CN107215244A - The electric drive system for electric vehicles torque control system and method on a kind of low attached road surface - Google Patents
The electric drive system for electric vehicles torque control system and method on a kind of low attached road surface Download PDFInfo
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- CN107215244A CN107215244A CN201710512419.9A CN201710512419A CN107215244A CN 107215244 A CN107215244 A CN 107215244A CN 201710512419 A CN201710512419 A CN 201710512419A CN 107215244 A CN107215244 A CN 107215244A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of electric drive system for electric vehicles torque control system on low attached road surface and method, the system includes：Motor speed signal is gathered and processing module, the tach signal of motor and processing, output motor rotating speed to main control module in collection power drive system；Main control module according to the motor speed signal gather and processing module processing after motor speed calculate motor speed rate of change average value, and the result of calculation according to the computing module and the Motor torque instruction from entire car controller, judge applicable control mode, calculate and send corresponding motor and perform moment of torsion to the electric machine controller in power drive system.The present invention judges whether electric vehicle skidding operating mode occurs on low attached road surface using motor speed rate of change average value, and upper limit threshold value and lower limit threshold value are provided with for this, obtaining suitable judgment threshold by vehicle demarcation can realize that accurately skidding judges and skidding is exited.
Description
Technical field
The invention belongs to electric drive system for electric vehicles control technology field, more particularly to a kind of electronic vapour on low attached road surface
Car power drive system torque control system and method.
Background technology
The electric energy that electric automobile is stored using in battery as unique energy resource supply, with efficiently, energy-conservation, low noise and
The features such as zero-emission, there is incomparable advantage in terms of energy-conservation and environmental protection, therefore be increasingly becoming the important hair of automobile industry
One of exhibition trend.Power drive system realizes that mechanical energy is mutually converted with electric energy as the important component of electric automobile
It is crucial.Power drive system mainly includes electric machine controller and motor body, and the power model price wherein in electric machine controller is not
It is luxuriant and rich with fragrance and higher to the susceptibility of temperature, electric current and voltage.
Electric automobile enters after low attached road surface from normal road surface, and frictional force is drastically reduced, quick equivalent to motor load
Reduction.Now motor speed can quickly accelerate due to load reduction, from rotation transformer (or Hall sensor, photoelectricity compile
Code device etc.) rotor angular position that collects calculates obtained rotating speed and will appear from very big step.The step increase of motor speed
It will result directly in and occur dash current and surge voltage in motor control to cause the error protection of electric machine controller, or even meeting
There is electric machine controller damage or motor is out of control, influence vehicle body stabilization and passenger safety.This is not fair in normal driving process
Perhaps occur.
(the publication number of patent publication us 1：CN1681680A, publication date：2015.10.12) disclose a kind of vehicle slip
Control device, the automobile and its control method for being provided with the device.When motor requires that torque Tm* torque variation delta Tm is big
When, because torque change causes vehicle to occur vibration or swing, thus angular acceleration temporarily becomes big, enters according to angular acceleration
Row, which skids, to be judged in (step S112), although skidding does not occur, but because angular acceleration exceedes wealthy value α Slip, can also be mistaken for beating
It is sliding to occur, therefore, when torque variation delta Tm exceedes threshold value Thr elbows in step (S108), though it is probably not occur to be judged as
Skid and be mistaken for skidding, from being control routine (step 120) when skidding to occur without performing torque restriction process, and hold
The control routine during attachment of row step (Sl16).
The shortcoming and the application motion technical problem to be solved of prior art：
1st, the scheme of patent publication us 1 must be negative value in angular acceleration and enter convergence of skidding after meeting the stipulated time
Control, exits skidding control；And actually when angular acceleration be on the occasion of and within the specific limits when can enter skid convergence control
System；Either can be conditional when driver, which has, reduces intention of the motor output torque to reduce motor speed by throttle
Into convergence control of skidding；
And motion of the present invention is provided with two judgment thresholds：Upper limit threshold value is that UpLimit, lower limit threshold value are
LowLimit；
Motor speed rate of change average value be on the occasion of and more than or equal to lower limit threshold value LowLimit, be less than or equal to simultaneously
Upper limit threshold value UpLimit or motor speed rate of change average value are on the occasion of and less than lower limit threshold value LowLimit, it is considered to
Last moment motor performs the factors such as relation (driver intention), the time of moment of torsion and Motor torque instruction to judge whether to exit
Skid and control；
2nd, the scheme of patent publication us 1 is more (such as engine shake of factor being related to for overall control technology
Dynamic, mechanical oscillation etc.), so as to cause control accuracy relatively low.
The content of the invention
The present invention seeks to：The electric drive system for electric vehicles torque control system and method on a kind of low attached road surface are provided,
Judge whether electric vehicle skidding operating mode occurs on low attached road surface using motor speed rate of change average value, and be provided with for this
Two judgment thresholds：Upper limit threshold value and lower limit threshold value, standard can be realized by obtaining suitable judgment threshold by vehicle demarcation
True skidding judgement and skidding are exited.
The technical scheme is that：
A kind of electric drive system for electric vehicles torque control system on low attached road surface, including：
Motor speed signal is gathered and processing module, the tach signal for gathering motor in power drive system, while right
The signal collected is filtered Shape correction to suppress noise jamming, improve signal quality, and output motor rotating speed is to master control
Module；
Main control module, is made up of computing module and control module, wherein,
Computing module, for calculating electricity according to the motor speed after motor speed signal collection and processing module processing
The average value of machine relative speed variation；
Control module, refers to for the result of calculation according to the computing module and the Motor torque from entire car controller
Order, judges applicable control mode, and calculate and send corresponding motor execution moment of torsion to the motor control in power drive system
Device.
It is preferred that, the device for gathering motor speed is used in the motor speed signal collection and processing module using change
One or more in depressor, Hall sensor, photoelectric encoder.
It is preferred that, the Motor torque instruction is sent to master control for entire car controller by CAN or FlexRay buses
Module.
A kind of electric drive system for electric vehicles torque control method on low attached road surface, including：
Step 1, set motor speed rate of change average value upper limit threshold value as UpLimit, lower limit threshold value is
LowLimit；The average value of power drive system motor speed rate of change is calculated, according to result of calculation, judges electric vehicle low attached
Whether skidding operating mode is occurred on road surface；
If it is negative value or 0 that obtained motor speed rate of change average value is calculated in step 2, step 1, then it is assumed that do not occur to beat
Sliding, it is 0 to put skidding flag bit；Motor performs torque T orque_Act and is equal to the Motor torque instruction from entire car controller
Torque_Cmd；
Step 3, if it is on the occasion of and more than upper limit threshold value that obtained motor speed rate of change average value is calculated in step 1
UpLimit, then it is assumed that skid, it is 1 to put skidding flag bit；Motor performs torque T orque_Act and need to instructed in Motor torque
Accordingly reduced on the basis of Torque_Cmd；
Step 4, if it is on the occasion of and less than lower limit threshold value that obtained motor speed rate of change average value is calculated in step 1
LowLimit, the processing mode that motor performs torque T orque_Act is divided into 2 kinds：
(1) if skidding flag bit is 0, motor performs torque T orque_Act and is equal to Motor torque instruction Torque_
Cmd；
(2) if skidding flag bit is 1, motor execution moment of torsion and this moment that last moment calculating is obtained further are compared
Motor torque instruction：
If the motor of last moment performs the Motor torque instruction that moment of torsion is more than or equal to this moment, motor performs moment of torsion
Torque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set to 0；If last moment motor performs moment of torsion
Motor torque less than this moment is instructed, then sets timer t and timer limit value Tlimit：
(2-1), when timer t is less than or equal to Tlimit, motor performs the electricity that torque T orque_Act is equal to last moment
Machine execution moment of torsion is constant, and skidding flag bit remains 1；
(2-2), when timer t is more than Tlimit, motor performs torque T orque_Act and instructed equal to Motor torque
Torque_Cmd, skidding flag bit is set to 0；Timer t stops counting；
Step 5, if it is on the occasion of and more than or equal to lower limit door that obtained motor speed rate of change average value is calculated in step 1
Limit value LowLimit, while less than or equal to upper limit threshold value UpLimit, motor performs torque T orque_Act processing mode point
For 2 kinds：
(1) if skidding flag bit is 0, motor performs torque T orque_Act and is equal to Motor torque instruction Torque_
Cmd；
(2) if skidding flag bit is 1, motor execution moment of torsion and this moment that last moment calculating is obtained further are compared
Motor torque instruction：
If the motor of last moment performs the Motor torque instruction that moment of torsion is more than or equal to this moment, motor performs moment of torsion
Torque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set to 0；If last moment motor performs moment of torsion
Motor torque less than this moment is instructed, then motor performs torque T orque_Act and performs moment of torsion not equal to the motor of last moment
Become, skidding flag bit remains 1.
It is preferred that, the method for the average value of power drive system motor speed rate of change is calculated in step 1 to be included：
The calculation formula of motor speed rate of change is：
N (k) in formula is the motor speed of power drive system electric machine controller kth time collection, and N (k-1) is electric drive trains
The motor speed of system electric machine controller -1 collection of kth, Δ t is the calculating cycle of motor speed rate of change；
The calculation formula of motor speed rate of change average value is：
In formulaThe motor speed rate of change obtained for-n+1 calculating of kth,Calculated for kth time
The motor speed rate of change arrived, n is average value number of times.
It is preferred that, the calculating cycle Δ t of the motor speed rate of change and the value of average value frequency n are obtained by vehicle demarcation
, Δ t is chosen for 20ms, and n is chosen for 2.
It is preferred that, in step 3, the average value of motor speed rate of change is bigger, and motor execution torque T orque_Act is smaller,
The specific formula for calculation that motor performs torque T orque_Act is：
It is preferred that, in step 1, UpLimit is more than LowLimit and both on the occasion of UpLimit and LowLimit are logical
Cross vehicle demarcation and obtain desired value.
It is preferred that, in step 4, timer limit value Tlimit obtains desired value by vehicle demarcation.
It is preferred that, power drive system electric machine controller skidding flag bit in power-up initializing is set to 0.
It is an advantage of the invention that：
1st, motion of the present invention judges whether electric vehicle occurs on low attached road surface using motor speed rate of change average value
Skidding operating mode, and it is provided with for this two judgment thresholds：Upper limit threshold value and lower limit threshold value, obtain suitable by vehicle demarcation
Judgment threshold can realize accurately skid judge and skidding exit；
2nd, motion of the present invention further compares the motor that last moment calculating is obtained after judging that needs exit skidding operating mode
Perform moment of torsion and the Motor torque at this moment is instructed, judge whether to need delay to exit skidding operating mode, taken into full account driver
It is intended to；
3rd, motion scheme simple logic of the present invention is clearly easily achieved, can when vehicle skids rapid limiting motor
Moment of torsion is performed, dash current and voltage caused by skidding is reduced and, for the harmful effect of power drive system, also helps simultaneously
Ensure vehicle body stabilization and passenger safety.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Fig. 1 is electric drive system for electric vehicles torque control system structure principle chart in embodiment；
Fig. 2 is electric drive system for electric vehicles torque control method flow chart in embodiment；
Fig. 3 is electric drive system for electric vehicles moment of torsion control design sketch in embodiment.
Embodiment
As shown in figure 1, the electric drive system for electric vehicles torque control system on disclosed low attached road surface, described
The composition of control system is：
Motor speed signal is gathered and processing module, the tach signal for gathering motor in power drive system, while right
The signal collected is filtered Shape correction to suppress noise jamming, improve signal quality, and output motor rotating speed is to master control
Module；
Main control module, it is made up of computing module and control module, wherein,
Computing module, for calculating electricity according to the motor speed after motor speed signal collection and processing module processing
The average value of machine relative speed variation；
Control module, refers to for the result of calculation according to the computing module and the Motor torque from entire car controller
Order, judges applicable control mode, and calculate and send corresponding motor execution moment of torsion to the motor control in power drive system
Device.
When it is implemented, the device for being used to gather motor speed in described motor speed signal collection and processing module is
Rotation transformer, but rotary transformer is not limited only to, also can be using other devices such as Hall sensor, photoelectric encoders.
Described Motor torque instruction is sent to main control module for entire car controller by CAN communication mode, but is not only limited
, also can be using other communication modes such as FlexRay communication modes in CAN communication mode.
As shown in Fig. 2 the electric drive system for electric vehicles torque control method on disclosed low attached road surface, bag
Include：
Step 1, the upper limit threshold value of motor speed rate of change average value is set as UpLimit, lower limit threshold value is
LowLimit.UpLimit is more than LowLimit and both on the occasion of UpLimit and LowLimit need to be obtained by vehicle demarcation
Obtain desired value.Judge whether electric vehicle occurs on low attached road surface according to the average value of power drive system motor speed rate of change
Skidding operating mode, the calculation formula of motor speed rate of change is：
N (k) in formula is the motor speed of power drive system electric machine controller kth time collection, and N (k-1) is electric drive trains
The motor speed of system electric machine controller -1 collection of kth, Δ t is the calculating cycle of motor speed rate of change；
The calculation formula of motor speed rate of change average value is：
In formulaThe motor speed rate of change obtained for-n+1 calculating of kth,Calculated for kth time
The motor speed rate of change arrived, n is average value number of times；Δ t and n need to obtain desired value by vehicle demarcation, it is preferred that Δ t is selected
20ms is taken as, n is chosen for 2.
If it is negative value or 0 that obtained motor speed rate of change average value is calculated in step 2, step 1, then it is assumed that do not occur to beat
Sliding, it is 0 to put skidding flag bit.Motor performs torque T orque_Act and is equal to the Motor torque instruction from entire car controller
Torque_Cmd；Wherein power drive system electric machine controller skidding flag bit in power-up initializing is set to 0.
If it is on the occasion of and more than upper limit threshold value that obtained motor speed rate of change average value is calculated in step 3, step 1
UpLimit, then it is assumed that skid, it is 1 to put skidding flag bit.Motor performs torque T orque_Act and need to instructed in Motor torque
Accordingly reduced on the basis of Torque_Cmd.And the average value of motor speed rate of change is bigger, motor performs torque T orque_
Act is smaller.The specific formula for calculation that motor performs torque T orque_Act is：
If it is on the occasion of and less than lower limit threshold value that obtained motor speed rate of change average value is calculated in step 4, step 1
LowLimit, the processing mode that motor performs torque T orque_Act is divided into 2 kinds：
(1) if skidding flag bit is 0, motor performs torque T orque_Act and is equal to Motor torque instruction Torque_
Cmd；
(2) if skidding flag bit is 1, motor execution moment of torsion and this moment that last moment calculating is obtained further are compared
Motor torque instruction.If the motor of last moment performs the Motor torque instruction that moment of torsion is more than or equal to this moment, motor is held
Row torque T orque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set to 0；If last moment motor is held
The Motor torque that row moment of torsion is less than this moment is instructed, then sets timer t and timer limit value Tlimit：
(2-1), when timer t is less than or equal to Tlimit, motor performs the electricity that torque T orque_Act is equal to last moment
Machine execution moment of torsion is constant, and skidding flag bit remains 1；
(2-2), when timer t is more than Tlimit, motor performs torque T orque_Act and instructed equal to Motor torque
Torque_Cmd, skidding flag bit is set to 0；Timer t stops counting；
(2-3) Tlimit need to obtain desired value by vehicle demarcation.
If it is on the occasion of and more than or equal to lower limit door that obtained motor speed rate of change average value is calculated in step 5, step 1
Limit value LowLimit, while less than or equal to upper limit threshold value UpLimit, motor performs torque T orque_Act processing mode point
For 2 kinds：
(1) if skidding flag bit is 0, motor performs torque T orque_Act and is equal to Motor torque instruction Torque_
Cmd；
(2) if skidding flag bit is 1, motor execution moment of torsion and this moment that last moment calculating is obtained further are compared
Motor torque instruction.If the motor of last moment performs the Motor torque instruction that moment of torsion is more than or equal to this moment, motor is held
Row torque T orque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set to 0；If last moment motor is held
The Motor torque that row moment of torsion is less than this moment is instructed, then motor performs the motor execution that torque T orque_Act is equal to last moment
Moment of torsion is constant, and skidding flag bit remains 1.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Present disclosure can be understood and implemented according to this, it is not intended to limit the scope of the present invention.It is all main according to the present invention
The modification for wanting the Spirit Essence of technical scheme to be done, should all be included within the scope of the present invention.
Claims (10)
1. a kind of electric drive system for electric vehicles torque control system on low attached road surface, it is characterised in that including：
Motor speed signal is gathered and processing module, the tach signal for gathering motor in power drive system, while to collection
To signal be filtered Shape correction to suppress noise jamming, improve signal quality, and output motor rotating speed is to main control module；
Main control module, is made up of computing module and control module, wherein,
Computing module, turns for calculating motor according to the motor speed after motor speed signal collection and processing module processing
The average value of fast rate of change；
Control module, instructs for the result of calculation according to the computing module and the Motor torque from entire car controller, sentences
Disconnected applicable control mode, and corresponding motor execution moment of torsion is calculated and sent to the electric machine controller in power drive system.
2. the electric drive system for electric vehicles torque control system on low attached road surface according to claim 1, it is characterised in that
It is used for the device for gathering motor speed in the motor speed signal collection and processing module using change transformer, hall sensing
One or more in device, photoelectric encoder.
3. the electric drive system for electric vehicles torque control system on low attached road surface according to claim 1, it is characterised in that
The Motor torque instruction is sent to main control module for entire car controller by CAN or FlexRay buses.
4. a kind of electric drive system for electric vehicles torque control method on low attached road surface, it is characterised in that including：
Step 1, set motor speed rate of change average value upper limit threshold value as UpLimit, lower limit threshold value is
LowLimit；The average value of power drive system motor speed rate of change is calculated, according to result of calculation, judges electric vehicle low attached
Whether skidding operating mode is occurred on road surface；
If it is negative value or 0 that obtained motor speed rate of change average value is calculated in step 2, step 1, then it is assumed that do not skidded,
It is 0 to put skidding flag bit；Motor performs torque T orque_Act and is equal to the Motor torque instruction Torque_ from entire car controller
Cmd；
Step 3, if it is on the occasion of and more than upper limit threshold value that obtained motor speed rate of change average value is calculated in step 1
UpLimit, then it is assumed that skid, it is 1 to put skidding flag bit；Motor performs torque T orque_Act and need to instructed in Motor torque
Accordingly reduced on the basis of Torque_Cmd；
Step 4, if it is on the occasion of and less than lower limit threshold value that obtained motor speed rate of change average value is calculated in step 1
LowLimit, the processing mode that motor performs torque T orque_Act is divided into 2 kinds：
(1) if skidding flag bit is 0, motor performs torque T orque_Act and is equal to Motor torque instruction Torque_Cmd；
(2) if skidding flag bit is 1, motor execution moment of torsion and the electricity at this moment that last moment calculating is obtained further are compared
Machine torque command：
If the motor of last moment performs the Motor torque instruction that moment of torsion is more than or equal to this moment, motor performs moment of torsion
Torque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set to 0；If last moment motor performs moment of torsion
Motor torque less than this moment is instructed, then sets timer t and timer limit value Tlimit：
(2-1), when timer t is less than or equal to Tlimit, motor performs torque T orque_Act and held equal to the motor of last moment
Row moment of torsion is constant, and skidding flag bit remains 1；
(2-2), when timer t is more than Tlimit, motor performs torque T orque_Act and is equal to Motor torque instruction Torque_
Cmd, skidding flag bit is set to 0；Timer t stops counting；
Step 5, if it is on the occasion of and more than or equal to lower limit threshold value that obtained motor speed rate of change average value is calculated in step 1
LowLimit, while less than or equal to upper limit threshold value UpLimit, the processing mode that motor performs torque T orque_Act is divided into 2
Kind：
(1) if skidding flag bit is 0, motor performs torque T orque_Act and is equal to Motor torque instruction Torque_Cmd；
(2) if skidding flag bit is 1, motor execution moment of torsion and the electricity at this moment that last moment calculating is obtained further are compared
Machine torque command：
If the motor of last moment performs the Motor torque instruction that moment of torsion is more than or equal to this moment, motor performs moment of torsion
Torque_Act is equal to Motor torque and instructs Torque_Cmd, and skidding flag bit is set to 0；If last moment motor performs moment of torsion
Motor torque less than this moment is instructed, then motor performs torque T orque_Act and performs moment of torsion not equal to the motor of last moment
Become, skidding flag bit remains 1.
5. the electric drive system for electric vehicles torque control method on low attached road surface according to claim 4, it is characterised in that
The method of the average value of power drive system motor speed rate of change is calculated in step 1 to be included：
The calculation formula of motor speed rate of change is：
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The motor speed of -1 collection of machine controller kth, Δ t is the calculating cycle of motor speed rate of change；
The calculation formula of motor speed rate of change average value is：
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In formulaThe motor speed rate of change obtained for-n+1 calculating of kth,Calculate what is obtained for kth time
Motor speed rate of change, n is average value number of times.
6. the electric drive system for electric vehicles torque control method on low attached road surface according to claim 5, it is characterised in that
The calculating cycle Δ t of the motor speed rate of change and the value of average value frequency n are demarcated by vehicle to be obtained, and Δ t is chosen for
20ms, n are chosen for 2.
7. the electric drive system for electric vehicles torque control method on low attached road surface according to claim 4, it is characterised in that
In step 3, the average value of motor speed rate of change is bigger, and motor execution torque T orque_Act is smaller, and motor performs moment of torsion
Torque_Act specific formula for calculation is：
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8. the electric drive system for electric vehicles torque control method on low attached road surface according to claim 4, it is characterised in that
In step 1, UpLimit is more than LowLimit and both on the occasion of UpLimit and LowLimit are closed by vehicle demarcation
Just when.
9. the electric drive system for electric vehicles torque control method on low attached road surface according to claim 4, it is characterised in that
In step 4, timer limit value Tlimit obtains desired value by vehicle demarcation.
10. the electric drive system for electric vehicles moment of torsion control side on the low attached road surface according to any one in claim 4-9
Method, it is characterised in that power drive system electric machine controller skidding flag bit in power-up initializing is set to 0.
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| CN107962981A (en) * | 2017-11-29 | 2018-04-27 | 安徽江淮汽车集团股份有限公司 | Actively drop turns round strategy to a kind of electric automobile skidding operating mode |
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| CN109017449A (en) * | 2018-08-17 | 2018-12-18 | 南京越博动力***股份有限公司 | A kind of the Anti-slip regulation control method and system of pure electric vehicle |
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