CN114523949A

CN114523949A - Power-assisted control method, device, equipment and medium for hybrid power motorcycle

Info

Publication number: CN114523949A
Application number: CN202210171411.1A
Authority: CN
Inventors: 高慧; 李德鹏; 成传柏
Original assignee: Zhejiang Zhoushan Jiangqu Power Technology Co ltd
Current assignee: Jiangsu Aiqu New Energy Technology Co ltd
Priority date: 2022-02-24
Filing date: 2022-02-24
Publication date: 2022-05-24

Abstract

The invention belongs to the technical field of motorcycle motor control, and provides a power-assisted control method, a device, equipment and a medium for a hybrid power motorcycle, wherein the method comprises the following steps: acquiring the state information of the whole vehicle; and judging whether the driving power-assisted control condition is met or not according to the state information of the whole vehicle, and controlling the motor to execute a driving power-assisted program. By adopting the technical scheme, the priority order needs to be preset for the drive power-assisted control conditions, so that whether the vehicle orderly judges the drive power-assisted control conditions is met, and then the drive power-assisted program is controlled and executed. The data associated with the motorcycle drive is judged by presetting the priority sequence, so that the stable judgment of the vehicle condition can be realized, the efficient data processing is realized, and the efficiency of the judgment process is improved.

Description

Power-assisted control method, device, equipment and medium for hybrid power motorcycle

Technical Field

The invention relates to the technical field of motorcycle motor control, in particular to a power-assisted control method, a device, equipment and a medium for a hybrid power motorcycle.

Background

Along with the trend of electromotion in the international market, the emission of the traditional engine vehicles is a problem which is urgently needed to be solved by various large and whole vehicle manufacturers, and the selection is faced:

1) one step crossover directly from the fuel vehicle to purely electric;

2) the technology of the traditional fuel vehicle is updated, and an oil-electricity hybrid system is pushed, so that the vehicle emission meets the standard.

Based on motorcycle hybrid control system, mainly carry out emission optimization and low-speed oil electricity to mix to traditional fuel motorcycle type, provide power output.

At present, the hybrid motorcycle adapts to the trend of electromotion, but the hybrid motorcycle can be driven by pure electric drive or pure power generation in the riding process at present, and the controller is frequently switched between an electric mode and a power generation mode in the riding process, so that the engine is frequently started, the oil consumption is increased, and the emission is large.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a power-assisted control method, a device, equipment and a medium for a hybrid power motorcycle, and aims to solve the problem that an engine is frequently started because the existing hybrid power motorcycle can only be driven by pure electric power or pure power generation in the riding process.

In a first aspect, the present invention provides a power assist control method for a hybrid motorcycle, comprising:

acquiring the state information of the whole vehicle; the vehicle control system comprises a vehicle control system, a vehicle control unit and vehicle control information acquisition equipment, wherein the vehicle control system is used for acquiring vehicle control information;

and judging whether the driving power-assisted control condition is met or not according to the state information of the whole vehicle, and controlling the motor to execute a driving power-assisted program, wherein the driving power-assisted program is used for controlling the motor to execute a target driving torque.

According to the technical scheme, the power-assisted control method of the hybrid power motorcycle, provided by the invention, has the advantages that the priority order is preset for the drive power-assisted control conditions, so that the vehicle can orderly judge whether the drive power-assisted control conditions are met, and then the drive power-assisted program is controlled and executed. The data related to the motorcycle driving is judged through the preset priority sequence, so that the stable judgment of the vehicle condition can be realized, the efficient data processing is realized, and the efficiency of the judgment process is improved.

Optionally, the driving power-assisted control condition includes:

and judging data related to the motorcycle drive in the whole vehicle state information according to a preset priority sequence, if any one of the data related to the motorcycle drive does not accord with the drive power-assisted control condition, ending the judging process, otherwise controlling the motor to execute a drive power-assisted program.

Optionally, the conditions for determining the data associated with the motorcycle drive, referred to in the priority order, include:

the first priority:

s201, enabling a whole vehicle running mark to be effective;

the second priority is:

s202, enabling a current system operation mark to be effective;

s203, the battery SOC is greater than A;

s204, engine speed is less than B;

s205, the current vehicle speed is less than C;

s206, accelerator opening degree > D;

s207, the brake signal is invalid;

s208, the current motor system has no fault;

s209, the current engine system has no fault;

s210, the accelerator opening increasing rate is greater than E;

third priority:

s211, invalidating the vehicle speed stabilizing signal;

wherein A is an SOC preset threshold value, B is an engine rotating speed preset threshold value, C is a vehicle speed preset threshold value, D is an accelerator opening preset threshold value, and E is an accelerator opening increase rate preset threshold value;

and when the data meet the judgment condition in the first priority, judging the data in the second priority, and if the judgment condition in the second priority meets the judgment condition in the third priority, meeting the driving assistance control condition.

Optionally, the controlling the motor to execute a drive assisting program includes:

a torque minimum value among the maximum limit torque, the battery allowable drive torque associated with the battery SOC, and the rotation speed limit torque associated with the motor rotation speed is obtained, and the target drive torque is obtained based on the torque minimum value.

Optionally, obtaining the battery allowable driving torque associated with the battery SOC includes:

acquiring the current maximum allowable discharge current associated with the current battery SOC based on the first relation array; the first relation array is obtained by associating the SOC of the battery with the maximum allowable discharge current in advance;

and acquiring the current allowable driving torque of the battery according to the current voltage and the current maximum allowable discharging current.

Optionally, obtaining the rotation speed limit torque associated with the rotation speed of the motor comprises:

acquiring a rotating speed limiting torque corresponding to the current motor rotating speed based on the second relation array; the second relation array is obtained by correlating the motor rotation speed and the driving torque value in advance.

Alternatively, the target drive torque is equal to the torque minimum value × accelerator opening degree.

In a second aspect, the present invention provides a power assist control device for a hybrid motorcycle, comprising:

the information acquisition module is used for acquiring the state information of the whole vehicle; the vehicle control system comprises a vehicle control system, a vehicle control unit and vehicle control information acquisition equipment, wherein the vehicle control system is used for acquiring vehicle control information;

and the power-assisted judging and executing module is used for judging whether a driving power-assisted control condition is met according to the state information of the whole vehicle, and controlling the motor to execute a driving power-assisted program, wherein the driving power-assisted program is used for controlling the motor to execute a target driving torque.

Optionally, the assistance judging and executing module is specifically further configured to:

Optionally, in the power-assisted determining and executing module, the determination condition of the data related to the motorcycle drive, which is related to the priority order, includes:

the first priority:

s201, enabling a whole vehicle running mark to be effective;

the second priority is:

s202, enabling a current system operation mark to be effective;

s203, the battery SOC is greater than A;

s204, engine speed is less than B;

s205, the current vehicle speed is less than C;

s206, accelerator opening degree > D;

s207, the brake signal is invalid;

s208, the current motor system has no fault;

s209, the current engine system has no fault;

s210, the accelerator opening increasing rate is greater than E;

third priority:

s211, the vehicle speed stable signal is invalid;

Optionally, in the assist force determination and execution module, the target driving torque is equal to the torque minimum value × an accelerator opening degree.

In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of any one of the methods when executing the computer program.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions are stored, which computer program instructions, when executed by a processor, implement the steps of any one of the methods described above.

By adopting the technical scheme, the application has the following beneficial effects:

in the driving process of the hybrid power motorcycle, the whole vehicle data of the vehicle is judged according to the priority sequence, for example, the data of the running state of the vehicle, for example, whether the running mark of the vehicle is effective or not, and whether the whole vehicle is in the normal running state or not is related. And some data related to the driving state are judged according to the later priority. Therefore, for the driving assistance control conditions, a priority order needs to be preset, so that the vehicle can orderly judge whether the driving assistance control conditions are met, and then the driving assistance program is controlled and executed. The data associated with the motorcycle drive is judged by presetting the priority sequence, so that the stable judgment of the vehicle condition can be realized, the efficient data processing is realized, and the efficiency of the judgment process is improved.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a flow chart illustrating a method for controlling power assist of a hybrid motorcycle according to an embodiment of the present invention;

FIG. 2 is a block diagram showing a power assist control apparatus for a hybrid motorcycle according to an embodiment of the present invention;

fig. 3 is a block diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

Fig. 1 shows a flow chart of a power-assisted control method for a hybrid motorcycle according to an embodiment of the invention. As shown in fig. 1, a power assist control method for a hybrid motorcycle according to an embodiment of the present invention includes:

acquiring the state information of the whole vehicle for judging the current vehicle state;

and judging whether the driving power-assisted control condition is met or not according to the state information of the whole vehicle, and controlling the motor to execute a driving power-assisted program, wherein the driving power-assisted program is used for controlling the motor to execute the target driving torque.

Specifically, the whole vehicle state information is acquired to judge the current vehicle state, whether a driving assistance control condition is met or not is judged according to the whole vehicle state information, in the driving process, the motor is controlled to execute a driving assistance program by judging whether the vehicle state needs assistance or not, the driving assistance program is used for controlling the motor, and when assistance is judged to be provided according to the whole vehicle state information, a shop is controlled to execute a target driving torque.

In one example, in the case where the driver depresses the accelerator pedal, the accelerator opening is larger, that is, the rate of increase of the opening is large, and assistance is required, and if the accelerator opening is kept stable or decreased, it means that assistance is not required and deceleration is required. Therefore, the accelerator pedal can be used as a condition for judging whether the vehicle meets the driving assistance control condition, and if the accelerator pedal is pressed down, the driver has the intention of controlling the vehicle to run, and the vehicle is in a state of needing assistance at the moment.

Optionally, the drive assist control condition comprises:

and judging data related to the motorcycle drive in the whole vehicle state information according to a preset priority sequence, if any one of the data related to the motorcycle drive does not accord with the drive power-assisted control condition, ending the judging process, otherwise, controlling the motor to execute a drive power-assisted program.

In the process of driving the motorcycle, the whole vehicle data of the vehicle is judged according to the priority sequence, for example, the data of the running state of the vehicle, for example, whether the running mark of the vehicle is effective or not, and whether the whole vehicle is in the normal running state or not is related. And some data related to the driving state are judged according to the later priority. Therefore, for the driving assistance control conditions, a priority order needs to be preset, so that the vehicle can orderly judge whether the driving assistance control conditions are met, and then the driving assistance program is controlled and executed.

The data associated with the motorcycle drive is judged by presetting the priority sequence, so that the stable judgment of the vehicle condition can be realized, the efficient data processing is realized, and the efficiency of the judgment process is improved.

the first priority:

s201, enabling a whole vehicle running mark to be effective;

the second priority is:

s202, enabling a current system operation mark to be effective;

s203, the battery SOC is greater than A;

s204, engine speed is less than B;

s205, the current vehicle speed is less than C;

s206, accelerator opening degree > D;

s207, the brake signal is invalid;

s208, the current motor system has no fault;

s209, the current engine system has no fault;

s210, the accelerator opening increasing rate is greater than E;

third priority:

s211, the vehicle speed stable signal is invalid;

and when the data meet the judgment condition in the first priority, judging the data in the second priority, and if the judgment condition in the second priority and the judgment condition in the third priority are met, meeting the driving assistance control condition.

In one possible embodiment, a hall motor is used, with a being 60%, B being 6000, C being 40, D being 0 and E being 2 ‰. The specific numerical values shown above are merely exemplary values and are not intended as specific limitations of the present application.

Specifically, in the process of judging the vehicle data according to the priority order, the specific process includes three priorities, namely a first priority, a second priority and a third priority, the first priority is effective corresponding to the vehicle running sign, the vehicle running sign is a sign indicating the vehicle state, whether the current vehicle is in a normal running state or not is judged according to the output of the vehicle, which is a primary standard for judging by acquiring the vehicle state data, and when the vehicle running sign of the vehicle is in an effective state, the vehicle is in a normal running process.

It should be noted that the accelerator opening increase rate indicated in S110 is a speed at which the accelerator acquisition voltage increases, and the accelerator opening increase rate is an entry assist condition, for example, when the driver needs to accelerate, the accelerator opening becomes larger, that is, the accelerator opening increase rate is larger, and needs assist, and if the accelerator opening remains stable or decreases, it indicates that assist is not needed, and deceleration is needed. The rate of increase of the accelerator opening degree is a judgment condition of the assist force.

Secondly, when the data of the first priority meets the judgment conditions, namely the whole vehicle running mark is effective, judging the data in the second priority, wherein the judgment conditions comprise S102-S110 specific data judgment conditions, the data in the second priority is judged synchronously, only when the data in the second priority meets the judgment conditions at the same time, the judgment of the data of the third priority is carried out, and otherwise, the power-assisted judgment process is ended.

The data in the third priority comprises the judgment of the vehicle speed, when the vehicle speed stabilizing signal is invalid, namely the vehicle speed changes, the data in the third priority meets the judgment condition, and at the moment, the motorcycle is in an acceleration stage and needs to be driven by a motor to provide assistance.

The judgment conditions are divided into three priority orders, so that the control system can judge according to the three priority orders, if the judgment conditions are met, the motorcycle meets the driving assistance control conditions, and the motor is controlled to output the target driving torque to provide assistance for the acceleration of the motorcycle.

Optionally, controlling the motor to execute a drive assisting program, comprising:

the minimum value among the maximum limit torque, the battery allowable drive torque associated with the battery SOC, and the rotation speed limit torque associated with the motor rotation speed is acquired, and the target drive torque is acquired based on the minimum value.

For the motor to execute the drive assist routine, the output target drive torque is determined based on the maximum limit torque, the battery allowable drive torque associated with the battery SOC, and the rotation speed limit torque associated with the motor rotation speed. In the running process of the motorcycle, the maximum limiting torque exists in the running process, the maximum limiting torque is limited by the performance of the vehicle, and the actual value of the maximum limiting torque is different corresponding to different vehicles. And the battery allowable drive torque is related to the battery SOC, and is related to the performance of the battery and the state of charge of the battery. Meanwhile, at the current vehicle speed, there is also a limit in the rotation speed limit torque associated with the rotation speed of the motor.

This is the minimum value of the three limit torques, and based on this minimum value, the target drive torque can be acquired to realize the drive assist control of the motorcycle. Under the condition of meeting the running performance of the vehicle, the efficiency of the motor is effectively improved, and the oil consumption in the running process is reduced.

Optionally, obtaining the battery allowable drive torque associated with the battery SOC includes:

acquiring a current maximum allowable discharge current associated with the current battery SOC based on the first relation array; the first relation array is obtained by correlating the SOC of the battery and the maximum allowable discharge current in advance;

Specifically, there is a corresponding relationship between the battery SOC and the maximum allowable discharge current, and the specific corresponding relationship table is a corresponding table established in advance by acquiring data, that is, a first relationship array, see table 1:

TABLE 1

The battery SOC can be obtained in real time under the running state of the vehicle, the current maximum allowable discharging current can be determined in the first relation array through the obtained battery SOC, and the current power P are determined according to the obtained current voltage, the maximum allowable discharging current and the current voltage_NMaximum permitted discharge current I × present voltage U. While the current battery allowable drive torque T_NCan pass through the current power P_NAnd a rotational speed n_NIt is determined that,

optionally, obtaining a speed limiting torque associated with the motor speed comprises:

acquiring a rotating speed limiting torque corresponding to the current motor rotating speed based on the second relation array; the second relation array is obtained by previously correlating the motor rotation speed and the drive torque value.

TABLE 2

Specifically, referring to Table 2, Table 2 is one example representation of a second relational array. The second relation array is a corresponding relation array of the rotating speed and the driving torque which is established in advance according to the motor characteristics, and in the second relation array, the rotating speed limiting torque is determined according to the obtained current motor rotating speed. The rotational speed limit torque is related to the motor characteristics.

The first relational array and the second relational array are established to better limit the system to work under the allowable torque so as to prevent the system from being failed or damaged due to exceeding the bearing capacity of the system components.

Alternatively, the target drive torque is equal to the torque minimum value × the accelerator opening degree.

In order to ensure that the target driving torque meets the limiting factors such as motor characteristics and the like during the running of the vehicle, the target torque is determined according to the minimum value of the maximum limiting torque, the battery allowable driving torque related to the battery SOC and the rotating speed limiting torque related to the rotating speed of the motor, and the obtained target driving torque can meet performance indexes such as the rotating speed of the motor. The accelerator opening reflects the requirement of the driver for acceleration, and under the condition of larger accelerator opening, the driver has greater acceleration intention. The target driving torque in the embodiment determines the target torque through the minimum value of the maximum limit torque, the battery allowable driving torque associated with the battery SOC and the rotating speed limit torque associated with the rotating speed of the motor, so that the driving stability of the vehicle is ensured, the acceleration requirement in the current driving process is met, the active power assistance meeting the current driving environment is provided, and the oil consumption is reduced.

In one embodiment, referring to fig. 2, there is provided a hybrid motorcycle power assist control device 30 comprising:

the information acquisition module 301 is used for acquiring the state information of the whole vehicle; the vehicle state information comprises input data of a vehicle control system and fault information of a vehicle controller;

and the power-assisted judging and executing module 302 is configured to judge whether a driving power-assisted control condition is met according to the vehicle state information, and control the motor to execute a driving power-assisted program, where the driving power-assisted program is used to control the motor to execute a target driving torque.

Optionally, the assisting force determining and executing module 302 is further configured to:

Optionally, in the assisting force determining and executing module 302, the determining conditions of the data related to the motorcycle driving related to the priority order include:

the first priority:

s201, enabling a whole vehicle running mark to be effective;

the second priority is:

s202, enabling a current system operation mark to be effective;

s203, the battery SOC is greater than A;

s204, engine speed is less than B;

s205, the current vehicle speed is less than C;

s206, accelerator opening degree > D;

s207, the brake signal is invalid;

s208, the current motor system has no fault;

s209, the current engine system has no fault;

s210, the accelerator opening increasing rate is greater than E;

third priority:

s211, invalidating the vehicle speed stabilizing signal;

The hybrid motorcycle power-assisted control device 30 provided by the embodiment of the application adopts the same inventive concept as the hybrid motorcycle power-assisted control method, can obtain the same beneficial effects, and is not repeated herein.

Based on the same inventive concept as the hybrid motorcycle power assisting control method, the embodiment of the present application further provides an electronic device 40, as shown in fig. 3, the electronic device 40 may include a processor 401 and a memory 402.

The Processor 401 may be a general-purpose Processor, such as a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.

Memory 402, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charged Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and so on. The memory is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 402 in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; the computer storage media may be any available media or data storage device that can be accessed by a computer, including but not limited to: various media that can store program codes include a removable Memory device, a Random Access Memory (RAM), a magnetic Memory (e.g., a flexible disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., a CD, a DVD, a BD, an HVD, etc.), and a semiconductor Memory (e.g., a ROM, an EPROM, an EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)).

Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media that can store program codes include a removable Memory device, a Random Access Memory (RAM), a magnetic Memory (e.g., a flexible disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., a CD, a DVD, a BD, an HVD, etc.), and a semiconductor Memory (e.g., a ROM, an EPROM, an EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)).

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims

1. A power-assisted control method of a hybrid power motorcycle is characterized by comprising the following steps:

2. The hybrid motorcycle power assist control method according to claim 1, wherein the drive power assist control conditions include:

3. The hybrid motorcycle power-assisted control method according to claim 1, wherein the conditions for determining the data relating to the motorcycle drive, which are involved in the priority order, include:

the first priority is:

s201, enabling a whole vehicle running mark to be effective;

the second priority is:

s202, enabling a current system operation mark to be effective;

s203, the battery SOC is greater than A;

s204, engine speed is less than B;

s205, the current vehicle speed is less than C;

s206, accelerator opening degree > D;

s207, the brake signal is invalid;

s208, the current motor system has no fault;

s209, the current engine system has no fault;

s210, the accelerator opening increasing rate is greater than E;

third priority:

s211, invalidating the vehicle speed stabilizing signal;

4. The hybrid motorcycle power-assisted control method according to claim 1, wherein the control motor executes a drive power-assisted program including:

a torque minimum value among the maximum limit torque, the battery allowable drive torque associated with the battery SOC, and the rotation speed limit torque associated with the motor rotation speed is obtained, and the target drive torque is obtained based on the minimum value.

5. The hybrid motorcycle power-assisted control method according to claim 4, wherein obtaining the battery allowable drive torque associated with the battery SOC includes:

6. The hybrid motorcycle power-assisted control method according to claim 4, wherein obtaining the rotation speed limitation torque associated with the rotation speed of the motor includes:

7. The hybrid motorcycle power-assisted control method according to claim 4, wherein the target drive torque is equal to the torque minimum value x accelerator opening degree.

8. A motorcycle hybrid power assist control device, comprising:

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 7 are implemented when the computer program is executed by the processor.

10. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the method of any one of claims 1 to 7.