CN114407676A - Torque control method and system for strong-sliding energy recovery and vehicle - Google Patents
Torque control method and system for strong-sliding energy recovery and vehicle Download PDFInfo
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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
- B60L15/2009—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 braking
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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
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Abstract
The invention discloses a torque control method for recovering strong sliding energy, a system and a vehicle thereof, comprising the following steps: responding to the fact that the whole vehicle is in a sliding state; the electronic brake controller calculates the slip rate of each wheel in real time; if the slip rate of the current wheel reaches a motor dragging control trigger slip rate threshold, triggering a motor dragging control module to request torque intervention, calculating a torque intervention request value and sending the torque intervention request value to a motor controller, and controlling a motor to execute the torque intervention request value; and judging whether the slip rate of wheels in the next period reaches a motor dragging triggering slip rate threshold, if so, lifting the torque intervention request value until the slip rate of the wheels is lower than the motor dragging triggering slip rate threshold, and quitting the torque intervention by the motor dragging control module. The torque control method and the system for recovering the strong sliding energy and the vehicle ensure the longitudinal safety control of braking, avoid the subjective feeling of forward motion of the vehicle caused by sudden change of torque and improve the driving feeling.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a torque control method and system for recovering strong sliding energy and a vehicle.
Background
At present, electric vehicles on the market generally have the advantages of sliding energy recovery, more efficient utilization of a power system and improvement of the endurance mileage of the whole vehicle. When a driver looses an accelerator pedal, the whole vehicle is in a sliding process, extra electric energy of the battery pack is transmitted by utilizing the characteristics of the motor, and the purpose of recovering energy and improving endurance is achieved. The strong sliding recovery means that a motor outputs a larger negative torque value (the torque is positive during driving and negative during recovery) and acts on the wheel end of a driving wheel in the energy recovery process, the driving wheel has the risk of longitudinal instability such as overlarge slip rate, and the like, and at the moment, an electronic brake controller (ESC) requests the motor to act in a torque intervention mode, so that the safety of the whole vehicle is finally ensured.
The existing control strategy is that when an anti-lock braking function (ABS) is triggered, the ESC requests the motor side to disable coasting energy recovery, and the corresponding negative torque value exits at a gradient. It mainly brings about two problems: firstly, the direct exit of the sliding recovery negative torque causes the sudden loss of the deceleration of the whole vehicle, and brings the subjective experience of the forward thrust or acceleration of the whole vehicle to a driver; and secondly, wheels are emptied under special working conditions such as a deceleration strip, the ESC judges that the slip rate is too large to trigger the ABS, the sliding energy recovery negative torque is withdrawn completely by mistake, and the problem of vehicle front rushing is caused.
Disclosure of Invention
The invention aims to provide a torque control method for recovering strong sliding energy, a system and a vehicle thereof, which ensure longitudinal safety control of braking, avoid the subjective feeling of forward thrust of the vehicle caused by sudden change of torque and improve the driving feeling.
To achieve the above object, the present invention provides a torque control method for strong coasting energy recovery, comprising the steps of:
(S1) in response to the entire vehicle being in a coasting state;
(S2) the electronic brake controller calculating the slip ratio of each wheel in real time;
(S3) judging whether the current slip rate of the wheels reaches the motor dragging control trigger slip rate threshold, if yes, turning to the execution step (S4); otherwise, go to execute step (S2);
(S4) triggering the motor drag control module to request torque intervention, calculating a requested value of torque intervention TM(T) and sending to the motor controller to control the motor to execute the requested value of torque intervention TM(t); whereinThe electronic brake controller comprises a motor dragging control module;
(S5) judging whether the slip rate of wheels in the next period reaches the motor dragging triggering slip rate threshold, if yes, turning to the execution step (S6); otherwise, go to execute step (S8);
(S6) the motor dragging control module needs to further lift the torque intervention request value and calculate a torque intervention request value TM(t + n), n ═ 1, 2, ·, n, · -k-1, k; n is the order of the cycles; k is the total number of torque intervention in the whole process cycle;
(S7) determining the requested value T for torque interventionM(t + n) whether a torque maximum limit Q is reached; if yes, the torque intervention request value is equal to the torque maximum limit value Q, the electronic brake controller sends the torque intervention request to the motor controller, the motor is controlled to execute the torque intervention request value, and the step is switched to the execution step (S5); otherwise, the requested value of torque intervention is equal to TM(t + n), the electronic brake controller sends a torque intervention request to the motor controller, controls the motor to execute the torque intervention request value, and goes to the execution step (S5);
(S8) the motor drag control module quits the torque intervention and the process is finished.
Further, the torque intervention request value TMThe formula for calculation of (t) is:
TM(t)＝TQ(t)+t×λGrad(t)×β(t)；
wherein ,TQ(t) is the actual torque value of the motor; t is cycle time, unit: ms; lambda [ alpha ]Grad(t) is a positive value, which represents a torque gradient value, and is obtained by inquiring a motor torque value-torque gradient value relation table according to an actual motor torque value; beta (t) is a correction factor, and is obtained by inquiring a slip rate-correction factor relation table according to the slip rate.
Further, the motor torque value-torque gradient value relation table is specifically set as follows: setting a plurality of groups of motor torque value interval values, and correspondingly setting a torque gradient value lambda in each group of intervalsGrad(t) wherein the larger the absolute value of the interval value is, the torque gradient value λGradThe larger (t) is.
Further, the slip ratio-correction factor relation table is specifically set as:
dividing the slippage rate of 0% -100% into a plurality of groups of slippage rate interval values, wherein each group of intervals is correspondingly provided with a correction factor beta (t), and the larger the interval value is, the larger the correction factor beta (t) is; when the motor dragging control module is triggered for the first time, beta (t) is 1.
Further, when the whole vehicle is transited from the low-attachment road surface to the high-attachment road surface, before the motor dragging control module exits torque intervention, the following steps are also executed: the motor is requested to perform torque up to the driver demand.
Further, the torque maximum limit Q is equal to 0 or a positive value.
Further, the slip ratio is calculated by the formula:
S＝(V-Vw)/V；
wherein S is slip ratio, V is vehicle speed, and V iswIs the wheel speed.
The present invention also provides a torque control system for strong coasting energy recovery, comprising:
the electronic brake controller is used for receiving a vehicle speed and a wheel speed and sending a torque intervention request to the motor controller, and comprises a trigger motor dragging control module used for requesting torque intervention and calculating a torque intervention request value;
the motor controller is used for feeding back the actual torque of the motor to the electronic brake controller, receiving a torque intervention request and controlling the motor to execute the torque intervention request value;
a motor for executing a torque intervention request value;
the electronic brake controller and the motor are respectively connected with the motor controller, and the torque control system for the strong coasting energy recovery is configured to execute the steps of the torque control method for the strong coasting energy recovery.
Further, the electronic brake controller also includes a traction control system, an anti-lock braking system, and a vehicle stability control.
The invention also provides a vehicle comprising the torque control system for recovering the strong coasting energy.
Compared with the prior art, the invention has the following advantages:
according to the torque control method for recovering the strong sliding energy, the system and the vehicle, when the electric vehicle is unstable longitudinally in the sliding process, the gradient change of the negative torque at the motor end can be controlled more smoothly in real time through the MDC in the ESC, so that the longitudinal safety control of braking is ensured, the subjective feeling of forward rush of the vehicle caused by sudden change of the torque under special working conditions such as a deceleration strip is avoided, and the driving feeling is improved.
Drawings
FIG. 1 is a flow chart of a torque control method for strong coasting energy recovery in accordance with the present invention
FIG. 2 is a schematic illustration of the torque variation trend of the present invention;
FIG. 3 is a schematic diagram of the torque control system for strong coast energy recovery of the present invention.
In the figure:
1-electronic brake controller, 11-motor dragging control module; 2-a motor controller; and 3, a motor.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
When the vehicle normally slides and is in a stable state (namely a driver does not step on an accelerator pedal and a brake pedal), the electric vehicle has a regenerative energy recovery characteristic, and the torque value of the motor is equal to a sliding energy recovery negative torque value. The torque control method for strong sliding energy recovery is suitable for electric vehicles with strong sliding energy recovery (A-type electric power regenerative braking systems), and meets the smoothness requirement of torque intervention of the braking system when the whole vehicle generates a longitudinal unstable trend.
Referring to fig. 1 to 3, the present embodiment discloses a torque control method for strong coasting energy recovery, comprising the steps of:
(S1) in response to the entire vehicle being in a coasting state;
(S2) the electronic brake controller (ESC) calculating the slip ratio of each wheel in real time;
(S3) judging whether the current slip rate of the wheels reaches the motor dragging control trigger slip rate threshold, if yes, turning to the execution step (S4); otherwise, go to execute step (S2);
(S4) triggering the Motor drag control Module (MDC) to request a torque intervention, calculating a requested value of torque intervention TM(T) and sending to the motor controller to control the motor to execute the requested value of torque intervention TM(t); the electronic brake controller comprises a motor dragging control module;
(S5) judging whether the slip rate of wheels in the next period reaches the motor dragging triggering slip rate threshold, if yes, turning to the execution step (S6); otherwise, go to execute step (S8);
(S6) the motor dragging control module needs to further lift the torque intervention request value and calculate a torque intervention request value TM(t + n), n ═ 1, 2, ·, n, · -k-1, k; n is the order of the cycles; k is the total number of torque intervention in the whole process cycle;
(S7) determining the requested value T for torque interventionM(t + n) whether a torque maximum limit Q is reached; if yes, the torque intervention request value is equal to the torque maximum limit value Q, the electronic brake controller sends the torque intervention request to the motor controller, the motor is controlled to execute the torque intervention request value, and the step is switched to the execution step (S5); otherwise, the requested value of torque intervention is equal to TM(t + n), the electronic brake controller sends a torque intervention request to the motor controller, controls the motor to execute the torque intervention request value, and goes to the execution step (S5);
(S8) the motor drag control module quits the torque intervention and the process is finished.
In the embodiment, when the whole vehicle is transited from the low-attachment road surface to the high-attachment road surface, before the motor dragging control module exits the torque intervention, the following steps are further executed: the motor is requested to perform torque up to the driver demand. Due to the fact that the road surface working condition is complex during actual driving, a high-adhesion-coefficient road surface and a low-adhesion-coefficient road surface (such as coexistence of dry asphalt and wet asphalt) may exist at the same time, when the MDC is subjected to torque dry prediction on the low-adhesion-coefficient road surface, the whole vehicle is transited from the low-adhesion-coefficient road surface to the high-adhesion-coefficient road surface, and torque smoothing treatment needs to be considered when the MDC exits, so that the whole vehicle can run stably. Setting a scene that when the driving wheel of the whole vehicle transits from a low-attachment road surface to a high-attachment road surface, the MDC function needs to ensure that the torque required by the driver can be accurately identified before exiting, wherein the torque gradient processing in the transition stage is responsible for the MDC, and the MDC exits after the motor is requested to execute the torque required by the driver.
See fig. 2 for a trend in torque change after MDC activation. When the whole vehicle is in strong sliding energy recovery and the MDC is not activated, the torque of the motor is reduced and stabilized at the maximum negative torque value, and the corresponding torque gradient is processed by the motor controller. If the MDC is activated, the flag bit of the MDC jumps, meanwhile, the MDC sends a torque request value to the motor controller, and a corresponding torque request gradient is processed by the MDC. Considering the time consuming CAN communication, the motor controller cannot receive the MDC request immediately, but continues to execute the coasting energy recovery negative torque during the torque response time, and the corresponding torque gradient is processed by the motor controller. When the motor controller receives the MDC torque intervention signal, the torque request value is immediately executed, the actual torque of the motor is finally stabilized at the MDC torque request value, the corresponding torque gradient is processed by the MDC, and the gradient processing principle is to follow the change of the MDC torque request as much as possible. The electric machine cannot continue to execute the coasting energy recovery negative torque request until after the MDC exits control.
In this embodiment, the period is a whole vehicle CAN communication period, and may also be a time period set according to an actual situation, which is not limited herein. When the ESP monitors that the slip rate of one or more driving wheels is excessive during the process of sliding the whole vehicle, the MDC is triggered to request torque intervention. And if the slip rate of the wheels in the next period reaches the motor dragging triggering slip rate threshold, the MDC further promotes the torque intervention request value, the motor end torque is expected to be rapidly promoted until the slip rate of the driving wheels of the whole vehicle does not reach the MDC triggering threshold, and the MDC function is quitted.
In the present embodiment, the torque maximum limit Q is equal to 0 or a positive value. Positive values are very small positive torque values. When a vehicle passes through a deceleration strip and other special working conditions, the driving wheel soaring slip rate is greatly changed suddenly, the MDC may request the torque value to be increased to 0 or even a positive value (namely, the torque maximum limit value), and the torque maximum limit value can avoid the risk that the whole vehicle suddenly accelerates or even is out of control. The maximum torque limit value can be realized by setting the corresponding MDC torque gradient to be 0 after the motor torque exceeds a certain value (namely, the MDC request torque value is the maximum torque limit value and is unchanged after the motor torque exceeds the value); the complexity of the whole vehicle system is considered, and the method can be used as a processing mode for judging the rationality of the MDC torque maximum limit value based on the performance evaluation result of the actual working conditions (such as a deceleration strip, a low-adhesion coefficient road surface and the like) of the test vehicle.
In this embodiment, the slip ratio is calculated by the following formula: s ═ V (V-V)w) V; wherein S is slip ratio, V is vehicle speed, and V iswIs the wheel speed.
In the present embodiment, the torque intervention request value TMThe formula for calculation of (t) is:
TM(t)＝TQ(t)+t×λGrad(t)×β(t)；
wherein ,TQ(t) is the actual torque value of the motor; t is cycle time, unit: ms; lambda [ alpha ]Grad(t) is a positive value, which represents a torque gradient value, and is obtained by inquiring a motor torque value-torque gradient value relation table according to an actual motor torque value; beta (t) is a correction factor, and is obtained by inquiring a slip rate-correction factor relation table according to the slip rate. Lambda [ alpha ]Grad(t) characterizing MDC requested torque intervention Strength, λGradThe greater the value of (T) the greater the strength of the MDC requested torque intervention, and the more desirable the motor torque TQ(t) fast ramp-up, but only in terms of λGrad(T) formula-derived T which cannot judge the stability of the whole vehicle in each CAN communication periodM(t) is not always reasonable. So that beta (t) to lambda are introducedGrad(T) correcting, wherein beta (T) is associated with S (T) and represents the stability state of the whole vehicle, and if the sliding slip value of the whole vehicle does not reach the MDC function triggering condition, beta (T) is 0, TQ(t)＝TC(t), i.e. the motor torque value equals the coasting energy recovery negative torque value. The formula can realize MDC adjustment TMAnd (t), until the slip rate of the driving wheels of the whole vehicle does not reach the MDC triggering threshold, the MDC function exits.
In the present embodiment, the motor torque value-torque gradient value relation table is specifically set as: setting a plurality of groups of motor torque value interval values, and correspondingly setting a torque gradient value lambda in each group of intervalsGrad(t) wherein the larger the absolute value of the interval value is, the torque gradient value λGradThe more (t)Is large. λ is the finer the interval division isGradThe more reasonable (t) is. See table 1:
TABLE 1
Wherein M, X, Y and Z are boundary values between the divisional regions, a1、a2、···、am-1、amIs a set torque gradient value, wherein a1>a2>···>am-1>amAnd m represents the number of division areas.
In this embodiment, the slip ratio-correction factor relation table is specifically set as:
dividing the slippage rate of 0% -100% into a plurality of groups of slippage rate interval values, wherein each group of intervals is correspondingly provided with a correction factor beta (t), and the larger the interval value is, the larger the correction factor beta (t) is; when the motor dragging control module is triggered for the first time, beta (t) is 1.
In this embodiment, the slip ratio-correction factor relationship is shown in table 2:
TABLE 2
Wherein A, B, C, H, G, E and F are boundary values between the divisions, b1、b2、···、bv-1、bvIs a set torque gradient value, wherein bv>bv-1>·>1>··>b2>b1>0 and v +1 indicate the number of divisional areas. Beta (t +1) < 1 represents that the whole vehicle is in a stable state at the moment, beta (t +1) < 1 represents that the whole vehicle tends to be more stable, MDC is required to weaken the intervention on the motor torque, beta (t +1) > 1 represents that the whole vehicle tends to be more unstable, and MDC is required to increase the intervention on the motor torque. The finer the interval division, the more rational the correction factor β (t) is.
Examples are: setting the CAN communication of the whole vehicle as 10ms one period, and sending a MDC torque request signal to a motorThe time to start the execution of the request is 100ms, and the negative torque T is recovered by coastingC(t) has a value of [ -1200,0 [](unit N.m) change, and Table 3 and Table 4 show the MDC torque gradient value λGrad(T) value, correction coefficient beta value, motor torque value T in CAN communication cycle C (10)Q(10)＝TC(10) And (5) when the sliding rate S (10) is 0, the whole vehicle is in a stable state. When the slip ratio S (20) ═ 22% reaches MDC triggering condition in the second CAN communication period C (20), the correction coefficient beta (20) ═ 1, and MDC torque gradient value lambda isGrad3000N m/s, i.e. TM(20)＝TQ(20)+t×λGrad(20)×β(20)＝(-1200)+10×3×1＝(-1170)N·m。
When the CAN communication period is C (30), the motor does not execute T of the C (20) periodM(20) The value was maintained at (-1200). multidot.m. If the ESC monitors that slip ratio S (30) falls to (45, 100) at this time]In the interval, the correction coefficient β (30) is 30, i.e., TM(t)＝TQ(t)+t×λGrad(t)×β(t)＝(-1200)+10×3×30＝(-300)N·m。
TABLE 3
TABLE 4
When MDC is activated or deactivated in the sliding process of the whole vehicle, and other ESC functional modules such as ABS, TCS and VDC are activated or deactivated, the control logic of the torque is divided into the following categories:
(1) when the MDC is in a normal and non-activated function, if any one of the functional modules of the ABS, the VDC and the TCS is activated or fails, the motor controller normally responds to a sliding energy recovery negative torque value, and the value is obtained by monitoring indexes such as actual current of a motor and the like by the motor controller;
(2) when the MDC function is normal and activated, setting that whether any one of the functions of ABS, VDC and TCS is activated or deactivated, the motor controller only responds to the MDC torque intervention request;
(3) when the MDC function is invalid, if the ABS function is activated, no matter the TCS or VDC function is activated or invalid at this time, the motor controller executes a control logic for quitting the sliding energy recovery negative torque, in order to shorten the unstable time of the whole vehicle as much as possible, the motor controller does not consider the smooth quitting of the sliding energy recovery negative torque of the whole vehicle any more, but quits with the maximum torque variation gradient which can be supported by the motor hardware, but sets a sliding energy recovery negative torque quitting logic for avoiding the problem of poor experience of the whole vehicle caused by the fact that the ABS is frequently activated under normal working conditions (such as a continuous speed reducing belt, a continuous well road and the like) and the sliding energy recovery negative torque quitting reloading process: when the ABS function is activated for the first time, the sliding energy recovery negative torque exits at the maximum gradient, and the judgment condition for recovering the sliding energy recovery negative torque is as follows: the coasting energy recovery negative torque can be resumed after 500ms from the exit time.
(4) When the MDC function is invalid, if the ABS function is normal and not activated, and if the VDC function is activated at the moment, the motor controller executes a control logic of quitting the sliding energy recovery negative torque;
(5) when the MDC function is invalid, if the ABS and VDC functions are normal and are not activated, the motor controller normally responds to the sliding energy recovery negative torque value;
(6) when the MDC function is invalid, if the ABS function is invalid, no matter whether the TCS and VDC functions are activated or invalid, the motor controller executes a control logic of quitting the sliding energy recovery negative torque;
(7) when the MDC function is disabled, if the ABS function is normal and not activated, the VDC or TCS function is disabled, and the motor controller normally responds to the coasting energy recovery negative torque value.
Referring to fig. 3, the embodiment further discloses a torque control system for strong coasting energy recovery, comprising:
the electronic brake controller 1 is used for receiving a vehicle speed and a wheel speed and sending a torque intervention request to the motor controller 1, and the electronic brake controller 1 comprises a trigger motor dragging control module 11 used for requesting torque intervention and calculating a torque intervention request value;
the motor controller 2 is used for feeding back the actual torque of the motor to the electronic brake controller 1, receiving a torque intervention request and controlling the motor to execute the torque intervention request value;
a motor 3 for executing the torque intervention request value;
the electronic brake controller 1 and the motor 3 are respectively connected with the motor controller 1, and the torque control system for strong coasting energy recovery is configured to be able to execute the steps of the torque control method for strong coasting energy recovery described above. The motor controller 2 converts the actual execution current and other indexes of the motor 3 into the actual torque value of the motor in real time by monitoring the actual execution current and other indexes, and sends the actual torque value to the electronic brake controller 1 through the gateway again.
In the present embodiment, the electronic brake controller 1 further includes a Traction Control System (TCS), an anti-lock brake system (ABS), and a vehicle stability control (VDC).
The embodiment also discloses a vehicle comprising the torque control system for the strong coasting energy recovery.
According to the torque control method for recovering the strong sliding energy, the system and the vehicle, when the electric vehicle is unstable longitudinally in the sliding process, the gradient change of the negative torque at the motor end can be controlled more smoothly in real time through the MDC in the ESC, so that the longitudinal safety control of braking is ensured, the subjective feeling of forward rush of the vehicle caused by sudden change of the torque under special working conditions such as a deceleration strip is avoided, and the driving feeling is improved.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A torque control method for strong coasting energy recovery, comprising the steps of:
(S1) in response to the entire vehicle being in a coasting state;
(S2) the electronic brake controller calculating the slip ratio of each wheel in real time;
(S3) judging whether the current slip rate of the wheels reaches the motor dragging control trigger slip rate threshold, if yes, turning to the execution step (S4); otherwise, go to execute step (S2);
(S4) triggering the motor drag control module to request torque intervention, calculating a requested value of torque intervention TM(T) and sending to the motor controller to control the motor to execute the requested value of torque intervention TM(t); the electronic brake controller comprises a motor dragging control module;
(S5) judging whether the slip rate of wheels in the next period reaches the motor dragging triggering slip rate threshold, if yes, turning to the execution step (S6); otherwise, go to execute step (S8);
(S6) the motor dragging control module needs to further lift the torque intervention request value and calculate a torque intervention request value TM(t + n), n ═ 1, 2, ·, n, · -k-1, k; n is the order of the cycles; k is the total number of torque intervention in the whole process cycle;
(S7) determining the requested value T for torque interventionM(t + n) whether a torque maximum limit Q is reached; if yes, the torque intervention request value is equal to the torque maximum limit value Q, the electronic brake controller sends the torque intervention request to the motor controller, the motor is controlled to execute the torque intervention request value, and the step is switched to the execution step (S5); otherwise, the requested value of torque intervention is equal to TM(t + n), the electronic brake controller sends a torque intervention request to the motor controller, controls the motor to execute the torque intervention request value, and goes to the execution step (S5);
(S8) the motor drag control module quits the torque intervention and the process is finished.
2. The torque control method for strong coasting energy recovery of claim 1, wherein the torque intervention request value TM(t) calculation ofThe formula is as follows:
TM(t)＝TQ(t)+t×λGrad(t)×β(t)；
wherein ,TQ(t) is the actual torque value of the motor; t is cycle time, unit: ms; lambda [ alpha ]Grad(t) is a positive value, which represents a torque gradient value, and is obtained by inquiring a motor torque value-torque gradient value relation table according to an actual motor torque value; beta (t) is a correction factor, and is obtained by inquiring a slip rate-correction factor relation table according to the slip rate.
3. The torque control method for strong coast energy recovery according to claim 2, wherein the motor torque value-torque gradient value relation table is specifically set as: setting a plurality of groups of motor torque value interval values, and correspondingly setting a torque gradient value lambda in each group of intervalsGrad(t) wherein the larger the absolute value of the interval value is, the torque gradient value λGradThe larger (t) is.
4. The torque control method for strong coast energy recovery according to claim 2 or 3, wherein the slip ratio-correction factor relation table is specifically set to:
dividing the slippage rate of 0% -100% into a plurality of groups of slippage rate interval values, wherein each group of intervals is correspondingly provided with a correction factor beta (t), and the larger the interval value is, the larger the correction factor beta (t) is; when the motor dragging control module is triggered for the first time, beta (t) is 1.
5. The torque control method for strong coasting energy recovery of claim 4, wherein the slip ratio is calculated by the formula:
S＝(V-Vw)/V；
wherein S is slip ratio, V is vehicle speed, and V iswIs the wheel speed.
6. The torque control method for strong coasting energy recovery of claim 1, 2, 3, or 5, wherein when the entire vehicle transitions from low-attachment to high-attachment on the road, before the motor drag control module exits torque intervention, the following steps are further performed:
the motor is requested to perform torque up to the driver demand.
7. The torque control method for strong coast energy recovery according to claim 6, wherein the torque maximum limit Q is equal to 0 or a positive value.
8. A torque control system for strong coast energy recovery, comprising:
the electronic brake controller (1) is used for receiving vehicle speed and wheel speed and sending a torque intervention request to the motor controller (1), and the electronic brake controller (1) comprises a trigger motor dragging control module (11) used for requesting torque intervention and calculating a torque intervention request value;
the motor controller (2) is used for feeding back the actual torque of the motor to the electronic brake controller (1), receiving a torque intervention request and controlling the motor to execute the torque intervention request value;
a motor (3) for executing the requested value of torque intervention;
the electronic brake controller (1) and the electric machine (3) are respectively connected with the electric machine controller (1), and the torque control system for strong coasting energy recovery is configured to be capable of executing the steps of the torque control method for strong coasting energy recovery according to any one of claims 1 to 7.
9. Torque control system for strong coast energy recovery according to claim 7, wherein said electronic brake controller (1) further comprises a traction control system, an anti-lock brake system and a vehicle stability control.
10. A vehicle comprising a torque control system for strong taxi energy recovery according to claim 8 or 9.
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