CN108248456B - Distributed control system and distributed control method for electric automobile - Google Patents
Distributed control system and distributed control method for electric automobile Download PDFInfo
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- CN108248456B CN108248456B CN201810016407.1A CN201810016407A CN108248456B CN 108248456 B CN108248456 B CN 108248456B CN 201810016407 A CN201810016407 A CN 201810016407A CN 108248456 B CN108248456 B CN 108248456B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000001105 regulatory effect Effects 0.000 claims description 18
- 230000001133 acceleration Effects 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000033228 biological regulation Effects 0.000 claims description 11
- 230000001276 controlling effect Effects 0.000 claims description 3
- 238000012790 confirmation Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000000694 effects Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
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- 239000000446 fuel Substances 0.000 description 1
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
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Abstract
The invention discloses a distributed control system of an electric automobile, which comprises: the receiving device is used for receiving a driving instruction of the electric automobile; a drive device for outputting a drive current to a motor of the electric vehicle based on a drive instruction; the judging device is used for judging whether the running state of the electric automobile meets the control requirement or not when the driving current reaches a preset threshold value; and the speed changing device is arranged between the motor and the automobile wheels and is used for adjusting the rotating speed output by the motor to the automobile wheels based on the driving command and the running state under the condition that the running state of the electric automobile does not meet the control requirement. The invention also discloses a distributed control method of the electric automobile. The speed change device is arranged between each motor and the wheel, so that the low-torque high-rotation speed of the motor is converted into the high-torque low-rotation speed, the heat productivity in the motor is reduced, and the service life of the motor is protected.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a distributed control system and a distributed control method for an electric automobile.
Background
Along with the development of science and technology, the constant breakthrough of electric technology and energy storage technology, the proportion of electric automobile in all vehicles is bigger and bigger, and along with the more and more attention of the country to the environmental protection, make electric automobile's development more rapid, however traditional electric automobile is the same with fuel automobile, adopt the mode of centralized control, adopt a concentrated motor promptly, through devices such as derailleur with the drive power output of motor to every wheel, owing to in-process through the derailleur, can cause the loss of energy, consequently electric automobile's among the prior art energy utilization still has the space of improving.
The distributed driving electric automobile is characterized in that a motor is arranged in each wheel or beside the wheel of the automobile, and driving electric energy is output to each motor through a power battery so as to control the driving of each wheel.
In the practical application process, because the motor of the distributed driving electric automobile is integrated in each wheel, the integration level is high, the space is small, and because the consumption of electric quantity is mainly at the motor in the running process of the electric automobile, the heating rate of the motor is the highest, and the heat dissipation space in the wheel is small, the temperature of the motor of the distributed driving electric automobile is easy to rise to a higher temperature; further, when the electric vehicle runs at a slow speed for a long time with a large load on a long slope, the running speed of the electric vehicle is very low, but the electric motor is in a large current flowing state, that is, most of electric energy is converted into heat to assist the electric vehicle to climb the slope, so that the temperature of the electric motor of the distributed electric vehicle is rapidly increased, and the electric motor is easily damaged.
Disclosure of Invention
The invention aims to solve the technical problem that in the prior art, a motor is easy to damage due to rapid temperature rise in the slow running process of a distributed driving electric automobile with heavy load and long time, and provides a distributed control system and a distributed control method of the electric automobile.
In order to achieve the above object, an aspect of the present invention provides a distributed control system of an electric vehicle, the distributed control system including: the receiving device is used for receiving a driving instruction of the electric automobile; a drive device for outputting a drive current to a motor of the electric vehicle based on the drive command; the judging device is used for judging whether the running state of the electric automobile meets the control requirement or not when the driving current reaches a preset threshold value; and the speed change device is arranged between the motor and the automobile wheels and is used for adjusting the rotating speed output by the motor to the automobile wheels based on the driving command and the running state under the condition that the running state of the electric automobile does not accord with the control requirement.
Preferably, the driving means includes: the judgment submodule is used for judging whether the driving instruction is an acceleration instruction; the obtaining submodule is used for obtaining the pedal depth of the accelerator pedal of the electric automobile under the condition that the driving instruction is an acceleration instruction; and the control submodule is used for outputting a driving current corresponding to the pedal depth to a motor of the electric automobile based on the pedal depth.
Preferably, the judging means includes: the calling sub-module is used for calling the lowest running speed corresponding to the preset threshold value from the automobile control system when the driving current reaches the preset threshold value; and the determining submodule is used for acquiring the current running speed of the electric automobile and judging that the running state of the electric automobile does not meet the control requirement under the condition that the current running speed is less than the lowest running speed.
Preferably, the speed change device includes: the level calling submodule is used for calling a regulation level corresponding to the pedal depth from the automobile control system based on the pedal depth; and the rotating speed adjusting submodule is used for outputting the driving current with the preset threshold value to the motor of the electric automobile and adjusting the rotating speed output to the automobile wheel by the motor based on the adjusting level.
Preferably, the distributed control system further comprises: an obtaining device for obtaining a maximum operating speed corresponding to the adjustment level from the vehicle control system when the electric vehicle enters the speed adjustment state; and the regulating and controlling device is used for acquiring the current regulating and operating speed of the electric automobile and changing the regulating level into a regulating level corresponding to the regulating and operating speed under the condition that the regulating and operating speed is greater than the maximum operating speed.
The second aspect of the present invention provides a distributed control method for an electric vehicle, including: receiving a driving instruction for the electric automobile; outputting a drive current to a motor of the electric vehicle based on the drive command; when the driving current reaches a preset threshold value, judging whether the running state of the electric automobile meets the control requirement; and when the running state of the electric automobile does not meet the control requirement, adjusting the rotating speed output by the motor to the automobile wheels based on the driving command and the running state.
Preferably, the outputting of the driving current to the motor of the electric vehicle based on the driving command includes: judging whether the driving instruction is an acceleration instruction or not; under the condition that the driving instruction is an acceleration instruction, acquiring the pedal depth of an accelerator pedal of the electric automobile; outputting a driving current corresponding to the pedal depth to a motor of the electric vehicle based on the pedal depth.
Preferably, when the driving current reaches a preset threshold, determining whether the operating state of the electric vehicle meets a control requirement includes: when the driving current reaches the preset threshold value, the lowest running speed corresponding to the preset threshold value is called from an automobile control system; and acquiring the current running speed of the electric automobile, and judging that the running state of the electric automobile does not meet the control requirement under the condition that the current running speed is less than the lowest running speed.
Preferably, the adjusting the rotation speed of the electric motor output to the vehicle wheels based on the driving command and the operating state when the operating state of the electric vehicle does not meet the control requirement includes: determining to enter a speed regulation state under the condition that the running state of the electric automobile does not meet the control requirement; based on the pedal depth, calling an adjustment level corresponding to the pedal depth from the automobile control system; and outputting the driving current with the preset threshold value to the motor of the electric automobile, and adjusting the rotating speed of the motor output to the automobile wheels based on the adjustment level.
Preferably, the distributed control method further includes: acquiring a maximum running speed corresponding to the adjustment level from the automobile control system under the condition that the electric automobile enters the speed adjustment state; and acquiring the current adjustment running speed of the electric automobile, and changing the adjustment level into an adjustment level corresponding to the adjustment running speed under the condition that the adjustment running speed is greater than the maximum running speed.
Through the technical scheme provided by the invention, the invention at least has the following technical effects:
through set up a speed change gear between every motor and wheel at distributed drive electric automobile, bear a burden greatly at electric automobile, when long-time slow-speed operation, convert the high rotational speed of low moment of motor output into the low rotational speed of high moment of exporting the wheel, because the motor still keeps high-speed, consequently can convert the drive current maximize of drive arrangement output into kinetic energy, thereby can maximize the heat that reduces the motor and give off, prevent the damage of motor, the life of motor has been protected, simultaneously can also export bigger drive moment, make electric automobile have sufficient climbing ability.
Drawings
Fig. 1 is a schematic structural diagram of a distributed control system of an electric vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a driving device of a distributed control system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a determination device of a distributed control system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a transmission of a distributed control system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a distributed control system of an electric vehicle according to another embodiment of the present invention;
fig. 6 is a flowchart of a specific implementation of a distributed control method for an electric vehicle according to an embodiment of the present invention.
Detailed Description
The invention aims to solve the technical problem that in the prior art, a motor is easy to damage due to rapid temperature rise in the slow running process of a distributed driving electric automobile with heavy load and long time, and provides a distributed control system and a distributed control method of the electric automobile.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The terms "system" and "network" in embodiments of the present invention may be used interchangeably. The "plurality" means two or more, and in view of this, the "plurality" may also be understood as "at least two" in the embodiments of the present invention. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" generally indicates that the preceding and following related objects are in an "or" relationship, unless otherwise specified. In addition, it should be understood that the terms first, second, etc. in the description of the embodiments of the invention are used for distinguishing between the descriptions and are not intended to indicate or imply relative importance or order to be construed.
Referring to fig. 1, an embodiment of the present invention provides a distributed control system for an electric vehicle, where the distributed control system includes: the receiving device is used for receiving a driving instruction of the electric automobile; a drive device for outputting a drive current to a motor of the electric vehicle based on the drive command; the judging device is used for judging whether the running state of the electric automobile meets the control requirement or not when the driving current reaches a preset threshold value; and the speed change device is arranged between the motor and the automobile wheels and is used for adjusting the rotating speed output by the motor to the automobile wheels based on the driving command and the running state under the condition that the running state of the electric automobile does not accord with the control requirement.
In the embodiment of the invention, a driving instruction of the electric vehicle can be obtained through a vehicle Control unit (vcu), a sensor signal or directly from a user, and then the driving current output by the electric vehicle and the current running speed of the electric vehicle are monitored, so that when the current running speed of the electric vehicle does not accord with the running speed corresponding to the driving current, the speed is adjusted through a speed changing device, preferably, the speed changing device is an automatic transmission or a continuously variable transmission, thereby on one hand, the high-speed running of the electric motor is maintained, the electric energy is converted into the kinetic energy to the maximum extent, the electric energy is converted into the heat energy to the minimum extent, and the heating of the electric motor is reduced; on the other hand, the speed is reduced, so that the low-torque high-rotation speed output by the motor can be converted into the high-torque low-rotation speed output to the wheels, and the electric automobile has stronger driving force.
Referring to fig. 2, in an embodiment of the present invention, the driving device includes: the judgment submodule is used for judging whether the driving instruction is an acceleration instruction; the obtaining submodule is used for obtaining the pedal depth of the accelerator pedal of the electric automobile under the condition that the driving instruction is an acceleration instruction; and the control submodule is used for outputting a driving current corresponding to the pedal depth to a motor of the electric automobile based on the pedal depth.
In one possible embodiment, the driving device first obtains a driving command of the electric vehicle from the vehicle control system, for example, by obtaining a pedal depth of an accelerator of the electric vehicle, when the pedal depth of the accelerator of the electric vehicle is greater, it may be determined that the user desires to obtain an acceleration operation, that is, the driving command is an acceleration command, when the pedal depth is smaller, it may be determined that an operation speed of the electric vehicle reaches the user desired value, the user no longer needs to accelerate, and when the pedal depth is not changed, it may be determined that the user desires to keep a current speed operation; based on the same principle, through the pedal depth of the brake, when the pedal depth of the brake is larger and larger, the user can be judged to expect to obtain the deceleration operation, namely the driving instruction is the deceleration instruction, when the pedal depth is smaller and smaller, the user can be judged not to need to decelerate any more, and when the pedal depth is not changed, the user can be judged to expect to keep the current speed operation.
In a specific embodiment, the automobile control system acquires that the accelerator is pressed down by 30% by the user, namely acquires an acceleration instruction of the user, and the output current corresponding to the accelerator depth is 20A by acquiring from the automobile control system, so that the electric automobile is controlled to output the drive current of 20A.
Referring to fig. 3, in an embodiment of the present invention, the determining device includes: the calling sub-module is used for calling the lowest running speed corresponding to the preset threshold value from the automobile control system when the driving current reaches the preset threshold value; and the determining submodule is used for judging that the running state of the electric automobile does not meet the control requirement when the current running speed of the electric automobile is less than the lowest running speed.
In a possible embodiment, the preset threshold of the driving current is 20A, and the vehicle control system monitors that the driving current output by the electric vehicle reaches 21A, that is, the preset threshold is reached, at this time, the driving current of 21A should correspond to the minimum running speed of 60Km/h under the condition of normal running, and at this time, the current running speed of the electric vehicle is 30Km/h and is less than the minimum running speed, so that it is determined that the running state of the electric vehicle does not meet the control requirement.
Referring to fig. 4, in an embodiment of the present invention, the speed changing device includes: the state confirmation submodule is used for determining to enter a speed regulation state under the condition that the running state of the electric automobile does not accord with the control requirement; the level calling submodule is used for calling a regulation level corresponding to the pedal depth from the automobile control system based on the pedal depth; and the rotating speed adjusting submodule is used for outputting the driving current with the preset threshold value to the motor of the electric automobile and adjusting the rotating speed output to the automobile wheel by the motor based on the adjusting level.
In the embodiment of the present invention, the transmission device is an automatic transmission or a continuously variable transmission, and the transmission transmits the input rotation speed of high speed operation and the rotation speed and the torque through different gear transmission structures by a gear transmission structure, so as to output a low speed rotation speed, and the low speed rotation has a high torque characteristic.
In the embodiment of the invention, in order to more accurately confirm the current operating state of the electric vehicle, signals of the sensors, such as an acceleration signal of an acceleration sensor, a pitch angle signal of a gyroscope, a brake signal of a brake pedal, a user's operation or voice control instruction and the like, can be acquired, so that the current operating state of the electric vehicle can be more accurately confirmed.
In one possible embodiment, the operating state of the electric vehicle does not meet the control requirement, and therefore a speed regulation state is entered, in which a pedal depth of 50% is obtained, a corresponding regulation level of 2-step regulation (4 steps in total) is read from the vehicle control system according to the pedal depth value, in which the drive device is controlled to output a drive current to the motor at a current level of a preset threshold value, for example, 30A, in which the motor is operated at a speed of 40Km/h driven by the drive current of 30A, in which the transmission device converts the speed to a speed of 25Km/h for output of a greater drive torque.
Through rotating the high speed of speed change gear to the motor output and changing, convert the high rotational speed of the low moment of motor output into the low rotational speed of the high moment of exporting the wheel, thereby make electric automobile at heavy burden, the in-process of long-time slow climbing, still can convert most electric energy into kinetic energy, rather than convert electric energy into heat and give out, thereby the nature of generating heat of motor has been reduced, electric automobile is the security of the in-process of traveling, the life of electric automobile's motor has been improved.
Referring to fig. 5, in the embodiment of the present invention, the distributed control system further includes: an obtaining device for obtaining a maximum operating speed corresponding to the adjustment level from the vehicle control system when the electric vehicle enters the speed adjustment state; and the regulating and controlling device is used for acquiring the current regulating and operating speed of the electric automobile and changing the regulating level into a regulating level corresponding to the regulating and operating speed under the condition that the regulating and operating speed is greater than the maximum operating speed.
In the embodiment of the invention, the electric automobile entering the adjustment state is monitored in real time, so that when the running state of the electric automobile does not accord with the current adjustment level, the optimal adjustment can be automatically carried out, the utilization rate of electric energy is further improved, the heat productivity in the driving process is reduced, the automation is improved, a user does not need to manually adjust the corresponding adjustment level, the response speed is higher, and the user experience is improved.
The following describes a distributed control method for an electric vehicle according to an embodiment of the present invention with reference to the accompanying drawings.
Referring to fig. 6, based on the same inventive concept, an embodiment of the present invention provides a distributed control method for an electric vehicle, where the distributed control method includes:
s10) receiving a drive instruction for the electric vehicle;
s20) outputting a drive current to a motor of the electric vehicle based on the drive command;
s30) when the driving current reaches a preset threshold value, judging whether the running state of the electric automobile meets the control requirement;
s40) when the operating state of the electric vehicle does not meet the control requirement, adjusting the rotation speed of the electric motor output to the vehicle wheel based on the driving command and the operating state.
In an embodiment of the present invention, the outputting a driving current to a motor of the electric vehicle based on the driving command includes: judging whether the driving instruction is an acceleration instruction or not; under the condition that the driving instruction is an acceleration instruction, acquiring the pedal depth of an accelerator pedal of the electric automobile; outputting a driving current corresponding to the pedal depth to a motor of the electric vehicle based on the pedal depth.
In an embodiment of the present invention, when the driving current reaches a preset threshold, the determining whether the operating state of the electric vehicle meets a control requirement includes: when the driving current reaches the preset threshold value, the lowest running speed corresponding to the preset threshold value is called from an automobile control system; and acquiring the current running speed of the electric automobile, and judging that the running state of the electric automobile does not meet the control requirement under the condition that the current running speed is less than the lowest running speed.
In an embodiment of the present invention, the adjusting the rotation speed of the electric motor output to the vehicle wheels based on the driving command and the operating state when the operating state of the electric vehicle does not meet the control requirement includes: determining to enter a speed regulation state under the condition that the running state of the electric automobile does not meet the control requirement; based on the pedal depth, calling an adjustment level corresponding to the pedal depth from the automobile control system; and outputting the driving current with the preset threshold value to the motor of the electric automobile, and adjusting the rotating speed of the motor output to the automobile wheels based on the adjustment level.
In this embodiment of the present invention, the distributed control method further includes: acquiring a maximum running speed corresponding to the adjustment level from the automobile control system under the condition that the electric automobile enters the speed adjustment state; and acquiring the current adjustment running speed of the electric automobile, and changing the adjustment level into an adjustment level corresponding to the adjustment running speed under the condition that the adjustment running speed is greater than the maximum running speed.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (6)
1. A distributed control system of an electric vehicle, characterized in that the distributed control system comprises:
the receiving device is used for receiving a driving instruction of the electric automobile;
a drive device for outputting a drive current to a motor of the electric vehicle based on the drive command;
the judging device is used for judging whether the running state of the electric automobile meets the control requirement or not when the driving current reaches a preset threshold value;
a transmission device provided between the electric motor and a vehicle wheel, for adjusting a rotation speed of the electric motor output to the vehicle wheel based on the driving command and the operating state when the operating state of the electric vehicle does not meet the control requirement;
wherein the judging means includes:
the calling sub-module is used for calling the lowest running speed corresponding to the preset threshold value from the automobile control system when the driving current reaches the preset threshold value;
the determining submodule is used for acquiring the current running speed of the electric automobile and judging that the running state of the electric automobile does not meet the control requirement under the condition that the current running speed is less than the lowest running speed;
the transmission device includes:
the state confirmation submodule is used for determining to enter a speed regulation state under the condition that the running state of the electric automobile does not accord with the control requirement;
the level calling submodule is used for calling a regulation level corresponding to the pedal depth from the automobile control system based on the pedal depth;
and the rotating speed adjusting submodule is used for outputting the driving current with the preset threshold value to the motor of the electric automobile and adjusting the rotating speed output to the automobile wheel by the motor based on the adjusting level.
2. The distributed control system according to claim 1, wherein the drive means comprises:
the judgment submodule is used for judging whether the driving instruction is an acceleration instruction;
the obtaining submodule is used for obtaining the pedal depth of the accelerator pedal of the electric automobile under the condition that the driving instruction is an acceleration instruction;
and the control submodule is used for outputting a driving current corresponding to the pedal depth to a motor of the electric automobile based on the pedal depth.
3. The distributed control system of claim 1, further comprising:
an obtaining device for obtaining a maximum operating speed corresponding to the adjustment level from the vehicle control system when the electric vehicle enters the speed adjustment state;
and the regulating and controlling device is used for acquiring the current regulating and operating speed of the electric automobile and changing the regulating level into a regulating level corresponding to the regulating and operating speed under the condition that the regulating and operating speed is greater than the maximum operating speed.
4. A distributed control method of an electric vehicle, characterized by comprising:
receiving a driving instruction for the electric automobile;
outputting a drive current to a motor of the electric vehicle based on the drive command;
when the driving current reaches a preset threshold value, judging whether the running state of the electric automobile meets the control requirement;
wherein, when drive current reaches preset threshold value, judge whether electric automobile's running state accords with control requirement, include:
when the driving current reaches the preset threshold value, the lowest running speed corresponding to the preset threshold value is called from an automobile control system;
acquiring the current running speed of the electric automobile, and judging that the running state of the electric automobile does not meet the control requirement under the condition that the current running speed is less than the lowest running speed;
when the running state of the electric automobile does not meet the control requirement, adjusting the rotating speed output by the motor to the automobile wheels based on the driving command and the running state;
wherein, when the operating state of the electric vehicle does not meet the control requirement, adjusting the rotation speed of the motor output to the vehicle wheel based on the driving command and the operating state comprises:
determining to enter a speed regulation state under the condition that the running state of the electric automobile does not meet the control requirement;
based on the pedal depth, calling an adjustment level corresponding to the pedal depth from the automobile control system;
and outputting the driving current with the preset threshold value to the motor of the electric automobile, and adjusting the rotating speed of the motor output to the automobile wheels based on the adjustment level.
5. The distributed control method according to claim 4, wherein the outputting a drive current to a motor of the electric vehicle based on the drive command includes:
judging whether the driving instruction is an acceleration instruction or not;
under the condition that the driving instruction is an acceleration instruction, acquiring the pedal depth of an accelerator pedal of the electric automobile;
outputting a driving current corresponding to the pedal depth to a motor of the electric vehicle based on the pedal depth.
6. The distributed control method according to claim 4, further comprising:
acquiring a maximum running speed corresponding to the adjustment level from the automobile control system under the condition that the electric automobile enters the speed adjustment state;
and acquiring the current adjustment running speed of the electric automobile, and changing the adjustment level into an adjustment level corresponding to the adjustment running speed under the condition that the adjustment running speed is greater than the maximum running speed.
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| CN104242777A (en) * | 2013-06-12 | 2014-12-24 | 丰田自动车株式会社 | Vehicle including rotating electric machine, inverter and electronic control unit, and control method thereof |
| CN105805241A (en) * | 2016-05-09 | 2016-07-27 | 黄山奔马集团有限公司 | Self-adaption automatic torque adding and energy saving driving assembly for electric vehicle |
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