CN116834558A - Permanent magnet motor HHC (Hill control) method for electric vehicle - Google Patents
Permanent magnet motor HHC (Hill control) method for electric vehicle Download PDFInfo
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- CN116834558A CN116834558A CN202310680348.9A CN202310680348A CN116834558A CN 116834558 A CN116834558 A CN 116834558A CN 202310680348 A CN202310680348 A CN 202310680348A CN 116834558 A CN116834558 A CN 116834558A
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- 230000005484 gravity Effects 0.000 claims description 8
- 230000000284 resting effect Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 description 9
- 230000001174 ascending effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
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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
- B60L15/2081—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 for drive off on a slope
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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
- 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
- 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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/26—Transition between different drive modes
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a permanent magnet motor HHC (Hill Care) control method for an electric vehicle, which indicates the electric vehicle to switch to a HHC auxiliary driving mode according to the attitude orientation parameter and the driving motion parameter of the electric vehicle; then, in the corresponding switching time of the foot of the driver from the brake pedal to the accelerator pedal, indicating the permanent magnet motor of the electric vehicle to enter a stop working state and indicating the driving wheels of the electric vehicle to enter a braking state; and after the feet of the driver are transferred to the accelerator pedal, the driving acting force output by the permanent magnet motor to the driving wheels is controlled according to slope traction information received by the electric vehicle, so that the electric vehicle is switched from a braking state to a motion state, the working state of the permanent magnet motor and the braking state of the driving wheels can be adaptively adjusted according to the switching response speed of the feet of different drivers transferred from the brake pedal to the accelerator pedal, the occurrence of sliding is effectively avoided, and the electric vehicle is ensured to stably move on a slope.
Description
Technical Field
The invention relates to the technical field of running control of electric vehicles, in particular to a permanent magnet motor HHC hill-holding control method for electric vehicles.
Background
When the electric vehicle is switched from the parking mode to the driving mode on the slope, the electric vehicle is in a power disjointed state in the process that the feet of a driver are switched from the brake pedal to the accelerator pedal, and the electric vehicle slides under the action of gravity. In order to avoid slipping, an uphill auxiliary adjusting system HHC is provided for an electric vehicle, where the uphill auxiliary adjusting system HHC is capable of maintaining a braking state for a predetermined period of time for the electric vehicle when a foot of a driver is switched from a brake pedal to an accelerator pedal, and releasing the braking state after a permanent magnet motor of the electric vehicle is started, so as to avoid slipping of the electric vehicle and ensure that the electric vehicle is stably switched from a parking mode to a driving mode.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a permanent magnet motor HHC hill-holding control method for an electric vehicle, which indicates the electric vehicle to switch to a HHC auxiliary driving mode according to the attitude orientation parameter and the driving motion parameter of the electric vehicle; then, in the corresponding switching time of the foot of the driver from the brake pedal to the accelerator pedal, indicating the permanent magnet motor of the electric vehicle to enter a stop working state and indicating the driving wheels of the electric vehicle to enter a braking state; and after the feet of the driver are transferred to the accelerator pedal, the driving force output by the permanent magnet motor to the driving wheels is controlled according to slope traction information received by the electric vehicle, so that the electric vehicle is switched from a braking state to a motion state, the working state of the permanent magnet motor and the braking state of the driving wheels can be adaptively adjusted according to the switching response speed of the feet of different drivers transferred from the brake pedal to the accelerator pedal, the occurrence of sliding is effectively avoided, the permanent magnet motor is instructed to stably and directionally drive the wheels to output the driving force, and the electric vehicle is ensured to stably move on a slope.
The invention provides a permanent magnet motor HHC hill-holding control method for an electric vehicle, which comprises the following steps:
step S1, acquiring current attitude orientation parameters and running motion parameters of an electric vehicle, and determining the motion state of the electric vehicle; then according to the motion state, the electric vehicle is instructed to switch to a HHC auxiliary driving mode;
step S2, when the electric vehicle is in the HHC auxiliary driving mode, according to the switching time corresponding to the foot of a driver from a brake pedal to an accelerator pedal, and in the switching time, indicating the permanent magnet motor of the electric vehicle to enter a stop working state and indicating the driving wheels of the electric vehicle to enter a braking state;
step S3, slope traction information of the electric vehicle in the switching time is obtained; when the feet of the driver are transferred to the accelerator pedal, the driving acting force output by the permanent magnet motor to the driving wheels is controlled according to the slope traction information, so that the electric vehicle is switched from a braking state to a moving state.
Further, in the step S1, acquiring the current attitude orientation parameter and the running motion parameter of the electric vehicle, and determining the motion state of the electric vehicle specifically includes:
acquiring the current vehicle chassis attitude orientation and the relative attitude relation between the head and the tail of the electric vehicle, and determining whether the electric vehicle is currently positioned on a slope road or a plane road according to the chassis attitude orientation and the relative attitude relation between the head and the tail;
when the electric vehicle is currently positioned on the slope road, determining whether a motion speed component exists in the extending direction of the electric vehicle along the slope road currently; if the electric vehicle exists, determining that the electric vehicle is in a slope movement state currently, otherwise, determining that the electric vehicle is in a slope static state currently.
Further, in the step S1, determining whether the electric vehicle is currently located on the slope road or the plane road according to the posture orientation of the chassis of the vehicle and the relative posture relationship between the head and the tail of the vehicle specifically includes:
extracting from the attitude orientation of the vehicle chassis to obtain an included angle value between a central axis of the vehicle chassis along the length direction of the vehicle body and a horizontal plane; and determining whether the electric vehicle is currently positioned on the slope road or the plane road according to the included angle value and the tire steering angle of the electric vehicle.
Further, in the step S1, an included angle value between a central axis of the vehicle chassis along the length direction of the vehicle body and a horizontal plane is extracted from the posture direction of the vehicle chassis; determining whether the electric vehicle is currently located on the slope road or the plane road according to the included angle value and the tire steering angle of the electric vehicle specifically comprises:
step S101, obtaining the overall inclination angle of the plane of the vehicle chassis and the horizontal plane according to the included angle value between the central axis of the vehicle chassis along the length direction of the vehicle body and the horizontal plane and the included angle value between the central axis of the vehicle chassis along the length direction perpendicular to the vehicle body and the horizontal plane by using the following formula (1),
in the above formula (1), λ represents the overall inclination angle of the vehicle chassis plane to the horizontal plane; alpha (||z) represents an included angle value between a central axis of the vehicle chassis along the length direction of the vehicle body and a horizontal plane; alpha (∈z) represents an included angle value between a central axis of the vehicle chassis along the direction vertical to the length direction of the vehicle body and a horizontal plane;
step S102, obtaining the inclination direction angle of the overall inclination angle of the vehicle chassis plane and the horizontal plane, which takes the central axis of the length direction of the vehicle body as a reference and takes the clockwise direction, according to the overall inclination angle of the vehicle chassis plane and the horizontal plane by using the following formula (2),
in the above formula (2), β represents an inclination direction angle of an overall inclination angle of a vehicle chassis plane and a horizontal plane clockwise in a positive direction with respect to a central axis in a longitudinal direction of the vehicle body;
step S103, utilizing the following formula (3), according to the inclination direction angle of the vehicle chassis plane and the tire steering angle of the electric vehicle which are based on the central axis of the length direction of the vehicle body, the current running direction of the electric vehicle is positioned on a sloping road or a plane road,
in the above formula (3), P represents a determination value of whether the current traveling direction of the electric vehicle is on a sloping road or a planar road; v represents a logical relationship or operation; Λ represents logical relationship and operation; the absolute value is calculated by the expression;
if p=0, it indicates that the current running direction of the electric vehicle is on the plane road;
if p=1, the current running direction of the electric vehicle is located on a slope road and is an upward slope;
if p= -1, it indicates that the current driving direction of the electric vehicle is on the sloping road and is downhill.
Further, in the step S2, instructing the electric vehicle to switch to the HHC auxiliary driving mode specifically includes:
when the electric vehicle is currently in a slope resting state, determining whether the electric vehicle is currently in a parking mode; if yes, maintaining the current parking mode unchanged; if not, the electric vehicle is instructed to switch the HHC auxiliary driving mode while the hand brake of the electric vehicle is put down.
Further, in the step S2, the method further includes:
when the electric vehicle is in the HHC auxiliary driving mode, collecting a first stepping pressure value of a foot of a driver on a brake pedal, and taking a moment when the first stepping pressure value is smaller than or equal to a preset pressure value as a first time point; collecting a second stepping pressure value of the foot of the driver on the accelerator pedal, and taking the moment when the second stepping pressure value is larger than a preset pressure threshold value as a second time point; and then the time period between the first time point and the second time point is taken as the corresponding switching time of the foot of the driver from the brake pedal to the accelerator pedal.
Further, in the step S2, during the switching time, the instructing the permanent magnet motor of the electric vehicle to enter the stop operation state and the instructing the driving wheel of the electric vehicle to enter the braking state specifically includes:
starting from a first time point in the switching time, indicating a power supply of the electric vehicle to stop transmitting electric energy to the permanent magnet motor, so that the permanent magnet motor enters a stop working state; and instructing the driving wheels of the electric vehicle to enter an anti-lock braking state.
Further, in the step S3, the step of acquiring the slope traction information to which the electric vehicle is subjected during the switching time specifically includes
According to the included angle value between the central axis of the chassis of the electric automobile along the length direction of the automobile body and the horizontal plane, determining the gravity traction force and the slope friction force applied to the driving wheels of the electric automobile in the slope extending direction; and determining the slope traction force applied by the electric vehicle in the slope extending downward direction according to the difference value between the gravity traction force and the slope friction force.
Further, in the step S3, after the foot of the driver is transferred to the accelerator pedal, according to the sloping traction information, controlling the driving force output by the permanent magnet motor to the driving wheel, so that the electric vehicle is switched from the braking state to the moving state specifically includes:
when the feet of a driver are transferred to an accelerator pedal, a motor operation triggering instruction is generated according to the magnitude and the direction of the slope traction force, so that the magnitude and the direction of the driving force output by the permanent magnet motor to the driving wheels are controlled, and the electric vehicle is accelerated to reach a preset speed and then uniformly driven on the slope road until leaving the slope road.
Compared with the prior art, the permanent magnet motor HHC hill-holding control method for the electric vehicle indicates the electric vehicle to switch to the HHC auxiliary driving mode according to the posture orientation parameter and the driving motion parameter of the electric vehicle; then, in the corresponding switching time of the foot of the driver from the brake pedal to the accelerator pedal, indicating the permanent magnet motor of the electric vehicle to enter a stop working state and indicating the driving wheels of the electric vehicle to enter a braking state; and after the feet of the driver are transferred to the accelerator pedal, the driving force output by the permanent magnet motor to the driving wheels is controlled according to slope traction information received by the electric vehicle, so that the electric vehicle is switched from a braking state to a motion state, the working state of the permanent magnet motor and the braking state of the driving wheels can be adaptively adjusted according to the switching response speed of the feet of different drivers transferred from the brake pedal to the accelerator pedal, the occurrence of sliding is effectively avoided, the permanent magnet motor is instructed to stably and directionally drive the wheels to output the driving force, and the electric vehicle is ensured to stably move on a slope.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a permanent magnet motor HHC hill-holding control method for an electric vehicle according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flow chart of a permanent magnet motor HHC hill-holding control method for an electric vehicle according to an embodiment of the present invention is shown. The permanent magnet motor HHC hill-holding control method for the electric vehicle comprises the following steps of:
step S1, acquiring current attitude orientation parameters and running motion parameters of an electric vehicle, and determining the motion state of the electric vehicle; then, according to the motion state, the electric vehicle is instructed to switch to a HHC auxiliary driving mode;
step S2, when the electric vehicle is in the HHC auxiliary driving mode, according to the corresponding switching time of the foot of the driver from the brake pedal to the accelerator pedal, the permanent magnet motor of the electric vehicle is instructed to enter a stop working state and the driving wheels of the electric vehicle are instructed to enter a braking state within the switching time;
step S3, slope traction information received by the electric vehicle in the switching time is obtained; when the feet of the driver are transferred to the accelerator pedal, the driving acting force output by the permanent magnet motor to the driving wheels is controlled according to the slope traction information, so that the electric vehicle is switched from a braking state to a moving state.
The beneficial effects of the technical scheme are as follows: the permanent magnet motor HHC hill-holding control method for the electric vehicle indicates the electric vehicle to switch to the HHC auxiliary driving mode according to the attitude orientation parameter and the driving motion parameter of the electric vehicle; then, in the corresponding switching time of the foot of the driver from the brake pedal to the accelerator pedal, indicating the permanent magnet motor of the electric vehicle to enter a stop working state and indicating the driving wheels of the electric vehicle to enter a braking state; and after the feet of the driver are transferred to the accelerator pedal, the driving force output by the permanent magnet motor to the driving wheels is controlled according to slope traction information received by the electric vehicle, so that the electric vehicle is switched from a braking state to a motion state, the working state of the permanent magnet motor and the braking state of the driving wheels can be adaptively adjusted according to the switching response speed of the feet of different drivers transferred from the brake pedal to the accelerator pedal, the occurrence of sliding is effectively avoided, the permanent magnet motor is instructed to stably and directionally drive the wheels to output the driving force, and the electric vehicle is ensured to stably move on a slope.
Preferably, in the step S1, acquiring the current attitude orientation parameter and the running motion parameter of the electric vehicle, and determining the motion state of the electric vehicle specifically includes:
acquiring the current vehicle chassis attitude orientation and the relative attitude relation between the head and the tail of the electric vehicle, and determining whether the electric vehicle is currently positioned on a slope road or a plane road according to the chassis attitude orientation and the relative attitude relation between the head and the tail;
when the electric vehicle is currently positioned on the slope road, determining whether a motion speed component exists in the extending direction of the electric vehicle along the slope road currently; if the electric vehicle exists, determining that the electric vehicle is in a slope movement state currently, otherwise, determining that the electric vehicle is in a slope static state currently.
The beneficial effects of the technical scheme are as follows: when the electric vehicle is located on a slope road, the vehicle chassis of the electric vehicle is inclined relative to the horizontal plane, and the head and the tail of the electric vehicle are not located on the same horizontal plane, and whether the whole electric vehicle is inclined at present and the whole inclination direction of the vehicle can be rapidly determined by acquiring the posture direction of the vehicle chassis and the relative posture relation between the head and the tail. When the electric vehicle runs on the slope road, the electric vehicle cannot slip, and only when the electric vehicle stops on the slope road in a parking mode and starts again, the electric vehicle can slip. By determining whether there is a component of movement speed of the electric vehicle currently along the ramp road extension direction, the state of movement of the electric vehicle along the ramp road extension direction can be determined in order to determine the actual movement/stationary state of the electric vehicle on the ramp road.
Preferably, in the step S1, determining whether the electric vehicle is currently located on a sloping road or a planar road according to the posture orientation of the chassis of the vehicle and the relative posture relationship between the head and the tail of the vehicle specifically includes:
extracting from the attitude orientation of the vehicle chassis to obtain an included angle value between a central axis of the vehicle chassis along the length direction of the vehicle body and a horizontal plane; and determining whether the electric vehicle is currently positioned on the slope road or the plane road according to the included angle value and the tire steering angle of the electric vehicle.
The beneficial effects of the technical scheme are as follows: according to the method, the included angle value between the central axis of the length direction of the chassis body of the vehicle and the horizontal plane and the tire steering angle of the electric vehicle are extracted from the posture orientation of the chassis of the vehicle, the head orientation of the electric vehicle can be determined, so that the electric vehicle can be accurately judged to be in an ascending state or a descending state, the electric vehicle is ensured to be switched to an HHC auxiliary running mode only when the electric vehicle is in the ascending state or the descending state, and the electric vehicle is prevented from being frequently switched to the running mode so as to interfere with the normal running of the vehicle.
Preferably, in the step S1, an angle value between a central axis of the vehicle chassis along the length direction of the vehicle body and a horizontal plane is extracted from the posture orientation of the vehicle chassis; determining whether the electric vehicle is currently located on the slope road or the plane road according to the included angle value and the tire steering angle of the electric vehicle specifically comprises:
step S101, obtaining the overall inclination angle of the plane of the vehicle chassis and the horizontal plane according to the included angle value between the central axis of the vehicle chassis along the length direction of the vehicle body and the horizontal plane and the included angle value between the central axis of the vehicle chassis along the length direction perpendicular to the vehicle body and the horizontal plane by using the following formula (1),
in the above formula (1), λ represents the overall inclination angle of the vehicle chassis plane to the horizontal plane; alpha (||z) represents an included angle value between a central axis of the vehicle chassis along the length direction of the vehicle body and a horizontal plane; alpha (∈z) represents an included angle value between a central axis of the vehicle chassis along the direction vertical to the length direction of the vehicle body and a horizontal plane;
step S102, obtaining the inclination direction angle of the overall inclination angle of the vehicle chassis plane and the horizontal plane, which takes the central axis of the length direction of the vehicle body as a reference and takes the clockwise direction, according to the overall inclination angle of the vehicle chassis plane and the horizontal plane by using the following formula (2),
in the above formula (2), β represents an inclination direction angle of an overall inclination angle of a vehicle chassis plane and a horizontal plane clockwise in a positive direction with respect to a central axis in a longitudinal direction of the vehicle body;
step S103, utilizing the following formula (3), according to the inclination direction angle of the vehicle chassis plane and the tire steering angle of the electric vehicle which are based on the central axis of the length direction of the vehicle body, the current running direction of the electric vehicle is positioned on a sloping road or a plane road,
in the above formula (3), P represents a determination value of whether the current traveling direction of the electric vehicle is on a sloping road or a planar road; v represents a logical relationship or operation; Λ represents logical relationship and operation; the absolute value is calculated by the expression;
if p=0, it indicates that the current running direction of the electric vehicle is on the plane road;
if p=1, the current running direction of the electric vehicle is located on a slope road and is an upward slope;
if p= -1, it indicates that the current driving direction of the electric vehicle is on the sloping road and is downhill.
The beneficial effects of the technical scheme are as follows: the overall inclination angle of the vehicle chassis plane and the horizontal plane is obtained according to the included angle value between the central axis of the vehicle chassis along the length direction of the vehicle body and the horizontal plane and the included angle value between the central axis of the vehicle chassis vertical to the length direction of the vehicle body and the horizontal plane by utilizing the formula (1), so that the overall inclination condition of the vehicle chassis plane and the horizontal plane is accurately known, and the current side inclination condition of the vehicle can be finely analyzed; then, according to the overall inclination angle of the vehicle chassis plane and the horizontal plane, an inclination direction angle of the overall inclination angle of the vehicle chassis plane and the horizontal plane taking the central axis of the length direction of the vehicle body as a reference clockwise is obtained by utilizing the formula (2), so that the inclination condition of the specific slope direction of the plane where the current vehicle is located is known; and finally, determining whether the current running direction of the electric vehicle is positioned on a slope road or a plane road according to the inclined direction angle of the vehicle chassis plane and the tire steering angle of the vehicle by using the formula (3) with the central axis of the length direction of the vehicle body as a reference, thereby determining an ascending slope when the tire steering is oriented to the inclined direction of the road when the vehicle is inclined sideways, determining a descending slope when the tire steering is oriented to the inclined direction of the reverse road, and further perfecting the concrete analysis and control when the vehicle is inclined sideways so as to ensure the reliability and the applicability of the permanent magnet motor HHC on the slope.
Preferably, in this step S2, instructing the electric vehicle to switch to the HHC auxiliary running mode specifically includes:
when the electric vehicle is currently in a slope resting state, determining whether the electric vehicle is currently in a parking mode; if yes, maintaining the current parking mode unchanged; if not, the electric vehicle is instructed to switch the HHC auxiliary driving mode while the hand brake of the electric vehicle is put down.
The beneficial effects of the technical scheme are as follows: when the electric vehicle is in the slope resting state and the parking mode currently, the current parking mode is maintained unchanged, and the electric vehicle can be ensured to be stably parked on the slope road. When the hand brake of the electric vehicle is detected to be put down, the electric vehicle is instructed to synchronously switch to the HHC auxiliary driving mode, the situation that the electric vehicle slides in the neutral gear when the electric vehicle exits from the parking mode can be avoided, and the control stability of the electric vehicle is further improved.
Preferably, in this step S2, further comprising:
when the electric vehicle is in the HHC auxiliary driving mode, collecting a first stepping pressure value of a foot of a driver on a brake pedal, and taking a moment when the first stepping pressure value is smaller than or equal to a preset pressure value as a first time point; collecting a second stepping pressure value of the foot of the driver on the accelerator pedal, and taking the moment when the second stepping pressure value is larger than a preset pressure threshold value as a second time point; and then the time period between the first time point and the second time point is taken as the corresponding switching time of the foot of the driver from the brake pedal to the accelerator pedal.
The beneficial effects of the technical scheme are as follows: the switching time required by different drivers to switch the feet from stepping on the brake pedal to stepping on the accelerator pedal is different, and if the working state of the permanent magnet motor and the braking state of the driving wheels are controlled by adopting uniform fixed switching time, the situation that the electric vehicle slides under the operation of different drivers cannot be ensured. The first stepping pressure value applied to the brake pedal by the driver and the second stepping pressure value applied to the accelerator pedal are taken as references, so that the corresponding switching time of the foot of different drivers from the brake pedal to the accelerator pedal is determined in a targeted manner, and the electric vehicle can be ensured to avoid slipping under the operation of different drivers.
Preferably, in the step S2, during the switching time, instructing the permanent magnet motor of the electric vehicle to enter the stop operation state and instructing the driving wheel of the electric vehicle to enter the braking state specifically includes:
from a first time point in the switching time, indicating a power supply of the electric vehicle to stop supplying electric energy to the permanent magnet motor, so that the permanent magnet motor enters a stop working state; and instructing the driving wheels of the electric vehicle to enter an anti-lock braking state.
The beneficial effects of the technical scheme are as follows: and the first time point in the switching time is used as a timing starting point to instruct the power supply of the electric vehicle to stop supplying electric energy to the permanent magnet motor, so that the permanent magnet motor cannot operate and cannot output power to the driving wheels in the switching time. Meanwhile, the driving wheels of the electric vehicle are indicated to enter an anti-lock braking state, so that the situation that the whole electric vehicle slides in a beating mode can be avoided.
Preferably, in the step S3, acquiring the slope traction information to which the electric vehicle is subjected during the switching time specifically includes
According to the included angle value between the central axis of the chassis of the electric automobile along the length direction of the automobile body and the horizontal plane, determining the gravity traction force and the slope friction force applied to the driving wheels of the electric automobile in the slope extending direction; and determining the slope traction force applied by the electric vehicle in the slope extending downward direction according to the difference value between the gravity traction force and the slope friction force.
The beneficial effects of the technical scheme are as follows: the electric vehicle can be subjected to the inertia trend of downward movement generated by gravity acting force when being positioned on a slope road, and meanwhile, the electric vehicle can generate corresponding friction force when being contacted with the slope road, and the two acting forces are jointly applied to the electric vehicle to generate slope traction acting force on the electric vehicle, and the slope traction acting force is the main power source for the vehicle to slide. By determining the slope traction force applied to the electric vehicle in the slope extending downward direction, reliable basis can be provided for accurately outputting driving force to driving wheels when the subsequent permanent magnet motor is restarted.
Preferably, in the step S3, after the foot of the driver is transferred to the accelerator pedal, according to the sloping surface traction information, controlling the driving force output by the permanent magnet motor to the driving wheel, so that the electric vehicle is switched from the braking state to the moving state specifically includes:
when the feet of a driver are transferred to an accelerator pedal, a motor operation triggering instruction is generated according to the magnitude and the direction of the slope traction force, so that the magnitude and the direction of the driving force output by the permanent magnet motor to the driving wheels are controlled, and the electric vehicle is accelerated to reach a preset speed and then uniformly driven on the slope road until leaving the slope road.
The beneficial effects of the technical scheme are as follows: when the feet of the driver are transferred to the accelerator pedal to be stepped, the permanent magnet motor is triggered to restart immediately, and the permanent magnet motor outputs driving acting force with corresponding magnitude and direction to the driving wheels according to the magnitude and direction of the slope traction acting force, so that the acceleration running of the electric vehicle is realized to avoid the slope traction acting force from sliding. When the electric vehicle accelerates to reach the preset speed, the permanent magnet motor is instructed to drive the electric vehicle to move at a uniform speed by taking the preset speed as a reference until the electric vehicle completely leaves the slope road, so that the electric vehicle is ensured to stably run on the slope road.
As is apparent from the above-described embodiments, the permanent magnet motor HHC hill-holding control method for an electric vehicle instructs the electric vehicle to switch to the HHC auxiliary running mode, based on the posture orientation parameter and the running motion parameter of the electric vehicle; then, in the corresponding switching time of the foot of the driver from the brake pedal to the accelerator pedal, indicating the permanent magnet motor of the electric vehicle to enter a stop working state and indicating the driving wheels of the electric vehicle to enter a braking state; and after the feet of the driver are transferred to the accelerator pedal, the driving force output by the permanent magnet motor to the driving wheels is controlled according to slope traction information received by the electric vehicle, so that the electric vehicle is switched from a braking state to a motion state, the working state of the permanent magnet motor and the braking state of the driving wheels can be adaptively adjusted according to the switching response speed of the feet of different drivers transferred from the brake pedal to the accelerator pedal, the occurrence of sliding is effectively avoided, the permanent magnet motor is instructed to stably and directionally drive the wheels to output the driving force, and the electric vehicle is ensured to stably move on a slope.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. The permanent magnet motor HHC hill-holding control method for the electric vehicle is characterized by comprising the following steps of:
step S1, acquiring current attitude orientation parameters and running motion parameters of an electric vehicle, and determining the motion state of the electric vehicle; then according to the motion state, the electric vehicle is instructed to switch to a HHC auxiliary driving mode;
step S2, when the electric vehicle is in the HHC auxiliary driving mode, according to the switching time corresponding to the foot of a driver from a brake pedal to an accelerator pedal, and in the switching time, indicating the permanent magnet motor of the electric vehicle to enter a stop working state and indicating the driving wheels of the electric vehicle to enter a braking state;
step S3, slope traction information of the electric vehicle in the switching time is obtained; when the feet of the driver are transferred to the accelerator pedal, the driving acting force output by the permanent magnet motor to the driving wheels is controlled according to the slope traction information, so that the electric vehicle is switched from a braking state to a moving state.
2. The permanent magnet motor HHC hill-holding control method for electric vehicle according to claim 1, characterized in that:
in the step S1, obtaining a current attitude orientation parameter and a running motion parameter of the electric vehicle, and determining a motion state of the electric vehicle specifically includes:
acquiring the current vehicle chassis attitude orientation and the relative attitude relation between the head and the tail of the electric vehicle, and determining whether the electric vehicle is currently positioned on a slope road or a plane road according to the chassis attitude orientation and the relative attitude relation between the head and the tail;
when the electric vehicle is currently positioned on the slope road, determining whether a motion speed component exists in the extending direction of the electric vehicle along the slope road currently; if the electric vehicle exists, determining that the electric vehicle is in a slope movement state currently, otherwise, determining that the electric vehicle is in a slope static state currently.
3. The permanent magnet motor HHC hill-holding control method for electric vehicle according to claim 2, characterized in that:
in the step S1, determining whether the electric vehicle is currently located on a slope road or a plane road according to the posture orientation of the chassis of the vehicle and the relative posture relationship between the head and the tail of the vehicle specifically includes: extracting from the attitude orientation of the vehicle chassis to obtain an included angle value between a central axis of the vehicle chassis along the length direction of the vehicle body and a horizontal plane; and determining whether the electric vehicle is currently positioned on the slope road or the plane road according to the included angle value and the tire steering angle of the electric vehicle.
4. The permanent magnet motor HHC hill-holding control method for electric vehicle according to claim 3, characterized in that:
in the step S1, an included angle value between a central axis of the vehicle chassis along the length direction of the vehicle body and a horizontal plane is extracted from the gesture direction of the vehicle chassis; determining whether the electric vehicle is currently located on the slope road or the plane road according to the included angle value and the tire steering angle of the electric vehicle specifically comprises:
step S101, obtaining the overall inclination angle of the plane of the vehicle chassis and the horizontal plane according to the included angle value between the central axis of the vehicle chassis along the length direction of the vehicle body and the horizontal plane and the included angle value between the central axis of the vehicle chassis along the length direction perpendicular to the vehicle body and the horizontal plane by using the following formula (1),
in the above formula (1), λ represents the overall inclination angle of the vehicle chassis plane to the horizontal plane; alpha (||z) represents an included angle value between a central axis of the vehicle chassis along the length direction of the vehicle body and a horizontal plane; alpha (∈z) represents an included angle value between a central axis of the vehicle chassis along the direction vertical to the length direction of the vehicle body and a horizontal plane;
step S102, obtaining the inclination direction angle of the overall inclination angle of the vehicle chassis plane and the horizontal plane, which takes the central axis of the length direction of the vehicle body as a reference and takes the clockwise direction, according to the overall inclination angle of the vehicle chassis plane and the horizontal plane by using the following formula (2),
in the above formula (2), β represents an inclination direction angle of an overall inclination angle of a vehicle chassis plane and a horizontal plane clockwise in a positive direction with respect to a central axis in a longitudinal direction of the vehicle body;
step S103, utilizing the following formula (3), according to the inclination direction angle of the vehicle chassis plane and the tire steering angle of the electric vehicle which are based on the central axis of the length direction of the vehicle body, the current running direction of the electric vehicle is positioned on a sloping road or a plane road,
in the above formula (3), P represents a determination value of whether the current traveling direction of the electric vehicle is on a sloping road or a planar road; v represents a logical relationship or operation; Λ represents logical relationship and operation; the absolute value is calculated by the expression;
if p=0, it indicates that the current running direction of the electric vehicle is on the plane road;
if p=1, the current running direction of the electric vehicle is located on a slope road and is an upward slope;
if p= -1, it indicates that the current driving direction of the electric vehicle is on the sloping road and is downhill.
5. The permanent magnet motor HHC hill-holding control method for electric vehicle according to claim 3, characterized in that:
in the step S2, the instruction to switch the electric vehicle to the HHC auxiliary driving mode specifically includes:
when the electric vehicle is currently in a slope resting state, determining whether the electric vehicle is currently in a parking mode; if yes, maintaining the current parking mode unchanged; if not, the electric vehicle is instructed to switch the HHC auxiliary driving mode while the hand brake of the electric vehicle is put down.
6. The permanent magnet motor HHC hill-holding control method for electric vehicle according to claim 1, characterized in that:
in the step S2, further includes:
when the electric vehicle is in the HHC auxiliary driving mode, collecting a first stepping pressure value of a foot of a driver on a brake pedal, and taking a moment when the first stepping pressure value is smaller than or equal to a preset pressure value as a first time point; collecting a second stepping pressure value of the foot of the driver on the accelerator pedal, and taking the moment when the second stepping pressure value is larger than a preset pressure threshold value as a second time point; and then the time period between the first time point and the second time point is taken as the corresponding switching time of the foot of the driver from the brake pedal to the accelerator pedal.
7. The permanent magnet motor HHC hill-holding control method for electric vehicle according to claim 6, wherein:
in the step S2, during the switching time, the indicating that the permanent magnet motor of the electric vehicle enters a stop state and the indicating that the driving wheel of the electric vehicle enters a braking state specifically includes: starting from a first time point in the switching time, indicating a power supply of the electric vehicle to stop transmitting electric energy to the permanent magnet motor, so that the permanent magnet motor enters a stop working state; and instructing the driving wheels of the electric vehicle to enter an anti-lock braking state.
8. The permanent magnet motor HHC hill-holding control method for electric vehicle according to claim 1, characterized in that:
in the step S3, the step of acquiring the slope traction information to which the electric vehicle is subjected during the switching time specifically includes
According to the included angle value between the central axis of the chassis of the electric automobile along the length direction of the automobile body and the horizontal plane, determining the gravity traction force and the slope friction force applied to the driving wheels of the electric automobile in the slope extending direction; and determining the slope traction force applied by the electric vehicle in the slope extending downward direction according to the difference value between the gravity traction force and the slope friction force.
9. The permanent magnet motor HHC hill-holding control method for electric vehicle according to claim 8, wherein:
in the step S3, after the foot of the driver is transferred to the accelerator pedal, according to the slope traction information, controlling the driving force output by the permanent magnet motor to the driving wheel, so that the electric vehicle is switched from the braking state to the moving state specifically includes:
when the feet of a driver are transferred to an accelerator pedal, a motor operation triggering instruction is generated according to the magnitude and the direction of the slope traction force, so that the magnitude and the direction of the driving force output by the permanent magnet motor to the driving wheels are controlled, and the electric vehicle is accelerated to reach a preset speed and then uniformly driven on the slope road until leaving the slope road.
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| CN202310680348.9A CN116834558A (en) | 2023-06-09 | 2023-06-09 | Permanent magnet motor HHC (Hill control) method for electric vehicle |
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