CN103847534B - A kind of control method of control system of electric automobile - Google Patents
A kind of control method of control system of electric automobile Download PDFInfo
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- CN103847534B CN103847534B CN201210510466.7A CN201210510466A CN103847534B CN 103847534 B CN103847534 B CN 103847534B CN 201210510466 A CN201210510466 A CN 201210510466A CN 103847534 B CN103847534 B CN 103847534B
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Abstract
The present invention proposes a kind of control method of control system of electric automobile, comprising: gearbox control judges vehicle-state; If be motoring condition, then judge that meeting the rear of gearshift condition sends gearshift request to entire car controller at gearbox control; Entire car controller is after judgement allows gearshift, and motor controller controls motor switches to free schema so that gearbox control control change speed gear box carries out plucking gear; Gearbox control sends rotation command to electric machine controller; When motor controller controls motor rotates with preset rotation speed to meet predetermined condition between the current rotating speed of motor and change speed gear box two axle rotating speed, motor controller controls motor switches to free schema; Gearbox control controls change speed gear box and carries out engage a gear; After engage a gear completes, motor controller controls motor switches to torque mode so that entire car controller controls electronlmobil according to driver control signals.The method has that change speed gear box adjusting speed accuracy is high, the advantage of fast response time.
Description
Technical field
The present invention relates to field of automobile, particularly a kind of control system of electric automobile and control method.
Background technology
Electronlmobil has excellent dynamic property, economy and emission performance relative to conventional vehicle, is one of emphasis of novel automobile power driving system research and development both at home and abroad at present, and obtains the extensive concern in user and market.In electric passenger vehicle field, for giving full play to motor height rate performance, mostly adopt single reduction gear at present, but in electric commercial vehicle field, especially passenger car field, current great majority are still manual gear change speed gear box or tape synchronizer, power-transfer clutch AMT change speed gear box, and driver comfort is poor.
At present, manned vehicle many employings unit deceleration system, make full use of motor height rate performance, not only reduce cost, and raising reliability, but at commercial vehicle/comm..vehicle, especially passenger car field, because car load demand torque is relatively very large, if still adopt single-stage speed reducing very difficult, motor and retarder cost will increase a lot, even because power of motor increases, arrange and all can occur very large difficulty, therefore mostly still adopt manual gear scheme now, not only the preceence of battery-driven car can not be given full play to, even can cause loss in efficiency phenomenon, even if there is automatic catch AMT scheme, also be band power-transfer clutch, synchro scheme, or band choosing, gearshift, complex structure, cost is high.
Summary of the invention
The present invention is intended at least one of solve the problems of the technologies described above.
For this reason, the object of the invention is to the control method proposing a kind of control system of electric automobile.The method has that change speed gear box adjusting speed accuracy is high, the advantage of fast response time.
To achieve these goals, The embodiment provides a kind of control method of control system of electric automobile, described control system of electric automobile comprises: motor; Electric machine controller, described electric machine controller is connected with described motor, for controlling described motor; The change speed gear box be connected with described motor; Gearbox control, described gearbox control be used for controlling described change speed gear box and and described electric machine controller between carry out communication; And entire car controller, described entire car controller is connected with described gearbox control with described electric machine controller respectively, for to described electric machine controller and described gearbox control sending controling instruction, and the feedback signal received from described electric machine controller and described gearbox control, described control method comprises the following steps: S1: gearbox control judges vehicle-state; At described gearbox control, S2: if be motoring condition, then judge that meeting the rear of gearshift condition sends gearshift request to described entire car controller; S3: described entire car controller is after judgement allows gearshift, and described motor controller controls motor switches to free schema so that described gearbox control control change speed gear box carries out plucking gear; S4: described gearbox control sends rotation command to described electric machine controller; S5: when described motor controller controls motor rotates with preset rotation speed to meet predetermined condition between the current rotating speed of described motor and change speed gear box two axle rotating speed, described in described motor controller controls, motor switches to described free schema; S6: described gearbox control controls described change speed gear box and carries out engage a gear; S7: after engage a gear completes, motor described in described motor controller controls switches to torque mode so that described entire car controller controls described electronlmobil according to driver control signals; And S8: if described vehicle-state is starting state, then perform described step S4-S7.
By the control method of the embodiment of the present invention, because the motor of control system adopts direct-connected mode to be connected with change speed gear box, thus when controlling gearshift, there is the advantage that electric machine speed regulation is fast, precision is high, can crash change of speed be realized, when moment of torsion recovers, the continuity that Motor torque exports is strong, can reduce impact, improves and takes advantage of the traveling comfort driven, improve the alerting ability of car load, be conducive to follow-up function and expand.Another change speed gear box eliminates power-transfer clutch, synchro and reverse gear mechanism, and reverse gear is realized by motor reversal, and structure is relatively simple, has saved cost.
In addition, control method according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, also comprised before described step S3: described entire car controller judges whether satisfied gearshift condition; And if judge to meet gearshift condition, then described entire car controller judgement permission gearshift.
In some instances, described step S1 comprises further: described gearbox control obtains gear information, speed information and Das Gaspedal aperture; If judge that described gear is neutral and the speed of a motor vehicle is zero, judge that described vehicle-state is starting state, otherwise judge that described vehicle-state is motoring condition.
In some instances, after described gearbox control control change speed gear box carries out plucking gear, also comprise: the status information of described change speed gear box is sent to described entire car controller by described gearbox control.
In some instances, before described gearbox control sends rotation command to described electric machine controller, also comprise: described gearbox control sends response signal to described electric machine controller; Before described entire car controller to control described electronlmobil according to driver control signals, also comprise: described entire car controller sends response signal to described electric machine controller, wherein, has zone bit in described response signal.
Further, when described zone bit is 0, described response signal is for responding the request of described entire car controller, and when described zone bit is 1, described response signal is for responding the request of described gearbox control.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the constructional drawing of control system according to an embodiment of the invention;
Fig. 2 is the constructional drawing of the change speed gear box of control system according to an embodiment of the invention;
Fig. 3 is the Principle of Communication figure between the controller of control system according to an embodiment of the invention;
Fig. 4 is the diagram of circuit of the control method of the control system of electronlmobil according to an embodiment of the invention; And
Fig. 5 is the sequential chart of the shift process of control method according to an embodiment of the invention.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, particular case above-mentioned term concrete meaning in the present invention can be understood.
Below in conjunction with accompanying drawing description according to the control system of the electronlmobil of the embodiment of the present invention and control method.
Fig. 1 is the constructional drawing of the control system of electronlmobil according to an embodiment of the invention.
As shown in Figure 1, the control system of electronlmobil according to an embodiment of the invention, comprises motor 110, electric machine controller MCU, change speed gear box 120, gearbox control TCU and entire car controller VMS.Certainly, the control system of the embodiment of the present invention also comprises other parts as shown in Figure 1, as: wheel, diff, ABS, instrument, car load CAN, bearing circle, DC/DC, electrokinetic cell etc.
Wherein, electric machine controller MCU is connected 110 with motor, for controlling motor 110.Change speed gear box 120 is connected with motor 110.Gearbox control TCU be used for controlling change speed gear box 120 and and electric machine controller TCU between carry out communication.Entire car controller VMS is connected with gearbox control TCU with electric machine controller MCU respectively, for electric machine controller MCU and gearbox control TCU sending controling instruction, and receives the feedback signal from electric machine controller MCU and gearbox control TCU.Particularly, motor 110 is connected in direct-connected mode with change speed gear box 120, change speed gear box 120 is with neutral, gear box actuator is air-actuator, as shown in Figure 2, be described for the change speed gear box 120 of fourth gear, directly can adopt the source of the gas on electronlmobil, give full play to the feature that electric machine speed regulation is fast, precision is high during gearshift, can crash change of speed be realized; When moment of torsion recovers, Motor torque output continuity is strong, can reduce impact, improves travelling comfort.In addition, change speed gear box 120 eliminates power-transfer clutch, synchro and reverse gear mechanism, and therefore, reverse gear to be reversed realization by motor 110, has structure simple, the advantage that cost is low.
For carrying out communication and entire car controller VMS between gearbox control TCU and electric machine controller TCU to electric machine controller MCU and gearbox control TCU sending controling instruction, and receive the feedback signal from electric machine controller MCU and gearbox control TCU.As a concrete example of the present invention, as shown in Figure 3, the entire car controller VMS and gearbox control TCU, electric machine controller MCU, ABS, the gear that show one embodiment of the invention input, communication between Das Gaspedal, brake pedal, instrument panel lamp and control planning.
Further embodiment of the present invention proposes a kind of control method of control system of electronlmobil, comprises the following steps: S1: gearbox control judges vehicle-state; At described gearbox control, S2: if be motoring condition, then judge that meeting the rear of gearshift condition sends gearshift request to described entire car controller; S3: described entire car controller is after judgement allows gearshift, and described motor controller controls motor switches to free schema so that described gearbox control control change speed gear box carries out plucking gear; S4: described gearbox control sends rotation command to described electric machine controller; S5: when described motor controller controls motor rotates with preset rotation speed to meet predetermined condition between the current rotating speed of described motor and change speed gear box two axle rotating speed, described in described motor controller controls, motor switches to described free schema; S6: described gearbox control controls described change speed gear box and carries out engage a gear; S7: after engage a gear completes, motor described in described motor controller controls switches to torque mode so that described entire car controller controls described electronlmobil according to driver control signals; And S8: if described vehicle-state is starting state, then perform described step S4-S7.
In one embodiment of the invention, step S1 comprises further:
S11: gearbox control TCU obtains gear information, speed information and Das Gaspedal aperture.
S12: if judge that gear is neutral and the speed of a motor vehicle is zero, judge that vehicle-state is starting state, otherwise judge that vehicle-state is motoring condition.Wherein, starting state refers to: the speed of a motor vehicle is zero and works as to be that motoring condition finger stop position is positioned on drivable position, as forward gear D, or in the vehicle condition state that the speed of a motor vehicle is non-vanishing under normal circumstances in neutral.
Further, as an object lesson, as shown in Figure 4 and composition graphs 2 and Fig. 5, wherein, Fig. 5 is the engage a gear of starting state of above-described embodiment and the sequential chart of the gearshift of motoring condition.After gearbox control TCU judges that vehicle-state is motoring condition, shift process comprises the following steps:
Step S401: gearbox control TCU, according to gearshift map figure, sends gearshift request to entire car controller VMS.In this example, gearshift map figure refers to form of shifting gears, and namely gearbox control TCU can need gearshift according to this gearshift table lookup AMT change speed gear box is suitable, and this gearshift map also can be a kind of Shifting, judges that AMT change speed gear box is suitable shift gears according to this Shifting.
Step S402: entire car controller judges whether satisfied gearshift condition, if judge to meet gearshift condition, then described entire car controller judges to allow gearshift, particularly, entire car controller VMS judges car load current state according to the motor status collected, electrokinetic cell state, gear information, speed information, ABS etc., if state allows, then send to gearbox control TCU and allow shifting commands; If state does not allow, then vehicle is pointed out to there is fault.Needs illustrate, entire car controller judges whether satisfied gearshift condition, if judge to meet gearshift condition, then entire car controller judges to allow gearshift to be step: entire car controller is after judgement allows gearshift, and motor controller controls motor switches to free schema so that gearbox control controls to complete before change speed gear box carries out plucking gear.
Step S403: gearbox control TCU receives and allows after shifting commands, sends priority instruction, to obtain the priority control to electric machine controller MCU to electric machine controller MCU.Then to electric machine controller MCU sending mode switching command, electric machine controller MCU controls motor 110 and is switched to free schema by torque mode.
Step S404:MCU completes pattern and switches, and present mode is sent to TCU.
Step S405:TCU receives after MCU present mode is free schema, gear action is plucked to change speed gear box 120, in one embodiment of the invention, control also to comprise after change speed gear box carries out plucking gear change speed gear box 120 current state is sent VMS at gearbox control TCU, namely the status information of change speed gear box 120 is sent to entire car controller VMS by gearbox control TCU.
Step S406:TCU plucks gear and completes, and to MCU sending mode switching command, controls motor 110 and switches to rotating speed pattern by free schema, and change speed gear box 120 current state is sent VMS.
Step S407:TCU receives motor speed mode instruction, sends rotating speed of target instruction to MCU, and change speed gear box current state is sent VMS.
Step S408:MCU enters the speed governing stage, and the current rotating speed of motor 110 is sent to TCU in real time, and TCU, according to two axle rotation speed change of change speed gear box 120, finely tunes rotating speed of target in real time.
Step S409: motor 110 rotating speed and change speed gear box 120 2 axle rotating speed enter within the scope of permissible error, TCU, to MCU sending mode switching command, control motor and switch to free schema by rotating speed pattern, and change speed gear box current state is sent VMS.
Step S410:TCU receives the instruction of motor freedom of entry mode state, carries out engage a gear action, and change speed gear box 120 current state is sent VMS.
Step S411:TCU engage a gear completes, and sends engage a gear and completes instruction, send priority instruction simultaneously to MCU to VMS, reduces TCU and controls priority.
Step S412:MCU carries out pattern switching, switches to torque mode, and response VMS torque command, enters moment of torsion reforestation practices.
As an object lesson, as shown in Figure 4 and composition graphs 2, after gearbox control TCU judges that vehicle-state is starting state, after gear is by neutral to advance, gearbox control TCU sends priority instruction, to obtain the priority control to electric machine controller MCU to electric machine controller MCU.Then above-mentioned steps S407 to step S412 is performed to complete starting.
The control method of the embodiment of the present invention is when controlling electronlmobil and moveing backward, and namely gear is reverse gear R, and in the control method of the embodiment of the present invention, reversing realizes for controlling motor 110 reversion.
In addition, entire car controller VMS or gearbox control TCU obtains can also be in the following way to the priority control of electric machine controller MCU, particularly, such as: for gearbox control TCU, before gearbox control TCU sends rotation command to electric machine controller MCU, gearbox control TCU sends response signal (i.e. priority instruction) to electric machine controller MCU, for entire car controller VMS, before entire car controller VMS to control electronlmobil according to driver control signals, entire car controller VMS sends response signal to electric machine controller MCU, wherein, in response signal, there is zone bit.Further, when zone bit is 0, response signal is for responding the request of entire car controller VMS, and when zone bit is 1, response signal is for responding the request of gearbox control TCU.
By the control method of the embodiment of the present invention, because the motor of control system adopts direct-connected mode to be connected with change speed gear box, thus when controlling gearshift, there is the advantage that electric machine speed regulation is fast, precision is high, can crash change of speed be realized, when moment of torsion recovers, the continuity that Motor torque exports is strong, can reduce impact, improves and takes advantage of the traveling comfort driven, improve the alerting ability of car load, be conducive to follow-up function and expand.Another change speed gear box eliminates power-transfer clutch, synchro and reverse gear mechanism, and reverse gear is realized by motor reversal, and structure is relatively simple, has saved cost.
In the description of this specification sheets, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present invention and aim, scope of the present invention is by claim and equivalency thereof.
Claims (6)
1. a control method for control system of electric automobile, is characterized in that, described control system of electric automobile comprises: motor; Electric machine controller, described electric machine controller is connected with described motor, for controlling described motor; The change speed gear box be connected with described motor; Gearbox control, described gearbox control be used for controlling described change speed gear box and and described electric machine controller between carry out communication; And entire car controller, described entire car controller is connected with described gearbox control with described electric machine controller respectively, for to described electric machine controller and described gearbox control sending controling instruction, and the feedback signal received from described electric machine controller and described gearbox control, described control method comprises the following steps:
S1: gearbox control judges vehicle-state;
At described gearbox control, S2: if be motoring condition, then judge that meeting the rear of gearshift condition sends gearshift request to described entire car controller;
S3: described entire car controller is after judgement allows gearshift, and described motor controller controls motor switches to free schema so that described gearbox control control change speed gear box carries out plucking gear;
S4: described gearbox control sends rotation command to described electric machine controller;
S5: when described motor controller controls motor rotates with preset rotation speed to meet predetermined condition between the current rotating speed of described motor and change speed gear box two axle rotating speed, described in described motor controller controls, motor switches to described free schema;
S6: described gearbox control controls described change speed gear box and carries out engage a gear;
S7: after engage a gear completes, motor described in described motor controller controls switches to torque mode so that described entire car controller controls described electronlmobil according to driver control signals; And
S8: if described vehicle-state is starting state, then perform described step S4-S7.
2. the method for claim 1, is characterized in that, also comprises before described step S3:
Described entire car controller judges whether satisfied gearshift condition; And
If judge to meet gearshift condition, then described entire car controller judges to allow gearshift.
3. the method for claim 1, is characterized in that, described step S1 comprises further:
Described gearbox control obtains gear information, speed information and Das Gaspedal aperture;
If judge that described gear is neutral and the speed of a motor vehicle is zero, judge that described vehicle-state is starting state, otherwise judge that described vehicle-state is motoring condition.
4. the method for claim 1, is characterized in that, after described gearbox control control change speed gear box carries out plucking gear, also comprises:
The status information of described change speed gear box is sent to described entire car controller by described gearbox control.
5. the method for claim 1, is characterized in that,
Before described gearbox control sends rotation command to described electric machine controller, also comprise: described gearbox control sends response signal to described electric machine controller;
Before described entire car controller to control described electronlmobil according to driver control signals, also comprise: described entire car controller sends response signal to described electric machine controller,
Wherein, in described response signal, there is zone bit.
6. method as claimed in claim 5, is characterized in that, wherein, when described zone bit is 0, described response signal is for responding the request of described entire car controller, and when described zone bit is 1, described response signal is for responding the request of described gearbox control.
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| CN201210510466.7A CN103847534B (en) | 2012-12-03 | 2012-12-03 | A kind of control method of control system of electric automobile |
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