CN208602331U - A kind of electric car electronics stays the control system on slope - Google Patents
A kind of electric car electronics stays the control system on slope Download PDFInfo
- Publication number
- CN208602331U CN208602331U CN201820854318.XU CN201820854318U CN208602331U CN 208602331 U CN208602331 U CN 208602331U CN 201820854318 U CN201820854318 U CN 201820854318U CN 208602331 U CN208602331 U CN 208602331U
- Authority
- CN
- China
- Prior art keywords
- slope
- torque
- motor
- speed
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000523 sample Substances 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000004044 response Effects 0.000 abstract description 7
- 230000035484 reaction time Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 238000005259 measurement Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- 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
The utility model discloses the control systems that a kind of electric car electronics stays slope, including electronics control system in slope, the electronics control system in slope is separately connected accelerator pedal device, gear controller, braking device, speed probe and motor, and the motor is connected by retarder, differential mechanism with wheel rate.The utility model forms the closed-loop control to motor by speed regulator, torque controller, torque sensor, low-pass filter and speed probe, the strategy in slope used, it is presented as and slips-parking-is slipped afterwards again again loop control after parking-, both driver and passenger's sufficient reaction time was given, motor excess temperature caused by being also prevented from because of motor rotation blockage；Response speed in slope is improved, reduces and slips by slope distance, improves vehicle security.
Description
Technical field
The utility model belongs to Control of Electric Vehicles technical field, and in particular to a kind of electric car electronics stays the control on slope
System.
Background technique
Electric car mostly uses single reduction gear, and often without lockable mechanism, therefore, electric car is easy hair on ramp
Raw the phenomenon that slipping by slope, there are great security risks.The uphill starting of traditional electric car artificially carries out ramp by driver
Judgement enables electric car uphill starting by driver to the suitable control of service brake, parking brake and throttle, since machinery fills
Set and participate, cause starting discontinuity, especially the gradient is larger, wagon flow is more, on the road of frequent start-stop, if rise
Throttle depth and the cooperation of parking brake lowering time are inconsistent when step, it is easy to slip after leading to car body, accident occurs.
It is general by judging whether it is that P gear decides whether to enter and stays in the prior art for the problem that slips by slope of electric car
Slope control, stops driving wheel by motor control.The realization of the patented method requires the electric vehicle selector to have P gear, and
Most electric vehicles in the market keep off gear without P；Another method be judged by shift signal and speed signal vehicle whether after
It slips, if vehicle slips after occurring, electric machine controller is switched to speed control mode from torque control model, and enters zero-speed control
System, this method only pass through torsion loop and are switched to the progress parking control of zero-speed speed ring, since speed ring response speed is limited, often
Cause to slip behind ramp it is longer, and because zero-speed control is equivalent to motor rotation blockage, if being in zero-speed closed loop for a long time, motor can because
Stall leads to excess temperature.The last torque value being not zero is latched also by entire car controller, which is multiplied by one
The initial value that number is integrated as speed ring in slope is realized and quickly stays slope, accelerates the response speed of speed ring in this method, prevents
It slips too long after only, uses the last torque value as the initial value of speed ring integral element, but since speed loop bandwidth is by machine
The limitation of tool structure, dynamic regulation the limited time.
Utility model content
The purpose of this utility model is that: above-mentioned deficiency in the prior art is solved, a kind of electric car electronics is provided and is stayed
The control system on slope shortens the response time for staying slope, and shortening slips by slope distance, while solving long-time zero-speed and will lead to electricity in slope
The problem of machine excess temperature, promotes safety and comfort that ramp drives.
To achieve the goals above, the technical solution adopted in the utility model are as follows:
A kind of electric car electronics stays the control system on slope, including electronics control system in slope, the electronics control in slope
System processed is separately connected accelerator pedal device, gear controller, braking device, speed probe and motor, the electricity
Machine is connected by retarder, differential mechanism with wheel rate.
Further, above-mentioned electronics control system in slope includes:
Uphill starting module gives torque for detecting gas pedal；
Torque memory module, the output torque for the last time before being slipped after remembering；
Motor control module is used for moment of torsion control, torque compensation and speed control；
Control module in slope, for judging that staying slope enters exit criteria.
Further, above-mentioned gear controller include D grades, N gear and R grades.
Further, above-mentioned electronics control system in slope further includes timing module in slope, the timing module in slope
Timing for the time in slope.
Further, above-mentioned motor control module includes speed regulator, torque controller, torque sensor, low pass filtered
Wave device and speed probe, the input terminal of the speed regulator is separately connected speed probe and torque memory module, described
The input terminal of torque controller is separately connected the output end of torque sensor, speed regulator and low-pass filter, the torque
The output end of adjuster connects motor, and the input terminal of the speed probe connects motor, the output end of the speed probe
Low-pass filter is connected, the input terminal of the torque sensor connects motor.
By adopting the above-described technical solution, the beneficial effects of the utility model are:
The utility model passes through speed regulator, torque controller, torque sensor, low-pass filter and speed probe
Forming closed-loop control to motor, the strategy in slope of use is presented as and slips-parking-is slipped afterwards again again loop control after parking-,
Both driver and passenger's sufficient reaction time was given, motor excess temperature caused by being also prevented from because of motor rotation blockage；Response speed in slope is improved,
It reduces and slips by slope distance, improve vehicle security.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the electronics connection schematic diagram of control system in slope of the utility model.
Fig. 2 is the motor control module control flow schematic diagram of the utility model.
Fig. 3 is that process time-revolving speed-gas pedal opening curve schematic diagram is exited in the entrance in slope of the utility model.
Fig. 4 is the uphill starting process time-revolving speed-gas pedal aperture-Motor torque curve signal of the utility model
Figure.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here in attached drawing description and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the range of the utility model protection.
A kind of electric car electronics stays the control system on slope, including electronics control system in slope, the electronics control in slope
System processed is separately connected accelerator pedal device, gear controller, braking device, speed probe and motor, the electricity
Machine is connected by retarder, differential mechanism with wheel rate.
Further, above-mentioned electronics control system in slope includes:
Uphill starting module gives torque for detecting gas pedal, and when uphill starting can smoothly switch, and vehicle is made to exist
It smoothly starts to walk to move ahead in ramp；
Torque memory module, the output torque for the last time before being slipped after remembering；
Motor control module is used for moment of torsion control, torque compensation and speed control；
Control module in slope, for judging that staying slope enters exit criteria, moves back to move into slope-and moves back and stay in slope-garrison slope-
Slope ... prevents generation of knocking into the back to driver and follow the bus vehicle sufficient time to vehicle operating.
Further, above-mentioned gear controller include D grades, N gear and R grades.
Further, above-mentioned electronics control system in slope further includes timing module in slope, the timing module in slope
For the timing of time in slope, prevent overlong time in slope from leading to motor excess temperature failure.
The electric car electronics stay slope control method the following steps are included:
Step 1: if the acquisition gearshift controller gear of control module in slope is D grades, speed probe acquisition motor speed is
Negative, then control module in slope issues entry instruction in slope to motor control module；
Step 2: after motor control module receives entry instruction in slope, nearest the one of acquisition torque memory module output
It is secondary slip by slope before Motor torque, then start the zero-speed double-closed-loop control based on torque compensation；
Step 3: after a certain period of time, control module in slope is sent out to motor control module for the zero-speed double-closed-loop control operation
Send exit instruction in slope；
Step 4: after motor control module receives exit instruction in slope, torque in slope is gradually unloaded；
Step 5: the unloading torque in slope carries out after a certain period of time, returning to step 1.
Further, it if uphill starting module detects that gas pedal gives torque and is greater than motor output torque, sends
Uphill starting is instructed to motor control module, after motor control module receives uphill starting instruction, exits zero-speed control model (zero
Fast control model is when in slope, the mode for being zero by electric car speed control), into torque control mode (moment of torsion control mould
Formula is the depth according to gas pedal, and motor exports corresponding torque), respond gas pedal torque.
Further, above-mentioned zero-speed double-closed-loop control specifically includes the following steps:
Step 101: the Motor torque before being slipped by slope according to the electric car the last time demarcates initial torque coefficient k0, root
Feedback torque coefficient k is demarcated according to the acceleration of the electric car and the relationship of torque1；
Step 102: speed regulator is according to initial torque coefficient k0Speed adjusting is carried out with given speed, when in slope is given
Speed is zero, is constant；The positive and negative of speed regulator output is determined according to the difference of zero-speed and measuring speed；
Step 103: torque controller according to the output torque of speed regulator, the feed-back compensation torque of low-pass filter and
The input torque of the measurement torque arithmetic motor of torque sensor；The revolving speed of the speed probe measurement motor, will obtain
Motor speed differential after by low-pass filter, then with feedback torque coefficient k1It is multiplied, obtains torque feed-back compensation value simultaneously
It exports to torque controller.
The motor control module includes speed regulator, torque controller, torque sensor, low-pass filter and revolving speed
Sensor, the input terminal of the speed regulator are separately connected speed probe and torque memory module, the torque controller
Input terminal be separately connected the output end of torque sensor, speed regulator and low-pass filter, the torque controller it is defeated
Outlet connects motor, and the input terminal of the speed probe connects motor, and the output end of the speed probe connects low pass filtered
The input terminal of wave device, the torque sensor connects motor.
Further, further including the t of time in slope in default timing module in slope before above-mentioned steps one execute stays with moving back
Slope time t0, in the step one, to staying while control module in slope issues entry instruction in slope to motor control module
Slope timing module sends the enabled instruction of timing in slope, and timing module in slope starts timing；In the step 3, when zero-speed two close cycles
When controlling runing time arrival t seconds, timing module in slope sends timing in slope and completes to instruct to control module in slope, control in slope
Module receives timing in slope and completes to send exit instruction in slope to motor control module and timing module in slope after instructing, and stays slope
Timing module, which receives starting after exit instruction in slope, stays slope and exits timing；In the step 5, when the unloading torque in slope
Between reach move back the t of time in slope0When the second, step 1 is returned to.
Further, in above-mentioned steps one, if control module in slope acquires gearshift controller gear as R gear, revolution speed sensing
Device acquisition motor speed is positive, then control module in slope issues entry instruction in slope to motor control module.
Further, t of above-mentioned time in slope and the t of time in slope is moved back0Proportional region can generally be chosen for 1:2 to 1:
5。
In one embodiment of the utility model, vehicle is climbed upwards, and steps are as follows for the specific execution of control method in slope:
A. the acquisition gearshift controller gear of control module in slope is D gear, and brake pedal is invalid at this time, and speed probe is adopted
Collection motor speed is negative, then control module in slope issues electronics entry instruction in slope, while starting timer in slope；
B. motor control module receives the entry instruction in slope of control module in slope, and acquisition torque memory module first is defeated
The last time out slip by slope before Motor torque, and start the zero-speed double-closed-loop control based on torque compensation, as shown in Figure 2.?
In Fig. 2, speed regulator and torque controller are all made of pi regulator, and torque sensor is turned round for the output of real-time measurement motor
Square, speed probe are used for motor speed measurement.After motor speed differential, filter by low-pass filter multiplied by coefficient k1, make
For the feedforward compensation of torque control loop, to promote response speed.The last non-zero memory torque is multiplied by coefficient k0Make
For the initial value of speed regulator integral element, speed closed loop regulating time can be effectively shortened.k0、k1It is obtained by vehicle calibration
?.
Timing module in slope receives the enabled instruction of timing in slope, then starts timing, when timing reach setting time 5 seconds,
It then sends timing in slope and completes instruction to control module in slope；
D. control module in slope receives timing and completes instruction, then sends exit instruction in slope and to motor control module and stay
Slope timing module；
E. motor control module receives exit instruction in slope, can gradually unload torque in slope.Timing module in slope receives
Slope, which is stayed, to the starting of exit instruction in slope exits timing；
F. timing time arrival setting time 1 second is exited in slope when control module in slope is received, then turns again to step
a；
In the present embodiment, the control system in slope, slipped after the parking-that step a~f is embodied-again after parking-again
It slips ... corresponding motor speed curve and sees Fig. 3, top curve is motor speed curve (unit rpm), and lower curve is gas pedal
Opening curve (unit %), abscissa are time shaft (unit S)；
G. in entrance in slope or during exit, if uphill starting module detects that gas pedal gives torque and is greater than motor
Torque is controlled, then sends uphill starting and instructs to motor control module；
H. motor control module receives uphill starting instruction, then rate of withdraw control model, into torque control mode, rings
Answer gas pedal torque.
Step g~h, uphill starting are shown in that Fig. 4, the top curve are motor speed curve (unit rpm), and intermediate curve is
Gas pedal opening curve (unit %), the curve curve of bottom are Motor torque curve (Nm), in during in slope, are driven
Member's operation gas pedal, when gas pedal aperture is greater than 55.6%, and Motor torque is greater than 133Nm, vehicle starts to climb, nothing
After slip.
The utility model passes through speed regulator, torque controller, torque sensor, low-pass filter and speed probe
Forming closed-loop control to motor, the strategy in slope of use is presented as and slips-parking-is slipped afterwards again again loop control after parking-,
Both driver and passenger's sufficient reaction time was given, motor excess temperature caused by being also prevented from because of motor rotation blockage；Response speed in slope is improved,
It reduces and slips by slope distance, improve vehicle security.
Claims (3)
1. the control system that a kind of electric car electronics stays slope, it is characterised in that: including electronics control system in slope, the electricity
Sub control system in slope is separately connected accelerator pedal device, gear controller, braking device, speed probe and motor,
The motor is connected by retarder, differential mechanism with wheel rate；
The electronics control system in slope includes:
Uphill starting module gives torque for detecting gas pedal；
Torque memory module, the output torque for the last time before being slipped after remembering；
Motor control module is used for moment of torsion control, torque compensation and speed control；
Control module in slope, for judging that staying slope enters exit criteria；
The motor control module includes speed regulator, torque controller, torque sensor, low-pass filter and revolution speed sensing
Device, the input terminal of the speed regulator are separately connected speed probe and torque memory module, the torque controller it is defeated
Enter the output end that end is separately connected torque sensor, speed regulator and low-pass filter, the output end of the torque controller
Motor is connected, the input terminal of the speed probe connects motor, and the output end of the speed probe connects low-pass filter,
The input terminal of the torque sensor connects motor.
2. the control system that a kind of electric car electronics according to claim 1 stays slope, it is characterised in that: the gear
Controller includes D grades, N gear and R grades.
3. the control system that a kind of electric car electronics according to claim 1 stays slope, it is characterised in that: the electronics
Control system in slope further includes timing module in slope, and the timing module in slope is used for the timing of time in slope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820854318.XU CN208602331U (en) | 2018-06-04 | 2018-06-04 | A kind of electric car electronics stays the control system on slope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820854318.XU CN208602331U (en) | 2018-06-04 | 2018-06-04 | A kind of electric car electronics stays the control system on slope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208602331U true CN208602331U (en) | 2019-03-15 |
Family
ID=65662250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820854318.XU Active CN208602331U (en) | 2018-06-04 | 2018-06-04 | A kind of electric car electronics stays the control system on slope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208602331U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111731297A (en) * | 2020-06-24 | 2020-10-02 | 威迪斯电机技术(芜湖)有限公司 | Novel electric automobile hill-holding strategy |
-
2018
- 2018-06-04 CN CN201820854318.XU patent/CN208602331U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111731297A (en) * | 2020-06-24 | 2020-10-02 | 威迪斯电机技术(芜湖)有限公司 | Novel electric automobile hill-holding strategy |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108556684A (en) | A kind of electric vehicle electronics stays the control system and its control method on slope | |
| JP3536838B2 (en) | Vehicle driving force control device | |
| CN104071030B (en) | A kind of control method under pure electric automobile park mode | |
| US7027904B2 (en) | Vehicle driving force control | |
| US7488272B2 (en) | Method for the actuation of at least two clutches transmitting torque in parallel in the drive train of a motor vehicle and transmission control unit | |
| CN104553798B (en) | Cruise control system for manual transmission automobile and control method based on cruise control system | |
| CN101327797B (en) | Cruise control interaction with driver commanded speed reset | |
| JP5274482B2 (en) | Vehicle driving assistance method and apparatus | |
| CN106926745B (en) | Pure electric automobile starting crawling and anti-slip by slope strategy | |
| CN104169148B (en) | The control device of motor vehicle driven by mixed power | |
| JPH07158667A (en) | Equipment and method of determining contact point of clutch | |
| GB2500698A (en) | Vehicle traction control maintaining wheel slip in the range of 5 to 20 percent | |
| CN110758397A (en) | Control method of automobile ramp auxiliary system | |
| CN105459847A (en) | Hill starting auxiliary system for electric vehicle and control method thereof | |
| JPH05305837A (en) | Touch point determination method and device of clutch | |
| JP2007077871A (en) | Control device for vehicle | |
| CN204323098U (en) | Electronlmobil uphill starting ancillary system | |
| EP2114719A1 (en) | Method for controlling the target speed of a cruise control system, and cruise control system | |
| CN107697067A (en) | Electric automobile ramp auxiliary starting control method | |
| CN104724110B (en) | Method for running hybrid drive | |
| US20120184407A1 (en) | Method and means for controlling the downshifting | |
| CN208602331U (en) | A kind of electric car electronics stays the control system on slope | |
| WO2015087613A1 (en) | Automatic engine stop controlling device | |
| US7264571B2 (en) | Method and apparatus for controlling a vehicle power train containing a continuously variable transmission | |
| CN106926752A (en) | A kind of control method and device of Anti-slide |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20210115 Granted publication date: 20190315 |
|
| PP01 | Preservation of patent right | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20210120 Granted publication date: 20190315 |
|
| PD01 | Discharge of preservation of patent |