CN104129305B - A kind of electric automobile method for controlling driving speed - Google Patents
A kind of electric automobile method for controlling driving speed Download PDFInfo
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Abstract
The present invention relates to a kind of electric automobile method for controlling driving speed, it comprises the following steps: the actual vehicle speed signal input entire car controller that 1) Hall-type Wheel speed signal sensor records, control chip judge whether to start speed closed loop control; 2) driver is according to present road situation, selects to select in module driving model at driving model, steps on electronic accelerator pedal to a certain position simultaneously; 3) driving model signal, acceleration pedal position signal, actual vehicle speed signal input entire car controller by respective channel; 4) acceleration pedal position signal of input is filtered by low pass filter blocks; 5) acceleration pedal position signal after processing and actual vehicle speed signal are calculated by PID controller, obtain drive motor torque command, and are input to drive motor controller by CAN communication passage; 6) drive motor controller controls drive motor action according to drive motor order. The present invention can be widely applied in the speed control of various electric automobile.
Description
Technical field
The present invention relates to a kind of method for controlling driving speed, especially with regard to the electric automobile method for controlling driving speed of a kind of accelerator pedal position correspondence electric automobile speed.
Background technology
By the end of the end of the year 2013, China's automobile guarantee-quantity has broken through 1.3 hundred million, there is the automobile pollution in 31 cities in the whole nation more than 1,000,000, and wherein 8 city automobile recoverable amounts such as Beijing, Tianjin, Chengdu, Shenzhen, Shanghai, Guangzhou, Suzhou, Hangzhou are more than 2,000,000. And most automobiles that at present Chinese market is possessed and market is on sale are still using traditional combustion engine as power, bring huge pressure with environmental protection to energy-conservation. Compared with internal-combustion engines vehicle, there is many advantages in electric automobile, for instance energy conversion efficiency is high, and low speed torque is big. Along with constantly adding of oil consumption and Abgasgesetz is tight, have reason to believe that the market share of electric automobile (such as hybrid vehicle and pure electric automobile) can be stepped up, and then occupy the market of a part of traditional combustion engine automobile, even eventually make internal-combustion engines vehicle step down from the stage of history.
On the other hand, in traditional internal-combustion engines vehicle, driver needs the negative feedback closed loop participating in speed to control, its control flow is: 1, driver produces a desired speed at heart, this desired speed is relevant to several factors, for instance road speed limit, with leading vehicle distance or intention etc. of overtaking other vehicles. 2, actual vehicle speed is passed through visual feedback to driver by instrument board, and driver judges the relation between actual vehicle speed and desired speed, namely actual vehicle speed is greater than less than or equal to desired speed. 3, when actual vehicle speed is less than desired speed, the signal that the output of driver's brain is accelerated, control right crus of diaphragm and step on the throttle pedal, increase accelerator open degree; When actual vehicle speed is equal to desired speed, the output of driver's brain keeps the signal of present situation, and right crus of diaphragm does not do action; When actual vehicle speed is more than desired speed, the signal that the output of driver's brain is slowed down, control right crus of diaphragm is lifted, reduce accelerator open degree, even right crus of diaphragm is moved to brake pedal, brake pedal from gas pedal. 4, actual vehicle speed is passed through visual feedback to driver by instrument board again, then repeats step 2 and step 3, finally realizes the closed loop control of speed.
During the speed negative feedback closed loop of traditional combustion engine controls, the eyes of driver are responsible for feedback signal input, and brain is responsible for closed loop control, hands and foot and is responsible for performing the output signal of brain, and driver assume responsibility for main control task. When speed is relatively low, particularly under metropolitan road conditions of blocking up, two problems display: one, under the operating mode loitered, driver's working strength is greatly increased, and driver needs constantly switching throttle and brake pedal, if in the vehicle of manual transmission, driver also needs to operation clutch pedal and speed-changing lever, so very easily produces driving fatigue, is unfavorable for driver comfort and safety; Its two, each driver is independent individuality, the control cycle of above-mentioned control method, response speed, and hyperharmonic dynamic error is impossible to be duplicate for each driver. Popular saying is exactly driving habits, and someone likes gentle driving, and response speed and overshoot are smaller, are so unfavorable for flow speeds; And also someone likes fierce driving, response speed and overshoot are relatively larger, are unfavorable for so again energy-saving and emission-reduction.
The change for method for controlling driving speed of changing of dynamical system creates possibility, and the solution being configured as above-mentioned two problems of electric automobile provides probability. The electronic function of electric automobile produces driving torque and braking moment, and response speed is high, and rotating speed and torque energy accurately control. But under traditional method for controlling driving speed, electric automobile likely produces excessive acceleration and deceleration, cause that motor can not be operated in the efficiency area of optimization, but also a part of braking energy can be lost.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of in the process that electric automobile runs at a low speed, utilize the electric automobile method for controlling driving speed of accelerator pedal position correspondence electric automobile speed.
For achieving the above object, the present invention takes techniques below scheme: a kind of electric automobile method for controlling driving speed, and it comprises the following steps: 1) arrange analog input channel, frequency quantity acquisition channel, CAN communication passage and control chip in entire car controller; Described control chip arranges low pass filter blocks and PID controller; 2) the actual vehicle speed signal that Hall wheel speed sensor records, by frequency quantity acquisition channel input entire car controller, is judged whether to start speed closed loop control by control chip; When actual vehicle speed is less than critical speed, start speed closed loop control; When actual vehicle speed is more than or equal to critical speed, do not start speed closed loop control; 3) driver is according to present road situation, selects to select a kind of driving model in comfortable, normal or motion in module at driving model, steps on electronic type accelerating throttle pedal to a certain position simultaneously; 4) driving model selects the driving model signal of module and the acceleration pedal position signal of electronic type accelerating throttle pedal to input entire car controller by analog input channel; The actual vehicle speed signal of Hall wheel speed sensor is by frequency quantity acquisition channel input entire car controller; 5) acceleration pedal position signal of input is filtered by low pass filter blocks, filters the high-frequency fluctuation in acceleration pedal position signal and noise signal; 6) acceleration pedal position signal after processing and actual vehicle speed signal are calculated by PID controller, obtain drive motor torque command, and are input to drive motor controller by CAN communication passage; 7) drive motor controller increases according to drive motor order or reduces the demand torque of drive motor, makes car load be accelerated according to corresponding acceleration or deceleration velocity-response curve or slow down.
Due to the fact that and take above technical scheme, it has the advantage that 1, due to the fact that when speed is relatively low, driver only needs to select desired driving model and steps on the throttle pedal position according to desired speed, according to accelerator pedal position signal, speed can be carried out closed loop control by entire car controller, alleviate the working strength of driver greatly. 2, due to the fact that and introduced PID control law, therefore control parameter by reasonably selecting, it becomes possible to realize actual vehicle speed to desired speed quickly and accurately response, accurately control speed. 3, due to the fact that the universal characteristic curve according to drive motor optimizes response curve, acceleration and the deceleration of car load carry out according to the accelerating velocity response curve designed in advance or geard-down speed response curve, optimize drive efficiency and the Brake energy recovery efficiency of drive motor, energy as much as possible can be reclaimed, be effectively improved energy ecology. The present invention can be widely applied in the speed control of the various electric automobiles such as pure electric coach, plug-in hybrid passenger car, pure electric sedan, plug-in hybrid car.
Accompanying drawing explanation
Fig. 1 is control principle block diagram of the present invention
Fig. 2 is the control flow schematic diagram of the present invention
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail.
As it is shown in figure 1, entire car controller of the present invention is provided with analog input channel 1, frequency quantity acquisition channel 2, CAN communication passage 3 and control chip 4. Control chip 4 is provided with low pass filter blocks 41, PID controller 42. The electronic type accelerating throttle pedal 5 of car load and driving model select module 6 to be connected with entire car controller by analog input channel 1; Hall wheel speed sensor 7 is connected with entire car controller by frequency quantity acquisition channel 2; Drive motor 8 is connected with drive motor controller 9, and drive motor controller 9 is connected with entire car controller by CAN communication passage 3. In entire car controller, each signal is processed by control chip 4, and the drive motor torque command obtained is exported drive motor controller 9 by CAN communication passage 3 drive motor 8 is controlled.
P (ratio), I (integration) and D (differential) in PID controller 42 control parameter, it is possible to artificially select according to concrete vehicle, and it is prior art that PID controls technology, does not repeat them here.
As in figure 2 it is shown, electric automobile method for controlling driving speed of the present invention, comprise the following steps:
1) the actual vehicle speed signal that Hall wheel speed sensor 7 records inputs entire car controller by frequency quantity acquisition channel 2, control chip 4 judge whether to start speed closed loop control.
When actual vehicle speed is less than critical speed, start speed closed loop control;
When actual vehicle speed is more than or equal to critical speed, do not start speed closed loop control.
The concrete numerical value of above-mentioned critical speed can be determined according to different application scenarios, such as the average speed of city bus is generally relatively low, and the critical speed of speed closed loop control can be set to lower, for instance 10km/h; And the average speed of car is general higher, the critical speed of speed closed loop control can be set to height a bit, for instance 20km/h.
2) driver is according to present road situation, and such as flow speeds and vehicle closeness, selection driving model selects the one in comfortable in module 6, normal or three kinds of driving models of motion, steps on electronic type accelerating throttle pedal 5 to a certain position simultaneously. The driving model that driver selects is defined as expectation driving model by the present invention, owing to the diverse location of electronic type accelerating throttle pedal 5 is corresponding with friction speed, therefore speed corresponding for electronic type accelerating throttle pedal 5 position set by driver is defined as desired speed by the present invention.
Driving model selects the driving model of module 6 correspondence to determine the speed of speed closed loop control response speed, and response speed corresponding to three kinds of driving models is from being ordered as to fast slowly: comfortable < normal < move. The present invention is according to three kinds of driving models, based on the universal characteristic curve of drive motor 8, devise accelerating velocity response curve and the geard-down speed response curve of car load under corresponding 3 kinds of driving models, after driver selects expectation driving model, car load is accelerated according to the acceleration or deceleration velocity-response curve that this driving model is corresponding or slows down, and makes the operating point (such as rotating speed, torque) of drive motor 8 in the region of efficiency higher (being greater than 80%).
3) driving model selects the driving model signal of module 6 and the acceleration pedal position signal of electronic type accelerating throttle pedal 5 to input entire car controller by analog input channel 1; Actual vehicle speed signal is inputted entire car controller by frequency quantity acquisition channel 2 by Hall wheel speed sensor 7.
4) acceleration pedal position signal of input is filtered by low pass filter blocks 41, filters the high-frequency fluctuation in acceleration pedal position signal and noise signal.
5) acceleration pedal position signal after processing and actual vehicle speed signal are calculated by PID controller 42, obtain drive motor torque command, and are input to drive motor controller 9 by CAN communication passage 3.
6) drive motor controller 9 increases according to drive motor order or reduces the demand torque of drive motor 8, making car load be accelerated according to the acceleration or deceleration velocity-response curve of response or slow down, the true speed and the desired speed that finally realize car load are equal in error allowed band.
The various embodiments described above are merely to illustrate the present invention; wherein the structure of each parts, connected mode and processing technology etc. all can be varied from; every equivalents carried out on the basis of technical solution of the present invention and improvement, all should not get rid of outside protection scope of the present invention.
Claims (1)
1. an electric automobile method for controlling driving speed, it comprises the following steps:
1) entire car controller arranges analog input channel, frequency quantity acquisition channel, CAN communication passage and control chip; Described control chip arranges low pass filter blocks and PID controller;
2) the actual vehicle speed signal that Hall wheel speed sensor records, by frequency quantity acquisition channel input entire car controller, is judged whether to start speed closed loop control by control chip;
When actual vehicle speed is less than critical speed, start speed closed loop control;
When actual vehicle speed is more than or equal to critical speed, do not start speed closed loop control;
3) driver is according to present road situation, selects to select a kind of driving model in comfortable, normal or motion in module at driving model, steps on electronic type accelerating throttle pedal to a certain position simultaneously;
4) driving model selects the driving model signal of module and the acceleration pedal position signal of electronic type accelerating throttle pedal to input entire car controller by analog input channel; The actual vehicle speed signal of Hall wheel speed sensor is by frequency quantity acquisition channel input entire car controller;
5) acceleration pedal position signal of input is filtered by low pass filter blocks, filters the high-frequency fluctuation in acceleration pedal position signal and noise signal;
6) acceleration pedal position signal after processing and actual vehicle speed signal are calculated by PID controller, obtain drive motor torque command, and are input to drive motor controller by CAN communication passage;
7) drive motor controller increases according to drive motor order or reduces the demand torque of drive motor, car load is made to be accelerated according to corresponding acceleration or deceleration velocity-response curve or slow down, namely according to three kinds of driving models, based on the universal characteristic curve of drive motor, devise accelerating velocity response curve and the geard-down speed response curve of car load under corresponding 3 kinds of driving models, after driver selects expectation driving model, car load is accelerated according to the acceleration or deceleration velocity-response curve that this driving model is corresponding or slows down.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2538806B (en) | 2015-05-29 | 2021-04-07 | Sevcon Ltd | Method and apparatus |
| CN105511475B (en) * | 2016-01-29 | 2018-04-20 | 中国科学院合肥物质科学研究院 | A kind of longitudinally controlled method of unmanned vehicle judged based on motor pattern |
| CN106004523B (en) * | 2016-07-22 | 2018-07-03 | 清华大学 | A kind of method of the real-time torque optimal control of distributed-driving electric automobile |
| CN106585378A (en) * | 2016-11-09 | 2017-04-26 | 浙江吉利控股集团有限公司 | Vehicle speed limiting system and method |
| CN110303897A (en) * | 2018-03-27 | 2019-10-08 | 湖南中车时代电动汽车股份有限公司 | A kind of the target vehicle speed response method and system of pure electric vehicle intelligent driving car |
| CN108749816B (en) * | 2018-05-15 | 2020-03-31 | 天津职业技术师范大学 | Method for regulating and controlling speed of intelligent vehicle by using energy dissipation theory |
| CN109656235B (en) * | 2019-01-08 | 2019-12-31 | 清华大学 | Vehicle control unit in-loop simulation test system and control method thereof |
| CN113484530A (en) * | 2021-05-26 | 2021-10-08 | 深圳市二郎神视觉科技有限公司 | Vehicle speed detection method, system and computer readable storage medium |
| CN113085830A (en) * | 2021-05-27 | 2021-07-09 | 中国第一汽车股份有限公司 | Engine starting control method and device, electronic equipment and storage medium |
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| DE10003466A1 (en) * | 2000-01-27 | 2001-08-09 | Siemens Ag | Speed control system for motor vehicles enables actual vehicle speed to be very rapidly controlled to defined desired speed without unwanted overshoots - has proportional stage of regulating unit dependent on engine speed and defined demand acceleration during acceleration phases |
| CN101240750A (en) * | 2007-02-05 | 2008-08-13 | 上海大众智能设备有限公司 | Automobile speed limiting intelligent controller possessing GPS location function |
| ITRM20090334A1 (en) * | 2009-06-26 | 2010-12-27 | Oxygen S P A | METHOD FOR THE CONTROL OF THE ADVANCEMENT SPEED IN SCOOTER WITH ELECTRIC PROPULSION |
| CN103386935B (en) * | 2013-07-25 | 2016-03-02 | 株洲南车时代电气股份有限公司 | A kind of control method of finished and entire car controller |
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