CN113844280A - Control method for inhibiting crawling starting shake of electric automobile - Google Patents
Control method for inhibiting crawling starting shake of electric automobile Download PDFInfo
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- CN113844280A CN113844280A CN202111119197.7A CN202111119197A CN113844280A CN 113844280 A CN113844280 A CN 113844280A CN 202111119197 A CN202111119197 A CN 202111119197A CN 113844280 A CN113844280 A CN 113844280A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000009193 crawling Effects 0.000 title claims abstract description 20
- 230000002401 inhibitory effect Effects 0.000 title claims abstract description 14
- 230000000737 periodic effect Effects 0.000 claims description 4
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- 238000002485 combustion reaction Methods 0.000 description 2
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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)
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- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a control method for inhibiting creep starting jitter of an electric automobile, which relates to the technical field of electric automobiles. For the technical problem that the electric automobile has crawling starting jitter in the prior art, the control method for inhibiting the crawling starting jitter of the electric automobile can enable the motor controller MCU to enter a corresponding speed mode according to different conditions in crawling starting, so that the motor rotating speed is stable, the crawling starting jitter of the electric automobile is effectively inhibited, and in addition, the control method can be executed circularly and has the advantages of real time and high efficiency.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a control method for inhibiting crawling starting jitter of an electric automobile.
Background
The conventional automobile usually adopts an internal combustion engine as power, and the internal combustion engine accelerates the consumption of limited energy of human beings and also causes serious environmental problems. And the electric automobile with zero emission, low heat radiation and low noise is valued and welcomed by people. However, in the prior art, due to the influence of the manufacturing precision, the assembly process and the consistency problem of each part of the gear, the spline and other transmission parts of the power transmission of the electric automobile, the electric automobile has a shaking phenomenon during creep starting, and the comfort of the automobile is seriously reduced.
At present, the following three ways are generally adopted to inhibit the shake of the electric automobile during creep starting: 1. adding a compensation torque; 2. applying a tooth torque; 3. changing a torque loading slope;
1. adding a compensation torque: generally, a motor controller MCU obtains a motor rotating speed jitter amount by filtering the motor rotating speed at different depths and then solving a difference value, then multiplies the jitter amount by a compensation coefficient to obtain a compensation torque, and then superposes the compensation torque and the given torque of a VCU of a vehicle control unit to inhibit the motor jitter. However, the method has the problem that mutual influence between the filter parameter and the compensation coefficient is difficult to calibrate, and is not completely applicable to different electric automobiles.
2. Apply tooth torque: usually, a fixed small torque is applied to the motor according to the gear information of the vehicle, so that the gears are always tightly meshed, gaps among transmission parts are eliminated, and vehicle vibration can be reduced to a certain extent.
3. Change torque loading ramp rate: the method is generally used for changing the torque loading slope during torque reversing so as to reduce the vibration caused by impact between parts of the transmission, and the effect of the method is influenced if the motor controller MCU is unstable during small torque output.
The three modes usually set the motor controller MCU in a torque mode, and the torque control is open-loop control, so that the smoothness of the motor speed cannot be guaranteed, and thus the three modes have a problem that the vibration of the electric vehicle during creep start cannot be well suppressed, and the vibration of the vehicle can be effectively suppressed if the motor speed is smooth.
Disclosure of Invention
The invention aims to overcome the defects of three modes in the background technology, provides a control method for inhibiting the crawling starting shake of an electric automobile, and solves the technical problem that the electric automobile shakes during crawling starting.
In order to achieve the purpose, the invention provides a control method for inhibiting the crawling starting shake of an electric automobile, which comprises the following steps of:
s01: the motor controller MCU acquires the current motor rotating speed;
s02: the motor controller MCU receives torque, brake signals and gear signals transmitted by the VCU;
s03: judging whether the motor controller MCU is in a starting state, if so, executing S04, and if not, executing S18;
s04: judging whether the absolute value of the current motor rotating speed is greater than a first rotating speed preset value, if so, executing S05, and if not, executing S18, 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 rotating speed is smaller than a second rotating speed preset value, if so, executing S06, and if not, executing S18, wherein the second rotating speed preset value is a rotating speed value for closing jitter control;
s06: judging whether the brake is pressed down or not according to the brake signal, if not, executing S07, and if so, executing S18;
s07: judging whether the current gear is the D gear, if so, executing S09, and if not, executing S08;
s08: judging whether the current gear is the R gear, if so, executing S10, and if not, executing S18;
s09: judging whether the target rotating speed Spdref of the motor is greater than a second rotating speed preset value, if so, executing S11, and if not, executing S12, wherein the target rotating speed Spdref of the motor is a simulated given rotating speed entering a speed mode;
s10: judging whether the target rotating speed Spdref of the motor is smaller than the opposite number of the second rotating speed preset value, if so, executing S14, and if not, executing S13;
s11: setting the target rotating speed Spdref of the motor as a second rotating speed preset value, and then executing S15;
s12: setting the target rotating speed of the motor Spdref of the next period as the sum of the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing S15;
s13: setting the target rotating speed of the motor Spdref of the next period as the difference between the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing S15;
s14: setting the target rotating speed Spdref of the motor as the opposite number of the preset second rotating speed value, and then executing S15;
s15: entering a speed mode;
s16: carrying out amplitude limiting on the speed controller output Spd _ out according to the creep torque to obtain an amplitude limiting torque request Tref, wherein the creep torque is the maximum torque value of the vehicle during creep;
s17: judging whether the torque issued by the VCU of the vehicle controller is larger than the creep torque, if not, ending the process, and if so, executing S18;
s18: setting the target motor rotating speed Spdref as the current motor rotating speed, and then executing S19;
s19: the torque mode is entered, thereby ending the flow.
Optionally, the periodic speed increment spd _ cmd is obtained according to creep torque and real vehicle calibration.
Optionally, the first preset rotating speed value is determined according to the shaking condition of the real vehicle.
Optionally, the second preset rotation speed value is determined according to the actual vehicle shaking condition.
Optionally, the target motor speed Spdref is used as a reference input of the speed controller, and the motor speed is used as a feedback input of the speed controller.
Optionally, the clipping torque request Tref is used as a torque controller reference input.
The invention has the beneficial effects that:
the control method for inhibiting the creep start jitter of the electric automobile comprises the steps of comparing a current absolute value of the rotating speed of a motor with first and second preset rotating speed values to determine whether the motor should enter a speed mode currently, generating a target rotating speed Spdref of the motor according to a gear signal issued by a current vehicle control unit VCU, carrying out amplitude limiting on an output Spd _ out of a speed controller according to creep torque to obtain an amplitude limiting torque request Tref, and enabling a motor controller MCU to exit the speed mode when a downlink torque is larger than the creep torque. For the technical problem that the electric automobile has crawling starting jitter in the prior art, the control method for inhibiting the crawling starting jitter of the electric automobile can enable the motor controller MCU to enter a corresponding speed mode according to different conditions in crawling starting, so that the rotating speed of the motor is stable, the crawling starting jitter of the electric automobile is effectively inhibited, and in addition, the control method can be executed circularly and has the advantages of real time and high efficiency.
The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flow chart of a control method for suppressing creep start 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 creep start judder of an electric vehicle according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail below with reference to specific examples in order to facilitate understanding by those skilled in the art.
Referring to fig. 1 and fig. 2, an embodiment of the invention provides a control method for suppressing creep start shake of an electric vehicle, including the following steps:
step S01: the motor controller MCU acquires the current motor rotating speed; in this embodiment, the current motor speed is acquired through the MCU, and the acquired motor speed is uploaded to the VCU, or in other embodiments, the current motor speed may be acquired only and not uploaded.
Step S02: the motor controller MCU receives torque, brake signals and gear signals transmitted by the VCU; specifically, the torque, the brake signal and the gear signal transmitted by the vehicle control unit VCU are determined according to the corresponding driving intention of the driver.
Step S03: judging whether the motor controller MCU is in a starting state, if so, executing step S04, otherwise, executing step S18; specifically, whether the motor controller MCU is in a starting state is judged through the vehicle control unit VCU, so as to execute subsequent corresponding steps, wherein the starting state is also called as Ready state, which indicates that the motor controller MCU of the electric vehicle has been started successfully, and can be started at any time.
Step S04: judging whether the absolute value of the current motor rotating speed is greater than a first rotating speed preset value, if so, executing step S05, and if not, executing step S18, wherein the first rotating speed preset value is a rotating speed value for starting jitter control; the first preset rotating speed value needs to be determined according to the shaking condition of the real vehicle, specifically, when the absolute value of the rotating speed of the current motor is smaller than the first preset rotating speed value, the electric vehicle does not have the tendency of creeping starting shaking, and a torque mode is adopted at the moment; if the absolute value of the current motor rotating speed is larger than the first rotating speed preset value, the electric vehicle is driven, the creep starting jitter tendency of the electric vehicle occurs, and then the electric vehicle enters a speed mode.
Step S05: judging whether the absolute value of the current motor rotating speed is smaller than a second rotating speed preset value, if so, executing step S06, and if not, executing step S18, wherein the second rotating speed preset value is a rotating speed value for closing the shaking control; the second preset rotating speed value also needs to be selected according to the shaking condition of the real vehicle, specifically, when the absolute value of the rotating speed of the current motor is smaller than the second preset rotating speed value, the electric vehicle can have a crawling starting shaking trend, and then the electric vehicle enters a speed mode; if the absolute value of the current motor rotating speed is larger than the second rotating speed preset value, the electric automobile is driven, the electric automobile does not creep, starts and shakes, and then enters a torque mode; in addition, the comparison and judgment are performed through the vehicle control unit VCU or the motor controller MCU in this step, which is not described herein again.
Step S06: judging whether the brake is pressed according to the brake signal, if not, executing the step S07, and if so, executing the step S18; specifically, the motor controller MCU determines whether the brake is pressed according to whether a brake signal issued by the vehicle control unit VCU is received.
Step S07: judging whether the current gear is the D gear, if so, executing the step S09, and if not, executing the step S08; specifically, the motor controller MCU determines whether the electric vehicle is currently in the D-gear or the R-gear according to a received gear signal transmitted by the vehicle control unit VCU, and then performs subsequent setting on the target rotating speed Spdref of the motor.
Step S08: judging whether the current gear is the R gear, if so, executing the step S10, and if not, executing the step S18; specifically, the motor controller MCU determines whether the electric vehicle is currently in the D-gear or the R-gear according to the received gear signal transmitted by the vehicle control unit VCU, so as to set the target rotation speed Spdref of the subsequent motor.
Step S09: judging whether the target rotating speed Spdref of the motor is greater than a second rotating speed preset value, if so, executing a step S11, and if not, executing a step S12, wherein the target rotating speed Spdref of the motor is a simulated given rotating speed entering a speed mode; specifically, when the electric vehicle is currently in the D range, the target rotation speed Spdref of the motor is determined from the second preset rotation speed value, so as to set the subsequent target rotation speed Spdref of the motor.
Step S10: judging whether the target rotating speed Spdref of the motor is smaller than the opposite number of the preset second rotating speed value, if so, executing step S14, and if not, executing step S13; when the electric vehicle is currently in the R gear, the purpose of this step is as described above, and will not be described herein.
Step S11: setting the target rotating speed Spdref of the motor as a second rotating speed preset value, and then executing a step S15; specifically, when the gear D is in the D gear and the target rotating speed Spdref of the motor is greater than the second rotating speed preset value, the target rotating speed Spdref of the motor is set as the second rotating speed preset value, and then the speed mode is entered, wherein the target rotating speed Spdref of the motor is used as the reference input of the speed controller, the rotating speed of the motor is used as the 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 S12: setting the target rotating speed of the motor Spdref of the next period as the sum of the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing step S15; specifically, the periodic rotation speed increment spd _ cmd is obtained according to creep torque and real vehicle calibration, and when the gear D is located and the target rotation speed Spdref of the motor is smaller than the second rotation speed preset value, the target rotation speed Spdref of the motor is set to be the sum of the target rotation speed Spdref of the motor in the previous period and the periodic rotation speed increment spd _ cmd.
Step S13: setting the target rotating speed of the motor Spdref of the next period as the difference between the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing step S15; specifically, when the gear R is located and the target rotation speed Spdref of the motor is greater than the inverse number of the second preset rotation speed value, the target rotation speed Spdref of the motor is set as the difference between the target rotation speed Spdref of the motor in the previous cycle and the cycle rotation speed increment spd _ cmd.
Step S14: setting the target rotating speed Spdref of the motor as the opposite number of the preset second rotating speed value, and then executing the step S15; specifically, when the target rotation speed Spdref is lower than the second preset rotation speed value, the target rotation speed Spdref is set to be the second preset rotation speed value.
Step S15: entering a speed mode; specifically, the jitter control switch module controls the motor controller MCU to enter the speed mode of the set motor target rotating speed Spdref mode, so that the motor controller MCU works in a speed closed loop, the rotating speed of the motor is stable, and jitter cannot occur.
Step S16: carrying out amplitude limiting on the speed controller output Spd _ out according to the creep torque to obtain an amplitude limiting torque request Tref; the limited torque request Tref is used as a torque controller reference input, and the creep torque is a maximum torque value when the vehicle creeps.
Step S17: judging whether the torque issued by the VCU of the vehicle controller is larger than the creep torque, if not, ending the process, and if so, executing a step S18; specifically, when the torque issued by the VCU of the vehicle controller is greater than the creep torque, the motor controller MCU immediately exits the speed mode and enters the torque mode, so that the creep starting is finished, and when the torque issued by the VCU of the vehicle controller is less than the creep torque, the amplitude limiting torque request Tref is used as the reference input of the torque controller to finish the process.
Step S18: setting the target motor speed Spdref as the current motor speed, and then executing step S19; in this embodiment, the motor controller MCU saves the current motor speed in preparation for entering the speed mode next time. In other embodiments, the motor controller MCU directly saves the current motor speed.
Step S19: and when the motor controller MCU works in the torque mode, the VCU of the vehicle control unit issues torque to be directly used as reference input of the torque controller, and the torque controller VCU controls the torque of the motor after passing through the torque controller module, the FOC module and the inverter module.
In summary, in the control method for suppressing the creep start jitter of the electric vehicle according to the embodiment of the present invention, the absolute value of the current motor rotation speed is compared with the first and second preset rotation speed values to determine whether the speed mode should be entered currently, the target motor rotation speed Spdref is generated according to the gear signal issued by the vehicle control unit VCU, the output Spd _ out of the speed controller is limited according to the creep torque to obtain the limited torque request Tref, and when the torque issued by the VCU is greater than the creep torque, the MCU exits the speed mode. For the technical problem that the electric automobile has crawling starting jitter in the prior art, the control method for inhibiting the crawling starting jitter of the electric automobile can enable the motor controller MCU to enter a corresponding speed mode according to different conditions in crawling starting, so that the rotating speed of the motor is stable, the crawling starting jitter of the electric automobile is effectively inhibited, and in addition, the control method can be executed circularly and has the advantages of real time and high efficiency.
The above embodiments are illustrative of the present invention, and are not intended to limit the present invention, and any simple modifications of the present invention are 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 embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (6)
1. A control method for inhibiting the crawling starting shake of an electric automobile is characterized by comprising the following steps:
s01: the motor controller MCU acquires the current motor rotating speed;
s02: the motor controller MCU receives torque, brake signals and gear signals transmitted by the VCU;
s03: judging whether the motor controller MCU is in a starting state, if so, executing S04, and if not, executing S18;
s04: judging whether the absolute value of the current motor rotating speed is greater than a first rotating speed preset value, if so, executing S05, and if not, executing S18, 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 rotating speed is smaller than a second rotating speed preset value, if so, executing S06, and if not, executing S18, wherein the second rotating speed preset value is a rotating speed value for closing jitter control;
s06: judging whether the brake is pressed down or not according to the brake signal, if not, executing S07, and if so, executing S18;
s07: judging whether the current gear is the D gear, if so, executing S09, and if not, executing S08;
s08: judging whether the current gear is the R gear, if so, executing S10, and if not, executing S18;
s09: judging whether the target rotating speed Spdref of the motor is greater than a second rotating speed preset value, if so, executing S11, and if not, executing S12, wherein the target rotating speed Spdref of the motor is a simulated given rotating speed entering a speed mode;
s10: judging whether the target rotating speed Spdref of the motor is smaller than the opposite number of the second rotating speed preset value, if so, executing S14, and if not, executing S13;
s11: setting the target rotating speed Spdref of the motor as a second rotating speed preset value, and then executing S15;
s12: setting the target rotating speed of the motor Spdref of the next period as the sum of the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing S15;
s13: setting the target rotating speed of the motor Spdref of the next period as the difference between the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing S15;
s14: setting the target rotating speed Spdref of the motor as the opposite number of the preset second rotating speed value, and then executing S15;
s15: entering a speed mode;
s16: carrying out amplitude limiting on the speed controller output Spd _ out according to the creep torque to obtain an amplitude limiting torque request Tref, wherein the creep torque is the maximum torque value of the vehicle during creep;
s17: judging whether the torque issued by the VCU of the vehicle controller is larger than the creep torque, if not, ending the process, and if so, executing S18;
s18: setting the target motor rotating speed Spdref as the current motor rotating speed, and then executing S19;
s19: the torque mode is entered, thereby ending the flow.
2. The control method for inhibiting the creep start shaking of the electric vehicle as claimed in claim 1, wherein the periodic speed increment spd _ cmd is obtained according to creep torque and actual vehicle calibration.
3. The control method for inhibiting the creep start shaking of the electric automobile according to claim 1, wherein the first preset rotating speed value is determined according to the shaking condition of the real automobile.
4. The control method for inhibiting the creep start shaking of the electric automobile according to claim 1, wherein the second preset rotating speed value is determined according to the shaking condition of the real automobile.
5. The control method for suppressing the creep start judder of the electric vehicle as claimed in claim 1, wherein the motor target rotating speed Spdref is used as a reference input of the speed controller, and the motor rotating speed is used as a feedback input of the speed controller.
6. The control method for suppressing creep start judder in electric vehicles according to claim 1, characterized in that the limited torque request Tref is used as a torque controller reference input.
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