WO2018019120A1

WO2018019120A1 - Vehicle, slide energy feedback control system and method, and torque adjustment device

Info

Publication number: WO2018019120A1
Application number: PCT/CN2017/092420
Authority: WO
Inventors: 何智广
Original assignee: 比亚迪股份有限公司
Priority date: 2016-07-26
Filing date: 2017-07-10
Publication date: 2018-02-01
Also published as: CN107650909B; CN107650909A

Abstract

A vehicle slide energy feedback control system. The control system comprises an energy feedback torque adjustment device (10), a motor (20), and a controller (30). The energy feedback torque adjustment device (10) comprises a setting module (11) and an adjustment module (12). The setting module (11) receives an operation instruction of a user and outputs a basic feedback torque setting signal. The adjustment module (12) receives the operation instruction of the user and outputs a changeable additional feedback torque adjustment signal. The controller (30) is used for obtaining a basic slide feedback torque according to the basic feedback torque setting signal when a vehicle is in a slide energy feedback control mode, for obtaining a current additional slide feedback torque according to the current additional feedback torque adjustment signal, and for performing slide energy feedback control on the motor (20) according to the basic slide feedback torque and the current additional slide feedback torque. The present invention also comprises a vehicle, an energy feedback torque adjustment device, and a vehicle slide energy feedback control method.

Description

Vehicle and its sliding energy feedback control system and method, torque adjusting device

Cross-reference to related applications

The present application is based on a Chinese patent application filed on Jan. 26, 2016, the entire disclosure of which is hereby incorporated by reference.

Technical field

The present application belongs to the technical field of vehicles, and in particular, to a vehicle glide energy feedback control system, a vehicle and energy feedback torque adjustment device using the control system, and a vehicle glide energy feedback control method.

Background technique

Energy feedback is an effective technical measure to improve the driving efficiency of the vehicle and extend the driving range. Energy feedback includes vehicle braking energy feedback and coasting energy feedback. At present, the coasting feedback strength for the taxi energy feedback is usually controlled according to the optimal coasting feedback torque curve calibrated by each manufacturer, or the intensity level of the coasting feedback is set in the multimedia system.

Summary of the invention

The present application aims to solve at least one of the technical problems in the related art to some extent.

To this end, the present application needs to provide a vehicle glide energy feedback control system, which can adjust the glide feedback strength, is more flexible, and is convenient to operate.

The present application also proposes a vehicle using the gliding energy feedback control system, and an energy feedback torque adjusting device and a vehicle gliding energy feedback control method.

In order to solve the above problems, the vehicle glide energy feedback control system proposed in one aspect of the present application includes: an energy feedback torque adjustment device, a motor and a controller. The energy feedback torque adjustment device includes a setting module for receiving an operation command of a user and outputting a basic feedback torque setting signal, and an adjustment module for receiving an operation instruction of the user and outputting a variable additional feedback torque adjustment signal. The controller is configured to obtain a basic coasting feedback torque according to the basic feedback torque setting signal when the vehicle is in the coasting energy feedback control mode, obtain a current additional coasting feedback torque according to the current additional feedback torque adjustment signal, and The basic coasting feedback torque and the current additional coasting feedback torque perform coasting energy feedback control of the motor.

The vehicle glide energy feedback control system of the present application can set basic slippage through the energy feedback torque adjusting device The torque strength is set, and a variable additional coasting torque can be set according to the specific road condition to adjust the feedback torque. The controller performs the sliding energy feedback control on the motor according to the basic coasting torque strength and the additional coasting torque, compared to the best sliding in the related art. The feedback torque curve is used for the sliding energy feedback control. The control system of the present application can adjust the coasting energy feedback torque in real time to maximize the sliding energy feedback; and can be adjusted in real time by operating the adjustment module, compared to setting the coasting feedback in the multimedia system. Level strength, more convenient and more flexible.

In order to solve the above problems, the vehicle of another aspect of the present application includes the above-described coasting energy feedback control system.

The vehicle of the embodiment of the present application, by the above-described sliding energy feedback control system, is more convenient for the driver to adjust the coasting energy feedback intensity in real time, so that the sliding energy feedback is maximized.

In order to solve the above problems, an energy feedback torque adjustment apparatus according to another aspect of the present application includes: a setting module for receiving an operation instruction of a user and outputting a basic feedback torque setting signal; and an adjustment module for receiving an operation instruction of the user and Outputting a variable additional feedback torque adjustment signal; the basic feedback torque setting signal and the additional feedback torque adjustment signal are transmitted to a controller of the vehicle to cause the controller to set a signal and the additional according to the basic feedback torque The feedback torque adjustment signal performs coasting energy feedback control on the motor.

The energy feedback torque adjusting device of the embodiment of the present application can facilitate the driver to adjust the sliding energy feedback strength in real time through the setting module and the adjusting module, and is more flexible and more real-time, and provides support for maximizing the sliding energy feedback.

In order to solve the above problem, a vehicle coasting energy feedback control method according to still another aspect of the present application includes the following steps: receiving a user's operation command and outputting a basic feedback torque setting signal and a variable additional when the vehicle is in the coasting energy feedback control mode. Retrieving a torque adjustment signal; obtaining a basic coasting feedback torque according to the basic feedback torque setting signal; obtaining a current additional coasting feedback torque according to the current additional feedback torque adjustment signal; according to the basic coasting feedback torque and the current additional coasting feedback Torque performs coasting energy feedback control of the motor of the vehicle.

In the vehicle sliding energy feedback control method of the embodiment of the present application, the driver can set the basic coasting torque intensity, and according to the specific road condition, the variable additional coasting torque can be set to adjust the feedback torque, and then according to the basic coasting torque strength and the additional coasting torque pair. The motor performs the sliding energy feedback control. Compared with the related technology, the optimal sliding feedback torque curve is used for the sliding energy feedback control. The control method of the present application can adjust the sliding energy feedback torque in real time to maximize the sliding energy feedback; and the sliding feedback torque Real-time control is possible, which is more convenient and more flexible than setting the level of the taxi feedback in the multimedia system.

DRAWINGS

1 is a block diagram of a vehicle glide energy feedback control system in accordance with one embodiment of the present application;

2 is a block diagram of a vehicle glide energy feedback control system in accordance with another embodiment of the present application;

3 is a schematic diagram of a basic coasting energy feedback torque curve in accordance with an embodiment of the present application;

4 is a schematic view showing the installation of an energy feedback torque adjusting device according to an embodiment of the present application;

5 is a schematic diagram of an energy feedback torque adjustment device in accordance with another embodiment of the present application;

Figure 6 is a block diagram of a vehicle in accordance with one embodiment of the present application;

7 is a block diagram of an energy feedback torque adjustment device in accordance with an embodiment of the present application;

8 is a flowchart of a method for controlling vehicle gliding energy feedback according to an embodiment of the present application;

9 is a flow chart of a method of vehicle glide energy feedback control in accordance with an embodiment of the present application.

detailed description

The embodiments of the present application are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are intended to be illustrative, and are not to be construed as limiting.

A vehicle coasting energy feedback control system and control method, a vehicle, and an energy feedback torque adjustment apparatus according to embodiments of the present application are described below with reference to the accompanying drawings.

1 is a block diagram of a vehicle glide energy feedback control system in accordance with one embodiment of the present application. As shown in FIG. 1, the control system 100 includes an energy feedback torque adjustment device 10, a motor 20, and a controller 30.

The energy feedback torque adjustment device 10 includes a setting module 11 and an adjustment module 12. The setting module 11 is configured to receive an operation instruction of the user and output a basic feedback torque setting signal. The basic feedback torque can be understood as the torque as a base value to control the motor output when the coasting feedback control is performed. The setting module 11 can be a knob or other form of button or trigger unit. The driver can select a basic coasting feedback strength level curve by operating the setting module 11 according to driving habits, or directly input information to set corresponding basic coasting torque information. The adjustment module 12 is configured to receive an operation command of the user and output a variable additional feedback torque adjustment signal. For example, the adjustment module 12 can be configured to be automatically reset or instantly adjustable. In the embodiment of the present application, on the basis of selecting the basic coasting feedback intensity level, the driver can adjust the coasting energy feedback by operating the adjustment module 12 according to the specific conditions of the up and down ramp in the road condition or the possible taxiing distance. Intensity, and during the coasting feedback control, the additional feedback torque adjustment signal is variable, so that the effect of adjusting the feedback torque in real time is more flexible.

When the vehicle is in the coasting energy feedback control mode, the controller 30 is configured to obtain a basic coasting feedback torque according to the basic feedback torque setting signal, obtain the current additional coasting feedback torque according to the current additional feedback torque adjustment signal, and according to the basic coasting feedback torque and The current additional coasting feedback torque performs coasting energy feedback control on the motor. That is to say, when the coasting energy feedback control is performed, the controller 30 controls the motor 20 to perform power generation feedback with the basic coasting feedback torque, and at the same time adjusts according to the current additional coasting feedback torque, for example, when it is not far ahead, it is red light. Or when the vehicle is in a long downhill condition, when the depth of the accelerator pedal is less than the preset depth, the vehicle is considered to be in a coasting state, and the driver can obtain the variable additional coasting feedback torque by operating the adjustment module 12, thereby realizing feedback in real time. The torque is adjusted to enhance the gliding energy feedback instead of the light brake function for speed control and maximum energy recovery. It can be understood that the control of the energy feedback of the motor 20 is based on the specific power transmission system of the vehicle, and the charge feedback control of the battery is realized according to a specific configuration.

In the vehicle coasting energy feedback control system 100 of the embodiment of the present application, the basic coasting torque strength can be set by the energy feedback torque adjusting device 10, and the variable additional coasting torque can be set according to the specific road condition to adjust the feedback torque, and the controller 30 according to the basic The coasting torque strength and the additional coasting torque perform the coasting energy feedback control of the motor 20, and the control system 100 of the present application can adjust the coasting energy feedback torque in real time, compared to the sliding performance feedback control using the optimal coasting feedback torque curve in the related art. The gliding energy feedback is maximized; and the real-time control can be performed by operating the adjustment module 12, which is more convenient and more flexible than setting the level of the gliding feedback in the multimedia system.

In the embodiment of the present application, as shown in FIG. 2, the control system 100 further includes a vehicle controller 40. The vehicle controller 40 is configured to acquire a vehicle operating state parameter, and determine a current operating condition of the vehicle according to a vehicle operating state parameter, and control the vehicle to enter a coasting energy feedback control mode when the vehicle is in a taxiing condition, for example, for a hybrid vehicle, The current vehicle speed is greater than the preset vehicle speed, the depth of the brake pedal is zero, the depth of the accelerator pedal is less than the preset depth, for example 10%, the current gear is the D range, the vehicle is not in the cruise control mode, and the vehicle is in anti-lock braking system. When in the non-operating state, the vehicle is considered to be in the taxiing condition to control the vehicle to enter the throttle throttle feedback control mode. Then, in the coasting energy feedback control mode, the controller 30 is configured to perform power generation feedback control on the motor 20 according to the basic coasting feedback torque and the current additional coasting feedback torque, and adjust the coasting energy feedback torque in real time to maximize the coasting energy feedback.

Specifically, as shown in FIG. 2, the control system 100 further includes a speed detector 50. The speed detector 50 is used to detect the current vehicle speed of the vehicle. The controller 30 is specifically configured to acquire a basic feedback torque curve according to the basic feedback torque setting signal, and obtain a basic coasting feedback torque according to the current vehicle speed of the vehicle and the basic feedback torque curve. In other words, the basic coasting feedback torque level can be set by the setting module 11, as shown in FIG. 3, the sliding condition can be divided into a strong sliding, a medium sliding, and a weak sliding, which are set to three by the setting module 11 such as a sliding feedback level knob. In the gear position, the driver can select the output coasting feedback torque level according to the driving habit or the specific road condition operation setting knob. For example, if the second gear corresponds to the output sliding, the controller 30 can obtain the middle sliding feedback torque curve according to the output signal of the setting module 11. As shown in FIG. 3, the corresponding basic coasting feedback torque is obtained according to the current vehicle speed of the vehicle and the mid-skid feedback torque curve.

The process of obtaining the additional coasting feedback torque will be described below.

Specifically, as shown in FIG. 2, the control system 100 also includes a battery manager 60. The battery manager 60 is configured to obtain the maximum feedback torque that the motor 20 and the battery can withstand under the current operating conditions according to the current state of charge of the battery of the vehicle and the output of the motor 20, that is, comprehensively consider the current state of charge of the battery and the actual capacity of the motor. To signal the charging demand. The controller 30 calculates the current additional feedback torque adjustment signal, the basic coasting feedback torque, and the maximum feedback torque. The previous additional coasting feedback torque. Specifically, the current additional coasting feedback torque can be obtained according to the corresponding relationship of the three under the corresponding working conditions.

According to a specific embodiment of the present application, when the maximum feedback torque is greater than the basic coasting feedback torque, the controller 30 is configured to obtain the current additional coasting feedback torque according to the following formula:

Where B is the current additional coasting feedback torque, A is the basic coasting feedback torque, T _max is the maximum feedback torque that the motor 20 and the battery can withstand under the current operating conditions, V is the current additional feedback torque adjustment signal, and V _max is the adjustment The maximum additional feedback torque adjustment signal that the module 12 can output, wherein the additional coasting feedback adjustment signal V output by the adjustment module 12 is variable, and thus the obtained coasting feedback torque is also changed, so that during the coasting energy feedback control, The coasting feedback torque is adjusted in real time to maximize energy feedback.

Alternatively, when the maximum feedback torque is less than or equal to the basic coasting feedback torque, B=0, that is, the motor 20 is directly controlled by the basic coasting feedback torque control.

After obtaining the basic coasting feedback torque and the additional coasting feedback torque, the controller 30 is configured to obtain the total demand feedback torque based on the basic coasting feedback torque, the maximum feedback torque, and the current additional coasting feedback torque, and feedback the torque to the motor according to the total demand. Perform sliding energy feedback control. Specifically, when performing the coasting feedback control, it is necessary to consider the actual situation of the battery and the motor. For example, when the basic coasting feedback torque is greater than the maximum feedback torque of the battery and the motor 20 under the current operating conditions, in order to consider the safety of charging the battery, Then, the sum of the maximum feedback torque of the battery and the motor 20 and the additional coasting feedback torque under the current working condition can be selected as the total demand feedback torque, and when the basic coasting feedback torque is smaller than the maximum feedback torque of the battery and the motor 20 under the current working condition. In order to consider the actual capacity of the motor 20, the sum of the basic coasting feedback torque and the additional coasting feedback torque can be used as the total demand feedback torque.

In a specific embodiment of the present application, the controller 30 is configured to obtain a total demand feedback torque according to the following formula:

T=min(A,T _max )+B,(2)

Where T is the total demand feedback torque, A is the basic coasting feedback torque, T _max is the maximum feedback torque that the motor 20 and the battery can withstand under the current operating conditions, and B is the current additional coasting feedback torque. For the above formula (2), where A is set by the driver according to experience, T _max is calculated by the battery manager 60, and in the safety and current conditions, the actual capacity of the motor 20 is considered, and A and T _max are selected. The smaller value and the sum of this value and the real-time additional coasting feedback torque is used as the total demand feedback torque, which is adjusted in real time by the additional coasting feedback torque to maximize the sliding energy feedback.

Then, according to the total demand feedback torque control motor 20 performs the power generation feedback operation to realize the coasting energy feedback control, it can be seen that the control system 100 of the embodiment of the present application, based on the basic coasting energy feedback torque, and through the variable addition The coasting feedback torque adjusts the coasting energy torque so that the sliding energy feedback can be maximized.

In actual operation, the energy feedback torque adjustment device 10 can be designed as an adjustment lever dedicated to adjusting the coasting feedback strength. In one embodiment of the present application, the energy feedback torque adjustment device 10 includes steering as shown in FIGS. 4 and 5. The setting module 11 and the adjustment module 12 described above are disposed on the lever and the joystick. Specifically, in order to facilitate real-time operation, the joystick may be disposed under the steering wheel of the vehicle. As shown in FIG. 4, the joystick is disposed at the lower right of the steering wheel, and during operation, the driver can select by right hand. The setting module 11 is non-resettable and the adjusting module 12 is automatically resettable. In an embodiment of the present application, the adjusting module 12 may include, but is not limited to, an automatic resetting damping member such as an automatic resetting type damping knob. After the adjustment module 12 is operated, a variable additional coasting feedback torque can be output. As shown in FIG. 5, the setting module 11 and the adjustment module 12 are arranged in the form of a knob, and the driver can set the basic coasting torque strength and select the additional coasting by rotating the knob. The feedback torque can adjust the total demand feedback torque in real time during the sliding energy feedback control to maximize the energy feedback.

In summary, the controller 30 collects the basic feedback torque setting signal output by the driver-selected setting module 11 on the operating lever and the additional feedback torque adjustment signal output by the adjustment module 12, thereby obtaining the corresponding basic feedback torque according to the basic feedback torque setting signal. The intensity curve outputs the basic coasting feedback torque A. According to the current additional feedback torque adjustment signal V and the demand feedback torque under the current operating condition, that is, the maximum feedback torque T _{max of the} motor 20, the current additional coasting is calculated according to the above formula (1). The torque B is fed back, and then the total demand feedback torque is calculated according to the above formula (2), and the motor 20 is subjected to power generation feedback control according to the total demand feedback torque.

Based on the vehicle glide energy feedback control system of the embodiment of the above aspect, the vehicle of another embodiment of the present application is as shown in FIG. 6 , and the vehicle 1000 includes the glide energy feedback control system 100 of the above aspect. Of course, the vehicle 1000 further includes Other structural systems of energy feedback control belong to the prior art and will not be described again here.

The vehicle 1000 of the embodiment of the present application, by the above-described gliding energy feedback control system 100, is more convenient for the driver to adjust the gliding energy feedback intensity in real time, so that the gliding energy feedback is maximized.

An energy feedback torque adjusting device according to still another embodiment of the present application will be described below with reference to the accompanying drawings.

As shown in FIG. 7, the energy feedback torque adjustment device 10 includes a setting module 11 and an adjustment module 12.

The setting module 11 is configured to receive an operation instruction of the user and output a basic feedback torque setting signal. The adjustment module 12 is configured to receive an operation command of the user and output a variable additional feedback torque adjustment signal. The feedback torque setting signal and the additional feedback torque adjustment signal are transmitted to a controller of the vehicle to cause the controller to perform coasting energy feedback control of the motor according to the basic feedback torque setting signal and the additional feedback torque adjustment signal.

The energy feedback torque adjustment device 10 of the embodiment of the present application can facilitate the driver to adjust the coasting energy feedback strength in real time through the setting module 11 and the adjustment module 12, which is more flexible and more real-time, and provides support for maximizing the sliding energy feedback.

In actual operation, the energy feedback torque adjustment device 10 can be designed to adjust the adjustment of the coasting feedback intensity. The lever, in one embodiment of the present application, as shown in FIG. 4, the energy feedback torque adjustment device 10 includes a joystick on which the above-described setting module 11 and adjustment module 12 are disposed. Specifically, in order to facilitate real-time operation, the joystick may be disposed under the steering wheel of the vehicle. As shown in FIG. 4, the joystick is disposed at the lower right of the steering wheel, and during operation, the driver can select by right hand. The setting module 11 is non-resettable and the adjusting module 12 is automatically resettable. In an embodiment of the present application, the adjusting module 12 may include, but is not limited to, an automatic resetting damping member such as an automatic resetting type damping knob. After the adjustment module 12 is operated, a variable additional coasting feedback torque can be output. Referring to FIG. 5, the setting module 11 and the adjustment module 12 are arranged in the form of a knob, and the driver can set the basic coasting torque strength and select the additional coasting by rotating the knob. The feedback torque can adjust the total demand feedback torque in real time during the sliding energy feedback control to maximize the energy feedback.

A vehicle coasting energy feedback control method according to an embodiment of the present application will be described below with reference to the accompanying drawings.

FIG. 8 is a flowchart of a method for controlling vehicle glide energy feedback according to an embodiment of the present application. As shown in FIG. 8, the control method includes:

S1, when the vehicle is in the coasting energy feedback control mode, receiving an operation command of the user and outputting a basic feedback torque setting signal and a variable additional feedback torque adjustment signal.

In the embodiment of the present application, the following steps are used to determine whether the vehicle is in the coasting energy feedback control mode, specifically, acquiring the vehicle operating state parameter; determining the current operating condition of the vehicle according to the vehicle operating state parameter; when the vehicle is in the taxiing condition Control the vehicle into the coasting energy feedback control mode.

The driver can select a basic coasting feedback strength level curve by operating the setting module of the energy feedback torque adjustment device according to driving habits, or directly input information to set corresponding basic coasting torque information; in the embodiment of the present application, the basic sliding line is selected. On the basis of the feedback strength level, the driver can adjust the coasting energy feedback strength by operating the energy adjustment module of the torque adjustment device according to the specific conditions of the up and down ramp in the road condition or the possible taxiing distance, and in the coasting feedback control process. The additional feedback torque adjustment signal is variable, so that the effect of adjusting the feedback torque in real time is more flexible.

S2, obtaining a basic coasting feedback torque according to the basic feedback torque setting signal.

In one embodiment of the present application, the basic feedback torque curve is acquired based on the basic feedback torque setting signal, and the basic coasting feedback torque is obtained based on the current vehicle speed of the vehicle and the basic feedback torque curve.

S3, obtaining the current additional coasting feedback torque according to the current additional feedback torque adjustment signal.

In an embodiment of the present application, the maximum feedback torque that the motor and the battery can withstand under current operating conditions are obtained, and then the current additional feedback torque adjustment signal, the basic coasting feedback torque, and the maximum feedback torque are calculated according to the current additional feedback torque adjustment signal and the maximum feedback torque. Additional coasting feedback torque. Specifically, the current additional coasting feedback torque can be obtained according to the corresponding relationship of the three under the corresponding working conditions.

According to a specific embodiment of the present application, when the maximum feedback torque is greater than the basic coasting feedback torque, according to the following The formula calculates the additional coasting feedback torque:

Where B is the current additional coasting feedback torque, T _max is the maximum feedback torque that the motor and battery can withstand under the current operating conditions, V is the current additional feedback torque adjustment signal, and V _max is the maximum additional feedback torque adjustment signal that can be output. .

Alternatively, when the maximum feedback torque is less than or equal to the basic coasting feedback torque, B=0, that is, the motor is directly controlled by the basic coasting feedback torque control.

S4, performing coasting energy feedback control on the motor of the vehicle according to the basic coasting feedback torque and the current additional coasting feedback torque.

Specifically, the total demand feedback torque is calculated based on the basic coasting feedback torque, the maximum feedback torque that the motor and battery can withstand under current operating conditions, and the additional coasting feedback torque. For example, when the basic coasting feedback torque is greater than the maximum feedback torque that the motor and battery can withstand under the current operating conditions, in order to consider the safety of charging the battery, the maximum and additional coasting feedback that the motor and battery can withstand under the current operating conditions can be selected. The sum of the torques is used as the total demand feedback torque, and when the basic coasting feedback torque is considered to be less than the maximum feedback torque that the motor and the battery can withstand under the current operating conditions, in order to consider the actual capacity of the motor 20, the basic taxiing can be performed. The sum of the feedback torque and the additional coasting feedback torque is used as the total demand feedback torque. In a specific embodiment of the present application, the total demand feedback torque is calculated according to the following formula:

T=min(A,T _max )+B,(2)

Where T is the total demand feedback torque, A is the basic coasting feedback torque, T _max is the maximum feedback torque that the motor and battery can withstand under the current operating conditions, and B is the current additional coasting feedback torque.

In turn, the motor is subjected to coasting energy feedback control based on the total demand feedback torque.

In the vehicle sliding energy feedback control method of the embodiment of the present application, the driver can set the basic coasting torque intensity, and according to the specific road condition, the variable additional coasting torque can be set to adjust the feedback torque, and then according to the basic coasting torque strength and the additional coasting torque pair. The motor performs the coasting energy feedback control. Compared with the related technology, the optimal coasting feedback torque curve is used for the coasting energy feedback control. The control method of the present application can adjust the coasting energy feedback torque in real time to maximize the sliding energy feedback and the coasting feedback torque. Real-time control is possible, which is more convenient and more flexible than setting the level of the taxi feedback in the multimedia system.

Based on the above description, FIG. 9 is a flowchart of a method for controlling vehicle glide energy feedback according to an embodiment of the present application. As shown in FIG. 9, the method includes:

S901: Determine whether the vehicle is in the coasting energy feedback control mode, and if yes, perform step S902, step S903, and step S904, respectively.

S902, calculating the basic coasting feedback torque A.

S903, calculating the additional coasting feedback torque B.

S904. Calculate a maximum feedback torque _Tmax that the motor and the battery can withstand under current operating conditions.

S905, calculating the total feedback torque, for example, obtaining the total demand feedback torque according to formula (2).

S906, according to the total demand feedback torque control motor for feedback power generation.

S907, it is judged whether the vehicle exits the coasting energy feedback control mode, and if so, the process ends, otherwise, the process returns to step S901.

It can be seen that the vehicle glide energy feedback control method of the embodiment of the present application adjusts the total glide energy torque in real time through the variable additional glide feedback torque, which is more real-time and flexible, and can achieve the glide energy feedback. Maximize.

It should be noted that, in the description of the specification, any process or method description in the flowcharts or otherwise described herein may be understood to include one or more steps for implementing a particular logic function or process. Modules, segments or portions of code of executable instructions, and the scope of the preferred embodiments of the application includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner depending on the functionality involved. The functions are performed in the reverse order, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, 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 use with equipment. For the purposes of this specification, 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. More specific examples (non-exhaustive list) of 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). In addition, 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.

It should be understood that portions of the application can be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by 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 circuit, ASIC with suitable combinational logic gate, Programmable Gate Array (PGA), now Field programmable gate array (FPGA), etc.

One of ordinary skill in the art can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium. When executed, one or a combination of the steps of the method embodiments is included.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means a specific feature described in connection with the embodiment or example. A structure, material or feature is included in at least one embodiment or example of the application. In the present specification, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, various embodiments or examples described in the specification, as well as features of various embodiments or examples, may be combined and combined.

While the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the present application. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

A vehicle glide energy feedback control system, comprising:

An energy feedback torque adjustment device, the energy feedback torque adjustment device comprising:

a setting module, configured to receive an operation instruction of the user and output a basic feedback torque setting signal;

An adjustment module, configured to receive a user's operation instruction and output a variable additional feedback torque adjustment signal;

Motor

a controller, configured to obtain a basic coasting feedback torque according to the basic feedback torque setting signal when the vehicle is in the coasting energy feedback control mode, and obtain a current additional coasting feedback torque according to the current additional feedback torque adjustment signal And performing coasting energy feedback control on the motor based on the basic coasting feedback torque and the current additional coasting feedback torque.
The vehicle glide energy feedback control system of claim 1 further comprising:

a speed detector for detecting a current vehicle speed of the vehicle;

The controller is further configured to acquire a basic feedback torque curve according to the basic feedback torque setting signal, and obtain the basic coasting feedback torque according to the current vehicle speed of the vehicle and the basic feedback torque curve.
The vehicle glide energy feedback control system of claim 1 or 2, further comprising:

a battery manager for obtaining a maximum feedback torque that the motor and the battery can withstand under current operating conditions according to a current state of charge of a battery of the vehicle and an output of the motor, the controller The current additional coasting feedback torque is obtained based on the current additional feedback torque adjustment signal, the basic coasting feedback torque, and the maximum feedback torque.
A vehicle glide energy feedback control system according to claim 3, wherein said controller is further configured to obtain a total based on said basic taxi feedback torque, said maximum feedback torque, and said current additional coasting feedback torque The demand feedback torque and the coasting energy feedback control of the motor is performed according to the total demand feedback torque.
The vehicle glide energy feedback control system according to any one of claims 1 to 4, further comprising:

a vehicle controller, configured to acquire a vehicle operating state parameter, and determine a current operating condition of the vehicle according to the vehicle operating state parameter, and control the vehicle to enter when the vehicle is in a taxiing condition The coasting energy feedback control mode.
The vehicle glide energy feedback control system according to any one of claims 3 to 5, wherein the controller is further configured to obtain, according to the following formula, when the maximum feedback torque is greater than the basic coasting feedback torque The current additional coasting feedback torque:

Where B is the current additional coasting feedback torque, A is the basic coasting feedback torque, Tmax is the maximum feedback torque that the motor and the battery can withstand under the current operating conditions, and V is the current additional Retrieving the torque adjustment signal, Vmax is the maximum additional feedback torque adjustment signal that the adjustment module can output; or, when the maximum feedback torque is less than or equal to the basic coasting feedback torque, B=0.
The vehicle glide energy feedback control system according to claim 4 or 5, wherein the controller is further configured to obtain the total demand feedback torque according to the following formula:

T=min(A, T max )+B, where T is the total demand feedback torque, A is the basic coasting feedback torque, and T max is the maximum feedback that the motor and the battery can withstand under the current operating conditions. Torque, B is the current additional coasting feedback torque.
The vehicle glide energy feedback control system according to any one of claims 1 to 7, wherein the energy feedback torque adjustment device includes a joystick on which the setting module and the adjustment module are disposed .
The vehicle glide energy feedback control system of claim 8 wherein said lever is disposed below a steering wheel of said vehicle.
The vehicle glide energy feedback control system according to claim 9, wherein the adjustment module is an automatic reset type.
The vehicle glide energy feedback control system of claim 8 wherein said adjustment module comprises an auto-reset damping knob.
A vehicle characterized by comprising the gliding energy feedback control system according to any one of claims 1-11.
An energy feedback torque adjusting device, comprising:

a setting module for receiving a user's operation instruction and outputting a basic feedback torque setting signal; and

An adjustment module, configured to receive a user's operation instruction and output a variable additional feedback torque adjustment signal;

Transmitting the basic feedback torque setting signal and the additional feedback torque adjustment signal to a controller of the vehicle to cause the controller to taxi the motor according to the basic feedback torque setting signal and the additional feedback torque adjustment signal Energy feedback control.
The energy feedback torque adjusting device according to claim 13, wherein said energy feedback torque adjusting means comprises a joystick on which said setting module and said adjustment module are disposed.
The energy feedback torque adjusting device according to claim 14, wherein said lever is disposed below a steering wheel of said vehicle.
The energy feedback torque adjusting device according to claim 15, wherein said adjustment module is of an automatic reset type.
The energy feedback torque adjustment device of claim 14 wherein said adjustment module comprises Dynamic reset type damping knob.
A vehicle sliding energy feedback control method is characterized in that the method comprises the following steps:

Receiving a user's operation command and outputting a basic feedback torque setting signal and a variable additional feedback torque adjustment signal when the vehicle is in the coasting energy feedback control mode;

Obtaining a basic coasting feedback torque according to the basic feedback torque setting signal;

Obtaining the current additional coasting feedback torque based on the current additional feedback torque adjustment signal;

The coasting energy feedback control of the motor of the vehicle is performed based on the basic coasting feedback torque and the current additional coasting feedback torque.
The vehicle glide energy feedback control method according to claim 18, wherein the obtaining the basic coasting feedback torque according to the basic feedback torque setting signal further comprises:

Acquiring a basic feedback torque curve according to the basic feedback torque setting signal;

The basic coasting feedback torque is obtained based on the current vehicle speed of the vehicle and the basic feedback torque curve.
The vehicle skating energy feedback control method according to claim 18 or 19, wherein the current additional coasting feedback torque is obtained according to the current additional feedback torque adjustment signal, including:

Obtaining a maximum feedback torque that the motor and the battery of the vehicle can withstand under current operating conditions;

The current additional coasting feedback torque is calculated based on the current additional feedback torque adjustment signal, the basic coasting feedback torque, and the maximum feedback torque.
A vehicle glide energy feedback control method according to claim 20, wherein

When the maximum feedback torque is greater than the basic coasting feedback torque, the additional coasting feedback torque is obtained according to the following formula:

Where B is the current additional coasting feedback torque, Tmax is the maximum feedback torque that the motor and the battery can withstand under current operating conditions, and V is the current additional feedback torque adjustment signal, Vmax is maximum Additional feedback torque adjustment signal; or,

When the maximum feedback torque is less than or equal to the basic coasting feedback torque, B=0.
The vehicle gliding energy feedback control method according to claim 20, wherein the gliding energy feedback control of the motor of the vehicle according to the basic coasting feedback torque and the current additional coasting feedback torque comprises:

Calculating a total demand feedback torque based on the basic coasting feedback torque, the maximum feedback torque, and the additional coasting feedback torque;

The motor is subjected to coasting energy feedback control based on the total demand feedback torque.
A vehicle sliding energy feedback control method according to claim 22, which is obtained according to the following formula The total demand feedback torque is:

T=min(A, T max )+B, where T is the total demand feedback torque, A is the basic coasting feedback torque, and T max is the maximum feedback that the motor and the battery can withstand under the current operating conditions. Torque, B is the current additional coasting feedback torque.
The vehicle glide energy feedback control method according to any one of claims 18 to 23, further comprising:

Obtaining vehicle operating state parameters;

Determining a current operating condition of the vehicle based on the vehicle operating state parameter;

The vehicle is controlled to enter the coasting energy feedback control mode when the vehicle is in a taxiing condition.