CN114919425B - Automobile starting control method, device, equipment and storage medium - Google Patents
Automobile starting control method, device, equipment and storage medium Download PDFInfo
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- CN114919425B CN114919425B CN202210605905.6A CN202210605905A CN114919425B CN 114919425 B CN114919425 B CN 114919425B CN 202210605905 A CN202210605905 A CN 202210605905A CN 114919425 B CN114919425 B CN 114919425B
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- 238000000034 method Methods 0.000 title claims abstract description 71
- 238000012544 monitoring process Methods 0.000 claims abstract description 35
- 230000008569 process Effects 0.000 claims abstract description 35
- 239000004606 Fillers/Extenders Substances 0.000 claims description 20
- 238000010438 heat treatment Methods 0.000 claims description 11
- 230000006870 function Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000036461 convulsion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 244000145845 chattering Species 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
-
- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/24—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries
- B60L58/27—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries by heating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application relates to an automobile starting control method, an automobile starting control device, automobile starting control equipment and a storage medium. The automobile starting control method comprises the following steps: monitoring a first peak power and a second peak power in the starting process of the automobile, wherein the first peak power is available peak power of the automobile, and the second peak power is required peak power of the automobile; comparing the magnitude of the first peak power and the second peak power; in the case that the first peak power is smaller than the second peak power, an upper torque limit of the motor is set according to the first peak power, and the torque of the motor is limited according to the upper torque limit. The method can effectively solve the problem of starting shake of the automobile in a low-temperature environment.
Description
Technical Field
The present application relates to the field of automatic control technologies for automobiles, and in particular, to a method, an apparatus, a device, and a storage medium for controlling starting of an automobile.
Background
The discharge capacity of the battery of the new energy automobile is easily affected by the ambient temperature. Particularly, under the low-temperature environment, the discharge power of the battery is lower, so that the automobile can shake when a driver starts at a large throttle.
In this regard, the battery may be heated prior to the start of the vehicle, but this approach is time consuming and reduces the efficiency of the vehicle start.
Therefore, a starting control method for improving the starting shake problem of the automobile in a low-temperature environment is still lacking.
Disclosure of Invention
Based on the method, the device, the equipment and the storage medium for controlling the starting of the automobile are provided, and the problem of starting shake of the automobile in a low-temperature environment is solved.
In a first aspect, the present application provides a method for controlling starting of an automobile, the method comprising: monitoring a first peak power and a second peak power in the starting process of the automobile, wherein the first peak power is available peak power of the automobile, and the second peak power is required peak power of the automobile, namely, power required when the torque of the motor reaches the maximum value (external characteristic of the motor); comparing the magnitude of the first peak power and the second peak power; in the case where the first peak power is smaller than the second peak power, an upper motor torque limit is set according to the first peak power, and the torque of the motor is limited according to the upper motor torque limit.
With reference to the first aspect, in a first implementation manner of the first aspect, setting the upper motor torque limit according to the first peak power includes: monitoring the motor rotation speed at the current moment; and obtaining peak torque at the motor rotating speed according to the first peak power, and taking the peak torque as an upper limit of the motor torque.
With reference to the first aspect, in a second implementation manner of the first aspect, setting the upper motor torque limit according to the first peak power includes: acquiring a torque gradient table corresponding to the first peak power, wherein the torque gradient table is used for indicating at least one peak torque which is reduced in gradient along with the increase of the rotating speed of the motor; the upper motor torque limit is set according to the peak torque from large to small in the torque gradient table.
With reference to the first aspect, in a third implementation manner of the first aspect, before monitoring the first peak power and the second peak power during starting of the automobile, the method further includes: before the automobile starts, detecting the temperature of a battery, and under the condition that the temperature of the battery is smaller than a preset temperature, acquiring a preset safety torque as an upper limit of the torque of the motor; in the case where it is detected that the first peak power is smaller than the second peak power, the steps of setting an upper limit of the motor torque according to the first peak power and limiting the torque of the motor according to the upper limit of the motor torque are performed.
With reference to the first aspect, in a fourth implementation manner of the first aspect, in a case that the first peak power is smaller than the second peak power, the method further includes: monitoring the temperature of the battery; and heating the battery under the condition that the temperature of the battery is smaller than the preset temperature until the first peak power is larger than or equal to the second peak power.
With reference to the first aspect, in a fifth implementation manner of the first aspect, the monitoring the first peak power of the automobile includes: monitoring the peak power of the battery and the peak power of the range extender; the sum of the peak power of the battery and the peak power of the range extender is taken as the first peak power.
With reference to the first aspect, in a sixth implementation manner of the first aspect, the monitoring the second peak power of the automobile includes: acquiring an external characteristic curve of the automobile in a normal-temperature environment, and monitoring the rotating speed of a motor at the current moment; and determining the peak power of the automobile at the motor speed according to the external characteristic curve, and taking the peak power as a second peak power.
In a second aspect, the present application also provides an automobile starting control device, which includes: the detecting unit is used for monitoring a first peak power and a second peak power in the starting process of the automobile, wherein the first peak power is available peak power of the automobile, and the second peak power is required peak power of the automobile; a comparison unit for comparing the values of the first peak power and the second peak power; and a control unit for setting an upper motor torque limit according to the first peak power and limiting the torque of the motor according to the upper motor torque limit in the case where the first peak power is smaller than the second peak power.
With reference to the second aspect, in a first implementation manner of the second aspect, the control unit is specifically configured to: monitoring the motor rotation speed at the current moment; and obtaining peak torque at the motor rotating speed according to the first peak power, and taking the peak torque as an upper limit of the motor torque.
With reference to the second aspect, in a second implementation manner of the second aspect, the control unit is specifically configured to: acquiring a torque gradient table corresponding to the first peak power, wherein the torque gradient table is used for indicating at least one peak torque which is reduced in gradient along with the increase of the rotating speed of the motor; the upper motor torque limit is set according to the peak torque from large to small in the torque gradient table.
With reference to the second aspect, in a third implementation manner of the second aspect, the detecting unit is further configured to detect a battery temperature before the vehicle starts; and the control unit is also used for acquiring preset safety torque as a motor torque upper limit under the condition that the battery temperature is smaller than the preset temperature, and executing the steps of setting the motor torque upper limit according to the first peak power and limiting the torque of the motor according to the motor torque upper limit under the condition that the first peak power is smaller than the second peak power.
With reference to the second aspect, in a fourth implementation manner of the second aspect, the detection unit is further configured to monitor a battery temperature; the automobile starting control device further comprises a heating unit, wherein the heating unit is used for heating the battery until the first peak power is greater than or equal to the second peak power under the condition that the temperature of the battery is smaller than the preset temperature.
With reference to the second aspect, in a fifth implementation manner of the second aspect, the detection unit is specifically configured to monitor a peak power of the battery and a peak power of the range extender; the sum of the peak power of the battery and the peak power of the range extender is taken as the first peak power.
With reference to the second aspect, in a sixth implementation manner of the second aspect, the detection unit is specifically configured to obtain an external characteristic curve of the automobile in a normal temperature environment, and monitor a rotation speed of the motor at a current time; and determining the peak power of the automobile at the motor speed according to the external characteristic curve, and taking the peak power as a second peak power.
In a third aspect, the application also provides an automobile starting control device, which comprises a processor and a memory, wherein the processor and the memory are connected through a bus; a processor for executing a plurality of instructions; a storage medium storing a plurality of instructions adapted to be loaded by a processor and to carry out a method of vehicle launch control as in the first aspect or any of the embodiments of the first aspect.
In a fourth aspect, the present application also provides a computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor and to perform a method of vehicle launch control as in the first aspect or any one of the embodiments of the first aspect.
In the embodiment of the application, an automobile starting control device monitors available peak power and required peak power in an automobile starting process respectively to obtain first peak power and second peak power; then comparing the values of the first peak power and the second peak power, if the first peak power is smaller than the second peak power, the peak power which can be provided by the automobile cannot meet the requirement of large accelerator starting of the automobile, so that the upper limit of the motor torque is set according to the first peak power, and the torque of the motor is limited according to the upper limit of the motor torque; if the first peak power is greater than or equal to the second peak power, the peak power which can be provided by the automobile can meet the requirement of starting the automobile at a large accelerator, so that the torque of the motor is limited by taking the peak torque in an external characteristic curve of the automobile in a normal temperature environment as the upper limit of the torque of the motor without excessively low limitation of the torque of the motor. Therefore, the application monitors the available peak power and the required peak power in the starting process of the automobile in real time, dynamically and smoothly changes the upper limit of the motor torque of the automobile, prevents the automobile from being reduced to low torque from high torque at the time of starting from a large accelerator because of the over-discharge protection of the battery, thereby reducing the occurrence of the shaking condition of the automobile and effectively improving the starting efficiency of the automobile.
Drawings
FIG. 1 is a flow chart of a method of controlling vehicle launch in one embodiment;
FIG. 2 is a flow chart of a method for controlling vehicle launch in another embodiment;
FIG. 3 is a schematic block diagram of an automobile starting control device provided by the application;
fig. 4 is a block diagram of an automobile starting control device according to the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It should be noted that, the illustrations provided in the present embodiment merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex. The structures, proportions, sizes, etc. shown in the drawings attached hereto are for illustration purposes only and are not intended to limit the scope of the invention, which is defined by the claims, but rather by the claims. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
It should be further noted that, the vehicle start control device and the vehicle start control apparatus related to the present application may include, but are not limited to, a control system of the whole vehicle, a vehicle driving controller, a whole vehicle controller (Vehicle Control Unit, VCU), an electronic control unit (Electronic Control Unit, ECU), etc., where the vehicle start control apparatus may implement the described method of the present application, for example, may monitor, by other components, peak power of a battery, a battery temperature, peak power of a range extender, limit torque of a motor according to an upper limit of torque of the motor, etc., which is not described herein.
The discharge capacity of the battery of the new energy automobile is easily affected by the ambient temperature. Under the normal temperature environment, the discharge capacity of the battery is normal, and the power provided by the battery can meet the starting requirement of the automobile. However, in a low-temperature environment, the discharging capacity of the battery is abnormal, and the power provided by the battery is likely to not meet the starting requirement of the automobile. The inventors found that: when the automobile starts under the low-temperature environment with a large accelerator, the high torque requested by the large accelerator collides with the small torque provided by the over-discharge protection of the battery, and the torque of the automobile can be suddenly reduced from the high torque to the low torque, so that the automobile shakes. At present, in order to solve the problem in the low-temperature starting process of the automobile, the battery can be heated before the automobile starts, but the method is time-consuming and can reduce the starting efficiency of the automobile.
In this regard, the application provides a vehicle starting control method, which monitors the available peak power and the required peak power in the vehicle starting process in real time, dynamically and smoothly adjusts the upper limit of the motor torque of the vehicle, and prevents the vehicle from being lowered from high torque to low torque at a time when starting from a large accelerator because of over-discharge protection of a battery, thereby reducing the occurrence of vehicle shake.
It should be noted that "monitoring" mentioned below refers to that the vehicle start control device detects according to a preset frequency, and the monitoring process includes at least one detection operation, where the preset frequency is any constant value set in advance. The vehicle start control device continuously performs the detection operation in the monitoring process until a preset trigger condition is detected, and performs the following steps, for example: when the automobile starting control device detects that the first peak power is smaller than the second peak power, the motor torque upper limit is set according to the first peak power. Wherein the first peak power is smaller than the second peak power as a trigger condition, and the second step is executed when the trigger condition is detected.
In addition, the "current time" to be referred to hereinafter refers to a corresponding time node when a trigger condition is satisfied, for example: the automobile starting control device sets the upper limit of the motor torque according to the first peak power, detects the motor rotating speed at the current moment (namely, the current moment when the time node corresponding to the triggering condition that the first peak power is smaller than the second peak power is detected), obtains the peak torque at the motor rotating speed according to the first peak power, and takes the peak torque as the upper limit of the motor torque. It should be noted that, in practical application, there may be a time difference between the time node corresponding to the trigger condition and the time node for detecting the rotation speed of the motor, but because the time difference is small, the time node is considered to be negligible, and the current time is approximately equal to the time node corresponding to the trigger condition, which will not be described in detail in the present disclosure.
Next, the application will be described in detail with reference to an application scenario of low-temperature start of a new energy automobile, and using an automobile start control device as an execution main body.
Firstly, a vehicle starting control device monitors a first peak power and a second peak power in a vehicle starting process in real time, wherein the first peak power is available peak power of a vehicle, namely the maximum discharge power which can be achieved in a short time by a power supply; the second peak power is the peak power required for the automobile, i.e., the power required when the torque of the motor reaches the maximum value (the off-motor characteristic).
To monitor the first peak power, the vehicle launch control may monitor the peak power of the battery and the peak power of the range extender, and take the sum of the peak power of the battery and the peak power of the range extender as the first peak power. The peak power of the Battery may be monitored by a Battery management system (Battery MANAGEMENT SYSTEM, BMS) or the like, and the peak power of the range extender may be monitored by a range extender control system or the like.
In order to monitor the second peak power, the vehicle start control device may first acquire an external characteristic curve of the vehicle in a normal temperature environment, and monitor the motor rotation speed at the current time. And then determining the peak power of the automobile at the motor rotating speed at the current moment according to the external characteristic curve, and taking the peak power as a second peak power. The external characteristic curve under the normal temperature environment refers to a curve of the torque change along with the rotation speed under the full load (the gasoline engine is fully opened in the throttle) state of the engine measured under the normal temperature environment, so that the torque corresponding to the rotation speed of the motor can be directly found in the external characteristic curve, the peak power (p=t×n/9550) is obtained through the torque and the rotation speed of the motor, wherein the unit is the peak power, the unit is kilowatt KW, the unit is the torque, the unit is the ox meter n·m, the unit is the rotation speed of the motor, the unit is r/min, and the peak power is taken as the second peak power. The torque in the outer characteristic curve has a stable value, the value of the torque in the outer characteristic curve has a small floating range, the peak torque is the upper limit value of the value range, and the valley torque is the lower limit value of the value range.
Then, the automobile starting control device compares the values of the first peak power and the second peak power, and sets a motor torque upper limit according to the first peak power under the condition that the first peak power is smaller than the second peak power, so that the torque of the automobile does not exceed the motor torque upper limit at maximum. Otherwise, if the first peak power is greater than or equal to the second peak power, the default torque is taken as the upper limit of the motor torque according to the preset default torque, and the default torque comprises the peak torque in the external characteristic curve in the normal temperature environment. Optionally, the vehicle start control device may further monitor the battery temperature when the battery temperature is less than a preset temperature, and if the battery temperature is less than the preset temperature, heat the battery until the first peak power is greater than or equal to the second peak power.
As an implementation manner, the upper limit of the motor torque is set according to the first peak power, and the upper limit of the motor torque may be adjusted in real time according to the motor rotation speed at the current time, specifically: monitoring the motor rotation speed at the current moment; and obtaining peak torque at the motor rotating speed according to the first peak power, and taking the peak torque as an upper limit of the motor torque.
In the embodiment of the application, the automobile starting control device adjusts the upper limit of the motor torque in real time according to the motor rotating speed at the current moment, thereby improving the shaking problem of the automobile in the low-temperature starting process. This is because: through the monitoring process, the situation that the available peak power of the automobile is insufficient can be timely found, and the upper limit of the motor torque of the automobile is timely adjusted, so that the adjustment process of the upper limit of the motor torque is relatively smooth; since the adjustment process becomes relatively smooth, the upper motor torque limit is not adjusted very low from a very high value, so that the vehicle does not shake suddenly.
Although the above-mentioned way of adjusting the upper limit of the motor torque in real time improves the problem of shake during the low-temperature starting process of the automobile, there may be very slight shake during the multiple adjustment process, because in practical application, the monitoring process of the motor rotation speed may not achieve a perfect real-time effect. There is a very small delay in time between each adjustment of the upper motor torque limit. The motor speed may be momentarily raised by one step during this small delay, so that very slight jitter problems may occur during the multiple adjustments.
In order to improve the problem that very slight jitter may occur during the multiple adjustment process, the application also provides a preferred way to adjust the upper torque limit of the motor by looking up a table. Specific: the method comprises the steps that an automobile starting control device obtains a torque gradient table corresponding to first peak power, wherein the torque gradient table is used for indicating at least one peak torque which is reduced in gradient along with the increase of the rotating speed of a motor; the upper motor torque limit is set according to the peak torque from large to small in the torque gradient table. The torque gradient table corresponding to the first peak power is different according to the difference of the value of the monitored first peak power. The peak torque in the torque gradient table is arranged in a number from large to small, where the maximum peak torque is the maximum torque that the vehicle can provide at the monitored first peak power. When the motor torque upper limit is set according to the torque gradient table, the automobile starting control device sequentially sets the motor torque upper limit from the maximum torque in the torque gradient table according to the sequence from the large to the small.
In the embodiment of the application, the automobile starting control device omits the process of monitoring the motor rotating speed in real time, directly acquires the torque gradient table corresponding to the first peak power, and directly sets the upper limit of the motor torque according to the torque gradient table, so that the extremely small delay in the embodiment is almost avoided, and the problem that extremely slight shake possibly occurs in the process of multiple adjustment is solved. Specifically, the torque gradient table includes a plurality of peak torques, the difference between every two adjacent peak torques is smaller than a preset difference, the preset difference is the minimum difference generating very slight shake, when the difference exceeds the preset difference, the automobile generates very slight shake which is perceived by passengers, otherwise, the vehicle cannot generate very slight shake. Therefore, the torque gradient table is adopted to adjust the upper limit of the motor torque, so that the upper limit of the motor torque of the automobile can be smoothly adjusted, and the problem that very small jitter can occur in the process of multiple adjustment is solved.
For example, when the vehicle launch control device monitors that the first peak power is less than the second peak power, the vehicle launch control device obtains a torque gradient table corresponding to the first peak power, the torque gradient table including a plurality of peak torques (L1, L2.. LN... Times.). An automobile starting control device comprises L1 l2. LN.. Set in sequence to the upper motor torque limit of the car.
While the preferred approach described above improves the problem of very slight jerk that may occur during multiple adjustments, very slight jerk may occur during the first adjustment because there is a very small delay in time between the first monitoring of the vehicle launch control to the first peak power being less than the second peak power and the setting of the upper motor torque limit based on the first peak power. The motor speed may be momentarily raised by one step during this small delay. If the upper limit of the motor torque calculated according to the motor speed at the current time is limited, a very slight chattering problem may occur.
In order to solve the problem of slight jitter which may be generated during the first adjustment, the technical effect of the application is further improved, and the application also provides an optimization method. The optimization method specifically comprises the following steps: the automobile starting control device detects the temperature of a battery before the automobile starts, and obtains preset safe torque as the upper limit of the motor torque under the condition that the temperature of the battery is smaller than the preset temperature; and in the case that the first peak power is monitored to be smaller than the second peak power, executing the steps of setting the upper limit of the motor torque according to the first peak power and limiting the torque of the motor according to the upper limit of the motor torque.
In the embodiment of the application, before the automobile starts, the automobile starting control device pre-judges whether the automobile possibly has insufficient available peak power in the starting process, wherein the preset temperature can be normal temperature or a temperature slightly less than the normal temperature; the guard torque is any value smaller than the valley torque. Because the safe torque is smaller than the valley torque, the safe torque is smaller than the upper limit of the motor torque when the motor is first adjusted, and the upper limit of the motor torque when the motor is first adjusted is as follows: an upper motor torque limit is set at the first adjustment based on the first peak power. Therefore, when the motor torque upper limit of the automobile is adjusted from smaller safe torque to larger motor torque upper limit for the first time, the motor torque upper limit cannot shake, and the problem of extremely slight shake possibly generated during the first time adjustment is solved.
For example, according to the external characteristic curve in the normal temperature environment, the automobile starting control device sets the upper limit of the motor torque to be M2 in the first adjustment process, assuming that the safe torque, namely the valley torque is M1, and M1 is smaller than M2. Therefore, when the automobile starting control device monitors that the first peak power is smaller than the second peak power for the first time, the automobile starting control device adjusts the upper limit of motor torque of the automobile from smaller M1 to larger M2, and the automobile cannot shake at the moment.
In summary, the automobile starting control device monitors the available peak power and the required peak power in the automobile starting process in real time, dynamically and smoothly changes the upper limit of the motor torque of the automobile, and prevents the automobile from being reduced to low torque from high torque in the process of starting with a large accelerator because of over-discharge protection of a battery, so that the situation of automobile shake is reduced, and the automobile starting efficiency is effectively improved.
Based on the above specific description about the application scenario of the present application, the present application will be described in more detail with reference to the flowchart of fig. 1. Specific:
101: the first peak power and the second peak power during the start of the vehicle are monitored.
In the embodiment of the application, as the automobile starts to start, the motor speed is continuously increased from zero, and the peak power required by the automobile is also continuously increased, in which case, the peak power available for the automobile may not meet the peak power required by the automobile, and automobile shake is easy to occur. In order to prevent the situation, the automobile starting control device monitors the first peak power and the second peak power in the automobile starting process according to a higher preset frequency until the first peak power is monitored to be smaller than the second peak power, and executes the subsequent step of adjusting the upper limit of the motor torque. The first peak power is the peak power available to the automobile, and the second peak power is the peak power required by the automobile, namely, the power required when the torque of the motor reaches the maximum value (the external characteristic of the motor).
In order to monitor the first peak power, the vehicle start control device may monitor the peak power of the battery through the BMS, and use the peak power of the battery as the first peak power, or monitor the peak power of the range extender through the range extender control system, and use the sum of the peak power of the battery and the peak power of the range extender as the first peak power.
In order to monitor the second peak power, the automobile starting control device can acquire an external characteristic curve of the automobile in a normal temperature environment and monitor the motor rotating speed at the current moment; and determining the peak power of the automobile at the motor speed according to the external characteristic curve, and taking the peak power as a second peak power. Wherein, determining peak power of the automobile at the motor speed according to the external characteristic curve means that: the torque of the automobile at the motor speed at the current moment is searched for in the external characteristic curve, and the peak torque is obtained by multiplying the torque by the motor speed and dividing 9550. The external characteristic curve depicts a map between the torque of the vehicle and the motor rotation speed in the engine full load state.
102: And comparing the values of the first peak power and the second peak power.
In the embodiment of the present application, the vehicle start control device compares the values of the first peak power and the second peak power each time the first peak power and the second peak power are detected during the process of monitoring the first peak power and the second peak power, and if the first peak power is greater than or equal to the second peak power, continues to detect the first peak power and the second peak power until the first peak power is detected to be less than the second peak power, and then performs the next step, for example, step 103.
103: And setting an upper motor torque limit according to the first peak power and limiting the torque of the motor according to the upper motor torque limit under the condition that the first peak power is smaller than the second peak power.
In the embodiment of the application, when the first peak power is smaller than the second peak power, the vehicle start control device sets the upper limit of the motor torque according to the first peak power, and limits the torque of the motor according to the upper limit of the motor torque, namely, controls the torque of the vehicle not to exceed the upper limit of the motor torque. Otherwise, when the first peak power is greater than or equal to the second peak power, setting a preset default torque as an upper limit of the motor torque, wherein the default torque includes a peak torque in an external characteristic curve in a normal temperature environment, and continuing to execute the step 101 until the first peak power is detected to be less than the second peak power. The above-mentioned ways of setting the upper limit of the motor torque according to the first peak power include two ways: the first way is to adjust the upper limit of the motor torque in real time; in the second mode, the table lookup adjusts the upper motor torque limit. Specific:
First, the motor torque upper limit is adjusted in real time: the automobile starting control device monitors the motor rotating speed at the current moment; and obtaining peak torque at the motor rotating speed according to the first peak power, and taking the peak torque as an upper limit of the motor torque.
In a first mode, the vehicle starting control device monitors and obtains the motor torque at the current moment in real time, and takes the ratio of the first peak power to the motor torque as the upper limit of the motor torque. The ratio of the first peak power to the motor torque is the peak torque which can be provided by the automobile under the motor rotating speed. It should be noted that, since the motor torque is monitored in real time in this way, the peak torque at the corresponding time is obtained by monitoring at different times, and the peak torque at the corresponding time is set as the upper limit of the motor torque at different times, so as to control the torque of the automobile. Therefore, the upper limit of the motor torque of the automobile can be timely adjusted through the real-time monitoring process, the adjusting process is relatively smooth, the upper limit of the motor torque cannot be adjusted to be very low from a very high value, and the problem of sudden shaking of the automobile is solved.
In the second mode, the upper limit of the motor torque is adjusted by looking up a table: the method comprises the steps that an automobile starting control device obtains a torque gradient table corresponding to first peak power, wherein the torque gradient table is used for indicating at least one peak torque which is reduced in gradient along with the increase of the rotating speed of a motor; the upper motor torque limit is set according to the peak torque from large to small in the torque gradient table.
In the second aspect, the vehicle start control device sets the upper limit of the motor torque according to the torque gradient table corresponding to the first peak power. Wherein the first peak powers of different magnitudes correspond to different torque gradient tables. The torque gradient table is used to indicate at least one peak torque that is graded down as the motor speed increases, the at least one peak torque being used to indicate the maximum torque that the vehicle can provide at different times. The peak torque in the torque gradient table is arranged in a number from large to small, where the maximum peak torque is the maximum torque that the vehicle can provide at the monitored first peak power. When the motor torque upper limit is set according to the torque gradient table, the automobile starting control device sequentially sets the motor torque upper limit from the maximum torque in the torque gradient table according to the sequence from the large to the small. It should be noted that, because the process of monitoring the motor rotation speed in real time is omitted in the method, the upper limit of the motor torque is set directly according to the preset torque gradient table, so that the technical effect is further improved, and the problem that extremely slight shake possibly occurs in the process of multiple adjustment is solved.
In one embodiment, before the vehicle starts, the vehicle start control device detects the battery temperature and obtains a preset safety torque as the upper limit of the motor torque when the battery temperature is less than a preset temperature; in the case where it is detected that the first peak power is smaller than the second peak power, the steps of setting an upper limit of the motor torque according to the first peak power and limiting the torque of the motor according to the upper limit of the motor torque are performed.
In the embodiment of the application, before the automobile starts, the automobile starting control device pre-judges whether the automobile possibly has insufficient available peak power in the starting process, wherein the preset temperature can be normal temperature or slightly lower than the normal temperature; the guard torque is any value smaller than the valley torque. It should be noted that, because the motor torque upper limit of the automobile is adjusted from the smaller safe torque to the larger motor torque upper limit without shaking when the automobile starting control device is adjusted for the first time, the problem of extremely slight shaking possibly generated when the motor torque upper limit is adjusted for the first time is solved, and the technical effect of the application is further improved.
In one embodiment, the vehicle start control device may further monitor a battery temperature when the first peak power is less than the second peak power, and heat the battery until the first peak power is greater than or equal to the second peak power when the battery temperature is less than a preset temperature.
In the embodiment of the application, the automobile starting control device can monitor the battery temperature under the condition that the first peak power is smaller than the second peak power, and if the battery temperature is smaller than the preset temperature, the battery is in a low-temperature state and cannot provide enough peak power, so that the battery is heated until the first peak power is larger than or equal to the second peak power, the problem of automobile shake is solved from the root, and the technical effect of shake prevention is further enhanced.
In summary, under the condition that enough peak power cannot be provided in the starting process of the automobile, the automobile starting control device dynamically and smoothly changes the upper limit of the motor torque of the automobile according to the available peak power of the automobile, reduces the occurrence of the shaking condition of the automobile, and effectively improves the starting efficiency of the automobile.
In order to more clearly describe the automobile starting control method, the application also provides another implementation mode. Next, the present application will be described with reference to the flowchart shown in fig. 2. Specific:
201: before the automobile starts, detecting the temperature of a battery, and under the condition that the temperature of the battery is smaller than a preset temperature, acquiring the preset safe torque as the upper limit of the motor torque.
Before the automobile starts, the automobile starting control device monitors the battery temperature of the battery through the BMS or the temperature sensor and the like, and if the battery temperature is smaller than the preset temperature, the preset safety torque is obtained as the upper limit of the motor torque, so that the torque of the automobile does not exceed the safety torque. Otherwise, if the battery temperature is greater than or equal to the preset temperature, the upper limit of the motor torque is not set before starting until the automobile starts, and step 202 is executed to monitor the first peak power and the second peak power. The preset temperature can be at normal temperature or any value slightly lower than normal temperature, and the safety torque is any value smaller than the valley torque.
202: The first peak power and the second peak power during the start of the vehicle are monitored.
In the embodiment of the application, the automobile starting control device monitors the first peak power and the second peak power in the automobile starting process until the first peak power is monitored to be smaller than the second peak power, and executes the subsequent step of adjusting the upper limit of the motor torque. The first peak power is the peak power available to the automobile, and the second peak power is the peak power required by the automobile, namely, the power required when the torque of the motor reaches the maximum value (the external characteristic of the motor).
In order to monitor the first peak power, the vehicle start control device may monitor the peak power of the battery and the peak power of the range extender, and then use the sum of the peak power of the battery and the peak power of the range extender as the first peak power.
In order to monitor the second peak power, the vehicle start control device may first acquire an external characteristic curve of the vehicle in a normal temperature environment, monitor a motor rotation speed at a current time, determine a peak power of the vehicle at the motor rotation speed according to the external characteristic curve, and use the peak power as the second peak power.
203: And comparing the values of the first peak power and the second peak power.
In the embodiment of the present application, the vehicle start control device compares the values of the first peak power and the second peak power each time the first peak power and the second peak power are detected during the process of monitoring the first peak power and the second peak power, and if the first peak power is greater than or equal to the second peak power, continues to detect the first peak power and the second peak power until the first peak power is detected to be less than the second peak power, and then performs the next step, for example, step 204.
204: And setting an upper motor torque limit according to the first peak power and limiting the torque of the motor according to the upper motor torque limit under the condition that the first peak power is smaller than the second peak power.
In the embodiment of the application, when the first peak power is smaller than the second peak power, the vehicle start control device sets the upper limit of the motor torque according to the first peak power, and limits the torque of the motor according to the upper limit of the motor torque, namely, controls the torque of the vehicle not to exceed the upper limit of the motor torque. Otherwise, if the first peak power is greater than or equal to the second peak power, the upper limit of the motor torque is kept at the safe torque, and step 202 is continued until the first peak power is detected to be less than the second peak power. The above-mentioned ways of setting the upper limit of the motor torque according to the first peak power include two ways: the first way is to adjust the upper limit of the motor torque in real time; in the second mode, the table lookup adjusts the upper motor torque limit. Reference may be made to the foregoing for a specific implementation of the two modes, and the disclosure is not repeated here.
In one embodiment, when the temperature of the battery is less than the preset temperature, the battery is heated until the first peak power is greater than or equal to the second peak power, and a preset default torque is set as the upper limit of the motor torque, wherein the default torque comprises the peak torque in the external characteristic curve in the normal temperature environment.
In summary, before the automobile starts, the embodiment of the application pre-judges whether the available peak power is insufficient or not in the starting process of the automobile by detecting the battery temperature, and if so, the preset safe torque is taken as the upper limit of the motor torque, so that: after the automobile starts, if the first peak power is monitored to be smaller than the second peak power, the automobile starting control device adjusts the upper limit of the motor torque of the automobile from the smaller safe torque to the larger upper limit of the motor torque, and the automobile cannot shake, so that the anti-shake technical effect is further enhanced by the embodiment of the application.
Referring to fig. 3, the invention further provides an automobile starting control device. The embodiment of the invention can divide the functional units of the device according to the method example, for example, each functional unit can be divided corresponding to each function, and two or more functions can be integrated in one unit. The integrated units may be implemented in hardware or in software functional units. It should be noted that, in the embodiment of the present invention, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice. As shown in fig. 3, the vehicle start control device includes a detecting unit 310, a comparing unit 320, and a control unit 330, specifically:
The detecting unit 310 is configured to monitor a first peak power and a second peak power in a starting process of the automobile, where the first peak power is available peak power of the automobile, and the second peak power is required peak power of the automobile; a comparing unit 320, configured to compare the values of the first peak power and the second peak power; and a control unit 330 for setting an upper motor torque limit according to the first peak power and limiting the torque of the motor according to the upper motor torque limit in the case where the first peak power is smaller than the second peak power.
Optionally, the control unit 330 is specifically configured to: monitoring the motor rotation speed at the current moment; and obtaining peak torque at the motor rotating speed according to the first peak power, and taking the peak torque as an upper limit of the motor torque.
Optionally, the control unit 330 is specifically configured to: acquiring a torque gradient table corresponding to the first peak power, wherein the torque gradient table is used for indicating at least one peak torque which is reduced in gradient along with the increase of the rotating speed of the motor; the upper motor torque limit is set according to the peak torque from large to small in the torque gradient table.
Optionally, the detecting unit 310 is further configured to detect a battery temperature; and the control unit is also used for acquiring preset safety torque as a motor torque upper limit under the condition that the battery temperature is smaller than the preset temperature, and executing the steps of setting the motor torque upper limit according to the first peak power and limiting the torque of the motor according to the motor torque upper limit under the condition that the first peak power is smaller than the second peak power.
Optionally, the detecting unit 310 is further configured to monitor a battery temperature; the vehicle start control device further includes a heating unit 340, where the heating unit 340 is configured to heat the battery until the first peak power is equal to or greater than the second peak power when the temperature of the battery is less than a preset temperature.
Optionally, the detecting unit 310 is specifically configured to monitor the peak power of the battery and the peak power of the range extender; the sum of the peak power of the battery and the peak power of the range extender is taken as the first peak power.
Optionally, the detecting unit 310 is specifically configured to obtain an external characteristic curve of the automobile in a normal temperature environment, and monitor a motor rotation speed at a current time; and determining the peak power of the automobile at the motor speed according to the external characteristic curve, and taking the peak power as a second peak power.
In the embodiment of the application, the available peak power and the required peak power in the starting process of the automobile are monitored in real time through the detection unit 310, the numerical values of the first peak power and the second peak power are compared through the comparison unit 320, the upper limit of the motor torque is set according to the first peak power through the control unit 330, and the torque of the motor is limited according to the upper limit of the motor torque. Therefore, the embodiment of the application can dynamically and smoothly change the upper limit of the motor torque of the automobile, prevent the automobile from being lowered from high torque to low torque at once when the automobile starts from a large accelerator because of the over-discharge protection of the battery, and further reduce the occurrence of the shaking condition of the automobile.
Referring to fig. 4, a schematic block diagram of an automobile starting control device according to another embodiment of the present application is provided. The vehicle start control apparatus in the present embodiment as shown in the drawings may include: a processor 410 and a memory 420. The processor 410 and the memory 420 are connected by a bus 430.
The processor 410 may be a central processing unit (central processing unit, CPU), a general purpose processor, a coprocessor, a digital signal processor (DIGITAL SIGNAL processor, DSP), an Application Specific Integrated Circuit (ASIC), a field programmable gate array (field programmable GATE ARRAY, FPGA), or other programmable logic device, transistor logic device, hardware components, or any combination thereof. The processor 410 may also be a combination that implements computing functionality, such as a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, and the like. In this embodiment, the processor 410 may use a single-chip microcomputer, and various control functions can be realized by programming the single-chip microcomputer, for example, in this embodiment, the functions of collecting, processing and demodulating the battery data signal and the level signal are realized, and the processor has the advantages of strong computing power and rapid processing. Wherein the processor 410 invokes program code stored in the memory 420, the method described above may be performed.
Specifically, the processor 410 is configured to perform a function of the detecting unit 310, and is configured to monitor a first peak power and a second peak power during starting of the automobile, where the first peak power is an available peak power of the automobile, and the second peak power is a required peak power of the automobile; and is further configured to perform a function of the comparing unit 320 for comparing the magnitude of the first peak power and the second peak power; and also to perform the function of the control unit 330 for setting an upper motor torque limit according to the first peak power and limiting the motor torque according to the upper motor torque limit in case the first peak power is smaller than the second peak power.
Optionally, the processor 410 is specifically configured to: monitoring the motor rotation speed at the current moment; and obtaining peak torque at the motor rotating speed according to the first peak power, and taking the peak torque as an upper limit of the motor torque.
Optionally, the processor 410 is specifically configured to: acquiring a torque gradient table corresponding to the first peak power, wherein the torque gradient table is used for indicating at least one peak torque which is reduced in gradient along with the increase of the rotating speed of the motor; the upper motor torque limit is set according to the peak torque from large to small in the torque gradient table.
Optionally, the processor 410 is further configured to detect a battery temperature; and the method is also used for acquiring preset safety torque as an upper limit of motor torque under the condition that the battery temperature is smaller than the preset temperature, and executing the steps of setting the upper limit of motor torque according to the first peak power and limiting the torque of the motor according to the upper limit of motor torque under the condition that the first peak power is smaller than the second peak power.
Optionally, the processor 410 is further configured to monitor the battery temperature; the processor 410 is further configured to perform a function of the heating unit 340 for heating the battery until the first peak power is equal to or higher than the second peak power when the temperature of the battery is lower than a preset temperature.
Optionally, the processor 410 is specifically configured to monitor the peak power of the battery and the peak power of the range extender; the sum of the peak power of the battery and the peak power of the range extender is taken as the first peak power.
Optionally, the processor 410 is specifically configured to obtain an external characteristic curve of the automobile in a normal temperature environment, and monitor a motor rotation speed at a current time; and determining the peak power of the automobile at the motor speed according to the external characteristic curve, and taking the peak power as a second peak power.
The application also provides a computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor and to perform the method of any of the preceding embodiments.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (8)
1. A vehicle start control method, comprising:
Before starting an automobile, detecting the temperature of a battery, and under the condition that the temperature of the battery is smaller than a preset temperature, acquiring a preset safe torque as an upper limit of the torque of the motor;
Monitoring a first peak power and a second peak power in a starting process of an automobile, wherein the first peak power is available peak power of the automobile, and the second peak power is required peak power of the automobile;
Comparing the magnitude of the first peak power and the second peak power;
And under the condition that the first peak power is smaller than the second peak power, setting a motor torque upper limit according to the first peak power, limiting the torque of the motor according to the motor torque upper limit, monitoring the battery temperature, and heating the battery until the first peak power is larger than or equal to the second peak power under the condition that the battery temperature is smaller than a preset temperature.
2. The method of claim 1, wherein the step of setting an upper motor torque limit based on the first peak power comprises:
Monitoring the motor rotation speed at the current moment;
and obtaining peak torque at the motor rotating speed according to the first peak power, and taking the peak torque as the upper limit of the motor torque.
3. The method of claim 1, wherein the step of setting an upper motor torque limit based on the first peak power comprises:
Acquiring a torque gradient table corresponding to the first peak power, wherein the torque gradient table is used for indicating at least one peak torque which is reduced in gradient along with the increase of the rotating speed of the motor;
and setting the upper limit of the motor torque according to the peak torque from large to small in the torque gradient table.
4. The method of claim 1, wherein the step of monitoring the first peak power of the vehicle comprises:
Monitoring the peak power of the battery and the peak power of the range extender;
And taking the sum of the peak power of the battery and the peak power of the range extender as a first peak power.
5. The method of claim 1, wherein the step of monitoring the second peak power of the vehicle comprises:
acquiring an external characteristic curve of the automobile in a normal-temperature environment, and monitoring the rotating speed of a motor at the current moment;
And determining the peak power of the automobile at the motor rotating speed according to the external characteristic curve, and taking the peak power as the second peak power.
6. An automobile start control device, characterized in that the device comprises:
The control unit is used for detecting the temperature of the battery before the automobile starts and acquiring preset safety torque as the upper limit of the motor torque under the condition that the temperature of the battery is smaller than the preset temperature;
The detecting unit is used for monitoring a first peak power and a second peak power in the starting process of the automobile, wherein the first peak power is available peak power of the automobile, and the second peak power is required peak power of the automobile;
a comparison unit for comparing the values of the first peak power and the second peak power;
The control unit is further used for setting an upper motor torque limit according to the first peak power and limiting the torque of the automobile according to the upper motor torque limit under the condition that the first peak power is smaller than the second peak power;
And the heating unit is used for monitoring the temperature of the battery, and heating the battery until the first peak power is greater than or equal to the second peak power under the condition that the temperature of the battery is less than the preset temperature.
7. The automobile starting control device is characterized by comprising a processor and a memory, wherein the processor and the memory are connected through a bus; the processor is used for executing a plurality of instructions; the memory for storing the plurality of instructions adapted to be loaded by the processor and to perform the vehicle launch control method of any one of claims 1-5.
8. A computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor and to perform the vehicle launch control method of any one of claims 1-5.
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