting a control signal to a motor controller of the upper motor according to the required rotating speed of the upper motor.
5. The electric vehicle motor interaction control method according to claim 4, wherein determining the required rotation speed of the upper-mounted motor according to the pre-output rotation speed of the upper-mounted motor and the motor rotation speed coefficient of the upper-mounted motor comprises:
and determining the required rotating speed of the upper motor according to the product of the pre-output rotating speed of the upper motor and the motor rotating speed coefficient of the upper motor.
6. The electric vehicle motor interaction control method of claim 4, wherein determining the motor speed coefficient of the upper-mounted motor according to the pre-output torque of the travel motor and the second mapping relationship comprises:
when the pre-output torque of the walking motor is smaller than or equal to a preset value, the motor rotating speed coefficient of the upper motor is a constant value;
when the pre-output torque of the walking motor is larger than the preset value, the larger the pre-output torque of the walking motor is, the smaller the motor rotation speed coefficient of the upper motor is, the smaller the pre-output torque of the walking motor is, and the larger the motor rotation speed coefficient of the upper motor is;
and the motor rotating speed coefficient of the upper motor is greater than 0 and less than or equal to 1.
7. An electric vehicle motor interaction control device, characterized in that, electric vehicle includes facial make-up motor and walking motor, the device includes:
the accelerator pedal signal acquisition module is used for acquiring an accelerator pedal signal;
the pre-output torque acquisition module is used for acquiring the pre-output torque of the upper motor and the pre-output torque of the walking motor according to the accelerator pedal signal;
the torque coefficient determining module is used for determining a motor torque coefficient of the walking motor according to the pre-output torque of the upper motor and the first mapping relation; the first mapping relation is a corresponding relation between a pre-output torque of the upper motor and a motor torque coefficient of the walking motor;
the required torque determining module is used for determining the required torque of the walking motor according to the pre-output torque of the walking motor and the motor torque coefficient of the walking motor;
and the control module is used for outputting a control signal to a motor controller of the walking motor according to the required torque of the walking motor.
8. The electric vehicle motor interaction control device of claim 7, further comprising:
the pre-output rotating speed acquisition module is used for acquiring the pre-output rotating speed of the upper motor;
the rotating speed coefficient determining module is used for determining a motor rotating speed coefficient of the upper motor according to the pre-output torque of the walking motor and a second mapping relation; the second mapping relation is a corresponding relation between the pre-output torque of the walking motor and the motor speed coefficient of the upper motor;
the required rotating speed determining module is used for determining the required rotating speed of the upper motor according to the pre-output rotating speed of the upper motor and the motor rotating speed coefficient of the upper motor;
the control module is also used for outputting a control signal to a motor controller of the upper motor according to the required rotating speed of the upper motor.
9. The electric vehicle motor interaction control device of claim 8,
the required torque determining module is used for determining the required torque of the walking motor according to the product of the pre-output torque of the walking motor and the motor torque coefficient of the walking motor;
the required rotating speed determining module is used for determining the required rotating speed of the upper motor according to the product of the pre-output rotating speed of the upper motor and the motor rotating speed coefficient of the upper motor.
10. An electric vehicle, characterized by comprising a motor controller of a walking motor, a motor controller of an upper-mounted motor, a vehicle control unit and the electric vehicle motor interaction control device of any one of claims 7-8;
the motor interaction control device of the electric vehicle receives the accelerator pedal signal from the vehicle control unit.
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