CN103692987B - A kind of torque management control method of battery electric vehicle - Google Patents
A kind of torque management control method of battery electric vehicle Download PDFInfo
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Abstract
The invention discloses a kind of torque management control method of battery electric vehicle, it receives the various status signals of gearshift, acceleration pedal, brake pedal, electric machine controller and battery controller transmission by entire car controller, determine the target requirement moment of torsion of car load, and export to electric machine controller after a series of process is carried out to target requirement moment of torsion, run to control motor, thus make pure electric vehicle can meet every driving requirements.
Description
Technical field
The present invention relates to pure electric vehicle technical field, be specially a kind of torque management control method of battery electric vehicle.
Background technology
Energy shock and ecological deterioration have become the key factor of restriction global evolution, and the automobile of research energy-saving and environmental protection alleviates one of Pressure on Energy, the effective means reducing environmental pollution.Compared with conventional internal combustion locomotive, pure electric vehicle adopts pure driven by power, can reach emissions reduction, reduces the object of energy consumption.
Pure electric vehicle power system should be able to realize three kinds of functions: driving functions, safety and diagnosis function, auxiliary and basic function, and the definition of driving functions is, power system parses according to input medias such as accelerator pedal position, brake pedal position, gears the function providing demand drive power under any driving cycle, to meet the dynamic property requirement of chaufeur to vehicular drive, ensure the traveling comfort of chaufeur in driving process as far as possible, driving functions is mainly divided into simultaneously: travel stopping, crawling, energy regenerating and driving (advance or fall back).Most judgement and the division carrying out torque mode according to the running state of battery, motor, vehicle of entire car controller of existing pure electric vehicle, set out parking, crawling, recovery, drive this several different mode and calculate the torque demand under each pattern respectively, then the torque request under all patterns is carried out arbitrating and filtering, finally export to motor.Though this torque management mode also can realize above-mentioned functions, but there is many drawbacks, condition space such as during mode decision between the conflict of easy Conditions or pattern, and moment of torsion is dealt with improperly the traveling comfort of chaufeur can be caused poor when switching between pattern, torque demand table under multiple pattern considerably increases staking-out work amount, easily occurs the not smooth transition etc. of moment of torsion during moment of torsion filtering.
And, existing pure electric vehicle entire car controller only carries out energy regenerating when judging that acceleration pedal unclamps car retardation, and when vehicle high-speed and little acceleration pedal aperture time can not recuperated energy, but in fact now the intention of chaufeur not accelerate, but remain a constant speed or slowly slow down.
Summary of the invention
The object of the present invention is to provide a kind of torque management control method of battery electric vehicle, to meet all kinds of driving functions requirements of pure electric vehicle, reclaiming by improving moment of torsion, extending vehicle mileages of continuation.
Torque management control method of battery electric vehicle of the present invention, comprises the steps:
1) entire car controller receive gearshift send gear signal, if current gear be P shelves or N shelves time, target requirement moment of torsion is 0, if current gear be D Drive or reverse gear time, carry out following steps;
2) entire car controller searches corresponding target requirement moment of torsion according to gear signal, pedal opening signal and motor speed signal from the D Drive moment of torsion MAP preset shows or reverse gear moment of torsion MAP shows; Under D Drive, when the value of found target requirement moment of torsion is greater than 0, car load is in moment of torsion output state, if be less than 0, then car load is in moment of torsion and reclaims state; Under reverse gear, when the value of found target requirement moment of torsion is less than 0, car load is in moment of torsion output state, if be greater than 0, then car load is in moment of torsion and reclaims state;
Described D Drive moment of torsion MAP table is under D Drive state, the aperture that will speed up pedal is divided into multiple opening value by 0% to 100%, motor speed is divided into multiple tachometer value by reverse peak rotating speed to rotating forward peak speed, and described opening value forms corresponding torque rating to tachometer value one_to_one corresponding
Wherein, multiple tachometer value between reverse peak rotating speed and 0 and the torque rating corresponding to arbitrary opening value are all greater than 0, multiple tachometer value between 0 and D Drive crawling critical speed and the torque rating corresponding to arbitrary opening value are all greater than 0, be less than 0 between the torque rating corresponding to D Drive crawling critical speed and the multiple tachometer value rotated forward between peak speed and the multiple opening values between 0% aperture and D Drive pedal critical angle, and the torque rating corresponding to multiple opening values between D Drive pedal critical angle and 100% aperture is greater than 0;
Described reverse gear moment of torsion MAP table is under reverse gear state, the aperture that will speed up pedal is divided into multiple opening value by 0% to 100%, motor speed is divided into multiple tachometer value by reverse peak rotating speed to rotating forward peak speed, and described opening value forms corresponding torque rating to tachometer value one_to_one corresponding
Wherein, all 0 is less than between the multiple tachometer value rotated forward between peak speed and 0 and the torque rating corresponding to arbitrary opening value, multiple tachometer value between 0 and reverse gear crawling critical speed and the torque rating corresponding to arbitrary opening value are all less than 0, multiple tachometer value between reverse gear crawling critical speed and reverse peak rotating speed and the torque rating corresponding to multiple opening values between 0% aperture and reverse gear pedal critical angle are greater than 0, and the torque rating corresponding to multiple opening values between reverse gear pedal critical angle and 100% aperture is less than 0;
Described D Drive moment of torsion MAP shows and reverse gear moment of torsion MAP show in acceleration pedal aperture, the division of motor speed and each crawling critical speed, pedal critical angle, torque rating size obtain by real vehicle demarcation;
3) limit value process is carried out to determined target requirement moment of torsion, make target requirement moment of torsion between motor maximum permissible torque and the minimum permission moment of torsion of negative motor, if target requirement moment of torsion is greater than motor maximum permissible torque, then using motor maximum permissible torque as target requirement moment of torsion, if target requirement moment of torsion is less than the minimum permission moment of torsion of negative motor, then using the negative minimum permission moment of torsion of motor as target requirement moment of torsion, the status signal calculating that described motor maximum permissible torque and the minimum permission moment of torsion of motor are sent according to electric machine controller and battery controller by entire car controller is determined, and be all more than or equal to 0,
4) fault restriction process is carried out to the target requirement moment of torsion after limit value process, namely when recovery system fault, the target requirement moment of torsion of the negative value of D Drive is set to 0, by reverse gear on the occasion of target requirement moment of torsion set to 0, when drive system fault, by D Drive on the occasion of target requirement moment of torsion set to 0, the target requirement moment of torsion of the negative value of reverse gear is set to 0;
5) when motor speed is less than n
aand chaufeur is when stepping on brake pedal, target requirement moment of torsion is 0, otherwise exports the target requirement moment of torsion after fault restriction process;
6) ladder filtering process is carried out to the target requirement moment of torsion of described output;
7) export according to the target requirement moment of torsion after moment of torsion enable signal control ladder filtering process or set to 0, the target requirement torque control motors that electric machine controller receives described output runs.
Described entire car controller carries out communication interaction by CAN line and gearshift, acceleration pedal, brake pedal, electric machine controller, battery controller.
Described D Drive crawling critical speed and reverse gear crawling critical speed are calculated by the D Drive crawling critical speed demarcated and reverse gear crawling critical speed respectively to be determined, D Drive crawling critical speed and reverse gear crawling critical speed get 8Km/h-12Km/h.
Described D Drive pedal critical angle and reverse gear pedal critical angle are the 5%-30% of pedal full gate.
Described rotating speed n
afor scalar quantity, get 700rpm-800rpm.
Management control method of the present invention, the various status signals of gearshift, acceleration pedal, brake pedal, electric machine controller and battery controller transmission are received by entire car controller, determine the target requirement moment of torsion of car load, and export to electric machine controller after a series of process is carried out to target requirement moment of torsion, run to control motor, thus make pure electric vehicle can meet every driving requirements.Specifically, torque energy when the present invention can realize light stepping on accelerator pedal under vehicle high-speed reclaims, and improves Vehicle-Miles of Travel, improves the economy of pure electric vehicle.
Accompanying drawing explanation
Fig. 1 is the annexation figure of each module in the present invention;
Fig. 2 is the schematic flow sheet of the method for the invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further elaborated:
As shown in Figure 2, torque management control method of battery electric vehicle, comprises the steps:
1) entire car controller by CAN line receive gearshift send gear signal, if current gear be P shelves or N shelves time, target requirement moment of torsion is 0, if current gear be D Drive (D shelves, E shelves) or reverse gear (R shelves) time, carry out following steps;
2) entire car controller searches corresponding target requirement moment of torsion according to gear signal, pedal opening signal and motor speed signal from the D Drive moment of torsion MAP preset shows or reverse gear moment of torsion MAP shows; Under D Drive, when the value of found target requirement moment of torsion is greater than 0, car load is in moment of torsion output state, if be less than 0, then car load is in moment of torsion and reclaims state; Under reverse gear, when the value of found target requirement moment of torsion is less than 0, car load is in moment of torsion output state, if be greater than 0, then car load is in moment of torsion and reclaims state;
Described D Drive moment of torsion MAP table is under D Drive state, the aperture that will speed up pedal is divided into multiple opening value by 0% to 100%, motor speed is divided into multiple tachometer values of ω 4' to ω n to rotating forward peak speed by reverse peak rotating speed, described opening value forms corresponding torque rating to tachometer value one_to_one corresponding;
This D Drive moment of torsion MAP table can be depicted as following form:
Visible, under D Drive, again the moment of torsion output state of car load is subdivided into four regions, the state that reclaimed by moment of torsion is divided into two regions.Wherein, the ω 4' between reverse peak rotating speed and 0, ω 3', ω 2', ω 1' and the torque rating corresponding to arbitrary opening value (in table A1 region) are all greater than 0, slipping by slope when namely output torque is to prevent pure electric vehicle uphill starting;
0 rotating speed between 0 and D Drive crawling critical speed, ω 1, ω 2, ω 3 and the torque rating (in table A2 region) corresponding to 0% pedal opening value are greater than 0, and pure electric vehicle is in crawling pattern;
The torque rating (in table A3 region) corresponding to arbitrary opening value between 0 described rotating speed, ω 1, ω 2, ω 3 and α 1 to the 100% pedal aperture being greater than 0% is all greater than 0, and pure electric vehicle is in low speed driving mode;
ω 4 to ω n between D Drive crawling critical speed and rotating forward peak speed and the torque rating (in table A4 region) corresponding to 0% aperture pedal opening value are less than 0, and pure electric vehicle is in zero acceleration pedal take-back model at a high speed;
ω 4 to ω n and the α 1 between 0% aperture and D Drive pedal critical angle, torque rating (in table A5 region) corresponding to α 2 are less than 0, and pure electric vehicle is in the take-back model of the little acceleration pedal aperture of high speed;
ω 4 to ω n and the torque rating (in table A6 region) corresponding to multiple opening values between D Drive pedal critical angle and 100% aperture are greater than 0, and pure electric vehicle is in forward driving mode;
Described reverse gear moment of torsion MAP table is under reverse gear state, the aperture that will speed up pedal is divided into multiple opening value by 0% to 100%, motor speed is divided into multiple tachometer values of ω n to ω 4' to rotating forward peak speed by reverse peak rotating speed, described opening value forms corresponding torque rating to tachometer value one_to_one corresponding;
This reverse gear moment of torsion MAP table can be depicted as following form:
Visible, under reverse gear, again the moment of torsion output state of car load is subdivided into four regions, the state that reclaimed by moment of torsion is divided into two regions.Wherein, be all less than 0 between rotating forward the torque rating (in table B1 region) corresponding to ω 4', ω 3' between peak speed and 0, ω 2', ω 1' and arbitrary opening value, slipping by slope when namely output torque is to prevent pure electric vehicle uphill starting;
0 rotating speed between 0 and reverse gear crawling critical speed, ω 1, ω 2, ω 3 and the torque rating (in table B2 region) corresponding to 0% pedal opening value are less than 0, and pure electric vehicle is in crawling pattern;
The torque rating (in table B3 region) corresponding to arbitrary opening value between described 0 rotating speed, ω 1, ω 2, ω 3 and α 1 to the 100% pedal aperture being greater than 0% is all less than 0, and pure electric vehicle is in low speed driving mode;
ω 4 to ω n between reverse gear crawling critical speed and reverse peak rotating speed and the torque rating (in table B4 region) corresponding to 0% aperture pedal opening value are greater than 0, and pure electric vehicle is in zero acceleration pedal take-back model at a high speed;
ω 4 to ω n and the α 1 between 0% aperture and reverse gear pedal critical angle, torque rating (in table B5 region) corresponding to α 2 are greater than 0, and pure electric vehicle is in the take-back model of the little acceleration pedal aperture of high speed;
ω 4 to ω n and the torque rating (in table B6 region) corresponding to multiple opening values between reverse gear pedal critical angle and 100% aperture are less than 0, and pure electric vehicle is in reverse drive pattern;
Described D Drive moment of torsion MAP shows and reverse gear moment of torsion MAP show in acceleration pedal aperture, the division of motor speed and each crawling critical speed, pedal critical angle, torque rating size obtain by real vehicle demarcation, wherein the division of acceleration pedal aperture, motor speed is thinner, vehicle travels milder, and traveling comfort is higher; Described D Drive crawling critical speed and reverse gear crawling critical speed are again calculated by the D Drive crawling critical speed demarcated and reverse gear crawling critical speed respectively to determine, generally speaking, D Drive crawling critical speed and reverse gear crawling critical speed get 8Km/h-12Km/h, and D Drive pedal critical angle and reverse gear pedal critical angle are the 5%-30% of pedal full gate.
3) limit value process is carried out to determined target requirement moment of torsion, make target requirement moment of torsion between motor maximum permissible torque and the minimum permission moment of torsion of negative motor, if target requirement moment of torsion is greater than motor maximum permissible torque, then using motor maximum permissible torque as target requirement moment of torsion, if target requirement moment of torsion is less than the minimum permission moment of torsion of negative motor, then using the negative minimum permission moment of torsion of motor as target requirement moment of torsion, the status signal that described motor maximum permissible torque and the minimum permission moment of torsion of motor are sent according to electric machine controller and battery controller by entire car controller also considers the restriction of motor self character, factors such as motor temperature and calculating are determined, and be all more than or equal to 0,
4) fault restriction process is carried out to the target requirement moment of torsion after limit value process, when recovery system fault (recovery failure zone bit is 1), the target requirement moment of torsion of the negative value of D Drive is set to 0, by reverse gear on the occasion of target requirement moment of torsion set to 0, when drive system fault (driving malfunction zone bit is 1), by D Drive on the occasion of target requirement moment of torsion set to 0, the target requirement moment of torsion of the negative value of reverse gear is set to 0;
5) when motor speed is less than a calibration value n
aand chaufeur is when stepping on brake pedal (brake pedal switch signal is 1), target requirement moment of torsion is 0, otherwise exports the target requirement moment of torsion after fault restriction process, described rotating speed n
agenerally get 700rpm-800rpm;
6) ladder filtering process is carried out to the target requirement moment of torsion of described output, to ensure that moment of torsion is mild;
7) export according to the target requirement moment of torsion after moment of torsion enable signal control ladder filtering process or set to 0, the target requirement torque control motors that electric machine controller receives described output runs, described entire car controller judges according to signals such as gearshift, acceleration pedal, electric machine controller, battery controller and car key patterns, to allow output torque (namely moment of torsion enable signal is for 1), or moment of torsion is set to 0.
See Fig. 1, described gearshift mechanism is by gear signal, gear breakdown signal is sent to entire car controller by CAN line, acceleration pedal is by pedal opening signal, pedal breakdown signal is sent to entire car controller by CAN line, brake pedal switch signal is sent to entire car controller by CAN line by brake pedal, electric machine controller is by motor status signal, motor failure signal is sent to entire car controller by CAN line, battery controller is by battery status signal, battery failures signal is sent to entire car controller by CAN line, target requirement moment of torsion is exported to electric machine controller by described entire car controller, the change of motor controller controls Motor torque and rotating speed, to realize various driving functions.
Claims (5)
1. a torque management control method of battery electric vehicle, comprises the steps:
1) entire car controller receive gearshift send gear signal, if current gear be P shelves or N shelves time, target requirement moment of torsion is 0, if current gear be D Drive or reverse gear time, carry out following steps;
2) entire car controller searches corresponding target requirement moment of torsion according to gear signal, pedal opening signal and motor speed signal from the D Drive moment of torsion MAP preset shows or reverse gear moment of torsion MAP shows; Under D Drive, when the value of found target requirement moment of torsion is greater than 0, car load is in moment of torsion output state, if be less than 0, then car load is in moment of torsion and reclaims state; Under reverse gear, when the value of found target requirement moment of torsion is less than 0, car load is in moment of torsion output state, if be greater than 0, then car load is in moment of torsion and reclaims state;
Described D Drive moment of torsion MAP table is under D Drive state, the aperture that will speed up pedal is divided into multiple opening value by 0% to 100%, motor speed is divided into multiple tachometer value by reverse peak rotating speed to rotating forward peak speed, and described opening value forms corresponding torque rating to tachometer value one_to_one corresponding
Wherein, multiple tachometer value between reverse peak rotating speed and 0 and the torque rating corresponding to arbitrary opening value are all greater than 0, multiple tachometer value between 0 and D Drive crawling critical speed and the torque rating corresponding to arbitrary opening value are all greater than 0, be less than 0 between the torque rating corresponding to D Drive crawling critical speed and the multiple tachometer value rotated forward between peak speed and the multiple opening values between 0% aperture and D Drive pedal critical angle, and the torque rating corresponding to multiple opening values between D Drive pedal critical angle and 100% aperture is greater than 0;
Described reverse gear moment of torsion MAP table is under reverse gear state, the aperture that will speed up pedal is divided into multiple opening value by 0% to 100%, motor speed is divided into multiple tachometer value by reverse peak rotating speed to rotating forward peak speed, and described opening value forms corresponding torque rating to tachometer value one_to_one corresponding
Wherein, all 0 is less than between the multiple tachometer value rotated forward between peak speed and 0 and the torque rating corresponding to arbitrary opening value, multiple tachometer value between 0 and reverse gear crawling critical speed and the torque rating corresponding to arbitrary opening value are all less than 0, multiple tachometer value between reverse gear crawling critical speed and reverse peak rotating speed and the torque rating corresponding to multiple opening values between 0% aperture and reverse gear pedal critical angle are greater than 0, and the torque rating corresponding to multiple opening values between reverse gear pedal critical angle and 100% aperture is less than 0;
Described D Drive moment of torsion MAP shows and reverse gear moment of torsion MAP show in acceleration pedal aperture, the division of motor speed and each crawling critical speed, pedal critical angle, torque rating size obtain by real vehicle demarcation;
3) limit value process is carried out to determined target requirement moment of torsion, make target requirement moment of torsion between motor maximum permissible torque and the minimum permission moment of torsion of negative motor, if target requirement moment of torsion is greater than motor maximum permissible torque, then using motor maximum permissible torque as target requirement moment of torsion, if target requirement moment of torsion is less than the minimum permission moment of torsion of negative motor, then using the negative minimum permission moment of torsion of motor as target requirement moment of torsion, the status signal calculating that described motor maximum permissible torque and the minimum permission moment of torsion of motor are sent according to electric machine controller and battery controller by entire car controller is determined, and be all more than or equal to 0,
4) fault restriction process is carried out to the target requirement moment of torsion after limit value process, namely when recovery system fault, the target requirement moment of torsion of the negative value of D Drive is set to 0, by reverse gear on the occasion of target requirement moment of torsion set to 0, when drive system fault, by D Drive on the occasion of target requirement moment of torsion set to 0, the target requirement moment of torsion of the negative value of reverse gear is set to 0;
5) when motor speed is less than calibration value n
aand chaufeur is when stepping on brake pedal, target requirement moment of torsion is 0, otherwise exports the target requirement moment of torsion after fault restriction process;
6) ladder filtering process is carried out to the target requirement moment of torsion of described output;
7) export according to the target requirement moment of torsion after moment of torsion enable signal control ladder filtering process or set to 0, the target requirement torque control motors that electric machine controller receives described output runs.
2. torque management control method of battery electric vehicle according to claim 1, is characterized in that: described entire car controller carries out communication interaction by CAN line and gearshift, acceleration pedal, brake pedal, electric machine controller, battery controller.
3. torque management control method of battery electric vehicle according to claim 1 and 2, it is characterized in that: described D Drive crawling critical speed and reverse gear crawling critical speed are calculated by the D Drive crawling critical speed demarcated and reverse gear crawling critical speed respectively to be determined, D Drive crawling critical speed and reverse gear crawling critical speed get 8Km/h-12Km/h.
4. torque management control method of battery electric vehicle according to claim 1 and 2, is characterized in that: D Drive pedal critical angle and reverse gear pedal critical angle are the 5%-30% of pedal full gate.
5. torque management control method of battery electric vehicle according to claim 1 and 2, is characterized in that: described calibration value n
aget 700rpm-800rpm.
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| CN107499183B (en) * | 2017-08-21 | 2018-08-03 | 上海从瑞投资管理有限公司 | A kind of electric vehicle crawling control method |
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| CN109720217A (en) * | 2018-12-29 | 2019-05-07 | 北汽（常州）汽车有限公司 | Pure electric automobile crawling control method |
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Application publication date: 20140402 Assignee: CHONGQING CHANGAN NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd. Assignor: Chongqing Changan Automobile Co.,Ltd.|CHONGQING CHANG'AN NEW ENERGY AUTOMOBILE Co.,Ltd. Contract record no.: 2018500000018 Denomination of invention: Torque management control method of battery electric vehicle Granted publication date: 20151007 License type: Exclusive License Record date: 20181121 |
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Address after: 401133 room 208, 2 house, 39 Yonghe Road, Yu Zui Town, Jiangbei District, Chongqing Patentee after: Deep Blue Automotive Technology Co.,Ltd. Address before: 401133 room 208, 2 house, 39 Yonghe Road, Yu Zui Town, Jiangbei District, Chongqing Patentee before: CHONGQING CHANGAN NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd. |
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