CN206049410U - A kind of electric vehicle slips by slope control system - Google Patents
A kind of electric vehicle slips by slope control system Download PDFInfo
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- CN206049410U CN206049410U CN201621078500.8U CN201621078500U CN206049410U CN 206049410 U CN206049410 U CN 206049410U CN 201621078500 U CN201621078500 U CN 201621078500U CN 206049410 U CN206049410 U CN 206049410U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
This utility model slips by slope control system there is provided a kind of electric vehicle, wherein the electric vehicle includes gear shifting device, speedometer, asynchronous machine, motor state sensor and electric machine controller；When electric machine controller receives the speed zero cross signal of the neutral signal and speedometer of gear shifting device, electric machine controller carries out slipping by slope control to asynchronous machine；Motor controller controls motor state sensor detects the state of asynchronous machine, obtain the output slip that feedback pulse obtains asynchronous machine, direct current deceleration electric current is obtained according to the output slip of asynchronous machine, electric machine controller exports direct current deceleration electric current to asynchronous machine, according to direct current deceleration electric current, and the actual speed of asynchronous machine, produce retarding braking moment of torsion, the raising of control Rotational Speed of Asynchronous Motor, and then control electric vehicle and slip by slope speed.This utility model is realized and is not related to Calculating Torque during Rotary, and self adaptation different gradient is carried out smoothing and slipped by slope, and is greatly simplified and is slipped by slope control algolithm, and improves driving experience.
Description
Technical field
This utility model is related to electric powered motor control field, and espespecially a kind of electric vehicle slips by slope control system.
Background technology
Rotating speed of the rotating speed of threephase asynchronous machine rotor less than rotating excitation field, rotor windings are relative because existing between magnetic field
Move and produce electromotive force and electric current, and electromagnetic torque is produced with magnetic field interaction, realize energy conversion.With single-phase asynchronous electricity
Motivation is compared, and threephase asynchronous runnability is good, and can save various materials.
Pure electric automobile (Battery Electric Vehicle, abbreviation BEV) is referred to vehicle power as power, electricity consumption
Machine driving moment is travelled, and meets road traffic, the vehicle of security legislation requirements.Due to the relatively conventional automobile of effect on environment
Less, its prospect is extensively had an optimistic view of, pure electric automobile, and it is completely (such as lead-acid battery, nickel-cadmium cell, nickel by rechargeable battery
Hydrogen battery or lithium ion battery) provide power source automobile.
Oil-electric vehicle (Hybrid Electric Vehicle, HEV), i.e., using traditional internal combustion engine (diesel oil
Machine or gasoline engine) and motor as power source, the electromotor also having uses other alternative fuel through transformation, for example, compress day
Right gas, propane and alcohol fuel etc..As the measure of countries in the world environmental conservation is more and more stricter, motor vehicle driven by mixed power is due to which
The features such as energy-conservation, low emission, becomes an emphasis of automotive research and exploitation, and has begun to commercialization.Hybrid vehicle makes
Electric propulsion system includes motor, electromotor and the accumulator of efficient reinforcing.Accumulator using have lead-acid battery, nickel
Manganese hydrogen battery and lithium battery, should use hydrogen fuel cell in the future.
At present, it is crowded in road, during traffic congestion follows the urban traffic situation for happening occasionally, particularly occur in upward trend or in mistake
During viaduct, if manual operation is improper to be particularly easy to car slipping event, so as to cause security incident, to vehicle driving safety
Cause greatly harm.Existing traditional vehicle can generally pass through uphill starting supplementary controlled system (Hill-
StartAssistControlSystem, HAS), when being prevented effectively from car ramp starting, driver loosens the brake to and steps on
Slip after during accelerator pedal.And electric automobile its characteristics of there is fast torque to respond, therefore, existing electric automobile is then
Prevent vehicle from car slipping occurring by the control to moment of torsion.
In the prior art, electric automobile is under Oleum Pini door state on slope, in order to drive safely, either go up a slope or under
It is both needed to slowly slip by slope during slope, existing electric automobile is then by the control to moment of torsion come controlling car slipping speed.Currently for electricity
Motor speed of the torque control mode of electrical automobile mainly according to feedback, calculates output torque to control to slip by slope speed,
Prevent electric automobile from car slipping occurring, but there are problems that in prior art following two：
1st, due to motor state sensor precision, it is impossible to be enough precisely calculated Motor torque so as to control electric automobile
Slip by slope speed；
2nd, due to the practical situation in ramp during electric automobile during traveling, calculating Motor torque is caused to be well matched with
Speed is slipped by slope, causes electric automobile to slip by slope unsmooth, affect driving experience.
Thus, how to solve during existing controlled motor, to be unable to good match to slip by slope speed, cause electric automobile to slip by slope injustice
It is sliding, the problem of driving experience is affected, is current those skilled in the art technical problem urgently to be resolved hurrily.
Utility model content
The purpose of this utility model is to provide a kind of control system that slips by slope of electric vehicle, realizes solving existing controlled motor
Shi Buneng good matches slip by slope speed, cause to slip by slope unsmooth, the problem of impact driving experience.
In order to achieve the above object, the technical scheme that this utility model is provided is as follows：
A kind of electric vehicle slips by slope control system, wherein the electric vehicle includes gear shifting device, speedometer and asynchronous electricity
Machine, also includes：Motor state sensor and electric machine controller；Wherein,
The electric machine controller is electrically connected with the gear shifting device, the speedometer respectively, when the electric machine controller is received
To the neutral signal of the gear shifting device, and when receiving the speed zero cross signal of the speedometer, the electric machine controller pair
The asynchronous machine carries out slipping by slope control；
The electric machine controller is also electrically connected with the motor state sensor, when the electric machine controller is to described asynchronous
When motor carries out slipping by slope control, motor state sensor described in the motor controller controls detects the shape of the asynchronous machine
State, obtains the output slip that feedback pulse obtains asynchronous machine, obtains direct current deceleration according to the output slip of the asynchronous machine
Electric current, the electric machine controller export the direct current deceleration electric current；
The asynchronous machine is electrically connected with the electric machine controller, according to the direct current being input into by the electric machine controller
Deceleration electric current, and the actual speed of the asynchronous machine, produce retarding braking torque, control carrying for the Rotational Speed of Asynchronous Motor
Height, so control the electric vehicle slip by slope speed.
In this utility model embodiment, when gear shifting device range state be neutral, and speedometer show speed zero passage when,
Electric machine controller carries out slipping by slope control to asynchronous machine, the feedback arteries and veins of the asynchronous machine that the motor state sensor is detected
The output slip that row is calculated asynchronous machine is rushed in, and is converted to direct current deceleration electric current and sent to asynchronous machine, when asynchronous electricity
The raising of the Rotational Speed of Asynchronous Motor when direct current deceleration electric current is passed through in machine, is controlled, and then controls slipping by slope for the electric vehicle
Speed.Less device have in control system in being slipped by slope for electric automobile of the present utility model, is tied compared with existing device
Structure is simple, and operation simplifies, and makes Consumer's Experience more preferably.Additionally, the practical situation during electric automobile during traveling according to ramp, energy
Enough it is well matched with slipping by slope speed, causes electric automobile to slip by slope smooth, improves driving experience.
Further, the electric machine controller includes：Gather diagnosis apparatuss, slip by slope controlling switch, motor encoder and PID arithmetic
Device (PID refers to ratio (proportion), integration (integral), derivative (derivative))
The collection diagnosis apparatuss are electrically connected with the gear shifting device, the speedometer, when the collection diagnosis apparatuss are received
To the neutral signal of the gear shifting device, and when receiving the speed zero cross signal of the speedometer, the collection diagnosis apparatuss are opened
Controlling switch is slipped by slope described in opening；
The controlling switch that slips by slope is electrically connected with the collection diagnosis apparatuss and the motor encoder, is sentenced according to the collection
The motor encoder work is opened in the control of disconnected device；
The motor encoder is electrically connected with the motor state sensor, the PID arithmetic device respectively；Slip by slope when described
When controlling switch is opened, the motor encoder obtains the shape of the asynchronous machine that the motor state sensor is detected
State, obtains the feedback pulse and the feedback pulse is sent to the PID arithmetic device；
The PID arithmetic device is electrically connected with the asynchronous machine, is carried out PID arithmetic according to the feedback pulse and is obtained asynchronous
The output slip of motor, obtains the direct current deceleration electric current according to the output slip of the asynchronous machine, and by the motor control
The direct current deceleration electric current is exported device processed the raising that the Rotational Speed of Asynchronous Motor is controlled to the asynchronous machine, and then is controlled
The electric vehicle slips by slope speed.
When direct current deceleration electric current is passed through in asynchronous machine, produced magnetic field will be that locus are constant to this utility model
Stationary magnetic field, and rotor continues rotation because of inertia, and now, the rotor of rotation cuts this stationary magnetic field and produces braking and turn
Square, torque direction are in opposite direction with rotor speed, and the kinetic energy of system storage is converted into power consumption and returns in the rotor of asynchronous machine
Road, and then reach the effect of asynchronous machine fast braking.
Further, the PID arithmetic device also includes：Multiplier (-icator), anti-overflow device and actuator；
The multiplier (-icator) is electrically connected with the anti-overflow device, and the actuator is electrically connected with the anti-overflow device；
The feedback pulse is carried out asking by the multiplier (-icator) carry out after difference operation gain operation to obtain gain results, and by institute
State gain results to send to the anti-overflow device；
The anti-overflow device prevents the gain results from overflowing, and the actuator adjusts the gain knot after the anti-overflow device is processed
Really, obtain the output slip of the asynchronous machine.
This utility model obtains gain results using multiplier (-icator) computing, and being limited using anti-overflow device prevents numerical value from overflowing, finally
Increase the speed that actuator tunable integers are worth to, prevent numerical value too fast or excessively slow slope reading value.
Further, the asynchronous machine：Including stator winding and short-circuit rotor windings：
The stator winding is passed through by the direct current deceleration electric current that the electric machine controller is input into, in the asynchronous machine
Middle generation stationary magnetic field, the rotor windings are rotated with rotor inertia, cut the magnetic line of force of the stationary magnetic field, produce braking
The raising of Rotational Speed of Asynchronous Motor described in moment of torsion control, so control the electric vehicle slip by slope speed.
Further, when the output slip of the asynchronous machine is in the maximum restriction slip of the asynchronous machine, the direct current subtracts
Fast electric current is proportional to the output slip of the asynchronous machine, the braking torque of the asynchronous machine be proportional to the output slip,
It is proportional to the direct current deceleration electric current simultaneously.
It is when this utility model utilizes the output slip of the asynchronous machine in the maximum restriction slip of the asynchronous machine, described
Direct current deceleration electric current is proportional to the output slip of the asynchronous machine, and the braking torque of the asynchronous machine is proportional to the output
Slip, while be proportional to the relation of the direct current deceleration electric current, when the output slip of asynchronous machine is bigger, asynchronous machine is received
Direct current deceleration electric current it is bigger so that the braking moment of generation is bigger, so as to allow asynchronous machine quick deceleration, finally stops turning
It is dynamic.
Further, maximum effective current value, minimum effective current value and the maximum restriction slip value of motor, adjustment are pre-set
The output slip of the asynchronous machine.
This utility model limits slip using maximum effective current value, minimum effective current value and motor maximum is pre-set
Value, adjusts the output slip of the asynchronous machine, can arrange previously according to safety and user preferences and slip by slope speed.
Further, when the rotating speed that the motor state sensor detects the asynchronous machine is zero, the motor control
Device terminates to slip by slope control to the asynchronous machine.
Further, the control system that slips by slope of electric vehicle also includes brake monitor, and the brake monitor includes braking
Push rod, checking cylinder and brake；The brake is connected with the checking cylinder by the brake pushrod, and the checking cylinder is produced
Motive force promotes the brake pushrod, and the brake pushrod is connected with the wheel of the electric vehicle, when the electric machine controller
The output slip of the asynchronous machine is controlled beyond during asynchronous machine maximum restriction slip, the brake produces additional brake
What power controlled the electric vehicle slips by slope speed.
Further, the control system that slips by slope of electric vehicle is calculated according to following equation (1)：
{I1=(Imax-Imin) ÷ Cmax × C, during C ＜ Cmax；
I1When=Imax, C >=Cmax；} (1)
Wherein, I1Expression slips by slope the direct current deceleration electric current under state, and Imax represents maximum effective current value, the Imin tables
Show minimum effective current value, Cmax represents that asynchronous machine is maximum and limits slip, and C represents the output slip of asynchronous machine.
Further, the control system that slips by slope of electric vehicle is calculated according to following equation (2)：
Wherein, T represents the braking torque under the state of slipping by slope, CTJRepresent the moment coefficient of asynchronous machine, ΦmAsynchronous machine
Magnetic field flux, I2Represent faradic current,Represent power factor.
A kind of slipping by slope for the electric automobile provided by this utility model and slips by slope the electric automobile of control, energy at control system
Following at least one beneficial effect is brought enough：
1st, current output motor rotating speed is precisely calculated, and control electric current controlled motor rotating speed is converted to so as to control electricity
Electrical automobile slips by slope speed；
2nd, the practical situation during electric automobile during traveling according to ramp, can be well matched with slipping by slope speed, cause
Electric automobile slips by slope smooth, raising driving experience.
Description of the drawings
Below by the way of clearly understandable, preferred implementation is described with reference to the drawings, a kind of electric vehicle is slipped by slope
The above-mentioned characteristic of control system, technical characteristic, advantage and its implementation are further described.
Fig. 1 is the structural representation for slipping by slope control system one embodiment of this utility model electric vehicle；
Fig. 2 is the structural representation for slipping by slope another embodiment of control system of this utility model electric vehicle；
Fig. 3 is the structural representation for slipping by slope the another embodiment of control system of this utility model electric vehicle；
Fig. 4 (A) is that the output of the asynchronous machine for slipping by slope control system another embodiment of this utility model electric vehicle turns
Difference computing block diagram；
Fig. 4 (B) is that the asynchronous machine for slipping by slope control system another embodiment of this utility model electric vehicle slips by slope control
Schematic diagram；
Fig. 4 (C) be the direct current deceleration electric current I for slipping by slope control system another embodiment of this utility model electric vehicle with it is different
The output slip C relation schematic diagrams of step motor；
Fig. 4 (D) is one kind side for slipping by slope control for slipping by slope control system another embodiment of this utility model electric vehicle
Method flow chart.
Drawing reference numeral explanation：
100 gear shifting devices；400 asynchronous machines；
200 speedometers；410 stators turn group；
300 electric machine controllers；The rotor windings of 420 short circuits；
310 slip by slope controlling switch；500 motor state sensors；
320 collection diagnosis apparatuss；600 brake monitors；
330PID arithmetical units；610 checking cylinders；
331 multiplier (-icator), 620 brake pushrod；
332 anti-overflow devices；630 brakes；
333 actuators；700 wheels.
340 motor encoders；
Specific embodiment
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, accompanying drawing will be compareed below
Illustrate specific embodiment of the present utility model.It should be evident that drawings in the following description are only of the present utility model one
A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to these
Accompanying drawing obtains other accompanying drawings, and obtains other embodiments.
To make simplified form, in each figure, the part related to this utility model is only schematically show, they are simultaneously
Which is not represented as the practical structures of product.In addition, so that simplified form is readily appreciated, have in some figures identical structure or
The part of function, only symbolically depicts one of those, or has only marked one of those.Herein, " one " is not
" only this " is represented only, it is also possible to represent the situation of " more than one ".
With reference to Fig. 1, a kind of one embodiment for slipping by slope control system of electric vehicle of the present utility model includes：
Gear shifting device 100, speedometer 200, asynchronous machine 400, motor state sensor 500 and electric machine controller 300；
The gear shifting device 100 shows the range state of electric vehicle, and the speedometer 200 shows the speed of electric vehicle；
The motor state sensor 500 detects the rotating speed of the asynchronous machine 400；
The electric machine controller 300 is electrically connected with the gear shifting device 100 and the speedometer 200 respectively, the motor control
Device processed 300 is also electrically connected with asynchronous machine 400；
In this utility model embodiment, when the range state of the gear shifting device 100 is neutral, and the speedometer 200 is aobvious
During the speed zero passage shown, 300 pairs of asynchronous machines of the electric machine controller 400 carry out slipping by slope control；The electric machine controller
The feedback pulse of 300 asynchronous machines 400 for detecting the motor state sensor 500 carries out being calculated asynchronous electricity
The output slip of machine, and be converted to direct current deceleration electric current and send to the asynchronous machine 400, when institute is passed through in asynchronous machine 400
When stating direct current deceleration electric current, control the raising of 400 rotating speed of asynchronous machine, so control the electric vehicle slip by slope car
Speed.
Less device have in control system in being slipped by slope for electric vehicle of the present utility model, compared with existing device
Simple structure, operation simplify, and make Consumer's Experience more preferably.Additionally, the practical situation during electric vehicle traveling according to ramp,
Can be well matched with slipping by slope speed, cause electric vehicle to slip by slope smooth, improve driving experience.
With reference to Fig. 2, a kind of another embodiment for slipping by slope control system of electric vehicle of the present utility model includes：
Gear shifting device 100, speedometer 200, asynchronous machine 400, motor state sensor 500 and electric machine controller 300；
The gear shifting device 100 shows the range state of electric vehicle, and the speedometer 200 shows the speed of electric vehicle；
The motor state sensor 500 detects the rotating speed of the asynchronous machine 400；
The electric machine controller 300 is electrically connected with the gear shifting device 100 and the speedometer 200 respectively, the motor control
Device processed 300 is also electrically connected with asynchronous machine 400；
The electric machine controller also 300 includes：Gather diagnosis apparatuss 320, slip by slope controlling switch 310,340 and of motor encoder
PID arithmetic device 330；
The PID arithmetic device 330 also includes：Multiplier (-icator) 331, anti-overflow device 332 and actuator 333；
The multiplier (-icator) 331 is electrically connected with the anti-overflow device 332, and the actuator 333 is electrically connected with the anti-overflow device 332
Connect；
The feedback pulse is carried out asking by the multiplier (-icator) 331 carry out after difference operation gain operation to obtain gain results, and
The gain results are sent to the anti-overflow device 332；
The anti-overflow device 332 prevents the gain results from overflowing, and the actuator 333 adjusts the anti-overflow device 332 and processes
Gain results afterwards, obtain the output slip of the asynchronous machine 400.
The asynchronous machine 400 also includes：Stator winding 410 and the rotor windings 420 of short circuit；
The collection diagnosis apparatuss 320 are electrically connected with the gear shifting device 100 and the speedometer 200, obtain the gear shifting device
The table speed of 100 range state and the speedometer 200, judges whether the control system opens and slips by slope controlling switch 310；Institute
State the work shape for slipping by slope that controlling switch 310 controls the motor encoder 340 according to the judged result of the collection diagnosis apparatuss 320
State；When the unlatching of controlling switch 310 is slipped by slope, the motor encoder 340 obtains what the motor state sensor 500 was detected
The rotating speed of the asynchronous machine 400, obtains feedback pulse and the feedback pulse is sent to the PID arithmetic device 330, according to
The feedback pulse carries out the output slip that PID arithmetic obtains asynchronous machine 400, and the output slip of the asynchronous machine is changed
For direct current deceleration electric current, and the direct current deceleration electric current is sent to the asynchronous machine 400, wherein, by the motor control
The direct current deceleration electric current of the input of device 300 produces constant magnetic in the asynchronous machine 400 by the stator winding 410
, the rotor windings 420 are rotated with rotor inertia, cut the magnetic line of force of the stationary magnetic field, produce braking torque control
The raising of 400 rotating speed of the asynchronous machine, so control the electric vehicle slip by slope speed.
This utility model (uses P gains, D gains, I gains to be generally 0) computing and obtain gain knot using multiplier (-icator) 331
Really, being limited using anti-overflow device 332 prevents numerical value from overflowing, and finally increases the speed that 333 tunable integers of actuator are worth to, prevents
The too fast or excessively slow slope reading value of numerical value.
It is described in the utility model when stator in asynchronous machine 400 any two it is alternate be passed through direct current deceleration electric current when, will be
The constant stationary magnetic field in locus is produced in stator, and rotor continues rotation because of inertia, now, the rotor of rotation cuts this
Individual stationary magnetic field and produce braking moment, torque direction is in opposite direction with rotor speed, according to the output slip of asynchronous machine 400
When in the maximum restriction slip of motor, direct current deceleration electric current is proportional to the output slip of asynchronous machine 400, asynchronous machine 400
Output slip is proportional to the relation of brake force, and when the output slip of asynchronous machine 400 is bigger, it is straight that asynchronous machine 400 is received
Stream deceleration electric current is bigger so that the braking moment of generation is bigger, so as to allow the kinetic energy of system storage to be converted into power consumption in different
The rotor loop of step motor 400, and then the effect of 400 quick deceleration of asynchronous machine is reached, finally stop operating.
A kind of control system that slips by slope of electric vehicle described in the utility model pre-sets maximum effective current value, minimum
Effective current value and the maximum restriction slip value of motor, braking effect and the stator DC electric current I of dynamic braking1Size it is relevant.I1
Bigger, the stationary magnetic field of generation is bigger, and braking moment T is bigger, brakes faster, I1Size can by adjust slide rheostat
To realize, I now1=U/R, wherein U are DC voltage, and R is two alternate resistance.Adjust the output of the asynchronous machine 400
Slip, can arrange previously according to safety and user preferences and slip by slope maximal rate, improve driving experience.
This utility model is calculated using following equation (1)：
{I1=(Imax-Imin) ÷ Cmax × C, during C ＜ Cmax；
I1When=Imax, C >=Cmax；} (1)
Wherein, I1Expression slips by slope the direct current deceleration electric current under state, and Imax represents maximum effective current value, the Imin tables
Show minimum effective current value, Cmax represents that asynchronous machine is maximum and limits slip, and C represents the output slip of asynchronous machine.
This utility model is also calculated using following equation (2)：
Wherein, T represents the braking torque under the state of slipping by slope, CTJRepresent the moment coefficient of asynchronous machine, ΦmAsynchronous machine
Magnetic field flux, I2Represent faradic current,Represent power factor.
Less device have in control system in being slipped by slope for electric vehicle of the present utility model, compared with existing device
Simple structure, operation simplify, and make Consumer's Experience more preferably.Additionally, the practical situation during electric vehicle traveling according to ramp,
Can be well matched with slipping by slope speed, cause electric vehicle to slip by slope smooth, improve driving experience.
With reference to Fig. 3, a kind of another embodiment for slipping by slope control system of electric vehicle of the present utility model.Wherein, therewith
No longer repeat front embodiment identical part.
In the present embodiment, slipping by slope control system also includes brake monitor 600 and wheel 700；The brake monitor 600
It is connected with the wheel, the brake monitor 600 produces the rotation of additional brake power control wheel 700 to be stopped, so as to produce
What frictional force controlled the electric vehicle then slips by slope speed.
The brake monitor 600 also includes checking cylinder 610, brake pushrod 620 and brake 630, described；The braking
Device 630 is connected with the checking cylinder 610 by the brake pushrod 620, and the checking cylinder 610 produces motive force and promotes the system
Dynamic push rod 620, so that the rotation that the brake 630 produces additional brake power control wheel 700 stops, so as to produce friction
What power controlled the electric vehicle then slips by slope speed.
In this utility model, when the electric braking force of oil-electric vehicle is not enough to smooth the braking of safety, using system
Movement controller produces the control of additional brake power and slips by slope speed, and the additional brake power is mechanical braking force.It is defeated when asynchronous machine 400
Go out slip it is bigger when, asynchronous machine 400 receive direct current deceleration electric current it is bigger so that the braking moment of generation is bigger, so as to allow
400 quick deceleration of asynchronous machine, if can not now smooth safely braking, checking cylinder 610 produces motive force and promotes the system
Dynamic push rod 620, so that the rotation that the brake 630 produces additional brake power control wheel 700 stops, so as to produce friction
What power controlled the electric vehicle then slips by slope speed.
Control system another is slipped by slope for a kind of electric vehicle of this utility model with reference to Fig. 4 (A), 4 (B), 4 (C), 4 (D)
The method flow of embodiment：
As shown in Fig. 4 (C) and 4 (D), this utility model detects neutral gear signal speed zero passage when fork truck, immediately enters
Pattern is slipped by slope, the output slip C (unit is rpm) of asynchronous machine 400 is calculated by electric machine controller 300, and logical direct current slows down
Electric current on asynchronous machine 400, the wherein output slip C positive correlations of direct current deceleration current amplitude and asynchronous machine 400, wherein,
See Fig. 4 (C), wherein, minimum current, maximum current and maximum current correspondence C is adjustable to be arranged.According to 400 characteristic of asynchronous machine,
In peak torque slippage rotating speed, torque is bigger with slippage positive correlation, i.e. slippage, and torque is bigger.Therefore when electri forklift is not
During with gliding on slope, as weight component causes vehicle to slide while driving asynchronous machine 400 to rotate, asynchronous machine 400 is rotated
Produce slippage and simultaneously produce brake force, the gradient is bigger, slip by slope that speed is bigger, slippage is bigger, and brake force is bigger, and (rotating speed is in torque capacity
In slippage), finally realize force self-balanced.
This utility model needs to use electric machine controller 300, is mainly used to produce the numerical value (unit is rpm/Hz) of C, main
Shown in process to be realized such as Fig. 4 (A).When process is slipped by slope, this some algorithm is just loaded into, now given umber of pulse is 0
(as in the case of neutral position, given speed is 0), fork truck now certainly will be glided on slope under gravity, and now motor is compiled
The pulse (or angle) that code device feedback is obtained carries out asking difference operation, computing to obtain with given umber of pulse (umber of pulse is zero) herein
Numerical value through PID, (P gains, D gains are often used, after I gains are generally 0) computing, in Fig. 4 (A) 1.>②>3. fortune
The numerical value obtained after calculation is limited through anti-overflow device 332 again prevents numerical value from overflowing, and finally increases by 333 acceleration and deceleration link of actuator adjustable
The speed that whole C numerical value is obtained, prevents C numerical value too fast or excessively slow slope reading value.Electric machine controller in this utility model
The output slip C of 300 asynchronous machines 400 for drawing directly controls asynchronous machine 400, but using with final output to different
What the direct current deceleration current value of step motor 400 carried out asynchronous machine 400 into positive correlation slips by slope control.
The concrete calculating of this utility model C is calculated using following equation (1)：
{I1=(Imax-Imin) ÷ Cmax × C, during C ＜ Cmax；
I1When=Imax, C >=Cmax；} (1)
Wherein, I1Expression slips by slope the direct current deceleration electric current under state, and Imax represents maximum effective current value, the Imin tables
Show minimum effective current value, Cmax represents that asynchronous machine is maximum and limits slip, and C represents the output slip of asynchronous machine.
Below, illustrated with a specific example：
On the fork truck that 3 tons of a deadweight, 8.5kw asynchronous machines 400 drive, Cmax is set to 200rpm, Imax=
600A, Imin=20A, specifically slip by slope realization as follows：
When neutral gear signal speed zero passage is detected, lead to direct current deceleration electric current immediately on motor three-phase, 0 turn of motor
When, C<Cmax, is input into I1=Imin=20A electric currents, fork truck slip by slope to C values within 200rpm when, be input into phase current I1=
(600-20)/200*C1 [A], when fork truck slips by slope input phase current I when speed reaches 200rpm1=Imax=600A electric currents, one
As for fork truck not over 200rpm, even if being equally input into I=600A virtual value direct current deceleration electric currents beyond 200rpm, make fork
Car slips by slope speed and declines therewith, and C also declines therewith, is passed through direct current virtual value I of motor1Also decline therewith, realize that the fork truck exists
Can smooth in different gradient and slowly slip by slope, so as to meet duty requirements.
It should be noted that above-described embodiment can independent assortment as needed.The above is only of the present utility model
Preferred implementation, it is noted that for those skilled in the art, without departing from this utility model principle
On the premise of, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (10)
1. a kind of electric vehicle slips by slope control system, wherein the electric vehicle includes gear shifting device, speedometer and asynchronous machine,
Characterized in that, the control system that slips by slope includes：Motor state sensor and electric machine controller；Wherein,
The electric machine controller is electrically connected with the gear shifting device, the speedometer respectively, when the electric machine controller receives institute
The neutral signal of gear shifting device is stated, and when receiving the speed zero cross signal of the speedometer, the electric machine controller is to described
Asynchronous machine carries out slipping by slope control；
The electric machine controller is also electrically connected with the motor state sensor, when the electric machine controller is to the asynchronous machine
When carrying out slipping by slope control, motor state sensor described in the motor controller controls detects the state of the asynchronous machine, obtains
The output slip that feedback pulse obtains asynchronous machine is obtained, direct current deceleration electric current is obtained according to the output slip of the asynchronous machine,
The electric machine controller exports the direct current deceleration electric current；
The asynchronous machine is electrically connected with the electric machine controller, is slowed down according to the direct current being input into by the electric machine controller
Electric current, and the actual speed of the asynchronous machine, produce retarding braking moment of torsion, control the raising of the Rotational Speed of Asynchronous Motor,
Further control the electric vehicle slips by slope speed.
2. electric vehicle according to claim 1 slips by slope control system, it is characterised in that the electric machine controller bag
Include：Gather diagnosis apparatuss, slip by slope controlling switch, motor encoder and PID arithmetic device；
The collection diagnosis apparatuss are electrically connected with the gear shifting device, the speedometer, when the collection diagnosis apparatuss receive institute
The neutral signal of gear shifting device is stated, and when receiving the speed zero cross signal of the speedometer, the collection diagnosis apparatuss open institute
State and slip by slope controlling switch；
The controlling switch that slips by slope is electrically connected with the collection diagnosis apparatuss and the motor encoder, according to the collection diagnosis apparatuss
Control open motor encoder work；
The motor encoder is electrically connected with the motor state sensor, the PID arithmetic device respectively；Control is slipped by slope when described
During switch open, the motor encoder obtains the state of the asynchronous machine that the motor state sensor is detected, and obtains
Obtain the feedback pulse and the feedback pulse is sent to the PID arithmetic device；
The PID arithmetic device is electrically connected with the asynchronous machine, is carried out PID arithmetic according to the feedback pulse and is obtained asynchronous machine
Output slip, the direct current deceleration electric current is obtained according to the output slip of the asynchronous machine, and by the electric machine controller
The direct current deceleration electric current is exported the raising that the Rotational Speed of Asynchronous Motor is controlled to the asynchronous machine, and then is controlled described
Electric vehicle slips by slope speed.
3. electric vehicle according to claim 2 slips by slope control system, it is characterised in that the PID arithmetic device also wraps
Include：Multiplier (-icator), anti-overflow device and actuator；
The multiplier (-icator) is electrically connected with institute anti-overflow device, and the actuator is electrically connected with the anti-overflow device；
The feedback pulse is carried out asking by the multiplier (-icator) carry out after difference operation gain operation to obtain gain results, and by the increasing
Beneficial result is sent to the anti-overflow device；
The anti-overflow device prevents the gain results from overflowing, and the actuator adjusts the gain results after the anti-overflow device is processed,
Obtain the output slip of the asynchronous machine.
4. electric vehicle according to claim 1 slips by slope control system, it is characterised in that the asynchronous machine：Including
Stator winding and short-circuit rotor windings：
The stator winding is passed through by the direct current deceleration electric current that the electric machine controller is input into, is produced in the asynchronous machine
Raw stationary magnetic field, the rotor windings are rotated with rotor inertia, cut the magnetic line of force of the stationary magnetic field, produce braking torque
Control the raising of the Rotational Speed of Asynchronous Motor, so control the electric vehicle slip by slope speed.
5. electric vehicle according to claim 4 slips by slope control system, it is characterised in that：
When the output slip of the asynchronous machine is in the maximum restriction slip of the asynchronous machine, the direct current deceleration electric current is proportional to
The output slip of the asynchronous machine, the braking torque of the asynchronous machine is proportional to the output slip, while being proportional to institute
State direct current deceleration electric current.
6. electric vehicle according to claim 5 slips by slope control system, it is characterised in that：
Maximum effective current value, minimum effective current value and the maximum restriction slip value of motor are pre-set, the asynchronous electricity is adjusted
The output slip of machine.
7. electric vehicle according to claim 1 slips by slope control system, it is characterised in that：
The motor state sensor detects the rotating speed of the asynchronous machine when being zero, and the electric machine controller is to described asynchronous
Motor terminates to slip by slope control.
8. electric vehicle according to claim 1 slips by slope control system, it is characterised in that also include：Brake monitor,
The brake monitor also includes brake pushrod, checking cylinder and brake；
The brake is connected with the checking cylinder by the brake pushrod, and the checking cylinder produces motive force and promotes the system
Dynamic push rod, the brake pushrod are connected with the wheel of the electric vehicle, when asynchronous machine described in the motor controller controls
Output slip beyond the asynchronous machine is maximum limit slip when, the brake produces additional brake power and controls the electric motor car
Slip by slope speed.
9. control system slipped by slope according to the arbitrary described electric vehicle of claim 1-8, it is characterised in that according to following equation
(1) calculated：
{I1=(Imax-Imin) ÷ Cmax × C, during C ＜ Cmax；
I1When=Imax, C >=Cmax；} (1)
Wherein, I1Expression slips by slope the direct current deceleration electric current under state, and Imax represents maximum effective current value, and the Imin is represented most
Little effective current value, Cmax represents that asynchronous machine is maximum and limits slip, and C represents the output slip of asynchronous machine.
10. electric vehicle according to claim 9 slips by slope control system, it is characterised in that entered according to following equation (2)
Row is calculated：
Wherein, T represents the braking torque under the state of slipping by slope, CTJRepresent the moment coefficient of asynchronous machine, ΦmThe magnetic field of asynchronous machine
Magnetic flux, I2Represent faradic current,Represent power factor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107804192A (en) * | 2017-10-30 | 2018-03-16 | 四川大能科技有限公司 | It is anti-to slip by slope control method, device and electric automobile |
| CN107825996A (en) * | 2017-10-30 | 2018-03-23 | 四川大能科技有限公司 | It is anti-to slip by slope control method, device and electric automobile |
| CN107992109A (en) * | 2017-12-06 | 2018-05-04 | 深圳易能电气技术股份有限公司 | Closed-loop positioning control system and method |
| CN109017438A (en) * | 2018-06-25 | 2018-12-18 | 北京新能源汽车股份有限公司 | A kind of control method, control device and automobile that vehicle is mobile |
| CN109808507A (en) * | 2018-12-31 | 2019-05-28 | 郑州嘉晨电器有限公司 | It is a kind of to slip by slope complex control system in slope suitable for electri forklift |
| CN110304062A (en) * | 2019-07-12 | 2019-10-08 | 广州小鹏汽车科技有限公司 | A kind of anti-control method for vehicle, system and vehicle slipped by slope |
| CN110877613A (en) * | 2019-10-13 | 2020-03-13 | 格至控智能动力科技（上海）有限公司 | Electric automobile slope parking method based on rotor angle and observer |
| CN112440971A (en) * | 2019-09-05 | 2021-03-05 | 长城汽车股份有限公司 | Torque control method and device and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107804192A (en) * | 2017-10-30 | 2018-03-16 | 四川大能科技有限公司 | It is anti-to slip by slope control method, device and electric automobile |
| CN107825996A (en) * | 2017-10-30 | 2018-03-23 | 四川大能科技有限公司 | It is anti-to slip by slope control method, device and electric automobile |
| CN107804192B (en) * | 2017-10-30 | 2018-10-30 | 四川大能科技有限公司 | It is anti-to slip by slope control method, device and electric vehicle |
| CN107992109A (en) * | 2017-12-06 | 2018-05-04 | 深圳易能电气技术股份有限公司 | Closed-loop positioning control system and method |
| CN109017438A (en) * | 2018-06-25 | 2018-12-18 | 北京新能源汽车股份有限公司 | A kind of control method, control device and automobile that vehicle is mobile |
| CN109808507A (en) * | 2018-12-31 | 2019-05-28 | 郑州嘉晨电器有限公司 | It is a kind of to slip by slope complex control system in slope suitable for electri forklift |
| CN109808507B (en) * | 2018-12-31 | 2022-04-29 | 河南嘉晨智能控制股份有限公司 | Slope-retaining and slope-sliding integrated control system suitable for electric forklift |
| CN110304062A (en) * | 2019-07-12 | 2019-10-08 | 广州小鹏汽车科技有限公司 | A kind of anti-control method for vehicle, system and vehicle slipped by slope |
| CN112440971A (en) * | 2019-09-05 | 2021-03-05 | 长城汽车股份有限公司 | Torque control method and device and vehicle |
| CN112440971B (en) * | 2019-09-05 | 2022-09-13 | 长城汽车股份有限公司 | Torque control method and device and vehicle |
| CN110877613A (en) * | 2019-10-13 | 2020-03-13 | 格至控智能动力科技（上海）有限公司 | Electric automobile slope parking method based on rotor angle and observer |
| CN110877613B (en) * | 2019-10-13 | 2022-01-07 | 格至控智能动力科技（上海）有限公司 | Electric automobile slope parking method based on rotor angle and observer |
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