CN116176559A - Determination method, determination device and determination system for torque of serial electric automobile - Google Patents

Abstract

The application provides a method, a device and a system for determining torque of a serial electric automobile, wherein the method comprises the following steps: calculating to obtain the required torque according to the vehicle speed, the position information of the pedal, the gear information of the gear shifter, the maximum value of the torque of the power device and the preset range of the torque change rate; under the condition that the electric automobile is in a running state, calculating to obtain optimal torque according to the required torque, the electric quantity proportion and the charge and discharge power of the power battery, wherein the optimal torque is the output torque of the power device when the energy conversion efficiency of the power device is highest; and determining the actual torque according to the optimal torque, gear information of the gear shifter and the operation parameters of the power device, wherein the actual torque is the torque actually output by the power device. The method solves the problem that the series hybrid electric vehicle in the prior art cannot ensure higher energy conversion efficiency of the power device when controlling the output torque of the power device.

Description

Determination method, determination device and determination system for torque of serial electric automobile

Technical Field

The application relates to the technical field of new energy automobiles, in particular to a method and a device for determining torque of a serial electric automobile, a computer readable storage medium, a processor and a determining system.

Background

The emission problem of the traditional automobile becomes a global problem, and the pure electric automobile is limited by the power battery and has the defect of the driving range, so that the hybrid electric automobile becomes the current optimal development direction of the electric automobile, and the serial hybrid electric automobile can select a better engine working point on the basis of improving the driving range, thereby reducing the oil consumption and the emission to the greatest extent. At present, the multi-choice parallel system of the hybrid electric vehicle in China is not common with respect to the control strategy of the series hybrid electric vehicle.

The above information disclosed in the background section is only for enhancement of understanding of the background art from the technology described herein and, therefore, may contain some information that does not form the prior art that is already known in the country to a person of ordinary skill in the art.

Disclosure of Invention

The main object of the present application is to provide a method, a device, a computer readable storage medium, a processor and a system for determining torque of a tandem electric vehicle, so as to solve the problem that in the prior art, when the output torque of a power device is controlled, the power device cannot be ensured to have higher energy conversion efficiency.

According to an aspect of an embodiment of the present invention, there is provided a method for determining torque of a tandem electric vehicle including a pedal, a shifter, and a power device including a power battery, the method including: calculating to obtain a required torque according to the vehicle speed, the position information of the pedal, the gear information of the gear shifter, the maximum value of the torque of the power device and the preset range of the torque change rate; under the condition that the electric automobile is in a running state, calculating to obtain optimal torque according to the required torque, the electric quantity proportion and the charging and discharging power of the power battery, wherein the optimal torque is torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity proportion is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery; and determining actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device.

Optionally, the power device further comprises a driving motor and a generator, and before calculating the required torque according to the vehicle speed, the position information of the pedal, the gear information of the gear shifter, the maximum value of the torque of the power device and the preset range of the torque change rate, the method further comprises: and controlling the power battery, the driving motor and the generator to be electrified or electrified according to a set sequence.

Optionally, the power device further includes an engine and an inverter, and before calculating the required torque according to the vehicle speed, the position information of the pedal, the gear information of the shifter, the maximum value of the torque of the power device and the torque change rate preset range, the method further includes: and calculating to obtain the maximum value of the torque of the power device according to the state information of the driving motor, the state information of the generator, the state information of the engine, the charge and discharge power of the power battery, the temperature of the driving motor, the temperature of the generator, the temperature of the inverter and the control signal of the engine.

Optionally, calculating the required torque according to the vehicle speed, the position information of the pedal, the gear information of the shifter, the maximum value of the torque of the power device and the preset range of the torque change rate includes: calculating to obtain a request torque according to the vehicle speed, the position information of the pedal, the gear information of the gear shifter and the maximum value of the torque of the power device; determining a rate of change of the requested torque according to the type of the requested torque, the position information of the pedal, the gear information of the shifter, the rotation speed of the driving motor, and the rotation speed of the generator when the request signal of the requested torque is valid; and optimizing the change rate of the request torque according to the torque change rate preset range to obtain the request torque.

Optionally, calculating the optimal torque according to the required torque, the electric quantity proportion and the charge and discharge power of the power battery includes: and calculating to obtain the optimal torque according to the required torque, the electric quantity proportion, the charge and discharge power of the power battery, the energy conversion efficiency of the driving motor, the energy conversion efficiency of the generator and the energy conversion efficiency of the engine.

Optionally, determining the actual torque according to the optimal torque, gear information of the shifter and operation parameters of the power device includes: and determining the actual torque according to the optimal torque, gear information of the gear shifter, the operation parameter of the driving motor, the operation parameter of the generator and the operation parameter of the engine.

According to another aspect of the embodiment of the present invention, there is also provided a device for determining torque of a tandem electric vehicle, the electric vehicle including a pedal, a shifter, and a power device including a power battery, the device including: the first calculation unit calculates the required torque according to the vehicle speed, the position information of the pedal, the gear information of the gear shifter, the maximum value of the torque of the power device and the preset range of the torque change rate; the second calculation unit is used for calculating the optimal torque according to the required torque, the electric quantity proportion and the charging and discharging power of the power battery under the condition that the electric automobile is in a running state, wherein the optimal torque is the torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity proportion is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery; and the determining unit is used for determining actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device.

According to still another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program performs any one of the methods.

According to yet another aspect of the embodiments of the present invention, there is further provided a processor, where the processor is configured to execute a program, where the program executes any one of the methods.

According to an aspect of the embodiment of the present invention, there is also provided a system for determining torque of a tandem electric vehicle, including: the system comprises an electric vehicle, one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing any of the methods.

In the method for determining the torque of the tandem electric vehicle, firstly, a required torque is calculated according to a preset range of a maximum value and a torque change rate of the torque of the power device, and the speed of the vehicle, the position information of the pedal, the gear information of the gear shifter and the gear information of the gear shifter; then, when the electric automobile is in a running state, calculating to obtain an optimal torque according to the required torque, the electric quantity proportion and the charge and discharge power of the power battery, wherein the optimal torque is the torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity proportion is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery; and finally, determining the actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device. According to the method, required torque is obtained through calculation, namely torque requested by a driver is obtained, optimal torque is obtained according to the required torque, the electric quantity proportion of a power battery and the charge and discharge power of the power battery, namely torque of a power device when the energy conversion efficiency of the power device is highest is obtained according to the torque requested by the driver and the real-time capacity of the power battery, and actual torque is obtained according to the optimal torque, gear information of a gear and operation parameters of the power device, namely torque which can be actually output by the power device is obtained by comprehensively considering the energy conversion efficiency of the power device, the gear information of the gear and the actual operation condition of the power device.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

FIG. 1 illustrates a flow chart of a method of determining torque of a tandem electric vehicle according to one embodiment of the present application;

FIG. 2 illustrates a schematic diagram of a power plant of a tandem electric vehicle according to one embodiment of the present application;

FIG. 3 shows a schematic diagram of a software architecture implementing a method of determining torque of a tandem electric vehicle according to one embodiment of the present application;

FIG. 4 illustrates a schematic diagram of solving a torque principle of a driver request according to one embodiment of the present application;

fig. 5 shows a schematic diagram of a determining device for torque of a tandem electric vehicle according to an embodiment of the present application.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Furthermore, in the description and in the claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.

As described in the background art, in order to solve the above-mentioned problem, in an exemplary embodiment of the present application, a method for determining torque of a tandem type electric vehicle, a determining device, a computer readable storage medium, a processor and a determining system are provided.

According to the embodiment of the application, a method for determining torque of a series electric automobile is provided.

Fig. 1 is a flowchart of a method of determining torque of a tandem electric vehicle according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:

step S101, calculating a required torque according to a vehicle speed, position information of the pedal, gear information of the gear shifter, a maximum value of torque of the power device and a preset range of a torque change rate;

step S102, calculating to obtain optimal torque according to the required torque, the electric quantity proportion and the charge and discharge power of the power battery when the electric automobile is in a running state, wherein the optimal torque is the torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity proportion is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery;

And step S103, determining an actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device.

In the method for determining the torque of the tandem electric vehicle, firstly, a required torque is calculated according to a preset range of a maximum value and a torque change rate of the torque of the power device, and the speed of the vehicle, the position information of the pedal, the gear information of the gear shifter and the gear information of the gear shifter; then, when the electric automobile is in a running state, calculating to obtain an optimal torque according to the required torque, the electric quantity proportion and the charge and discharge power of the power battery, wherein the optimal torque is the torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity proportion is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery; and finally, determining the actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device. According to the method, required torque is obtained through calculation, namely torque requested by a driver is obtained, optimal torque is obtained according to the required torque, the electric quantity proportion of a power battery and the charge and discharge power of the power battery, namely torque of a power device when the energy conversion efficiency of the power device is highest is obtained according to the torque requested by the driver and the real-time capacity of the power battery, and actual torque is obtained according to the optimal torque, gear information of a gear and operation parameters of the power device, namely torque which can be actually output by the power device is obtained by comprehensively considering the energy conversion efficiency of the power device, the gear information of the gear and the actual operation condition of the power device.

In an alternative embodiment of the present application, the electric vehicle is a series hybrid electric vehicle, as shown in fig. 2, the power device includes a driving motor TM directly driven by the main speed reducer, a generator ISG, and an engine, where the generator ISG and the engine form a range extender, that is, an auxiliary power unit, and when a certain condition is met, such as a state of charge of the power battery is lower than a certain threshold value, the range extender works and generates electricity to charge or supply power to the power battery to the driving motor TM, and the physical range extender cannot directly drive the series hybrid electric vehicle, but the electricity generated by the range extender can be directly used by the driving motor TM, and the power battery serves as a power balancing device.

In an alternative embodiment of the present application, the method for determining the torque of the tandem electric vehicle of the present application achieves coordinated control of the power battery, the driving motor, the generator engine, and other related accessories of the tandem hybrid electric vehicle, and by the method for determining the torque of the tandem electric vehicle of the present application, the electric energy charged by the clean energy power can be utilized to the greatest extent by utilizing the petroleum product to the greatest extent without sacrificing the safety, the driving performance, and the endurance mileage of the conventional car. In addition, as shown in fig. 3, the software structure for implementing the method for determining the torque of the tandem electric vehicle of the present application includes a power mode control module PMCM, a hardware signal processing module HSPM, an input signal processing module ISPM, an output signal processing module OSPM, a system capability calculation module SCPM, a driver torque request module DTRM, an output shaft torque filtering module XTFM, a hybrid mode decision module HMDM, a hybrid mode optimization module HMOM, an actuator torque arbitration module ATDM, a diagnostic and diagnostic service management module DSMM, a torque security monitoring module TSMM, an instrument display module IPKM, and an accessory control module ACCM.

In an alternative embodiment of the present application, the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order different than that herein.

In an optional embodiment of the present application, the power device further includes a driving motor and a generator, and before calculating the required torque according to the vehicle speed, the position information of the pedal, the gear information of the shifter, the maximum value of the torque of the power device, and the torque change rate preset range, the method further includes: and controlling the power battery, the driving motor and the generator to be electrified or electrified according to a set sequence. In this embodiment, the power mode control module PMCM mainly performs power up-down management and control on high voltage electricity of the power device, that is, coordinates normal power up-down time sequences of high voltage components such as a power battery, a driving motor and a generator, and ensures that the power device can work normally.

In an optional embodiment of the present application, the power device further includes an engine and an inverter, and before calculating the required torque according to the vehicle speed, the position information of the pedal, the gear information of the shifter, the maximum value of the torque of the power device, and the torque change rate preset range, the method further includes: and calculating a maximum value of torque of the power device according to the state information of the driving motor, the state information of the generator, the state information of the engine, the charge and discharge power of the power battery, the temperature of the driving motor, the temperature of the generator, the temperature of the inverter and the control signal of the engine. In this embodiment, the system capacity calculation module SCPM calculates a limit value of the driving torque of the driving motor, a limit value of the regenerative torque of the driving motor, a limit value of the driving torque of the generator, and a limit value of the regenerative torque of the generator according to the increment Cheng Motai, the state information of the driving motor, the state information of the generator, the state information of the engine, the charging/discharging power of the power battery, that is, the real-time charging/discharging capacity of the power battery, the temperature of the driving motor, the temperature of the generator, and the temperature of the inverter, and obtains the maximum output torque value of the engine according to the control signal of the engine, that is, the signal derived from the EMS and the hybrid mode.

In an optional embodiment of the present application, the adding Cheng Motai includes a mode that the power battery supplies power to the driving motor and a mode that the power battery and the generator supply power to the driving motor simultaneously, the mixing mode is a mode that the power battery and the generator supply power to the driving motor simultaneously, the maximum value of the torque of the power device includes a limit value of the driving torque of the driving motor, a limit value of the regenerative torque of the driving motor, a limit value of the driving torque of the generator, a limit value of the regenerative torque of the generator and a maximum output torque value of the engine, and the charging and discharging power of the power battery is obtained by the system capacity calculating module SCPM according to the state information of the battery management system BMS.

In an alternative embodiment of the present application, the hybrid mode decision module HMDM decides Cheng Motai to which the current electric vehicle should be subjected and performs the inter-mode switching according to the vehicle speed, the required torque, the battery SOC ratio, and other vehicle state information, where the battery SOC ratio is the above-mentioned electric quantity ratio.

In an optional embodiment of the present application, calculating the required torque according to the vehicle speed, the position information of the pedal, the gear information of the shifter, the maximum value of the torque of the power device, and the preset range of the torque change rate includes: calculating a request torque according to the vehicle speed, the position information of the pedal, the gear information of the gear shifter and the maximum value of the torque of the power device; determining a rate of change of the requested torque based on the type of the requested torque, the pedal position information, the shifter gear information, the rotation speed of the drive motor, and the rotation speed of the generator when the requested torque request signal is valid; and optimizing the change rate of the request torque according to the torque change rate preset range to obtain the request torque. In this embodiment, the driver torque request module DTRM is configured to calculate a request torque, that is, to analyze the request torque of the driver, and specifically, as shown in fig. 4, determine an electric power-up torque and a forward torque according to position information of an accelerator pedal, position information of a brake pedal, position information of a shifter, a maximum value of torque of a power device, and a rotational speed of an input shaft of a transmission when the vehicle is traveling forward, determine an electric power-up torque and a reverse torque according to position information of an accelerator pedal, position information of a brake pedal, position information of a shifter, a maximum value of torque of a power device, and a rotational speed of an input shaft of a transmission when the vehicle is traveling backward, and determine an electric power-up torque and a reverse torque according to position information of an accelerator pedal, position information of a shifter, a maximum value of torque of a power device, and a rotational speed of an input shaft of a transmission when the driver releases the accelerator pedal, after determining the requested torque, the output shaft torque filtering module XTFM filters the requested torque by adopting a preset range of torque change rate, namely an ascending rate and a descending rate limit, so as to improve the drivability of the vehicle, and enables the vehicle to have satisfactory power performance and driving comfort through reasonable map calibration, and concretely, the XTFM module consists of a filtering condition decision module, a torque change rate decision module and a torque limiting module, wherein the filtering condition decision module is used for judging the change trend of the requested torque, such as whether a driver wants to increase or decrease the torque, and whether the requested torque is driving torque or regenerative braking torque, and the torque change rate module is used for judging whether the requested torque is driving torque or regenerative braking torque, position information of an accelerator pedal, position information of a gear shifter according to the type of the requested torque, the change rate of the requested torque is comprehensively determined by the rotation speed of the driving motor and the rotation speed of the generator, the change rate of the requested torque is limited by the torque limiting module through the rising rate and the falling rate, smoothness of torque change is guaranteed, and further, auxiliary additional functions, such as a CluncControl module, are added for improving smoothness of the vehicle in the zero crossing of the torque for the purpose of optimizing vehicle drivability under certain specific working conditions.

The calculation formula of the request torque is defined inaccurately according to different vehicle types, only the limiting value consideration factors of the request torque are defined, the lowest threshold value of the corresponding consideration factors is taken for substitution calculation, the accuracy of the request torque is controlled within +/-5N x m, and final arbitration is finally carried out according to the following 4 conditions:

the considerations during the forward travel of the vehicle are as follows:

t (forward) = { T (position information of pedal) ∈t (speed of pedal) ∈t (motor state) ∈t (transmission output shaft) } T (transmission output shaft)

The reversing process of the vehicle is the same, but reversing speed limitation is considered, and the influence of large motor torque and small engine torque at low speed is considered:

t (reverse) = { T (pedal position)/(pedal speed)/(motor state)/(transmission output shaft)/(vehicle speed)/(motor and engine torque curve) }

The considerations when the vehicle is in the electric climbing state are as follows:

t (electric climbing) = { T (vehicle speed)/(motor state)/(transmission output shaft)/(pedal position=0) } T (motor state)/(transmission output shaft)/(pedal position=0)

The considerations when the vehicle is in the pedal-released state are as follows:

t (pedal release) = { T (vehicle speed) Σt (SOC) } and

comprehensively considering the situation in the above 4, the request torque arbitration logic in the driver torque request module DTRM is obtained:

T (request torque) = { (T (forward)/(reverse)/(electric climbing)/(releasing pedal)) ∈t (shift position information of shifter)/(T) (position information of pedal)) }

The above-mentioned T represents the influence of each consideration on the requested torque, for example, T (gear information of the shifter), and represents only the influence of the gear change of the shifter on the requested torque.

In addition, the logic of the XTFM module is judged as follows:

the required torque obtained after the XTFM module is filtered: t (torque demand) =F (filter condition decision) ΣF (torque change rate) ΣF (torque limitation)

Logic judgment of the filtering condition decision module: f (filter condition decision) = { (F (request torque original value) -T (last filter value))

Logic judgment of the torque change rate module: f (torque change rate) = { F (torque pattern) Uf (signal validity)/(shift information of shifter)/(motor rotation speed)/(pedal) }

The above-described F and F represent logical decisions, for example, F (torque mode) is used to determine whether the requested torque is the drive torque or the regenerative braking torque.

The torque limiting module logic judges: f (torque limit) =f (torque change rate) Σf (torque upper and lower limits) Σf (clutch control).

In an alternative embodiment of the present application, the pedal position information includes accelerator pedal position information and brake pedal position information, and the requested torque includes forward torque, reverse torque, electric creep torque, coasting regenerative braking torque, and braking regenerative braking torque.

In an optional embodiment of the present application, calculating the optimal torque according to the required torque, the electric quantity ratio, and the charge/discharge power of the power battery includes: and calculating the optimal torque according to the required torque, the electric quantity proportion, the charge and discharge power of the power battery, the energy conversion efficiency of the driving motor, the energy conversion efficiency of the generator and the energy conversion efficiency of the engine. In the embodiment, the hybrid mode optimization module HMOM coordinates dual torque sources of the engine and the generator in an engine starting mode and an engine stopping mode so as to meet the rapidness and smoothness of the response of the range extender, optimizes the working point of the range extender according to the request torque of a driver, the SOC proportion, the charge and discharge power of the power battery and other component state information in a series mode, determines the working point capable of achieving the optimal fuel consumption rate, the energy conversion efficiency of the driving motor, the energy conversion efficiency of the generator, the protection of the power battery and the power performance of the vehicle, and determines the torque of the power device at the working point as the optimal torque.

The consideration factors of the mixed mode optimization module HMOM for arbitrating the optimal torque are as follows:

When the engine is started and stopped:

t (optimal torque) =min (T (engine), T (ISG)) ∈f (steady response)

The tandem mode is as follows:

t (HMON) =f (SOC) ≡T (DRTM) ≡n f (SOP) ≡n f (accessory)

The SOP refers to the charge and discharge power of the battery.

In an alternative embodiment of the present application, the range-extending mode includes the engine start mode, the engine stop mode, and the series mode.

In an alternative embodiment of the present application, the energy conversion efficiency of the driving motor, the energy conversion efficiency of the generator, and the energy conversion efficiency of the engine, i.e., the fuel consumption rate, are calculated by the system capacity calculation module SCPM.

In an alternative embodiment of the present application, determining the actual torque according to the optimal torque, the gear information of the gear shifter, and the operation parameter of the power device includes: and determining the actual torque according to the optimal torque, gear information of the gear shifter, the operation parameter of the driving motor, the operation parameter of the generator and the operation parameter of the engine. In this embodiment, the actuator torque arbitration module ATDM arbitrates the optimal torque of the driving motor output by the hybrid mode optimization module HMOM according to the gear information of the gear shifter, determines the actual output torque and the mode control command of the driving motor, and considers the protection of the driving motor.

The logic of the actuator torque arbitration module ATDM is determined as follows:

f (actual torque) =f (drive motor) Σf (generator) Σf (engine) Σt (optimum torque).

In an alternative embodiment of the present application, the command of the generator includes an operation parameter of the generator, the command of the engine includes an operation parameter of the engine, and the actual torque includes an actual output torque of the driving motor, an actual output torque of the generator, and an actual output torque of the engine.

The embodiment of the application also provides a device for determining the torque of the serial electric automobile, and the device for determining the torque of the serial electric automobile can be used for executing the method for determining the torque of the serial electric automobile. The following describes a device for determining torque of a tandem electric vehicle according to an embodiment of the present application.

Fig. 5 is a schematic diagram of a determining device for torque of a tandem electric vehicle according to an embodiment of the present application. As shown in fig. 5, the apparatus includes:

a first calculation unit 10 for calculating a required torque according to a vehicle speed, position information of the pedal, gear information of the shifter, a maximum value of torque of the power device and a preset range of a torque change rate;

A second calculation unit 20 for calculating an optimal torque according to the required torque, a power ratio, and a charge/discharge power of the power battery when the electric vehicle is in a driving state, the optimal torque being a torque output from the power device when the power conversion efficiency of the power device is highest, the power ratio being a ratio of a remaining power of the power battery to a rated capacity of the power battery;

and a determining unit 30 for determining an actual torque based on the optimal torque, gear information of the gear shifter, and operation parameters of the power device, wherein the actual torque is a torque actually output by the power device.

In the determining device of the tandem electric vehicle torque, a first calculating unit calculates a required torque according to a vehicle speed, position information of the pedal, gear information of the gear shifter, a maximum value of the torque of the power device and a preset range of a torque change rate; a second calculation unit for calculating an optimal torque according to the required torque, the electric quantity ratio and the charge/discharge power of the power battery when the electric automobile is in a running state, wherein the optimal torque is the torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity ratio is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery; and a determining unit for determining an actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device. The device obtains the required torque through calculation, namely obtains the torque requested by a driver, obtains the optimal torque according to the required torque, the electric quantity proportion of the power battery and the charge and discharge power of the power battery, namely obtains the torque of the power device when the energy conversion efficiency of the power device is highest according to the torque requested by the driver and the real-time capability of the power battery, obtains the actual torque according to the optimal torque, the gear information of the gear and the operation parameters of the power device, namely comprehensively considers the energy conversion efficiency of the power device, the gear information of the gear and the actual operation condition of the power device to obtain the torque which can be actually output by the power device.

In an optional embodiment of the present application, the determining device for a torque of a tandem electric vehicle further includes a control unit, where the control unit is configured to control the power battery, the driving motor, and the generator to be powered on or powered off in a set sequence. In this embodiment, the power mode control module PMCM mainly performs power up-down management and control on high voltage electricity of the power device, that is, coordinates normal power up-down time sequences of high voltage components such as a power battery, a driving motor and a generator, and ensures that the power device can work normally.

In an optional embodiment of the present application, the determining device for a torque of a tandem electric vehicle further includes a third calculating unit, where the third calculating unit is configured to calculate, according to the state information of the driving motor, the state information of the generator, the state information of the engine, the charge/discharge power of the power battery, the temperature of the driving motor, the temperature of the generator, the temperature of the inverter, and the control signal of the engine, a maximum value of the torque of the power device. In this embodiment, the system capacity calculation module SCPM calculates a limit value of the driving torque of the driving motor, a limit value of the regenerative torque of the driving motor, a limit value of the driving torque of the generator, and a limit value of the regenerative torque of the generator according to the increment Cheng Motai, the state information of the driving motor, the state information of the generator, the state information of the engine, the charging/discharging power of the power battery, that is, the real-time charging/discharging capacity of the power battery, the temperature of the driving motor, the temperature of the generator, and the temperature of the inverter, and obtains the maximum output torque value of the engine according to the control signal of the engine, that is, the signal derived from the EMS and the hybrid mode.

In an optional embodiment of the present application, the adding Cheng Motai includes a mode that the power battery supplies power to the driving motor and a mode that the power battery and the generator supply power to the driving motor simultaneously, the mixing mode is a mode that the power battery and the generator supply power to the driving motor simultaneously, the maximum value of the torque of the power device includes a limit value of the driving torque of the driving motor, a limit value of the regenerative torque of the driving motor, a limit value of the driving torque of the generator, a limit value of the regenerative torque of the generator and a maximum output torque value of the engine, and the charging and discharging power of the power battery is obtained by the system capacity calculating module SCPM according to the state information of the battery management system BMS.

In an alternative embodiment of the present application, the hybrid mode decision module HMDM decides Cheng Motai to which the current electric vehicle should be subjected and performs the inter-mode switching according to the vehicle speed, the required torque, the battery SOC ratio, and other vehicle state information, where the battery SOC ratio is the above-mentioned electric quantity ratio.

In an optional embodiment of the present application, the first calculating unit includes a first calculating module, a first determining module, and an optimizing module, where the first calculating module is configured to calculate a requested torque according to the vehicle speed, the position information of the pedal, the gear information of the shifter, and a maximum value of the torque of the power device; the first determining module is configured to determine a rate of change of the requested torque based on a type of the requested torque, position information of the pedal, gear information of the shifter, a rotational speed of the driving motor, and a rotational speed of the generator when the requested signal of the requested torque is valid; the optimization module is used for optimizing the change rate of the request torque according to the torque change rate preset range to obtain the request torque. In this embodiment, the driver torque request module DTRM is configured to calculate a request torque, that is, to analyze the request torque of the driver, and specifically, as shown in fig. 4, determine an electric power-up torque and a forward torque according to position information of an accelerator pedal, position information of a brake pedal, position information of a shifter, a maximum value of torque of a power device, and a rotational speed of an input shaft of a transmission when the vehicle is traveling forward, determine an electric power-up torque and a reverse torque according to position information of an accelerator pedal, position information of a brake pedal, position information of a shifter, a maximum value of torque of a power device, and a rotational speed of an input shaft of a transmission when the vehicle is traveling backward, and determine an electric power-up torque and a reverse torque according to position information of an accelerator pedal, position information of a shifter, a maximum value of torque of a power device, and a rotational speed of an input shaft of a transmission when the driver releases the accelerator pedal, after determining the requested torque, the output shaft torque filtering module XTFM filters the requested torque by adopting a preset range of torque change rate, namely an ascending rate and a descending rate limit, so as to improve the drivability of the vehicle, and enables the vehicle to have satisfactory power performance and driving comfort through reasonable map calibration, and concretely, the XTFM module consists of a filtering condition decision module, a torque change rate decision module and a torque limiting module, wherein the filtering condition decision module is used for judging the change trend of the requested torque, such as whether a driver wants to increase or decrease the torque, and whether the requested torque is driving torque or regenerative braking torque, and the torque change rate module is used for judging whether the requested torque is driving torque or regenerative braking torque, position information of an accelerator pedal, position information of a gear shifter according to the type of the requested torque, the change rate of the requested torque is comprehensively determined by the rotation speed of the driving motor and the rotation speed of the generator, the change rate of the requested torque is limited by the torque limiting module through the rising rate and the falling rate, smoothness of torque change is guaranteed, and further, auxiliary additional functions, such as a CluncControl module, are added for improving smoothness of the vehicle in the zero crossing of the torque for the purpose of optimizing vehicle drivability under certain specific working conditions.

The calculation formula of the request torque is defined inaccurately according to different vehicle types, only the limiting value consideration factors of the request torque are defined, the lowest threshold value of the corresponding consideration factors is taken for substitution calculation, the accuracy of the request torque is controlled within +/-5N x m, and final arbitration is finally carried out according to the following 4 conditions:

the considerations during the forward travel of the vehicle are as follows:

t (forward) = { T (position information of pedal) ∈t (speed of pedal) ∈t (motor state) ∈t (transmission output shaft) } T (transmission output shaft)

The reversing process of the vehicle is the same, but reversing speed limitation is considered, and the influence of large motor torque and small engine torque at low speed is considered:

t (reverse) = { T (pedal position)/(pedal speed)/(motor state)/(transmission output shaft)/(vehicle speed)/(motor and engine torque curve) }

The considerations when the vehicle is in the electric climbing state are as follows:

t (electric climbing) = { T (vehicle speed)/(motor state)/(transmission output shaft)/(pedal position=0) } T (motor state)/(transmission output shaft)/(pedal position=0)

The considerations when the vehicle is in the pedal-released state are as follows:

t (pedal release) = { T (vehicle speed) Σt (SOC) } and

comprehensively considering the situation in the above 4, the request torque arbitration logic in the driver torque request module DTRM is obtained:

T (request torque) = { (T (forward)/(reverse)/(electric climbing)/(releasing pedal)) ∈t (shift position information of shifter)/(T) (position information of pedal)) }

The above-mentioned T represents the influence of each consideration on the requested torque, for example, T (gear information of the shifter), and represents only the influence of the gear change of the shifter on the requested torque.

In addition, the logic of the XTFM module is judged as follows:

the required torque obtained after the XTFM module is filtered: t (torque demand) =F (filter condition decision) ΣF (torque change rate) ΣF (torque limitation)

Logic judgment of the filtering condition decision module: f (filter condition decision) = { (F (request torque original value) -T (last filter value))

Logic judgment of the torque change rate module: f (torque change rate) = { F (torque pattern) Uf (signal validity)/(shift information of shifter)/(motor rotation speed)/(pedal) }

The above-described F and F represent logical decisions, for example, F (torque mode) is used to determine whether the requested torque is the drive torque or the regenerative braking torque.

The torque limiting module logic judges: f (torque limit) =f (torque change rate) Σf (torque upper and lower limits) Σf (clutch control).

In an alternative embodiment of the present application, the pedal position information includes accelerator pedal position information and brake pedal position information, and the requested torque includes forward torque, reverse torque, electric creep torque, coasting regenerative braking torque, and braking regenerative braking torque.

In an optional embodiment of the present application, the second calculating unit includes a second calculating module, where the second calculating module is configured to calculate the optimal torque according to the required torque, the electric quantity ratio, the charge and discharge power of the power battery, the energy conversion efficiency of the driving motor, the energy conversion efficiency of the generator, and the energy conversion efficiency of the engine. In the embodiment, the hybrid mode optimization module HMOM coordinates dual torque sources of the engine and the generator in an engine starting mode and an engine stopping mode so as to meet the rapidness and smoothness of the response of the range extender, optimizes the working point of the range extender according to the request torque of a driver, the SOC proportion, the charge and discharge power of the power battery and other component state information in a series mode, determines the working point capable of achieving the optimal fuel consumption rate, the energy conversion efficiency of the driving motor, the energy conversion efficiency of the generator, the protection of the power battery and the power performance of the vehicle, and determines the torque of the power device at the working point as the optimal torque.

The consideration factors of the mixed mode optimization module HMOM for arbitrating the optimal torque are as follows:

When the engine is started and stopped:

t (optimal torque) =min (T (engine), T (ISG)) ∈f (steady response)

The tandem mode is as follows:

t (HMON) =f (SOC) ≡T (DRTM) ≡n f (SOP) ≡n f (accessory)

The SOP refers to the charge and discharge power of the battery.

In an alternative embodiment of the present application, the range-extending mode includes the engine start mode, the engine stop mode, and the series mode.

In an alternative embodiment of the present application, the energy conversion efficiency of the driving motor, the energy conversion efficiency of the generator, and the energy conversion efficiency of the engine, i.e., the fuel consumption rate, are calculated by the system capacity calculation module SCPM.

In an optional embodiment of the present application, the determining unit includes a second determining module, where the second determining module is configured to determine the actual torque according to the optimal torque, gear information of the gear shifter, and operation parameters of the driving motor, operation parameters of the generator, and operation parameters of the engine. In this embodiment, the actuator torque arbitration module ATDM arbitrates the optimal torque of the driving motor output by the hybrid mode optimization module HMOM according to the gear information of the gear shifter, determines the actual output torque and the mode control command of the driving motor, and considers the protection of the driving motor.

The logic of the actuator torque arbitration module ATDM is determined as follows:

f (actual torque) =f (drive motor) Σf (generator) Σf (engine) Σt (optimum torque).

In an alternative embodiment of the present application, the command of the generator includes an operation parameter of the generator, the command of the engine includes an operation parameter of the engine, and the actual torque includes an actual output torque of the driving motor, an actual output torque of the generator, and an actual output torque of the engine.

The determining device for the torque of the tandem electric vehicle comprises a processor and a memory, wherein the first calculating unit, the second calculating unit, the determining unit and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The inner core can be provided with one or more than one, and the problem that the power device cannot be ensured to have higher energy conversion efficiency when the output torque of the power device is controlled by the serial hybrid electric vehicle in the prior art is solved by adjusting the inner core parameters.

The memory may include volatile memory, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flashRAM), among other forms in computer readable media, the memory including at least one memory chip.

The embodiment of the invention provides a storage medium, wherein a program is stored on the storage medium, and the program is executed by a processor to realize the method for determining the torque of the tandem electric vehicle.

The embodiment of the invention provides a processor which is used for running a program, wherein the program runs to execute the method for determining the torque of the tandem electric vehicle.

The embodiment of the invention provides a system for determining the torque of a serial electric automobile, which comprises the following steps: the system comprises an electric automobile, one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, the one or more programs comprise a method for executing any one of the methods, and the processor executes the programs to realize at least the following steps:

step S101, calculating a required torque according to a vehicle speed, position information of the pedal, gear information of the gear shifter, a maximum value of torque of the power device and a preset range of a torque change rate;

step S102, calculating to obtain optimal torque according to the required torque, the electric quantity proportion and the charge and discharge power of the power battery when the electric automobile is in a running state, wherein the optimal torque is the torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity proportion is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery;

And step S103, determining an actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device.

The device herein may be a server, PC, PAD, cell phone, etc.

The present application also provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device:

step S101, calculating a required torque according to a vehicle speed, position information of the pedal, gear information of the gear shifter, a maximum value of torque of the power device and a preset range of a torque change rate;

step S102, calculating to obtain optimal torque according to the required torque, the electric quantity proportion and the charge and discharge power of the power battery when the electric automobile is in a running state, wherein the optimal torque is the torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity proportion is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery;

and step S103, determining an actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device.

In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units may be a logic function division, and there may be another division manner when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned method of the various embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

1) In the method for determining the torque of the series electric automobile, firstly, according to the speed of a vehicle, the position information of the pedal, the gear information of the gear shifter, the maximum value of the torque of the power device and the preset range of the torque change rate, the required torque is calculated; then, when the electric automobile is in a running state, calculating to obtain an optimal torque according to the required torque, the electric quantity proportion and the charge and discharge power of the power battery, wherein the optimal torque is the torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity proportion is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery; and finally, determining the actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device. According to the method, required torque is obtained through calculation, namely torque requested by a driver is obtained, optimal torque is obtained according to the required torque, the electric quantity proportion of a power battery and the charge and discharge power of the power battery, namely torque of a power device when the energy conversion efficiency of the power device is highest is obtained according to the torque requested by the driver and the real-time capacity of the power battery, and actual torque is obtained according to the optimal torque, gear information of a gear and operation parameters of the power device, namely torque which can be actually output by the power device is obtained by comprehensively considering the energy conversion efficiency of the power device, the gear information of the gear and the actual operation condition of the power device.

2) In the determining device for the torque of the series electric automobile, a first calculating unit calculates a required torque according to a vehicle speed, position information of the pedal, gear information of the gear shifter, a maximum value of the torque of the power device and a preset range of a torque change rate; a second calculation unit for calculating an optimal torque according to the required torque, the electric quantity ratio and the charge/discharge power of the power battery when the electric automobile is in a running state, wherein the optimal torque is the torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity ratio is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery; and a determining unit for determining an actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device. The device obtains the required torque through calculation, namely obtains the torque requested by a driver, obtains the optimal torque according to the required torque, the electric quantity proportion of the power battery and the charge and discharge power of the power battery, namely obtains the torque of the power device when the energy conversion efficiency of the power device is highest according to the torque requested by the driver and the real-time capability of the power battery, obtains the actual torque according to the optimal torque, the gear information of the gear and the operation parameters of the power device, namely comprehensively considers the energy conversion efficiency of the power device, the gear information of the gear and the actual operation condition of the power device to obtain the torque which can be actually output by the power device.

3) The utility model provides a determining system of tandem type electric automobile moment of torsion, includes: the system solves the problem that in the prior art, the series hybrid electric vehicle cannot ensure higher energy conversion efficiency of the power device when controlling the output torque of the power device.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. A method for determining torque of a tandem electric vehicle, wherein the electric vehicle includes a pedal, a shifter, and a power device including a power battery, the method comprising:

calculating to obtain a required torque according to the vehicle speed, the position information of the pedal, the gear information of the gear shifter, the maximum value of the torque of the power device and the preset range of the torque change rate;

under the condition that the electric automobile is in a running state, calculating to obtain optimal torque according to the required torque, the electric quantity proportion and the charging and discharging power of the power battery, wherein the optimal torque is torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity proportion is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery;

And determining actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device.

2. The method of claim 1, wherein the power plant further comprises a drive motor and a generator, and wherein prior to calculating the requested torque based on the vehicle speed, the pedal position information, the shifter gear information, the maximum torque value of the power plant, and the torque change rate preset range, the method further comprises:

and controlling the power battery, the driving motor and the generator to be electrified or electrified according to a set sequence.

3. The method of claim 2, wherein the power plant further comprises an engine and an inverter, and wherein prior to calculating the requested torque based on the vehicle speed, the pedal position information, the shifter gear information, the maximum torque of the power plant, and the torque change rate preset range, the method further comprises:

and calculating to obtain the maximum value of the torque of the power device according to the state information of the driving motor, the state information of the generator, the state information of the engine, the charge and discharge power of the power battery, the temperature of the driving motor, the temperature of the generator, the temperature of the inverter and the control signal of the engine.

4. The method of claim 3, wherein calculating the required torque based on the vehicle speed, the pedal position information, the shifter gear information, the maximum torque of the power plant, and the torque change rate preset range comprises:

calculating to obtain a request torque according to the vehicle speed, the position information of the pedal, the gear information of the gear shifter and the maximum value of the torque of the power device;

determining a rate of change of the requested torque according to the type of the requested torque, the position information of the pedal, the gear information of the shifter, the rotation speed of the driving motor, and the rotation speed of the generator when the request signal of the requested torque is valid;

and optimizing the change rate of the request torque according to the torque change rate preset range to obtain the request torque.

5. The method of claim 4, wherein calculating an optimal torque based on the required torque, the charge ratio, and the charge-discharge power of the power cell comprises:

and calculating to obtain the optimal torque according to the required torque, the electric quantity proportion, the charge and discharge power of the power battery, the energy conversion efficiency of the driving motor, the energy conversion efficiency of the generator and the energy conversion efficiency of the engine.

6. The method of claim 5, wherein determining an actual torque based on the optimal torque, gear information of the shifter, and operating parameters of the power plant comprises:

and determining the actual torque according to the optimal torque, gear information of the gear shifter, the operation parameter of the driving motor, the operation parameter of the generator and the operation parameter of the engine.

7. A determining device for torque of a tandem electric vehicle, wherein the electric vehicle includes a pedal, a shifter and a power device, the power device includes a power battery, the device includes:

the first calculation unit calculates the required torque according to the vehicle speed, the position information of the pedal, the gear information of the gear shifter, the maximum value of the torque of the power device and the preset range of the torque change rate;

the second calculation unit is used for calculating the optimal torque according to the required torque, the electric quantity proportion and the charging and discharging power of the power battery under the condition that the electric automobile is in a running state, wherein the optimal torque is the torque output by the power device when the energy conversion efficiency of the power device is highest, and the electric quantity proportion is the ratio of the residual electric quantity of the power battery to the rated capacity of the power battery;

And the determining unit is used for determining actual torque according to the optimal torque, gear information of the gear shifter and operation parameters of the power device, wherein the actual torque is the torque actually output by the power device.

8. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the method of any one of claims 1 to 6.

9. A processor for running a program, wherein the program when run performs the method of any one of claims 1 to 6.

10. A system for determining torque of a tandem electric vehicle, comprising: an electric vehicle, one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of any of claims 1-6.

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