WO2017113949A1 - 电动教练车及其熄火控制方法 - Google Patents

电动教练车及其熄火控制方法 Download PDF

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Publication number
WO2017113949A1
WO2017113949A1 PCT/CN2016/102933 CN2016102933W WO2017113949A1 WO 2017113949 A1 WO2017113949 A1 WO 2017113949A1 CN 2016102933 W CN2016102933 W CN 2016102933W WO 2017113949 A1 WO2017113949 A1 WO 2017113949A1
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WIPO (PCT)
Prior art keywords
flameout
electric
condition
motor
coach
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PCT/CN2016/102933
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English (en)
French (fr)
Inventor
梁海强
魏跃远
李明亮
张蓝文
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北京新能源汽车股份有限公司
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Publication of WO2017113949A1 publication Critical patent/WO2017113949A1/zh

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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
    • 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
    • B60L2260/22—Standstill, e.g. zero speed
    • 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

Definitions

  • the invention belongs to the technical field of vehicles, and in particular relates to a flameout control method for an electric coach, and an electric coach.
  • the present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, the present invention needs to provide a flameout control method for an electric trainer, which can simulate the sense of jitter during flameout and improve the intuitive sensibility.
  • a further aspect of the invention also provides an electric coach.
  • an aspect of the present invention provides a flameout control method for an electric trainer, the control method comprising the steps of: determining whether the electric trainer meets a condition for entering a flameout condition; if the electric trainer meets entering a condition of the flameout condition, wherein the electric coach is controlled to enter a flameout condition; after entering the flameout condition, controlling a motor of the electric trainer to output a negative torque; and after a preset time, controlling the motor stop working.
  • the flameout control method of the electric trainer after changing the flameout control strategy, controls the motor to output a negative torque preset time after entering the flameout condition, and increases the gradient change of the motor output torque without adding any components, that is, It can simulate the jitter of traditional vehicles when they are turned off, improve the intuitive sensibility, and is more conducive to the teaching and learning of skills.
  • the determining whether the electric coach vehicle meets the condition for entering the flameout condition comprises: detecting an operating parameter of the electric coach vehicle; determining, according to the operating parameter, whether the electric coach is in And the starting condition; and if the electric coach is not in the starting condition and the rotation speed of the motor is less than the flameout speed threshold, determining that the electric coach meets the condition of entering the flameout condition.
  • the negative torque value of the motor output is different, and thus the torque gradient of the motor changes when the flame is extinguished, and the different gears can be simulated. Enter the flameout Different vehicle jitters caused by the situation.
  • the method further includes: if the key gear switching command is detected, determining, according to the key gear switching command, whether the key gear is switched from the ON gear to the START gear; and if the key gear When the bit is switched from the ON position to the START position, the electric coach is controlled to exit the flameout condition.
  • another embodiment of the present invention further provides an electric coach including: a vehicle body, a power transmission system, and a motor, the motor having a flywheel, the quality of the flywheel being less than a preset quality a detector for detecting an operating parameter of the electric trainer; a controller, the controller determining an operating condition of the electric coach according to the operating parameter, and controlling the condition when the condition of entering the flameout condition is satisfied
  • the electric trainer enters a flameout condition, and after entering the flameout condition, the motor is controlled to output a negative torque, and after a preset time, the motor is controlled to stop working.
  • the controller controls the motor to output a negative torque preset time, and increases the gradient change of the motor output torque, and can simulate the traditional vehicle in the case of flameout without adding any components.
  • the sense of shaking, improving the intuitive sensibility, is more conducive to the teaching and learning of skills.
  • the mass of the flywheel is less than the preset quality, and the required vehicle layout space is small.
  • the controller determines that the electric trainer meets a condition of entering a flameout condition when the electric trainer is not in a starting condition and the speed of the motor is less than a flameout speed threshold.
  • the negative torque value of the motor output is different, and thus the torque gradient of the motor changes when the flame is extinguished, and the different gears can be simulated. Different vehicle jitter caused by entering the flameout condition.
  • the controller controls the electric coach when the key position switching command is detected and the key position is determined to be switched from the ON position to the START position according to the key position switching command. Exit the flameout condition.
  • a further embodiment of the present invention provides an electric coach including: a vehicle body, a power transmission system, and a motor, wherein the motor has a flywheel, and the mass of the flywheel is greater than a preset quality; a detector for detecting an operating parameter of the electric trainer; a controller, the controller determining an operating condition of the electric coach based on the operating parameter, and the electric coach is not in a starting condition and the When the rotation speed of the motor is less than the threshold value of the flameout speed, the electric coach is controlled to enter a flameout condition.
  • the electric coach of the embodiment of the present invention increases the moment of inertia of the motor when the flame is extinguished by increasing the mass of the flywheel, thereby causing a sense of jitter during the flameout, improving the intuitive sensibility, and facilitating the teaching and learning of the skill.
  • FIG. 1 is a flow chart of a flameout control method of an electric coaching vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram showing changes in motor torque of a fire-extinguishing condition of an electric trainer in accordance with an embodiment of the present invention.
  • FIG. 3 is a block diagram of an electric trainer car in accordance with one embodiment of the present invention.
  • FIG. 4 is a block diagram of an electric trainer in accordance with another embodiment of the present invention.
  • the engine is used as the power source.
  • the power source includes the motor.
  • the motor speed needs to be determined.
  • the motor speed drops below the set speed, the motor is turned off.
  • the vehicle needs to be re-ignited, and the motor has a small moment of inertia compared with the engine, and does not cause the vehicle to shake when the flame is extinguished. Therefore, the driver's own feeling is reduced, which is not conducive to the learning of the skill, and thus the electric motor of the embodiment of the invention
  • FIG. 1 is a flow chart of a flameout control method of an electric trainer according to an embodiment of the present invention. As shown in FIG. 1, the flameout control method includes the following steps:
  • the operating parameters of the various components of the electric trainer are detected by the respective sensors, and the vehicle controller determines the operating conditions of the electric trainer according to the operating parameters. According to the operating parameter, it is judged whether the electric coach is in the starting condition, that is, whether the electric coach is starting. If the electric coach is not in the starting condition and the motor speed is less than the flameout speed threshold, it is determined that the electric coach meets the entry flameout condition. condition.
  • the motor of the electric trainer is controlled to output a negative torque.
  • the vehicle controller controls the motor to output a negative torque for a preset time.
  • the motor is controlled to enter a power generation state, that is, the motor acts as a generator and outputs a negative torque.
  • the motor output is converted from positive torque to negative torque, resulting in a large torque gradient that causes the electric coach to produce jitter.
  • the motor is not enabled to work, that is, the control motor stops working, and the flameout condition is exited, and the driver needs to restart.
  • the driver feels the sense of shaking of the flameout more intuitively, and then can analyze the cause of the flameout, which is more conducive to skill. Learn and improve.
  • the flameout control method of the electric trainer after changing the flameout control strategy, controls the motor to output a negative torque preset time after entering the flameout condition, and increases the gradient change of the motor output torque without adding any components, that is, It can simulate the jitter of traditional vehicles when they are turned off, improve the intuitive sensibility, and is more conducive to the teaching and learning of skills.
  • the negative torque value of the motor output is different, so the torque gradient of the motor changes when the flameout is different, and can simulate the different causes caused by entering the flameout condition under different gears.
  • the whole vehicle has a sense of jitter, so that the driver can more intuitively feel the difference in flameout under different gears.
  • the driver needs to re-set the key to the START position in order to allow the electric coach to exit the flameout condition and restart. Specifically, if the key gear position switching command is detected, it is determined according to the key gear position switching command whether the key gear position is switched from the ON position to the START position, and if the key position is switched from the ON position to the START position, the electric coach is controlled to exit the flameout. Working conditions.
  • the flameout control method of the electric coach vehicle resets the flameout strategy of the electric coach, defines the entry and exit conditions of the flameout condition, and simulates the tradition by using the high torque gradient after entering the flameout condition.
  • the car's flame-off impact which can improve the intuitive experience in the driving technology teaching process.
  • FIG. 3 is a block diagram of an electric trainer vehicle including a vehicle body 10, a powertrain system 20, a motor 30, a detector 40, and a controller 50, as shown in FIG. 3, in accordance with an embodiment of the present invention.
  • the electric motor 30 outputs power as a power source, and transmits power to the wheels through the power transmission system 20 to drive the electric coach 100.
  • the motor 30 has a flywheel 31, the mass of which is less than a predetermined mass.
  • the detector 40 is, for example, various sensors for detecting operational parameters of the electric coach 100, such as vehicle speed, rotational speed of the motor 30, and the like, and various state parameters of the electric coach 100 during operation.
  • the controller 50 determines the operating conditions of the electric coach 100 based on the detected operating parameters of the electric coach 100, and controls the electric coach 100 to enter the flameout condition when the conditions for entering the flameout condition are met. Since the mass of the flywheel 31 of the motor 30 is less than the preset mass, the preset mass can be understood here as a lower limit value of the flywheel mass that causes the motor vehicle 30 to generate a sense of jitter after the flameout.
  • the controller 50 controls the motor 30 to output a negative torque, and after a preset time The control motor 30 is stopped. It can be seen that after entering the flameout condition, the output of the motor 30 is converted from positive torque to negative torque, resulting in a large torque gradient, which can cause the electric coach 100 to produce jitter.
  • the controller 50 controls the motor 30 to output a negative torque preset time, and increases the gradient change of the output torque of the motor 30, and simulates the conventional vehicle without adding any components.
  • the sense of jitter in the flameout improves the intuitive sensibility and is more conducive to the teaching and learning of skills.
  • the mass of the flywheel 31 is smaller than the preset quality, and the required vehicle layout space is small.
  • the controller 50 determines that the electric coach 100 satisfies the condition of entering the flameout condition.
  • the negative torque value outputted by the motor 30 is different, and thus the torque gradient of the motor 30 changes when the flameout is changed, and can simulate the entry into the flameout condition under different gear positions.
  • the different vehicle feels dithered, so that the driver can more intuitively feel the difference in flameout under different gears.
  • the driver needs to re-set the key to the START position in order to cause the electric coach 100 to exit the flameout condition and restart.
  • the controller 50 controls the electric coach 100 to exit the flameout condition and controls the electric coach 100 to restart.
  • the electric coach does not cause a sense of jitter when the flame is turned off, and the driver's personal experience of the flameout is not intuitive enough to facilitate the teaching and learning of the driving skill, and further embodiments of the present invention also propose An electric coach.
  • FIG. 4 is a block diagram of an electric trainer vehicle including a vehicle body 10, a powertrain system 20, a motor 30, a detector 40, and a controller 50, as shown in FIG. 4, in accordance with an embodiment of the present invention.
  • the motor 30 has a flywheel 31 whose mass is greater than a predetermined mass.
  • the detector 40 is configured to detect an operating parameter of the electric coach 100; the controller 50 determines an operating condition of the electric coach 100 based on the operating parameter, and when the electric coach 100 is not in a starting condition and the rotational speed of the motor 30 is less than a flameout speed threshold , the electric coach 100 is controlled to enter the flameout condition, and can be controlled according to the conventional flameout condition.
  • the preset mass can be understood here to be such that after the flameout, the moment of inertia of the motor 30 can be made sufficient to cause the motor coach 100 to produce a lower limit of the flywheel quality of the sense of jitter. Therefore, after the flameout, the motor 30 is shaken due to the large moment of inertia of the motor 30, so that the driver feels the sense of jitter of the flameout more intuitively, and thus the cause of the flameout can be analyzed, which is more conducive to skill learning. And improvement.
  • the electric trainer 100 of the embodiment of the present invention increases the moment of inertia of the motor 30 when the flame is turned off by increasing the mass of the flywheel 31, thereby causing a sense of jitter during the flameout, improving the intuitive sensibility, and facilitating the skill. Professor and study.
  • any process or method description in the flowcharts or otherwise described herein can be understood as representing code that includes one or more executable instructions for implementing the steps of a particular logical function or process. Modules, segments or portions, and the scope of the preferred embodiments of the invention includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner or in reverse order depending on the functionality involved. The functions are performed, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.
  • a system, apparatus, or device such as a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instructions to execute a system, apparatus, or device.
  • a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

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Abstract

一种电动教练车的熄火控制方法，该熄火控制方法包括以下步骤：判断电动教练车是否满足进入熄火工况的条件；如果电动教练车满足进入熄火工况的条件，则控制电动教练车进入熄火工况；在进入熄火工况之后，控制电动教练车的电机输出负扭矩；在预设时间之后，控制电机停止工作。该电动教练车的熄火控制方法，可以模拟熄火时的抖动感，提高直观感受力。还公开了一种电动教练车。

Description

电动教练车及其熄火控制方法 技术领域
本发明属于车辆技术领域，尤其涉及一种电动教练车的熄火控制方法，和一种电动教练车。
背景技术
随着生活水平的提高以及车辆技术的发展，私家车越来越普遍，因而学习驾驶技术成为越来越必要的技能。传统车辆行驶过程中，当发动机转速低于一定转速时，发动机的输出扭矩不足以维持发动机当前转速运行，发动机进入熄火工况，由于发动机转动惯量较大，导致整车有抖动感。所以对于传统的教练车，由于传统发动机转动惯量大，驾校学员在熄火操作时会有冲击感，从而可以更加直观地感受，更加有利于驾车技能的教授和学习。但是，对于电动教练车，采用电机作为动力源，由于电机转动惯量小，在熄火时无法让驾驶员感知冲击，因而感受力降低，不利于技能的学习。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本发明需要提出一种电动教练车的熄火控制方法，该控制方法，可以模拟熄火时的抖动感，提高直观感受力。
本发明另外方面还提出电动教练车。
为了解决上述问题，本发明一方面提出一种电动教练车的熄火控制方法，该控制方法包括以下步骤：判断所述电动教练车是否满足进入熄火工况的条件；如果所述电动教练车满足进入熄火工况的条件，则控制所述电动教练车进入熄火工况；在进入所述熄火工况之后，控制所述电动教练车的电机输出负扭矩；以及在预设时间之后，控制所述电机停止工作。
本发明实施例的电动教练车的熄火控制方法，通过改变熄火控制策略，在进入熄火工况后，控制电机输出负扭矩预设时间，增加电机输出扭矩的梯度变化，无需增加任何零部件，即可模拟传统车辆在熄火时的抖动感，提高直观感受力，更加有利于对技能的教授和学习。
在至少一个实施例中，所述判断所述电动教练车是否满足进入熄火工况的条件，具体包括：检测所述电动教练车的运行参数；根据所述运行参数判断所述电动教练车是否处于启动工况；以及如果所述电动教练车未处于所述启动工况且所述电机的转速小于熄火转速阈值，则判断所述电动教练车满足进入熄火工况的条件。
在至少一个实施例中，所述电动教练车从不同的运行工况进入熄火工况时，所述电机输出的负扭矩值不同，因而熄火时电机的扭矩梯度变化不同，可以模拟不同挡位下进入熄火工 况时造成的不同的整车抖动感。
在至少一个实施例中，上述方法还包括：如果检测到钥匙档位切换指令，根据所述钥匙档位切换指令判断所述钥匙档位是否从ON档切换为START档；以及如果所述钥匙档位从ON档切换为START档，则控制所述电动教练车退出所述熄火工况。
为了解决上述问题，本发明另一方面实施例还提出一种电动教练车，该电动教练车包括：车体、动力传动系统和电机，所述电机具有飞轮，所述飞轮的质量小于预设质量；检测器，用于检测电动教练车的运行参数；控制器，所述控制器根据所述运行参数判断所述电动教练车的运行工况，并在满足进入熄火工况的条件时，控制所述电动教练车进入熄火工况，在进入所述熄火工况后，控制所述电机输出负扭矩，并在预设时间之后，控制所述电机停止工作。
本发明实施例的电动教练车，在进入熄火工况后，控制器控制电机输出负扭矩预设时间，增加电机输出扭矩的梯度变化，无需增加任何零部件，即可模拟传统车辆在熄火时的抖动感，提高直观感受力，更加有利于对技能的教授和学习。另外，飞轮的质量小于预设质量，需要的整车布置空间小。
在本发明的一些实施例中，所述控制器，在所述电动教练车未处于启动工况且所述电机的转速小于熄火转速阈值时，判断所述电动教练车满足进入熄火工况的条件。
在至少一个实施例中，所述电动教练车从不同的运行工况进入熄火工况时，所述电机输出的负扭矩值不同，因而熄火时电机的扭矩梯度变化不同，可以模拟不同挡位下进入熄火工况时造成的不同的整车抖动感。
在至少一个实施例中，所述控制器，在检测到钥匙档位切换指令且根据所述钥匙档位切换指令判断所述钥匙档位从ON档切换为START档时，控制所述电动教练车退出所述熄火工况。
为了解决上述问题，本发明再一方面实施例提出一种电动教练车，该电动教练车包括：车体、动力传动系统和电机，所述电机具有飞轮，所述飞轮的质量大于预设质量；检测器，用于检测电动教练车的运行参数；控制器，所述控制器根据所述运行参数判断所述电动教练车的运行工况，并在所述电动教练车未处于启动工况且所述电机的转速小于熄火转速阈值时，控制所述电动教练车进入熄火工况。
本发明实施例的电动教练车，通过增加飞轮的质量，在熄火时，增加电机的转动惯量，从而可以造成熄火时的抖动感，提高直观感受力，更加有利于对技能的教授和学习。
附图说明
图1是根据本发明的一个实施例的电动教练车的熄火控制方法的流程图；
图2是根据本发明的一个具体实施例的电动教练车的熄火工况的电机扭矩的变化示意 图；
图3是根据本发明的一个实施例的电动教练车的框图；以及
图4是根据本发明的另一个实施例的电动教练车的框图。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
对于传统驾校教练车，采用发动机作为动力来源，而对于电动教练车，动力源包括电机，在进行熄火时，需要判定电机转速，当电机转速下降到设定转速以下，则进入熄火状态，电动教练车需要重新点火启动，而相较于发动机，电机的转动惯量小，熄火时不会引起整车的抖动，因而对于驾校学员的自身感受降低，不利于技能的学习，因而本发明实施例的电动教练车的熄火控制，重新制定熄火策略模拟熄火抖动感，以提高驾驶学员的直观感受。
下面参照附图描述根据本发明实施例提出的电动教练车的熄火控制方法。
图1是根据本发明的一个实施例的电动教练车的熄火控制方法的流程图，如图1所示，该熄火控制方法包括以下步骤：
S1，判断电动教练车是否满足进入熄火工况的条件。
例如，通过各个传感器检测电动教练车的各个零部件的运行参数，整车控制器根据运行参数判断电动教练车的运行工况。根据运行参数判断电动教练车是否处于启动工况，即判断电动教练车是否正在启动，如果电动教练车未处于启动工况且电机的转速小于熄火转速阈值，则判断电动教练车满足进入熄火工况的条件。
S2，如果电动教练车满足进入熄火工况的条件，则控制电动教练车进入熄火工况。
S3，在进入熄火工况之后，控制电动教练车的电机输出负扭矩。
S4，在预设时间之后，控制电机停止工作。
具体地，如图2所示，由于电机的转动惯量无法造成整车的抖动感，电动教练车从其他运行工况进入熄火工况后，整车控制器控制电机输出预设时间的负扭矩，例如，控制电机进入发电状态，即电机作为发电机，输出负扭矩。在进入熄火工况之后，电机输出从正扭矩转换为负扭矩，造成大的扭矩梯度，使得电动教练车产生抖动。
在预设时间之后，不使能电机工作，即控制电机停止工作，退出熄火工况，驾驶员需要重新启动。从而模拟了传统汽油车在换挡不合理或者行驶中过渡踩刹车导致的整车熄火的现象，驾驶员更加直观地感受熄火的抖动感，进而可以对造成熄火的原因进行分析，更加利于技能的学习和改进。
本发明实施例的电动教练车的熄火控制方法，通过改变熄火控制策略，在进入熄火工况后，控制电机输出负扭矩预设时间，增加电机输出扭矩的梯度变化，无需增加任何零部件，即可模拟传统车辆在熄火时的抖动感，提高直观感受力，更加有利于对技能的教授和学习。
其中，电动教练车从不同的运行工况进入熄火工况时，电机输出的负扭矩值不同，因而熄火时电机的扭矩梯度变化不同，可以模拟不同挡位下进入熄火工况时造成的不同的整车抖动感，从而驾驶员可以更加直观地感受不同挡位下熄火的不同。
另外，驾驶员需要重新将钥匙拨到START档，才能使电动教练车退出熄火工况，重新启动。具体地，如果检测到钥匙档位切换指令，根据钥匙档位切换指令判断钥匙档位是否从ON档切换为START档，如果钥匙档位从ON档切换为START档，则控制电动教练车退出熄火工况。
概括地说，本发明实施例的电动教练车的熄火控制方法，重新设定电动教练车熄火策略，定义熄火工况的进入和退出条件，并在进入熄火工况后利用大扭矩梯度模拟出传统车的熄火冲击感，从而在驾驶技术教学过程中，可以提高直观感受。
下面参照附图描述根据本发明另一方面实施例的电动教练车。
图3是根据本发明的一个实施例的电动教练车的框图，如图3所示，该电动教练车100包括车体10、动力传动系统20、电机30、检测器40和控制器50。
电机30作为动力源输出动力，通过动力传动系统20将动力传输至车轮，实现电动教练车100的驱动。电机30具有飞轮31，飞轮31的质量小于预设质量。检测器40例如各种传感器，用于检测电动教练车100的运行参数，例如，车速、电机30的转速等电动教练车100运行时的各种状态参数。
控制器50例如整车控制器，根据检测的电动教练车100的运行参数判断电动教练车100的运行工况，并在满足进入熄火工况的条件时，控制电动教练车100进入熄火工况。由于电机30的飞轮31的质量小于预设质量，在这里，预设质量可以理解为，在熄火之后，能够使得电机30的转动惯量造成电动教练车100产生抖动感的飞轮质量的下限值。针对熄火后电机30的转动惯量不能造成整车抖动的情况，为了模拟熄火造成的整车的抖动感，在进入熄火工况之后，控制器50控制电机30输出负扭矩，并在预设时间之后，控制电机30停止工作。可以看出，在进入熄火工况之后，电机30输出从正扭矩转换为负扭矩，造成大的扭矩梯度，从而可以使得电动教练车100产生抖动。
本发明实施例的电动教练车100，在进入熄火工况后，控制器50控制电机30输出负扭矩预设时间，增加电机30输出扭矩的梯度变化，无需增加任何零部件，即可模拟传统车辆在熄火时的抖动感，提高直观感受力，更加有利于对技能的教授和学习。另外，飞轮31的质量小于预设质量，需要的整车布置空间小。
具体地，控制器50在电动教练车100未处于启动工况且电机30的转速小于熄火转速阈值时，判断电动教练车100满足进入熄火工况的条件。
其中，电动教练车100从不同的运行工况进入熄火工况时，电机30输出的负扭矩值不同，因而熄火时电机30的扭矩梯度变化不同，可以模拟不同挡位下进入熄火工况时造成的不同的整车抖动感，从而驾驶员可以更加直观地感受不同挡位下熄火的不同。
另外，驾驶员需要重新将钥匙拨到START档，才能使电动教练车100退出熄火工况，重新启动。控制器50在检测到钥匙档位切换指令且根据钥匙档位切换指令判断钥匙档位从ON档切换为START档时，控制电动教练车100退出熄火工况，控制电动教练车100重新启动。
针对相关技术中，电动教练车在熄火时不会造成抖动感，驾驶学员对熄火的亲身感受不够直观，不能更好地为驾驶技能的教授和学习提供方便，本发明再一方面实施例还提出一种电动教练车。
图4是根据本发明的一个实施例的电动教练车的框图，如图4所示，该电动教练车100包括车体10、动力传动系统20、电机30、检测器40和控制器50。
电机30具有飞轮31，飞轮31的质量大于预设质量。检测器40用于检测电动教练车100的运行参数；控制器50根据运行参数判断电动教练车100的运行工况，并在电动教练车100未处于启动工况且电机30的转速小于熄火转速阈值时，控制电动教练车100进入熄火工况，可以按照常规的熄火工况控制。
由于电机30的飞轮31的质量大于预设质量，在这里，预设质量可以理解为在熄火之后，可以使得电机30的转动惯量足以造成电动教练车100产生抖动感的飞轮质量的下限值。因而，在熄火之后，由于电机30的转动惯量大，造成电动教练车100的抖动，从而驾驶员更加直观地感受到熄火的抖动感，进而可以对造成熄火的原因进行分析，更加利于技能的学习和改进。
可以看出，本发明实施例的电动教练车100，通过增加飞轮31的质量，在熄火时，增加电机30的转动惯量，从而可以造成熄火时的抖动感，提高直观感受力，有利于对技能的教授和学习。
需要说明的是，流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执 行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (9)

  1. 一种电动教练车的熄火控制方法，其特征在于，包括以下步骤：
    判断所述电动教练车是否满足进入熄火工况的条件；
    如果所述电动教练车满足进入熄火工况的条件，则控制所述电动教练车进入熄火工况；
    在进入所述熄火工况之后，控制所述电动教练车的电机输出负扭矩；以及
    在预设时间之后，控制所述电机停止工作。
  2. 如权利要求1所述的电动教练车的熄火控制方法，其特征在于，所述判断所述电动教练车是否满足进入熄火工况的条件，具体包括：
    检测所述电动教练车的运行参数；
    根据所述运行参数判断所述电动教练车是否处于启动工况；以及
    如果所述电动教练车未处于所述启动工况且所述电机的转速小于熄火转速阈值，则判断所述电动教练车满足进入熄火工况的条件。
  3. 如权利要求1或2所述的电动教练车的熄火控制方法，其特征在于，其中，所述电动教练车从不同的运行工况进入熄火工况时，所述电机输出的负扭矩值不同。
  4. 如权利要求1-3任一项所述的电动教练车的熄火控制方法，其特征在于，还包括：
    如果检测到钥匙档位切换指令，根据所述钥匙档位切换指令判断钥匙档位是否从ON档切换为START档；以及
    如果所述钥匙档位从ON档切换为START档，则控制所述电动教练车退出所述熄火工况。
  5. 一种电动教练车，其特征在于，包括：
    车体、动力传动系统和电机，所述电机具有飞轮，所述飞轮的质量小于预设质量；
    检测器，用于检测电动教练车的运行参数；
    控制器，所述控制器根据所述运行参数判断所述电动教练车的运行工况，并在满足进入熄火工况的条件时，控制所述电动教练车进入熄火工况，在进入所述熄火工况后，控制所述电机输出负扭矩，并在预设时间之后，控制所述电机停止工作。
  6. 如权利要求5所述的电动教练车，其特征在于，所述控制器，在所述电动教练车未处于启动工况且所述电机的转速小于熄火转速阈值时，判断所述电动教练车满足进入熄火工况的条件。
  7. 如权利要求5或6所述的电动教练车，其特征在于，其中，所述电动教练车从不同的运行工况进入熄火工况时，所述电机输出的负扭矩值不同。
  8. 如权利要求5-7任一项所述的电动教练车，其特征在于，所述控制器，在检测到钥匙档位切换指令且根据所述钥匙档位切换指令判断钥匙档位从ON档切换为START档时，控 制所述电动教练车退出所述熄火工况。
  9. 一种电动教练车，其特征在于，包括：
    车体、动力传动系统和电机，所述电机具有飞轮，所述飞轮的质量大于预设质量；
    检测器，用于检测电动教练车的运行参数；
    控制器，所述控制器根据所述运行参数判断所述电动教练车的运行工况，并在所述电动教练车未处于启动工况且所述电机的转速小于熄火转速阈值时，控制所述电动教练车进入熄火工况。
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