CN114312784B - Electric drive anti-slip protection control method based on TCS working condition of whole vehicle - Google Patents

Electric drive anti-slip protection control method based on TCS working condition of whole vehicle Download PDF

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Publication number
CN114312784B
CN114312784B CN202111440451.3A CN202111440451A CN114312784B CN 114312784 B CN114312784 B CN 114312784B CN 202111440451 A CN202111440451 A CN 202111440451A CN 114312784 B CN114312784 B CN 114312784B
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torque
electric drive
tcs
slip
whole vehicle
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CN114312784A (en
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申启乡
郑青矾
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Hefei JEE Power System Co Ltd
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Hefei JEE Power System Co Ltd
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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 invention discloses an electric drive anti-slip protection control method based on the TCS working condition of a whole vehicle, which comprises the following steps: the whole vehicle data acquisition module acquires the data information of the speed and the rotating speed of the whole vehicle and transmits the data information to the TCS function enabling module and the electric drive slip limit torsion control module through the CAN bus; the TCS function enabling module judges whether TCS function intervention is needed in the current working condition according to the whole vehicle data information; and the electric drive slipping torque limiting control module judges whether the electric drive system intervenes in torque limiting adjustment according to the TCS enabling signal, and the torque limiting protection strategy of the electric drive system intervenes in torque adjustment when the TCS function is enabled. The invention adopts electric drive to actively adjust the torque in cooperation with the TCS working condition, ensures the driving comfort under the slip working condition, can quickly and effectively adjust the torque according to the slip actual working condition, protects the electric drive system in time, and prevents the phenomenon of overcurrent of the electric drive system caused by overlarge rotation speed change rate.

Description

Electric drive anti-slip protection control method based on TCS working condition of whole vehicle
Technical Field
The invention relates to the field of electric drive anti-slip protection, in particular to an electric drive anti-slip protection control method based on the TCS working condition of a whole vehicle.
Background
With the continuous breakthrough and innovation of new energy automobile technology, more and more of the technology tends to be mature and popular, and the technology obtains acceptance of users and society, and the installed quantity of the technology is increased year by year. The new energy automobile is focused by users in driving comfort, safety, economy and the like.
When the pure electric new energy automobile runs on a normal road, the whole driving force of the pure electric new energy automobile is related to the output torque of an electric driving system and the reduction ratio of a speed reducer, and has a great relationship with the ground adhesion force; when the ground adhesion force is large enough, the output torque of the electric drive system can be utilized to the greatest extent, and when the adhesion coefficient is smaller, the vehicle is easy to slip, so that the driving comfort of the whole vehicle is affected, and especially, the safety of the electric drive system is easy to control when the vehicle is emptied, so that the safety is greatly threatened. In the prior art, a Traction Control System (TCS) is mainly adopted to ensure that the whole vehicle obtains optimal traction control performance under various working conditions, the mode is mainly that the driving stability of the whole vehicle is ensured by detecting the wheel speeds and steering angles of four wheels of the whole vehicle, judging the speed difference between a driving wheel and a non-driving wheel and the wheel speed difference between left and right wheels of the driving wheel of the whole vehicle to control traction force output, and then transmitting a torque command through a VCU to control the output capacity of an electric driving system.
However, in the whole vehicle control system, the TCS control technology is adopted, and compared with the power output source (electric drive system), the single TCS control speed is slower, if the single TCS control speed is directly controlled by the electric drive system in a direct response manner, the corresponding effect is more obvious, but the defects of the whole vehicle control system can cause the uncontrollability of part of torque and the driving comfort of the whole vehicle to be reduced. Aiming at the pure electric new energy automobile, the method has the following defects:
1. the torque adjustment time is too long under the condition that the whole vehicle slips, and the quick response of the torque cannot be met;
2. under the condition of inaccurate estimation of the ground attachment coefficient, the adjustment accuracy of the required torque cannot be met;
3. the control of the electric drive system cannot be effectively protected under the working condition of load throwing.
Disclosure of Invention
The invention aims at: in view of the problems, the invention provides an electric drive anti-slip protection control method based on a whole vehicle TCS working condition, which mainly aims at controlling the smoothness of the power output of the whole vehicle and the safety of an electric drive system by adopting a TCS and electric drive system driving torque limiting method under the working conditions of the whole vehicle of full throttle starting on a wet road surface, a snowfield road surface, a low adhesion road surface and the driving wheel slipping of a full throttle impact deceleration strip working condition.
The technical scheme of the invention is as follows:
the electric drive anti-slip protection control method based on the TCS working condition of the whole vehicle comprises the following steps:
s1, a whole vehicle data acquisition module acquires the speed and rotation speed data information of the whole vehicle and transmits the speed and rotation speed data information to a TCS function enabling module and an electric drive slip torque limiting control module of the whole vehicle through a CAN bus;
s2, a TCS function enabling module judges whether TCS function intervention is needed in the current working condition according to the whole vehicle data information and outputs a function validity flag bit of the TCS function enabling module;
s3, the electric drive slipping torque limiting control module judges whether the electric drive system intervenes in torque limiting adjustment according to the TCS enabling signal, and when the TCS function is enabled, the electric drive system torque limiting protection strategy intervenes and carries out torque adjustment.
Preferably, the method further comprises the steps of: s4, a slip torque limit sign removing module judges whether the slip torque limit sign bit needs to be removed or not, and further feeds back to an electric drive slip torque limit control module.
Preferably, in step S3, the torque limiting protection strategy of the electric drive system intervenes and performs torque adjustment, and the method includes the steps of:
s301, calculating the change rate of the motor rotation speed by adopting motor rotation speed information fed back by a whole vehicle data acquisition module through an electric drive slip limit module
S302, judging the change rate of the motor rotation speedWhether the torque is larger than a certain limit value NLimit or not, if not, the command torque is not limited; if yes, further judging the rotation speed change rate +.>Whether the torque is larger than a set high value HigLimit or not, whether the deviation between the command torque and the feedback torque is larger than a certain limit value delta TorLimit or not, if so, the rotating speed change rate is high to limit the flag bit value 1, and the following limitation is carried out on the current actual execution torque:
Torque_Act＝Torque_Cmd·CoRatio；
wherein, torque_Act is the current actual execution Torque; torque_cmd is the current commanded Torque; the CoRdtio is a limiting torsion coefficient;
s303, judging whether the rotation speed change rate is larger than a set low value LowLimit when the further condition in S302 is not satisfied, if so, further judging whether the current slip zone bit is zero, if so, not limiting the torque instruction, otherwise, executing S304;
s304, further comparing the Torque instruction at the previous moment with the current Torque instruction when the slip flag bit in S303 is not satisfied, if the Torque instruction at the current moment is greater than the Torque instruction at the previous moment, further judging whether the timer timing T is smaller than or equal to Tlimt, if yes, maintaining the Torque at the previous moment unchanged by the torque_Act, and maintaining the slip flag bit to be 1, otherwise, maintaining the torque_Act value to be the current Torque instruction; if the Torque command at the current moment is smaller than the Torque command at the last moment, the torque_act value is the current Torque command;
s305, if the rotation speed change rate in the S303 is not greater than a set low value LowLimit, further judging whether a slip flag bit is zero, and if so, executing instruction Torque by using a torque_Act; otherwise, for the Torque magnitude at the current moment and the Torque magnitude at the last moment, if the current Torque is larger than the Torque magnitude at the last moment, the torque_act maintains the Torque at the last moment unchanged, the slip flag bit is kept to be 1, otherwise, the torque_act value is the current Torque command; and if the Torque command at the current moment is smaller than the Torque command at the last moment, the torque_act value is the current Torque command.
Preferably, in step S1, the whole vehicle data acquisition module monitors and filters the acquired whole vehicle data, and transmits the final data to the TCS control module and the electric drive slip torque limiting control module.
Preferably, in step S2, the TCS function enabling module detects the difference between the front wheel speed and the rear wheel speed and the difference between the left wheel speed and the right wheel speed through the current wheel speed, determines whether the difference between the front wheel speed and the rear wheel speed and the difference between the left wheel speed and the right wheel speed exceed a threshold value, and determines that the TCS function is valid after exceeding the threshold value, otherwise, considers that the TCS is invalid, and sends a TCS enabling signal to the electric drive system through the VCU.
Preferably, in step S4, the slip torque limit flag clearing module determines whether the slip torque limit flag bit needs to be cleared, and includes the steps of:
s401, judging whether a limit flag bit HigLimit_flg with high rotation speed change rate is 1, if so, slipping the flag bit value 1, otherwise, judging that the current slipping flag bit is carried out S402;
s402, judging whether the current slip flag bit is 1, if yes, judging deviation between the instruction torque and the feedback torque, and if the deviation value is smaller than a parameter Cal_Trq_dif, clearing 0; otherwise, the slip flag bit value is 1.
The invention has the advantages that:
the invention aims to solve the problem of torque response output when the whole vehicle slips, and ensures that an electric driving system can automatically perform torque control according to the change rate of the rotating speed of a motor after the TCS is triggered, thereby achieving the timely and effective torque response effect; when the estimation precision of the ground attachment coefficient is low under a special working condition, the adjustment precision of the required torque cannot be met by only carrying out traction control on the whole vehicle, and at the moment, the electric drive system automatically adjusts the torque according to the triggering condition of the TCS function, so that the phenomenon of unsmooth power output of the whole vehicle can be effectively prevented; in addition, under the limit working condition, such as a floor oil rushes out of the deceleration strip, the electric drive system can generate a load throwing-like condition when the whole vehicle is in a vacation state, torque control is rapidly carried out through the electric drive system, the electric drive system is prevented from generating an overcurrent phenomenon in the load throwing state, and control of the electric drive system is effectively protected.
The invention has clear proposal logic and is easy to realize without increasing hardware cost; the electric drive is adopted to actively adjust the torque in cooperation with the TCS working condition, driving comfort under the slip working condition is guaranteed, the torque can be adjusted effectively and quickly according to the slip actual working condition, an electric drive system is protected in time, and the phenomenon that the electric drive system is over-current due to overlarge rotation speed change rate is prevented.
Drawings
The invention is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a control flow chart of an electric drive anti-slip protection control method based on the TCS working condition of the whole vehicle, which is an embodiment of the invention;
FIG. 2 is a schematic block diagram of an electrically driven anti-slip protection control method according to an embodiment of the present invention;
FIG. 3 is a flow chart of the torque limiting protection control of the electric drive system of the embodiment of the present invention;
FIG. 4 is a flow chart of a slip push-out flag clearing process for an electric drive system according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, the electric drive anti-slip protection control method based on the whole vehicle TCS working condition adopts the components including a whole vehicle data acquisition module, a TCS function enabling module, an electric drive slip torque limiting control module and a slip torque limiting mark clearing module; the whole vehicle data acquisition module is mainly used for acquiring signals such as vehicle speed, rotating speed and the like in real time through a CAN bus and feeding the signals back to the TCS function enabling module; the TCS enabling module judges whether the current working condition needs TCS function intervention after data processing, and outputs a function validity flag bit of the TCS enabling module; the electric drive system slip torque limiting module limits torque according to TCS enabling effectiveness and actual working condition requirements, timely outputs limited torque and judges response of the limited torque through a limited zone bit; the slip torque limiting flag bit clearing module is used for clearing a torque limiting flag according to the current motor rotation speed change rate condition, and electric drive output torque smoothness is guaranteed. Fig. 2 is a schematic block diagram of the electric drive anti-slip protection control method of the invention.
The invention relates to an electric drive anti-slip protection control method based on the TCS working condition of a whole vehicle, which comprises the following steps.
S1, a whole vehicle data acquisition module acquires whole vehicle data information, wherein the whole vehicle data information comprises relevant data such as the speed of a whole vehicle, the speed of a four-wheel of the whole vehicle, the speed of a motor of the whole vehicle and the like, and the relevant data are transmitted to a TCS function enabling module and an electric drive slip torque limiting control module of the whole vehicle through a CAN bus;
specifically, the whole vehicle data acquisition module is mainly used for monitoring whole vehicle data, monitoring and filtering the acquired related data, and transmitting the final data to the TCS control module, the electric drive system torque limiting module and the like to provide data support for the data.
S2, a TCS function enabling module judges whether TCS function intervention is needed in the current working condition according to the whole vehicle data information and outputs a function validity flag bit of the TCS function enabling module;
specifically, the TCS function enabling module detects the difference between the front wheel speed and the rear wheel speed and the difference between the left wheel speed and the right wheel speed through the current wheel speed, judges whether the difference between the front wheel speed and the rear wheel speed and the difference between the left wheel speed and the right wheel speed exceed a threshold value, judges that the TCS function is effective after the difference exceeds the threshold value, and considers that the TCS is ineffective if not, and sends a TCS enabling signal to the electric drive system through the VCU.
S3, the electric drive slipping torque limiting control module judges whether the electric drive system intervenes in torque limiting adjustment according to the TCS enabling signal, and when the TCS function is enabled, the electric drive system torque limiting protection strategy intervenes and carries out torque adjustment;
specifically, in step S3, the torque limiting protection strategy of the electric drive system intervenes and performs torque adjustment, as shown in fig. 3, and includes the steps of:
s301, calculating the change rate of the motor rotation speed by adopting motor rotation speed information fed back by a whole vehicle data acquisition module through an electric drive slip limit module(indicating the rate of change of motor speed over time):
s302, judging the change rate of the motor rotation speedWhether the torque is larger than +/-0.3, if not, the command torque is not limited; if yes, further judging the rotation speed change rate +.>Whether the torque is larger than a set high value HigLimit or not, whether the deviation between the command torque and the feedback torque is larger than 15 or not, if so, the rotation speed change rate is high, the limit flag bit value is 1, and the following limitation is carried out on the current actual execution torque:
Torque_Act＝Torque_Cmd·CoRatio；
wherein, torque_Act is the current actual execution Torque; torque_cmd is the current commanded Torque; the CoRdtio is a limiting torsion coefficient;
s303, judging whether the rotation speed change rate is larger than a set low value LowLimit when the further condition in S302 is not satisfied, if so, further judging whether the current slip zone bit is zero, if so, not limiting the torque instruction, otherwise, executing S304;
s304, further comparing the Torque instruction at the previous moment with the current Torque instruction when the slip flag bit in S303 is not satisfied, if the Torque instruction at the current moment is greater than the Torque instruction at the previous moment, further judging whether the timer timing T is smaller than or equal to Tlimt, if yes, maintaining the Torque at the previous moment unchanged by the torque_Act, and maintaining the slip flag bit to be 1, otherwise, maintaining the torque_Act value to be the current Torque instruction; if the Torque command at the current moment is smaller than the Torque command at the last moment, the torque_act value is the current Torque command;
s305, if the rotation speed change rate in the S303 is not greater than a set low value LowLimit, further judging whether a slip flag bit is zero, and if so, executing instruction Torque by using a torque_Act; otherwise, for the Torque magnitude at the current moment and the Torque magnitude at the last moment, if the current Torque is larger than the Torque magnitude at the last moment, the torque_act maintains the Torque at the last moment unchanged, the slip flag bit is kept to be 1, otherwise, the torque_act value is the current Torque command; and if the Torque command at the current moment is smaller than the Torque command at the last moment, the torque_act value is the current Torque command.
S4, a slip torque limit sign removing module judges whether the slip torque limit sign bit needs to be removed or not, and further feeds back to an electric drive slip torque limit control module.
In step S4, it is determined whether the slip torque limiting flag bit needs to be cleared, as shown in fig. 4, and the method includes the steps of:
s401, judging whether a limit flag bit HigLimit_flg with high rotation speed change rate is 1, if so, slipping the flag bit value 1, otherwise, judging that the current slipping flag bit is carried out S402;
s402, judging whether the current slip flag bit is 1, if yes, judging deviation between the instruction torque and the feedback torque, and if the deviation value is smaller than a parameter Cal_Trq_dif, clearing 0; otherwise, the slip flag bit value is 1.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same according to the content of the present invention, and are not intended to limit the scope of the present invention. All modifications made according to the spirit of the main technical proposal of the invention should be covered in the protection scope of the invention.

Claims (5)

1. The electric drive anti-slip protection control method based on the TCS working condition of the whole vehicle is characterized by comprising the following steps of:
s1, a whole vehicle data acquisition module acquires the speed and rotation speed data information of the whole vehicle and transmits the speed and rotation speed data information to a TCS function enabling module and an electric drive slip torque limiting control module of the whole vehicle through a CAN bus;
s2, a TCS function enabling module judges whether TCS function intervention is needed in the current working condition according to the whole vehicle data information and outputs a function validity flag bit of the TCS function enabling module;
s3, the electric drive slipping torque limiting control module judges whether the electric drive system intervenes in torque limiting adjustment according to the TCS enabling signal, and when the TCS function is enabled, the electric drive system torque limiting protection strategy intervenes and carries out torque adjustment;
in step S3, the electric drive system torque limiting protection strategy intervenes and performs torque adjustment, including the steps of:
s301, calculating the change rate of the motor rotation speed by adopting motor rotation speed information fed back by a whole vehicle data acquisition module through an electric drive slip limit module
S302, judging the change rate of the motor rotation speedWhether the torque is larger than a certain limit value NLimit or not, if not, the command torque is not limited; if yes, further judging the rotation speed change rate +.>Whether or not is greater than a set high value HigLimit, and command torque and feedback torqueIf the torque deviation is larger than a certain limit value delta TorLimit, the rotation speed change rate is high to limit the zone bit value 1, and the following limitation is carried out on the current actual execution torque:
Torque_Act＝Torque_Cmd·CoRatio；
wherein, torque_Act is the current actual execution Torque; torque_cmd is the current commanded Torque; the CoRdtio is a limiting torsion coefficient;
s303, judging whether the rotation speed change rate is larger than a set low value LowLimit when the further condition in S302 is not satisfied, if so, further judging whether the current slip zone bit is zero, if so, not limiting the torque instruction, otherwise, executing S304;
s304, when the slip flag bit in S303 is not zero, further comparing the Torque instruction at the previous moment with the current Torque instruction, if the Torque instruction at the current moment is greater than the Torque instruction at the previous moment, further judging whether the timer timing T is smaller than or equal to Tlimt, if so, maintaining the Torque at the previous moment unchanged, and keeping the slip flag bit as 1, otherwise, maintaining the torque_Act value as the current Torque instruction; if the Torque command at the current moment is smaller than the Torque command at the last moment, the torque_act value is the current Torque command;
s305, if the rotation speed change rate in the S303 is not greater than a set low value LowLimit, further judging whether a slip flag bit is zero, and if so, executing instruction Torque by using a torque_Act; otherwise, for the Torque magnitude at the current moment and the Torque magnitude at the last moment, if the current Torque is larger than the Torque magnitude at the last moment, the torque_act maintains the Torque at the last moment unchanged, the slip flag bit is kept to be 1, otherwise, the torque_act value is the current Torque command; and if the Torque command at the current moment is smaller than the Torque command at the last moment, the torque_act value is the current Torque command.
2. The electric drive anti-slip protection control method based on the TCS working condition of the whole vehicle according to claim 1, further comprising the steps of:
s4, a slip torque limit sign removing module judges whether the slip torque limit sign bit needs to be removed or not, and further feeds back to an electric drive slip torque limit control module.
3. The method for controlling electric drive anti-slip protection based on the TCS working condition of the whole vehicle according to claim 1, wherein in step S1, the whole vehicle data acquisition module monitors and filters the acquired whole vehicle data, and transmits the final data to the TCS control module and the electric drive slip torque limiting control module.
4. The method for controlling electric drive anti-slip protection based on the TCS condition of the whole vehicle according to claim 1, wherein in step S2, the TCS function enabling module determines whether the front and rear wheel speed deviation and the left and right wheel speed deviation exceed a threshold value by detecting the front and rear wheel speed difference and the left and right wheel speed deviation of the current wheel speed, determines that the TCS function is valid after the threshold value is exceeded, and if not, considers that the TCS is invalid, the TCS enabling signal is issued to the electric drive system through the VCU.
5. The method for controlling electric drive anti-slip protection based on TCS conditions of a whole vehicle according to claim 2, wherein in step S4, the slip torque limit flag clearing module determines whether the slip torque limit flag bit needs to be cleared, and includes the steps of:
s401, judging whether a limit flag bit HigLimit_flg with high rotation speed change rate is 1, if so, slipping the flag bit value 1, otherwise, judging that the current slipping flag bit is carried out S402;
s402, judging whether the current slip flag bit is 1, if yes, judging deviation between the instruction torque and the feedback torque, and if the deviation value is smaller than a parameter Cal_Trq_dif, clearing 0; otherwise, the slip flag bit value is 1.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016111878A (en) * 2014-12-09 2016-06-20 日産自動車株式会社 Drive torque controller of vehicle
KR101776523B1 (en) * 2016-08-22 2017-09-07 현대자동차주식회사 Method for controlling engine driving force during TCS operation of hybrid vehicle
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