CN114179626A - SMC crawling control method for electric automobile - Google Patents
SMC crawling control method for electric automobile Download PDFInfo
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- CN114179626A CN114179626A CN202111437215.6A CN202111437215A CN114179626A CN 114179626 A CN114179626 A CN 114179626A CN 202111437215 A CN202111437215 A CN 202111437215A CN 114179626 A CN114179626 A CN 114179626A
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- 230000009193 crawling Effects 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims description 3
- 230000001133 acceleration Effects 0.000 claims abstract description 30
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 6
- 238000001914 filtration Methods 0.000 claims abstract description 4
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000002194 synthesizing effect Effects 0.000 claims description 5
- 210000001258 synovial membrane Anatomy 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation 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
- B60L15/2063—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 creeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—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
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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 Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to the technical field of automobile electronic appliances, in particular to SMC crawling control of an electric automobile, which comprises the following steps of S1, calculating the crawling target speed; and S2, calculating the actual vehicle speed: because the VCU receives noise and interference of the vehicle speed sent by the ABS through the CAN network, the received vehicle speed signal needs to be subjected to Kalman filtering processing, so that the vehicle speed is smoothly output; s3, calculating SMC acceleration torque: calculating creep acceleration torque by using an SMC control algorithm; s4, calculating the vehicle resistance moment; s5, calculating creep request torque: adding the acceleration torque calculated by the SMC and the resistance torque of the whole vehicle to obtain a creep request torque; and S6, calculating the output of the requested torque of the motor end: the creep request torque value is divided by the gear ratio as the motor end request torque. The invention optimizes the influence of the sudden change of the acceleration caused by the change of the synthetic pedal on the driving feeling; the current vehicle speed can be quickly and stably close to the target vehicle speed, and the problems of speed overshoot and response are optimized; the transportability is better, and extra real vehicle calibration is not needed.
Description
Technical Field
The invention relates to the technical field of automobile electronic and electric appliances, in particular to SMC crawling control of an electric automobile.
Background
The creep control function of the electric automobile is to meet the requirement of a driver on low-speed running and controllability, and the faster the speed is, the more stable the speed is, the closer the target speed is, the better the control algorithm is. Most of the current crawling is based on PI control, the problems of speed overshoot and slow response exist, and the calculation amount of a PI acceleration control algorithm is large. SMC crawling control based on the target vehicle speed can improve the problems of speed overshoot and speed response, so that the vehicle speed can be more quickly and stably close to the target vehicle speed, and the driving feeling is improved; meanwhile, the calculation load of the main control chip is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide SMC crawling control of an electric vehicle, which can solve the problems of vehicle speed overshoot and slow response based on the SMC crawling control of a target vehicle speed, so that the vehicle speed is quickly and stably close to the target vehicle speed, and the driving feeling is improved; meanwhile, the calculation load of the main control chip is reduced.
In order to realize the purpose of the invention, the invention adopts the technical scheme that:
the invention discloses SMC crawling control of an electric automobile, which comprises the following steps of,
s1, calculating the crawling target vehicle speed: synthesizing an opening value (-100% -100%) of an accelerator pedal and a brake pedal acquired by a VCU, wherein-100% -0% is the opening of the brake pedal, and 0% -100% is the opening of the accelerator pedal, and obtaining a corresponding creep target vehicle speed under the current synthesized pedal opening according to a table look-up of the synthesized pedal opening;
and S2, calculating the actual vehicle speed: because the VCU receives noise and interference of the vehicle speed sent by the ABS through the CAN network, the received vehicle speed signal needs to be subjected to Kalman filtering processing, so that the vehicle speed is smoothly output;
s3, calculating SMC acceleration torque: calculating creep acceleration torque by using an SMC control algorithm;
s4, calculating the vehicle resistance moment;
s5, calculating creep request torque: adding the acceleration torque calculated by the SMC and the resistance torque of the whole vehicle to obtain a creep request torque;
and S6, calculating the output of the requested torque of the motor end: the creep request torque value is divided by the gear ratio as the motor end request torque.
The SMC acceleration torque calculation in the step S3 comprises
Calculation of SMC synovial membrane switching function: the creep target vehicle speed V obtained by synthesizing the pedal opening degreeTargThe difference value between the current actual vehicle speed V and the current actual vehicle speed V is used as the switching function of the variable structure of the SMC control, and the switching function is as follows: S-VTarg；
Calculating the SMC approaching rate: selecting an exponential approach rate and a constant speed approach rate to enable the vehicle speed to approach a target value quickly and stably, wherein the approach rate function is as follows:
wherein k is1、k1And alpha are both coefficients greater than 0;
and (3) calculating the acceleration torque: the acceleration request torque can be obtained according to the approach rate function as follows: t isAcc＝mr(-k1tanh(S)-k2|S|αtan h (S)), wherein m is the whole vehicle mass and r is the wheel radius.
In step S4, the vehicle resistance includes rolling resistance, wind resistance and ramp resistance, and the vehicle resistance is calculated as follows
Multiplying the whole vehicle resistance by the wheel radius to obtain the whole vehicle resistance moment, wherein mu is the rolling resistance coefficient, g is the middle force acceleration, CdIs the wind resistance coefficient, A is the windward area, V is the vehicle speed, and theta is the gradient.
The invention has the beneficial effects that:
(1) the invention optimizes the influence of the sudden change of the acceleration caused by the change of the synthetic pedal on the driving feeling;
(2) the invention can make the current vehicle speed approach the target vehicle speed quickly and stably, and optimize the problems of speed overshoot and response;
(3) the invention has better transportability and does not need additional real vehicle calibration.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic diagram of a PI-based creep control for an electric vehicle according to the present invention;
FIG. 3 is a schematic diagram of SMC-based creep control for an electric vehicle according to the present invention.
Detailed Description
The invention is further illustrated below:
referring to figures 1-3 of the drawings,
the invention discloses SMC crawling control of an electric automobile, which comprises the following steps of,
s1, in the driving mode, the VCU collects signals of the current opening degree of an accelerator pedal and the current opening degree of a brake pedal of the vehicle through hard wires, synthesizes the accelerator pedal and the brake pedal into an opening degree value (-100% -100%) after D/A conversion is carried out, and obtains the target speed of D/R gear crawling according to a table 1 of the synthesized opening degree of the pedal;
TABLE 1
| Opening degree of second and first pedals [% ] | -25 | -20 | -10 | -5 | 0 | 1 |
| D-gear crawling target vehicle speed (Km/h) | 0 | 2 | 3 | 4 | 6 | 6 |
| R-gear crawling target vehicle speed (Km/h) | 0 | 0 | 2 | 3 | 4 | 4 |
And S2, calculating the actual vehicle speed: because the VCU receives noise and interference of the vehicle speed sent by the ABS through the CAN network, the received vehicle speed signal needs to be subjected to Kalman filtering processing, so that the vehicle speed is smoothly output;
s3, calculating SMC acceleration torque: calculating creep acceleration torque by using an SMC control algorithm;
s4, calculating the vehicle resistance moment;
s5, calculating creep request torque: adding the acceleration torque calculated by the SMC and the resistance torque of the whole vehicle to obtain a creep request torque;
and S6, calculating the output of the requested torque of the motor end: the creep request torque value is divided by the gear ratio as the motor end request torque.
The SMC acceleration torque calculation in the step S3 comprises
Calculation of SMC synovial membrane switching function: the creep target vehicle speed V obtained by synthesizing the pedal opening degreeTargThe difference value between the current actual vehicle speed V and the current actual vehicle speed V is used as the switching function of the variable structure of the SMC control, and the switching function is as follows: S-VTarg；
Calculating the SMC approaching rate: selecting an exponential approach rate and a constant speed approach rate to enable the vehicle speed to approach a target value quickly and stably, wherein the approach rate function is as follows:
wherein k is1、k1And alpha are both coefficients greater than 0;
and (3) calculating the acceleration torque: according toThe approach rate function yields an acceleration request torque of: t isAcc＝mr(-k1tanh(S)-k2|S|αtan h (S)), wherein m is the whole vehicle mass and r is the wheel radius.
In step S4, the vehicle resistance includes rolling resistance, wind resistance and ramp resistance, and the vehicle resistance is calculated as follows
Multiplying the whole vehicle resistance by the wheel radius to obtain the whole vehicle resistance moment, wherein mu is the rolling resistance coefficient, g is the middle force acceleration, CdIs the wind resistance coefficient, A is the windward area, V is the vehicle speed, and theta is the gradient.
Example (b):
as shown in fig. 2 and 3, for a simulation comparison graph of a certain electric automobile based on PI creep control and SMC creep control,
FIG. 2 is PI creep control, and it can be seen that the overall torque is smoother, the speed has a smaller overshoot problem, and the acceleration has larger fluctuation when the brake pedal is released at the 70 th time, so that the driving feeling is influenced;
FIG. 3 shows SMC creep control, which has smooth overall torque variation, fast and smooth speed approaching the target vehicle speed, and smooth acceleration at 70s when the brake pedal is released.
Therefore, the SMC crawling control optimizes the influence of the sudden acceleration change caused by the change of the synthetic pedal on the driving feeling; the current vehicle speed can be quickly and stably close to the target vehicle speed, and the problems of speed overshoot and response are optimized; the transportability is better, and extra real vehicle calibration is not needed.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent modifications made by the present invention and the contents of the drawings or directly or indirectly applied to the related technical fields are included in the scope of the present invention.
Claims (3)
1. The SMC crawling control method for the electric automobile is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
s1, calculating the crawling target vehicle speed: synthesizing an opening value (-100% -100%) of an accelerator pedal and a brake pedal acquired by a VCU, wherein-100% -0% is the opening of the brake pedal, and 0% -100% is the opening of the accelerator pedal, and obtaining a corresponding creep target vehicle speed under the current synthesized pedal opening according to a table look-up of the synthesized pedal opening;
and S2, calculating the actual vehicle speed: because the VCU receives noise and interference of the vehicle speed sent by the ABS through the CAN network, the received vehicle speed signal needs to be subjected to Kalman filtering processing, so that the vehicle speed is smoothly output;
s3, calculating SMC acceleration torque: calculating creep acceleration torque by using an SMC control algorithm;
s4, calculating the vehicle resistance moment;
s5, calculating creep request torque: adding the acceleration torque calculated by the SMC and the resistance torque of the whole vehicle to obtain a creep request torque;
and S6, calculating the output of the requested torque of the motor end: the creep request torque value is divided by the gear ratio as the motor end request torque.
2. An SMC creep control of an electric vehicle according to claim 1, wherein: the SMC acceleration torque calculation in the step S3 comprises
Calculation of SMC synovial membrane switching function: the creep target vehicle speed V obtained by synthesizing the pedal opening degreeTargThe difference value between the current actual vehicle speed V and the current actual vehicle speed V is used as the switching function of the variable structure of the SMC control, and the switching function is as follows: S-VTarg；
Calculating the SMC approaching rate: selecting an exponential approach rate and a constant speed approach rate to enable the vehicle speed to approach a target value quickly and stably, wherein the approach rate function is as follows:
wherein k is1、k1And alpha are both coefficients greater than 0;
and (3) calculating the acceleration torque: the acceleration request torque can be obtained according to the approach rate function as follows: t isAcc＝mr(-k1tanh(S)-k2|S|αtan h (S)), wherein m isAnd (4) the whole vehicle mass, wherein r is the radius of the wheel.
3. An SMC creep control of an electric vehicle according to claim 1, wherein: in step S4, the vehicle resistance includes rolling resistance, wind resistance and ramp resistance, and the vehicle resistance is calculated as follows
Multiplying the whole vehicle resistance by the wheel radius to obtain the whole vehicle resistance moment, wherein mu is the rolling resistance coefficient, g is the middle force acceleration, CdIs the wind resistance coefficient, A is the windward area, V is the vehicle speed, and theta is the gradient.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111437215.6A CN114179626A (en) | 2021-11-29 | 2021-11-29 | SMC crawling control method for electric automobile |
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| CN202111437215.6A CN114179626A (en) | 2021-11-29 | 2021-11-29 | SMC crawling control method for electric automobile |
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