CN107284287B - The control method and system of Dual-motors Driving for electric car - Google Patents
The control method and system of Dual-motors Driving for electric car Download PDFInfo
- Publication number
- CN107284287B CN107284287B CN201610223829.7A CN201610223829A CN107284287B CN 107284287 B CN107284287 B CN 107284287B CN 201610223829 A CN201610223829 A CN 201610223829A CN 107284287 B CN107284287 B CN 107284287B
- Authority
- CN
- China
- Prior art keywords
- motor
- gear
- power motor
- power
- activation point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B60L15/2054—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 by controlling transmissions or clutches
-
- 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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses the Dual-motors Driving control method and system of electric car, the electric car includes the first power motor and the second power motor；Driving wheel；And the transmission device for transmitting power between the motor and the driving wheel, the transmission device limits the first gear with the first transmission ratio and the second gear with the second transmission ratio, and the transmission device can be in the single motor activation point that only first power motor is connected with second gear with the actuator operation according to described method and system, first power motor keeps off activation point with second gear and second power motor with the bi-motor one that first gear is connected with the actuator operation simultaneously, switch between the bi-motor second gear activation point that first power motor is connected with the actuator operation with second gear and second power motor with second gear simultaneously.
Description
Technical field
The present invention relates generally to the control method of the Dual-motors Driving for electric car and systems, it is particularly possible to be directed to
Different operation optimization torques distribute and energy utilization efficiency is higher.
Background technique
With getting worse for energy crisis and environmental problem, energy-saving and emission-reduction have become becoming for China Automobile Industry now
Gesture.In the process for promoting new-energy automobile, electric car becomes what new-energy automobile was promoted with the advantage of its efficient pollution-free
Emphasis.
Different from traditional fuel engines, motor has excellent torque characteristics, therefore electric car is for gearbox
Requirement substantially reduce.Traditional electric car mostly uses the driving method of single motor single speed ratio.This traditional electric car
Acceleration and hill climbing demands motor under low speed export large torque under the low speed, and run at high speed, it is required that motor possesses very big tune
Fast range is difficult to realize high-efficiency operation under low speed and high speed simultaneously at present in design of electrical motor, this has been resulted in using this
The electric car of driving method often can not meet energy utilization efficiency it is highest under the premise of take into account the driving under low speed and climb
Slope and both sides demand of running at high speed.
Summary of the invention
In view of the above problems, the invention proposes a kind of control method of novel electric car Dual-motors Driving and being
System, according to different operating conditions, carries out reasonable distribution between two motors for vehicle total torque demand, is meeting vehicle total torque
Lifting system total energy utilization efficiency while demand.
According to an aspect of the invention, there is provided the Dual-motors Driving control of a kind of electric car, especially pure electric automobile
Method processed, the electric car include the first power motor and the second power motor；Driving wheel；And it is used for power in institute
The transmission device transmitted between motor and the driving wheel is stated, the transmission device limits first gear with the first transmission ratio
And the second gear with the second transmission ratio, and the transmission device can be in only first power motor with described
Single motor activation point that two gears are connected with the actuator operation, first power motor are with second gear
And the gear of bi-motor one that second power motor is connected with the actuator operation simultaneously with first gear drives
Dynamic position, first power motor with second gear and second power motor with second gear simultaneously with
Switch between the connected bi-motor second gear activation point of the actuator operation, which comprises
The demand torque for determining the current vehicle speed of the electric car and needing to be exported by the transmission device；
In the case where the demand torque can be met by first power motor, first power motor is determined
Energy utilization efficiency in single motor activation point；
Judge whether the revolving speed section of second power motor is applicable in the gear driving of bi-motor one according to the current vehicle speed
The transmission ratio of position；
In the case where the revolving speed section of second power motor is applicable in bi-motor one and keeps off the transmission ratio of activation point, with
Scheduled torque interval determines the difference of first power motor and second power motor that meet the demand torque
Torque combinations calculate separately first and second power motor in the gear of bi-motor one and two for different torque combinations
Keep off total energy utilization efficiency when activation point；
Energy utilization effect when from the single motor activation point obtained above, gear of bi-motor one and second gear activation point
In rate determine peak, according to activation point corresponding with the peak switch the transmission device gear and to motor into
The corresponding moment of torsion control of row.
Optionally, the transmission ratio of the gear activation point of bi-motor one is not suitable in the revolving speed section of second power motor
In the case of, with scheduled torque interval, determine first power motor and second power for meeting the demand torque
The different torque combinations of motor calculate separately first and second power motor in double electricity for different torque combinations
Total energy utilization efficiency when machine second gear activation point；
Energy utilization efficiency when from the above-mentioned single motor activation point being calculated, bi-motor second gear activation point
Middle determining peak switches the gear of the transmission device according to activation point corresponding with the peak and carries out to motor
Corresponding moment of torsion control.
Optionally, if the demand torque can not be met by first power motor, according to the electric car
Current vehicle speed judge the revolving speed section of second power motor whether be applicable in bi-motor one keep off activation point transmission ratio；
In the case where the revolving speed section of second power motor is applicable in bi-motor one and keeps off the transmission ratio of activation point, with
Scheduled torque interval determines the difference of first power motor and second power motor that meet the demand torque
Torque combinations calculate separately first and second power motor in the gear of bi-motor one and two for different torque combinations
Keep off total energy utilization efficiency when activation point；
From the above-mentioned gear of bi-motor one being calculated and peak is determined in energy utilization efficiency when second gear activation point,
According to and the corresponding activation point of the peak switch the gear of the transmission device and according to corresponding with the peak
Torque combinations carry out moment of torsion control to motor.
Optionally, the transmission ratio of the gear activation point of bi-motor one is not suitable in the revolving speed section of second power motor
In the case of, with scheduled torque interval, determine first power motor and second power for meeting the demand torque
The different torque combinations of motor calculate separately first and second power motor in double electricity for different torque combinations
Total energy utilization efficiency when machine second gear activation point；
Peak is determined in energy utilization efficiency when from the above-mentioned bi-motor second gear activation point being calculated, it will be described
Transmission device switches to bi-motor second gear activation point and turns round according to torque combinations corresponding with the peak to motor
Square control.
Preferably, the power of first power motor is greater than the power of second power motor.
Preferably, second transmission ratio is less than first transmission ratio.
Optionally, when the electric car gives it the gun, the total energy of first and second power motor is utilized
The calculation formula of efficiency are as follows: ηIt is double=((T1×n1/9550)+(T2×n2/9550))/((T1×n1/9550)/η1+(T2×n2/
9550)/η2), wherein T1And T2Torque on the output shaft of respectively described first power motor and second power motor,
Unit: ox rice；n1And n2Revolving speed on respectively described first power motor and the second power motor output shaft, unit:
Revolutions per minute；η1And η2It is the efficiency value of first power motor and second power motor itself respectively.
Optionally, in the electric car Reduced Speed Now or braking, total physical efficiency of first and second power motor
Measure the calculation formula of utilization efficiency are as follows: η 'It is double=((T1×n1×η1/9550)+(T2×n2×η2/9550))/((T1×n1/9550+
(T2×n2/ 9550)), wherein T1And T2On the output shaft of respectively described first power motor and second power motor
Torque, unit: ox rice；n1And n2Revolving speed on respectively described first power motor and the second power motor output shaft,
Unit: revolutions per minute；η1And η2It is the efficiency value of first power motor and second power motor itself respectively.
Preferably, the transmission device is gear assembly.
Preferably, the method is completed in the driving process of the electric car with predetermined time interval in real time.
Optionally, the method is completed when the electric car dispatches from the factory in advance and for different speeds and demand torque
The different driving call by location of transmission device and the moment of torsion control result of motor are stored in the memory of the electric car,
It is stored at predetermined intervals for different speeds and demand torque calling in the driving process of the electric car
As a result to control the activation point of the transmission device and to motor progress moment of torsion control.
According to another aspect of the present invention, the bi-motor drive of a kind of electric car, especially pure electric automobile is additionally provided
Autocontrol system, the system comprises the first power motor and the second power motors；Transmission device, the transmission device it is defeated
Enter end and be selectively connected with second power motor, and the output of the driving wheel of the electric car and the transmission device
End is connected；And control unit, the transmission device limit the first gear with the first transmission ratio and have the second transmission ratio
The second gear, and according to preceding method, described control unit controls the transmission device in only first power motor
The single motor activation point that is connected with second gear with the input terminal of the transmission device, first power motor are with institute
State what the second gear and second power motor were connected with the input terminal of the transmission device simultaneously with first gear
Bi-motor one keeps off activation point, first power motor with second gear and second power motor with described the
Switch between the bi-motor second gear activation point that two gears are connected with the input terminal of the transmission device simultaneously, and the control
The torque of unit control motor.
Using this bi-motor torque distribution method of the invention, can real-time optimization electric car torque allocation strategy,
To improve system capacity utilization efficiency, extend the continual mileage of vehicle.
Detailed description of the invention
From aftermentioned detailed description and aforementioned and other side of the invention will be more fully understood in conjunction with following attached drawing
Face.It should be pointed out that the ratio of each attached drawing is possible to different for clearly explained purpose, but this will not influence to this
The understanding of invention.In the accompanying drawings:
Fig. 1 diagrammatically illustrates the block diagram of drive control system of double motors according to the present invention；
Fig. 2 diagrammatically illustrates the schematic diagram of one embodiment of transmission device as shown in Figure 1；And
Fig. 3 diagrammatically illustrates the flow chart of Dual-motors Driving control method according to the present invention.
Specific embodiment
In each attached drawing of the application, structure is identical or intimate feature is indicated by the same numbers.
Fig. 1 diagrammatically illustrates the block diagram of drive control system of double motors according to the present invention.The driving control system packet
Two motors 1,6 are included, wherein motor 1 is always connect with the input terminal of transmission device 100, and motor 6 and transmission device 100 is defeated
Enter end selectivity to be connected by power, by power according to the drive for being provided to electric car under the control of control unit for vehicle 300
Driving wheel 200.Control unit for vehicle 300 can be controlled separately and monitor the operating parameter of motor 1,6, such as can be according to needing reality
When adjust the torque of each motor, monitor output shaft revolving speed etc. of motor.Control unit for vehicle 300 can control transmission device
100 with the respective inside gear shifting action for being connected by power and controlling transmission device 100 of motor 1,6.
In addition to this, driving control system of the invention can also include power battery and its battery management system, shift
Other necessary components such as motor and controller.In addition, it will be apparent to those skilled in the art that the bi-motor of the application meaning
Driving can be the Dual-motors Driving of pure electric automobile, be also possible to double in the electric drive part in plug-in hybrid vehicle
Motor driven.
As described above, the effect of transmission device 100 mainly realizes that the selective power of motor 1,6 and driving wheel 200 connects
It connects and related gear is converted.Fig. 2 diagrammatically illustrates the schematic diagram of an example of this transmission device.In the figure, it is driven
Device 100 is shown in a manner of gear drive.But it will be apparent to those skilled in the art that the example is not
It is the uniqueness limitation to transmission device 100, those skilled in the art can also use other after understanding related art method
The transmission mechanisms such as mechanism such as stepless speed variator of vehicle, double-clutch speed changer are applied to the present invention.
As shown in Fig. 2, transmission device 100 includes two gear driving gear 2, it is fixedly linked with the output shaft of motor 1, thus
Two gear driving gear 2 can be directly driven by the torque that the output shaft of motor 1 exports to rotate.Two gear driving gear 2 is formed with one
A second gear synchromesh gear 3, the second gear synchromesh gear 3 can be with 2 synchronous rotaries of two gear driving gear.
A main reducing gear is equipped in transmission device 100, which includes that the master being engaged with each other subtracts 8 He of driving gear
Master subtracts driven gear 12.In transmission device 100.Second gear driven gear 10 and a gear driven gear 9 and the master subtract driving tooth
Wheel 8 is coaxially connected.Master subtracts driven gear 12 and is connected via differential mechanism 11 and shaft with driving wheel 200.In this way, torque can be from electricity
The output shaft of machine 1 subtracts driving gear 8 via two gear driving gear 2, second gear driven gear 10, master and the main driven gear 12 that subtracts transmits
To driving wheel 200, for driving electric automobile during traveling.It should be clear that when electric car slows down or brakes, the torque of road wheel end
Motor 1 can be transferred to above-mentioned opposite process.
As shown in Fig. 2, transmission device 100 is additionally provided with a synchronizer 7, for example, one has the sleeve of internal tooth.Motor 6 it is defeated
A gear is fixedly disposed on shaft, which engages always with synchronizer 7.Transmission device 100 is additionally provided with to be fixed each other
A motionless gear synchromesh gear 4 and a gear driving gear 5.Synchronizer 7 can be respectively by mobile in synchronous with a gear and second gear
The all out of mesh single motor activation point of gear 4 and 3；The bi-motor one engaged with a gear synchromesh gear 4 keeps off activation point；With two
Keep off the bi-motor second gear activation point that synchromesh gear 3 engages.One gear driven gear 9 of one gear driving gear 5 and main reducing gear is nibbled
It closes.
In the case where normally travel, when keeping off activation point in bi-motor one, it is transmitted in addition to above-mentioned from motor 1
Other than the torque of driving wheel 200, additional torque keeps off driven gear 9 via a gear driving gear 5, one from motor 6, master subtracts actively
Gear 8 and master subtract driven gear 12 and are transferred to driving wheel 200；When in bi-motor second gear activation point, additional torque is from motor 6
Subtract driving gear 8 via two gear driving gear 2, second gear driven gear 10, master and master subtracts driven gear 12 and is transferred to driving wheel
200, for driving electric automobile during traveling.It should be clear that when electric car slows down or brakes, the torque of road wheel end can more than
It states opposite process and is transferred to motor 1 and 6.
Preferably, the transmission ratio between two gear driving gear and second gear driven gear can be less than a gear driving gear and one
Keep off the transmission ratio between driven gear.But it should be clear that the transmission ratio of the various gears in transmission device 100 can be another according to need
It is fixed.Preferably, the power of motor 1 can be greater than the power of motor 6.
Dual-motors Driving control method according to the present invention, the control unit for vehicle 300 of electric car can be directed to a certain
Determining speed and the selection of total torque demand use single motor or Dual-motors Driving mode, and under Dual-motors Driving mode
It can be according to needing to carry out two gear switchings.
For the control mode of traditional single motor single speed ratio, for the low speed of electric car, climbing or high speed row
The different torque demand operating conditions sailed, can not take into account requirement completely.But it can be complete using Dual-motors Driving control method of the invention
Beauty solves the problems, such as this.
Fig. 3 diagrammatically illustrates the flow chart of Dual-motors Driving control method according to an embodiment of the invention.
Firstly, determining the current vehicle speed of electric car, and determine required torsion according to current working in step S10
Square TDemand.Torque TDemandReally usual practice such as can be by comprehensively considering current vehicle speed, accelerator pedal position, brake pedal position, patrolling
Because usually determining, this work for example can be by control unit for vehicle 300 complete for boat setting, vehicle driving up or descending state etc.
At.Torque T hereinDemandFor the torque according to the wanted transmission device output of current working.
Then, in step S11, control unit for vehicle 300 judges that motor 1 whether can according to identified torque demand
It meets the requirements.
If the judging result of step S11 is "Yes", the electric efficiency when step S12 determines that motor 1 is operated alone/
Energy utilization efficiency ηIt is single, the efficiency etaIt is singleThe efficiency value relevant to different rotating speeds or torque of motor 1 itself, be motor itself
It through pre-determined parameter, such as is stored in corresponding electro-mechanical memory, is called directly when needing.
Progress synchronous with step S12 is step S13, judges whether the revolving speed section of motor 6 can expire in step S13
Sufficient bi-motor one keeps off the speed demand of activation point.For example, the speed according to determined by step S10 is by transmission device 100 double
Whether motor one keeps off the anti-revolving speed for pushing away motor of transmission ratio of activation point, judge the revolving speed in the revolving speed section of motor 6.
If the judging result of step S13 is "Yes", in step S14, determines and keep off activation point in above-mentioned bi-motor one
In the case where, i.e. in the case where motor 6 provides torque jointly with a gear activation point and motor 1 for driving wheel 200, entire drive
The energy utilization efficiency of autocontrol system.
Step S14's is implemented as follows.
Firstly, determining the torque range [T1 of motor 1 and 6 based on speedIt is minimum、T1It is maximum]、[T6It is minimum、T6It is maximum].For example, being directed to
Given revolving speed, there are the torque ranges according to power difference for each motor.Then, with certain step delta T (for example, 5 Ns
Rice, 10 Ns of rice, 15 Ns of rice etc.；It is expected that computational accuracy is high, then the step-length is optional smaller) change electricity in above-mentioned torque range
The torque of machine 1 and motor 6, so that it is determined that all possible torque in the step S10 required total torque determined can be covered
Combination.Then, for the torque combinations of each step delta T, the Dual-motors Driving control system under every kind of torque combinations is successively calculated
The energy utilization efficiency of system.
For example, the case where accelerating for electric car, calculation formula can be ηDouble 1=(P1 output+P6 outputs)/(P1 input+P6 inputs)
=((T1×n1/9550)+(T6×n6/9550))/((T1×n1/9550)/η1+(T6×n6/9550)/η6)；And it is directed to electronic vapour
The case where vehicle brakes, calculation formula are η 'Double 1=(P1 output+P6 outputs)/(P1 input+P6 inputs)=((T1×n1×η1/9550)+(T6×n6
×η6/9550))/((T1×n1/9550+(T6×n6/ 9550)), wherein T1And T6Respectively on the output shaft of motor 1 and 6
Torque, unit: ox rice；n1And n6Revolving speed respectively on the output shaft of motor 1 and 6, unit: revolutions per minute；η1And η6Point
It is not the efficiency value relevant to different rotating speeds or torque of motor 1 and 6 itself, they are motor pre-determined ginsengs itself
Number, such as be stored in corresponding electro-mechanical memory, it is called directly when needing.
It should be apparent to those skilled in the art that be motor total energy utilization efficiency can also using other way come
It determines.For example, considering that the minimum situation of electrical consumption electrical power is utilized as total energy in the case where the Accelerating Traveling of Automobiles
The case where efficiency highest；And in the case where car deceleration or braking, consider the most situation of motor recycling electrical power as total
The case where body energy utilization efficiency highest.
Then, in step S15, determination is driven in the case where above-mentioned bi-motor second gear activation point, i.e. in motor 6 with second gear
In the case that dynamic position and motor 1 provide torque jointly for driving wheel 200, the energy utilization efficiency of entire driving control system.
The specific implementation of step S15 is identical as step S14, does not do redundant herein.
If the judging result of step S13 is "No", in step S16, determine in above-mentioned bi-motor second gear activation point
In the case where, i.e. in the case where motor 6 provides torque jointly with second gear activation point and motor 1 for driving wheel 200, it is entire to drive
The energy utilization efficiency of autocontrol system.The specific implementation of step S16 is identical as step S15, does not do redundant herein.
Then, at step S17, the electric efficiency (S12) driven for single motor 1, the different torque combinations of step delta T
The multiple bi-motors one being calculated keep off the energy utilization efficiency (S14) of driving control system and the different torques of step delta T
The energy utilization efficiency (S15) for the multiple bi-motor second gear driving control systems being calculated under combination relatively determines in them
Efficiency peak determine how switching power then according to this efficiency peak.Or in step S17 ', for single electricity
Electric efficiency (S12) that machine 1 drives, the multiple bi-motor second gears driving control being calculated under the different torque combinations of step delta T
The energy utilization efficiency (S16) of system processed relatively determines the efficiency peak in them, then according to this efficiency peak,
Determine how switching power.
For example, in the case where the revolving speed section of motor 6 can satisfy current vehicle speed, by the result and step of step S12
The result of S14 and S15 is compared, if the value for the electric efficiency (S12) that single motor 1 drives is maximum, control unit for vehicle
300 instruction transmission devices 100 maintain single motor activation point constant and carry out moment of torsion control (step S4) to motor.
For another example in the case where the revolving speed section of motor 6 can satisfy current vehicle speed, by the result and step of step S12
The result of rapid S14 and S15 is compared, if the gear driving of bi-motor one being calculated under the torque combinations of some step delta T
The value of the energy utilization efficiency (S14) of control system is maximum, then control unit for vehicle 300 instructs transmission device 100 to be switched to double
Motor one keeps off activation point and carries out moment of torsion control (step S4) to motor 1 and 6 with the torque combinations.Here motor is turned round
Square control refers to foundation and that maximum torque combinations of identified energy utilization efficiency, adjusts the torsion of motor 1 and 6 respectively
Square output.For example, if total torque demand is the revolving speed that 400 Ns of rice and motor 1 can satisfy total torque demand and motor 6
Section can satisfy a gear demand, in this case, if a certain torque combinations are calculated in a gear activation point
Energy utilization efficiency it is maximum, then the input terminal of regulate transmission device 100 is connected with motor 1 and 6, while the gear of motor 6
Position is exported in a gear, and according to the torque that the torque combinations adjust motor 1 and 6 respectively.
For another example in the case where the revolving speed section of motor 6 can satisfy current vehicle speed by the result and step of step S12
The result of S14 and S15 is compared, or in the case where the revolving speed section of motor 6 is unable to satisfy current vehicle speed by step delta T
Different torque combinations under the energy utilization efficiency of multiple bi-motor second gear driving control systems that is calculated be compared, such as
The energy utilization efficiency (S14) for the bi-motor second gear driving control system being calculated under the torque combinations of some step delta of fruit T
Value it is maximum, then control unit for vehicle 300 instructs transmission device 100 to be switched to bi-motor second gear activation point and with the torque group
It closes and moment of torsion control (step S4) is carried out to motor 1 and 6.The detailed process of moment of torsion control is similar to the above.
If the judging result of step S11 is "No", judge whether the revolving speed section of motor 6 can expire in step S20
Sufficient bi-motor one keeps off the speed demand of activation point.The implementation of step S20 is similar with step S13, does not make redundant herein.
If the judging result of step S20 is "Yes", step-length is determined according to mode identical with step 14 in step S21
The multiple bi-motors one being calculated under the different torque combinations of Δ T keep off the energy utilization efficiency of driving control system.
Then, it is counted under the different torque combinations in step S22 foundation mode identical from step S15 to determine step delta T
The energy utilization efficiency of obtained multiple bi-motor second gear driving control systems.
Then, it in step S23, is driven for the gear of multiple bi-motors one being calculated under the different torque combinations of step delta T
The multiple bi-motors being calculated under the energy utilization efficiency (S21) of autocontrol system and the different torque combinations of step delta T
The energy utilization efficiency (S22) of second gear driving control system relatively determines the efficiency peak in them, then according to this effect
Rate peak determines how switching power.
For example, in the case where the revolving speed section of motor 6 can satisfy current vehicle speed, if the torque of some step delta T
The value that the bi-motor one being calculated under combination keeps off the energy utilization efficiency (S21) of driving control system is maximum, then vehicle control
Unit 300 is instructed transmission device 100 to be switched to bi-motor one and keeps off activation point and turned round with the torque combinations to motor 1 and 6
Square controls (step S4).The detailed process of moment of torsion control is similar to the above.
If the judging result of step S20 be "No", step S31 according to mode identical with step S15 calculate with
Determine the energy utilization effect for the multiple bi-motor second gear driving control systems being calculated under the different torque combinations of step delta T
Rate.
Then, it in step S32, is driven for the multiple bi-motor second gears being calculated under the different torque combinations of step delta T
The energy utilization efficiency (S31) of autocontrol system relatively determines the efficiency peak in them, then according to this efficiency highest
Value, determines how switching power.
If the energy utilization for the bi-motor second gear driving control system being calculated under the torque combinations of some step delta T
The value of efficiency (S31) is maximum, then control unit for vehicle 300 instructs transmission device 100 to be switched to bi-motor second gear activation point simultaneously
Moment of torsion control (step S4) is carried out to motor 1 and 6 with the torque combinations.The detailed process of moment of torsion control is similar to the above.
In this way, no matter giving it the gun required energy or for recovering energy when deceleration or braking for electric car, all
It may insure that drive control system of double motors of the invention can be transported always in the case where highest integral energy utilization efficiency
Row.
The above method of the invention can be completed in real time in driving control system, i.e., be directed at a certain time interval
The velocity estimated total torque demand for surveying speed or setting, then constantly repeats process as shown in Figure 3, so that it is guaranteed that this
The drive control system of double motors of invention can be directed to real working condition efficient operation in real time.
Certainly, it for the electric car calculated in real time can not be provided, can also be controlled in this Dual-motors Driving of the invention
It is realized before system factory and simulates various operating conditions, then calculate the control strategy under different operating conditions in method as shown in Figure 3, then
This control strategy is stored in control unit for vehicle.In electric car actual travel, according to the operating condition of real-time monitoring, then
The control strategy being previously stored is called to control drive control system of double motors.
Although only certain exemplary embodiments of this invention is described in detail here, they are used for the purpose of the purpose explained and give
Out, and it is not considered that they are construed as limiting the scope of the present invention.Without departing from the spirit and scope of the present invention, respectively
Kind replacement, change and transformation can be contemplated out.
Claims (14)
1. a kind of Dual-motors Driving control method of electric car, the electric car includes that the first power motor and second are dynamic
Force motor；Driving wheel；And the transmission device for transmitting power between the motor and the driving wheel, the transmission
Device limits the first gear with the first transmission ratio and the second gear with the second transmission ratio, and the transmission device
Position can be driven with the single motor that second gear is connected with the actuator operation in only first power motor
Set, first power motor with second gear and second power motor with first gear simultaneously with it is described
The connected bi-motor one of actuator operation keeps off activation point, first power motor with second gear and described
Second power motor with second gear simultaneously the bi-motor second gear activation point that is connected with the actuator operation it
Between switch, which comprises
Demand torque (the T for determining the current vehicle speed of the electric car and needing to be exported by the transmission deviceDemand)；
In the demand torque (TDemand) can by first power motor meet in the case where, determine first power electric
Energy utilization efficiency of the machine in single motor activation point；
Judge whether the revolving speed section of second power motor is applicable in bi-motor one and keeps off activation point according to the current vehicle speed
Transmission ratio；
In the case where the revolving speed section of second power motor is applicable in bi-motor one and keeps off the transmission ratio of activation point, with predetermined
Torque interval, determination meet the demand torque (TDemand) first power motor and second power motor not
With torque combinations, for different torque combinations, calculate separately first and second power motor in the gear of bi-motor one and
Total energy utilization efficiency when second gear activation point；
In energy utilization efficiency when from the single motor activation point obtained above, gear of bi-motor one and second gear activation point
It determines peak (S17), switches the gear of the transmission device and to motor according to activation point corresponding with the peak
Carry out corresponding moment of torsion control.
2. the method according to claim 1, wherein
In the case where the revolving speed section of second power motor is not suitable for bi-motor one and keeps off the transmission ratio of activation point, with pre-
Fixed torque interval, determination meet the demand torque (TDemand) first power motor and second power motor
Different torque combinations calculate separately first and second power motor in bi-motor second gear for different torque combinations
Total energy utilization efficiency when activation point；
In energy utilization efficiency when from the above-mentioned single motor activation point being calculated, bi-motor second gear activation point really
Determine peak (S17 '), according to activation point corresponding with the peak switch the transmission device gear and to motor into
The corresponding moment of torsion control of row.
3. method according to claim 1 or 2, which is characterized in that
If demand torque (the TDemand) can not be met by first power motor, then according to the current of the electric car
Speed judges whether the revolving speed section of second power motor is applicable in the transmission ratio that bi-motor one keeps off activation point；
In the case where the revolving speed section of second power motor is applicable in bi-motor one and keeps off the transmission ratio of activation point, with predetermined
Torque interval, determination meet the demand torque (TDemand) first power motor and second power motor not
With torque combinations, for different torque combinations, calculate separately first and second power motor in the gear of bi-motor one and
Total energy utilization efficiency when second gear activation point；
From the above-mentioned gear of bi-motor one being calculated and peak is determined in energy utilization efficiency when second gear activation point
(S23), according to activation point corresponding with the peak switch the transmission device gear, and according to and the peak
Corresponding torque combinations carry out moment of torsion control to motor.
4. according to the method described in claim 3, it is characterized in that,
In the case where the revolving speed section of second power motor is not suitable for bi-motor one and keeps off the transmission ratio of activation point, with pre-
Fixed torque interval, determination meet the demand torque (TDemand) first power motor and second power motor
Different torque combinations calculate separately first and second power motor in bi-motor second gear for different torque combinations
Total energy utilization efficiency when activation point；
Peak (S32) is determined in energy utilization efficiency when from the above-mentioned bi-motor second gear activation point being calculated, by institute
Transmission device is stated to switch to bi-motor second gear activation point and carry out motor according to torque combinations corresponding with the peak
Moment of torsion control.
5. method according to claim 1 or 2, which is characterized in that the power of first power motor is greater than described the
The power of two power motors.
6. method according to claim 1 or 2, which is characterized in that second transmission ratio is less than first transmission ratio.
7. method according to claim 1 or 2, which is characterized in that when the electric car gives it the gun, described first
With the calculation formula of the total energy utilization efficiency of the second power motor are as follows: ηIt is double=((T1×n1/9550)+(T2×n2/
9550))/((T1×n1/9550)/η1+(T2×n2/9550)/η2), wherein T1And T2Respectively described first power motor and institute
The torque on the output shaft of the second power motor is stated, unit: ox rice；n1And n2Respectively described first power motor and described
Revolving speed on second power motor output shaft, unit: revolutions per minute；η1And η2It is first power motor and described respectively
The efficiency value of two power motors itself.
8. method according to claim 1 or 2, which is characterized in that in the electric car Reduced Speed Now or braking, institute
State the calculation formula of the total energy utilization efficiency of the first and second power motors are as follows: η 'It is double=((T1×n1×η1/9550)+(T2
×n2×η2/9550))/((T1×n1/9550+(T2×n2/ 9550)), wherein T1And T2Respectively described first power motor and
Torque on the output shaft of second power motor, unit: ox rice；n1And n2Respectively described first power motor and institute
State the revolving speed on the second power motor output shaft, unit: revolutions per minute；η1And η2It is first power motor respectively and described
The efficiency value of second power motor itself.
9. method according to claim 1 or 2, which is characterized in that the transmission device is gear assembly.
10. method according to claim 1 or 2, which is characterized in that driving process of the method in the electric car
In completed in real time with predetermined time interval.
11. method according to claim 1 or 2, which is characterized in that the method is prior when the electric car dispatches from the factory
Complete and be directed to the different driving call by location of the transmission device of different speeds and demand torque and the moment of torsion control knot of motor
Fruit is stored in the memory of the electric car, is directed at predetermined intervals in the driving process of the electric car
Different speeds and demand torque call stored result to control the activation point of the transmission device and turn round to motor
Square control.
12. method according to claim 1 or 2, which is characterized in that the electric car is pure electric automobile.
13. a kind of drive control system of double motors of electric car, the system comprises the first power motor and the second power
Motor；Transmission device, the input terminal of the transmission device is selectively connected with second power motor, and the electronic vapour
The driving wheel of vehicle is connected with the output end of the transmission device；And control unit, the transmission device, which limits, has first to pass
First gear of dynamic ratio with the second gear of the second transmission ratio, and according to any method of preceding claims,
Described control unit controls the transmission device in only first power motor with second gear and the transmission device
The connected single motor activation point of input terminal, first power motor is with second gear and second power electric
With first gear, the bi-motor one that is connected with the input terminal of the transmission device keeps off activation point, described first moves machine simultaneously
Force motor is defeated with the transmission device simultaneously with second gear with second gear and second power motor
Enter and switch between the connected bi-motor second gear activation point in end, and the torque of described control unit control motor.
14. drive control system of double motors according to claim 13, which is characterized in that the electric car is pure electric vehicle
Automobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610223829.7A CN107284287B (en) | 2016-04-12 | 2016-04-12 | The control method and system of Dual-motors Driving for electric car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610223829.7A CN107284287B (en) | 2016-04-12 | 2016-04-12 | The control method and system of Dual-motors Driving for electric car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107284287A CN107284287A (en) | 2017-10-24 |
| CN107284287B true CN107284287B (en) | 2019-09-10 |
Family
ID=60093095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610223829.7A Active CN107284287B (en) | 2016-04-12 | 2016-04-12 | The control method and system of Dual-motors Driving for electric car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107284287B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109747432A (en) * | 2017-11-08 | 2019-05-14 | 郑州宇通客车股份有限公司 | Coaxial double-motor power control method, system and coaxial double-motor power system |
| CN111619365B (en) * | 2019-05-27 | 2021-06-15 | 合肥工业大学 | Mode switching dynamic control strategy of double-motor parallel-shaft transmission system of electric automobile |
| CN110962625B (en) * | 2019-12-25 | 2022-05-03 | 奇瑞汽车股份有限公司 | Automobile torque distribution method, device, equipment and storage medium based on double motors |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103738192A (en) * | 2013-12-19 | 2014-04-23 | 北京汽车新能源汽车有限公司 | Dual-motor two-gear drive system and brake control method thereof |
| CN103738199A (en) * | 2013-12-19 | 2014-04-23 | 北京汽车新能源汽车有限公司 | Dual-motor two-gear drive control system and method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3912399B2 (en) * | 2003-09-29 | 2007-05-09 | 日産自動車株式会社 | Vehicle drive device |
| KR101262002B1 (en) * | 2010-12-03 | 2013-05-08 | 기아자동차주식회사 | System and method for transmission while engine starting of hybrid vehicle |
-
2016
- 2016-04-12 CN CN201610223829.7A patent/CN107284287B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103738192A (en) * | 2013-12-19 | 2014-04-23 | 北京汽车新能源汽车有限公司 | Dual-motor two-gear drive system and brake control method thereof |
| CN103738199A (en) * | 2013-12-19 | 2014-04-23 | 北京汽车新能源汽车有限公司 | Dual-motor two-gear drive control system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107284287A (en) | 2017-10-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10384536B2 (en) | Power coupling system for electric vehicle, electric vehicle having the same and control method thereof | |
| CN104442822B (en) | Automatic gear shift control method of motor-transmission integrated drive system for electrical vehicle | |
| CN105416049B (en) | A kind of gear-shifting control method of automobile-used twin shaft parallel connection power drive system | |
| CN108312896B (en) | Dual-motor self-adaptive pre-speed-regulation multi-gear power coupling device and control method thereof | |
| CN103863086B (en) | The many gear drive devices of a kind of motor vehicle driven by mixed power | |
| CN109606348B (en) | Plug-in type planet series-parallel automobile energy management control method | |
| CN103523010B (en) | Speed ratio control method in a kind of hybrid vehicle driving process | |
| CN102092385A (en) | Automatic gear shifting strategy for electric vehicles | |
| JP2018016146A (en) | Power transmission device | |
| CN103775623A (en) | Automatic shifting strategy of electric vehicle | |
| CN107284287B (en) | The control method and system of Dual-motors Driving for electric car | |
| CN104254469A (en) | Method for operating a drive train of a motor vehicle having a freewheeling engine-off function, control device and motor vehicle | |
| CN102887149A (en) | Automatic variable speed control system of pure electric vehicle and pure electric vehicle | |
| CN103998310A (en) | Hybrid vehicle | |
| CN204623112U (en) | A kind of hybrid electric drive system | |
| CN107487318B (en) | System and method for controlling a vehicle powertrain | |
| JP2012232737A (en) | Method to select driving mode of vehicle | |
| CN104129305A (en) | Method for controlling speed of electric car | |
| CN105082966A (en) | Dual-motor power system, gear shifting method and electric automobile | |
| US9545849B2 (en) | Vehicle system and method for adapting lift pedal regeneration | |
| CN101987624B (en) | Hybrid power whole passenger vehicle operating mode switching control method | |
| CN102310852B (en) | Gear shifting control method for automobile double-clutch power coupling synchronizer and device thereof | |
| CN1238210C (en) | Gear-shifting control method for parallel mixed powder system | |
| CN109552311B (en) | Gear shifting control method of hybrid electric vehicle based on multi-mode brake | |
| US8628450B2 (en) | Vehicular power transmission control apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |