CN113844279B - Control method for inhibiting starting shake of electric automobile - Google Patents
Control method for inhibiting starting shake of electric automobile Download PDFInfo
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- CN113844279B CN113844279B CN202111119035.3A CN202111119035A CN113844279B CN 113844279 B CN113844279 B CN 113844279B CN 202111119035 A CN202111119035 A CN 202111119035A CN 113844279 B CN113844279 B CN 113844279B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000002401 inhibitory effect Effects 0.000 title claims description 8
- 230000000670 limiting effect Effects 0.000 claims abstract description 27
- 230000000737 periodic effect Effects 0.000 claims description 14
- 230000002596 correlated effect Effects 0.000 claims description 7
- 230000000452 restraining effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 101100096342 Mus musculus Spdef gene Proteins 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a control method for restraining starting shake of an electric automobile, which relates to the technical field of electric automobiles, and comprises the steps of comparing a current absolute value of a motor rotation speed with a first rotation speed preset value and a second rotation speed preset value to determine whether the motor should enter a speed mode currently or not, setting a target motor rotation speed Spdref according to a gear signal issued by a current whole automobile controller VCU, and obtaining a limiting torque request Tref by limiting an output Spd_out of the speed controller.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a control method for inhibiting starting shake of an electric automobile.
Background
Conventional automobiles generally use an internal combustion engine as power, which accelerates the consumption of limited energy by humans and also causes serious environmental problems. And electric vehicles with zero emission, low heat radiation and low noise are valued and welcome by people. However, in the prior art, due to the influence of the manufacturing precision of gears, splines and other transmission components of the power transmission of the electric automobile, the assembly process and the consistency problem of each component, the electric automobile has a shaking phenomenon when starting, and the comfort of the automobile is seriously reduced.
At present, the following three modes are generally adopted to inhibit shake when an electric automobile starts: 1. adding compensation torque; 2. adding tooth leaning torque; 3. changing a torque loading slope;
1. adding compensation torque: the motor controller MCU obtains the motor rotation speed shaking amount by filtering the motor rotation speeds to different depths, multiplies the shaking amount by a compensation coefficient to obtain compensation torque, and then superposes the compensation torque with the given torque of the whole vehicle controller VCU to inhibit motor shaking. However, the method has the problem that the mutual influence between the filtering parameters and the compensation coefficients is difficult to calibrate, and is not fully applicable to different electric automobiles.
2. Tooth torque: generally, a fixed small torque is applied to a motor according to vehicle gear information so that gears are always tightly meshed, gaps among transmission parts are eliminated, vehicle shake can be reduced to a certain extent, but the motor controller MCU is unstable in small torque output, and the effect of the mode is affected.
3. Changing the torque loading slope: the motor controller MCU is used for changing the torque loading slope during torque reversing so as to reduce vibration caused by impact among transmission parts, and the effect of the mode is influenced if the motor controller MCU is unstable during small torque output.
The three modes generally set the motor controller MCU to be in a torque mode, and the torque control is in open loop control, so that smoothness of the motor speed cannot be guaranteed, and therefore the three modes have the problem that shake when an electric automobile starts cannot be well restrained, and if the motor rotation speed is smooth, shake of the automobile can be effectively restrained.
Disclosure of Invention
The invention aims to solve the defects of three modes in the background technology, and provides a control method for inhibiting starting shake of an electric automobile, which solves the technical problem of shake of the electric automobile in starting.
In order to achieve the above purpose, the invention provides a control method for inhibiting starting shake of an electric automobile, comprising the following steps:
s01: the motor controller MCU collects the current motor rotation speed;
s02: the motor controller MUC receives torque, a brake signal and a gear signal issued by the vehicle controller VCU;
s03: judging whether the motor controller MCU is in a starting state, if so, executing S04, and if not, executing S17;
s04: judging whether the absolute value of the current motor rotating speed is larger than a first rotating speed preset value, if so, executing S05, and if not, executing S17, wherein the first rotating speed preset value is a rotating speed value for starting jitter control;
s05: judging whether the absolute value of the current motor rotation speed is smaller than a second rotation speed preset value, if yes, executing S06, and if not, executing S17, wherein the second rotation speed preset value is a rotation speed value for closing the shake control;
s06: judging whether the brake is stepped on, if not, executing S07, and if so, executing S17;
s07: determining a periodic rotation speed increment spd_cmd according to the torque issued by the vehicle controller VCU, wherein the periodic rotation speed increment spd_cmd is positively correlated with the torque issued by the vehicle controller VCU;
s08: determining an output limiting value spd_torque_max in a speed mode according to the torque issued by the vehicle controller VCU, wherein the output limiting value spd_torque_max is positively correlated with the torque issued by the vehicle controller VCU, and the maximum value of the output limiting value spd_torque_max is the maximum output torque of the motor;
s09: judging whether the current gear is the D gear, if so, executing S11, and if not, executing S10;
s10: judging whether the current gear is R gear, if yes, executing S12, and if not, executing S17;
s11: judging whether the target motor rotating speed Spdref is larger than a second rotating speed preset value, if so, executing S13, and if not, executing S14, wherein the target motor rotating speed Spdref is a simulated given rotating speed entering a speed mode;
s12: judging whether the target rotating speed Spdref of the motor is smaller than the opposite number of the second rotating speed preset value, if yes, executing S16, and if not, executing S15;
s13: setting the target motor rotation speed Spdref to a second rotation speed preset value, and then executing S18;
s14: setting the motor target rotation speed Spdref of the next cycle as the sum of the motor target rotation speed Spdref of the previous cycle and the cycle rotation speed increment spd_cmd, and then executing S18;
s15: setting the motor target rotation speed Spdref of the next cycle as the difference between the motor target rotation speed Spdref of the previous cycle and the cycle rotation speed increment spd_cmd, and then executing S18;
s16: setting the motor target rotation speed Spdref to the opposite number of the second rotation speed preset value, and then executing S18;
s17: setting the motor target rotation speed Spdref as the current motor rotation speed, and then executing S19;
s18: entering a speed mode, and then executing S20;
s19: entering a torque mode, thereby ending the flow;
s20: and limiting the output Spd_out of the speed controller according to the output limiting value spd_torque_max to obtain a limiting torque request Tref, thereby ending the flow.
Optionally, the periodic rotation speed increment spd_cmd and the issuing torque satisfy a linear relation.
Optionally, the periodic rotation speed increment spd_cmd and the issuing torque meet an S-shaped curve relation.
Optionally, the output limiting value spd_torque_max and the issuing torque satisfy a linear relationship.
Optionally, the output limiting value spd_torque_max and the issuing torque meet an S-shaped curve relation.
The invention has the beneficial effects that:
the control method for restraining the starting shake of the electric automobile provided by the embodiment of the invention is characterized in that whether the current motor rotating speed should enter a speed mode or not is determined by comparing the absolute value of the current motor rotating speed with the preset values of the first rotating speed and the second rotating speed, the target rotating speed Spdref of the motor is set according to the gear signal issued by the current whole-vehicle controller VCU, and the limiting torque request Tref is obtained by limiting the output Spd_out of the speed controller.
The features and advantages of the present invention will be described in detail by way of example with reference to the accompanying drawings.
Drawings
Fig. 1 is a flow chart of a control method for suppressing starting shake of an electric vehicle according to an embodiment of the invention;
fig. 2 is a system block diagram of a control method for suppressing starting shake of an electric vehicle according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples for the purpose of facilitating understanding to those skilled in the art.
Referring to fig. 1 and 2, an embodiment of the present invention provides a control method for suppressing starting shake of an electric vehicle, including the following steps:
step S01: the motor controller MCU collects the current motor rotation speed; in this embodiment, the current motor rotation speed is collected by the motor controller MCU, and the collected motor rotation speed is uploaded to the vehicle controller VCU in real time.
Step S02: the motor controller MCU receives torque, a brake signal and a gear signal issued by the whole vehicle controller VCU; specifically, the motor controller MCU receives torque, a brake signal and a gear signal issued by the vehicle controller VCU, and the torque, the brake signal and the gear signal issued by the vehicle controller VCU are determined according to corresponding operations of a driver.
Step S03: judging whether the motor controller MCU is in a starting state, if so, executing a step S04, and if not, executing a step S17; specifically, the vehicle controller VCU determines whether the motor controller MCU is in a starting state, so as to execute subsequent corresponding steps, where the starting state is also called Ready state, which indicates a state that the motor controller MCU of the electric vehicle has been successfully started and can be started at any time.
Step S04: judging whether the absolute value of the current motor rotation speed is larger than a first rotation speed preset value, if so, executing a step S05, and if not, executing a step S17, wherein the first rotation speed preset value is a rotation speed value for starting jitter control; the first rotation speed preset value is selected according to the shaking condition of the real vehicle, and particularly, when the absolute value of the rotation speed of the current motor is smaller than the first rotation speed preset value, the electric vehicle does not have a starting shaking trend yet, and a torque mode is adopted at the moment; if the absolute value of the current motor rotation speed is greater than the first rotation speed preset value, the electric automobile will start to shake, and then enter a speed mode.
Step S05: judging whether the absolute value of the current motor rotation speed is smaller than a second rotation speed preset value, if so, executing a step S06, and if not, executing a step S17, wherein the second rotation speed preset value is a rotation speed value for closing the shake control; the second rotation speed preset value is also selected according to the shaking condition of the real vehicle, and particularly when the absolute value of the rotation speed of the current motor is smaller than the second rotation speed preset value, starting shaking of the electric vehicle occurs, and a speed mode is subsequently entered; if the absolute value of the current motor rotation speed is larger than the preset value of the second rotation speed, the electric automobile cannot shake during starting, and then a torque mode is required to be entered; in addition, the comparison and judgment are performed by the motor controller MCU in this step, and the details are not repeated here.
Step S06: judging whether the brake is stepped on, if not, executing the step S07, and if so, executing the step S17; specifically, the motor controller MCU determines whether the brake is stepped on according to whether a brake signal issued by the vehicle controller VCU is received.
Step S07: determining a periodic rotation speed increment spd_cmd according to the torque issued by the vehicle controller VCU, wherein the periodic rotation speed increment spd_cmd is positively correlated with the torque issued by the vehicle controller VCU; in this embodiment, the periodic rotation speed increment spd_cmd and the torque issued by the vehicle controller VCU satisfy a linear relationship or an S-shaped curve relationship, and in other embodiments, the periodic rotation speed increment spd_cmd and the torque issued by the vehicle controller VCU may also be other curve relationships that are positively correlated, and a person skilled in the art may adjust the periodic rotation speed increment spd_cmd and the torque issued by the vehicle controller VCU according to actual needs, so that the technical solutions for achieving the effect of suppressing starting shake of the motor all belong to the protection scope of the present invention.
Step S08: determining an output limiting value spd_torque_max in a speed mode according to the issued torque of the vehicle controller VCU, wherein the output limiting value spd_torque_max is positively correlated with the issued torque; in this embodiment, a linear relationship or an S-type curve relationship is satisfied between the output limiting value spd_torque_max and the issued torque, and in other embodiments, other curve relationships forming a positive correlation may be also between the output limiting value spd_torque_max and the issued torque, so that a person skilled in the art may adjust the output limiting value spd_torque_max according to actual needs, thereby achieving the technical scheme of inhibiting the starting jitter of the motor.
Step S09: and judging whether the current gear is the D gear, if so, executing a step S11, if not, executing a step S10, specifically, determining whether the electric automobile is currently positioned in the D gear or the R gear according to the received gear signal issued by the whole automobile controller VCU by the motor controller MCU, and then setting the target rotating speed Spdref of the subsequent motor.
Step S10: and judging whether the current gear is the R gear, if so, executing the step S12, if not, executing the step S17, and specifically, determining whether the electric automobile is currently positioned in the D gear or the R gear according to the received gear signal issued by the whole vehicle controller VCU by the motor controller MCU, thereby setting the target rotating speed Spdref of the subsequent motor.
Step S11: and judging whether the target motor rotating speed Spdref is larger than a second rotating speed preset value, if so, executing the step S13, and if not, executing the step S14, wherein the target motor rotating speed Spdref is a simulated given rotating speed entering a speed mode.
Step S12: it is determined whether the motor target rotation speed Spdref is smaller than the inverse number of the second rotation speed preset value, if yes, step S16 is executed, and if no, step S15 is executed.
Step S13: setting the target rotation speed Spdref of the motor to a second rotation speed preset value, and then executing step S18; specifically, when the motor is in the D gear and the target motor speed Spdref is greater than the second preset speed value, the target motor speed Spdref is equal to the second preset speed value, wherein the target motor speed Spdref is used as a reference input of the speed controller, the motor speed is used as a feedback input of the speed controller, and the speed controller obtains the output spd_out of the speed controller after PI control according to the reference input and the feedback input.
Step S14: setting the motor target rotation speed Spdref of the next cycle to be the sum of the motor target rotation speed Spdref of the previous cycle and the cycle rotation speed increment spd_cmd, and then executing step S18; specifically, when the motor target rotation speed Spdref is in the D range and is smaller than the second rotation speed preset value, the motor target rotation speed Spdref is equal to the sum of the motor target rotation speed spdef and the period rotation speed increment spd_cmd in the last period.
Step S15: setting the motor target rotation speed Spdref of the next cycle as the difference between the motor target rotation speed Spdref of the previous cycle and the cycle rotation speed increment spd_cmd, and then executing step S18; specifically, when the target motor speed Spdref is greater than the opposite number of the second preset speed value and is in the R range, the target motor speed Spdref is equal to the difference between the target motor speed Spdref and the periodic speed increment spd_cmd in the previous period.
Step S16: setting the target rotation speed Spdref of the motor to be the opposite number of the second rotation speed preset value, and then executing step S18; specifically, when the R gear is located and the target motor speed Spdref is smaller than the opposite number of the second preset speed value, the target motor speed Spdref is equal to the opposite number of the second preset speed value.
Step S17: setting the motor target rotation speed Spdref to the current motor rotation speed, and then executing step S19; in this embodiment, the motor controller MCU saves the current motor speed in preparation for the next entry into the speed mode. Step S18: entering a speed mode, and then executing step S20; specifically, the shake control switch module controls the motor controller MCU to enter the speed mode with the set target motor speed Spdref mode, so that the motor controller MCU works in a speed closed loop, the motor speed is stable, and shake cannot occur.
Step S19: entering a torque mode, thereby ending the flow; however, the above flow is only a single flow in the control process of suppressing the starting shake of the electric automobile, and can be repeatedly executed in a circulating manner in the starting process of the electric automobile, in addition, when the motor controller MCU works in a torque mode, the torque issued by the whole automobile controller VCU is directly used as the reference input of the torque controller, and then the torque controller module, the FOC module and the inverter module are used for controlling the torque of the motor.
Step S20: and carrying out amplitude limiting processing on the output Spd_out of the speed controller according to the output amplitude limiting value spd_torque_max to obtain an amplitude limiting torque request Tref, wherein the amplitude limiting torque request Tref is used as a reference input of a torque controller, so that the process is ended, but the process is only a single process in a control process for inhibiting starting jitter of the electric automobile, and can be circularly and repeatedly executed in the starting process of the electric automobile.
In summary, the control method for suppressing starting shake of an electric vehicle according to the embodiment of the invention compares the absolute value of the current motor rotation speed with the preset values of the first rotation speed and the second rotation speed to determine whether the current motor should enter a speed mode, sets the target motor rotation speed Spdref according to the gear signal issued by the current vehicle controller VCU, and obtains the limiting torque request Tref by limiting the output spd_out of the speed controller.
The above embodiments are illustrative of the present invention, and not limiting, and any simple modifications of the present invention fall within the scope of the present invention. The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (5)
1. The control method for inhibiting the starting shake of the electric automobile is characterized by comprising the following steps of:
s01: the motor controller MCU collects the current motor rotation speed;
s02: the motor controller MCU receives torque, a brake signal and a gear signal issued by the whole vehicle controller VCU;
s03: judging whether the motor controller MCU is in a starting state, if so, executing S04, and if not, executing S17;
s04: judging whether the absolute value of the current motor rotating speed is larger than a first rotating speed preset value, if so, executing S05, and if not, executing S17, wherein the first rotating speed preset value is a rotating speed value for starting jitter control;
s05: judging whether the absolute value of the current motor rotation speed is smaller than a second rotation speed preset value, if yes, executing S06, and if not, executing S17, wherein the second rotation speed preset value is a rotation speed value for closing the shake control;
s06: judging whether the brake is stepped on, if not, executing S07, and if so, executing S17;
s07: determining a periodic rotation speed increment spd_cmd according to the torque issued by the vehicle controller VCU, wherein the periodic rotation speed increment spd_cmd is positively correlated with the torque issued by the vehicle controller VCU;
s08: determining an output limit value spd_torque_max in a speed mode according to the issued torque of the vehicle controller VCU, wherein the output limit value spd_torque_max is positively correlated with the issued torque, and the maximum value of the output limit value spd_torque_max is the maximum output torque of the motor;
s09: judging whether the current gear is the D gear, if so, executing S11, and if not, executing S10;
s10: judging whether the current gear is R gear, if yes, executing S12, and if not, executing S17;
s11: judging whether the target motor rotating speed Spdref is larger than a second rotating speed preset value, if so, executing S13, and if not, executing S14, wherein the target motor rotating speed Spdref is a simulated given rotating speed entering a speed mode;
s12: judging whether the target rotating speed Spdref of the motor is smaller than the opposite number of the second rotating speed preset value, if yes, executing S16, and if not, executing S15;
s13: setting the target motor rotation speed Spdref to a second rotation speed preset value, and then executing S18;
s14: setting the motor target rotation speed Spdref of the next cycle as the sum of the motor target rotation speed Spdref of the previous cycle and the cycle rotation speed increment spd_cmd, and then executing S18;
s15: setting the motor target rotation speed Spdref of the next cycle as the difference between the motor target rotation speed Spdref of the previous cycle and the cycle rotation speed increment spd_cmd, and then executing S18;
s16: setting the motor target rotation speed Spdref to the opposite number of the second rotation speed preset value, and then executing S18;
s17: setting the motor target rotation speed Spdref as the current motor rotation speed, and then executing S19;
s18: entering a speed mode, and then executing S20;
s19: entering a torque mode, thereby ending the flow;
s20: and limiting the output Spd_out of the speed controller according to the output limiting value spd_torque_max to obtain a limiting torque request Tref, thereby ending the flow.
2. The control method for suppressing a start shake of an electric vehicle according to claim 1, wherein a linear relationship is satisfied between the periodic rotation speed increment spd_cmd and the issuing torque.
3. The control method for suppressing starting jitter of an electric vehicle according to claim 1, wherein the periodic rotation speed increment spd_cmd and the issuing torque satisfy an S-shaped curve relationship.
4. The control method for suppressing the starting jitter of the electric automobile according to claim 1, wherein the output limit value spd_torque_max and the issuing torque satisfy a linear relationship.
5. The control method for suppressing the starting jitter of the electric automobile according to claim 1, wherein the output limit value spd_torque_max and the issuing torque satisfy an S-shaped curve relationship.
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