CN108275033A - Pure electric automobile is anti-to slip by slope control device and its control method - Google Patents
Pure electric automobile is anti-to slip by slope control device and its control method Download PDFInfo
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- CN108275033A CN108275033A CN201810065253.5A CN201810065253A CN108275033A CN 108275033 A CN108275033 A CN 108275033A CN 201810065253 A CN201810065253 A CN 201810065253A CN 108275033 A CN108275033 A CN 108275033A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 7
- 230000007935 neutral effect Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
Classifications
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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
- B60L15/2009—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 for braking
- B60L15/2018—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 for braking for braking on a slope
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
-
- 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 a kind of pure electric automobiles to prevent slipping by slope control device and its control method, including entire car controller VCU, automotive motor controller MCU, electric motor of automobile, brake pedal, accelerator pedal, driving switch, parking brake switch, velocity sensor and anti-skid device；The anti-skid device includes the fixed block being set on body of a motor car, it is set to 2 tracks on fixed block along automobile direction of advance, across 2 tracks and the head rod that is all connected with 2 tracks, power plant, second connecting rod, third connecting rod, and the fixture block that is connect respectively with the second connecting rod, third connecting rod.The present invention by VCU detect vehicle be in slip by slope state when, the control mode switch of electric motor of automobile to rotating speed is controlled, MCU is according to the output pretightning force torque of the rotating speed size constantly regulate electric machine controller of motor, come not slipping by slope for short time of realizing vehicle on ramp, the enough manipulation time is provided for driver actions.
Description
Technical field
The present invention relates to Control of Electric Vehicles technical fields, and enough behaviour can be provided for driver more particularly, to a kind of
Make the time, the pure electric automobile for eliminating the security risk that automobile crash is brought is prevented slipping by slope control device and its control method.
Background technology
Vehicle is after the parking of ramp, again in starting-up process, puts down parking brake to stepping on the throttle in the time, vehicle, which can exist, to slip
Slope phenomenon.If with when vehicle distances in slope are closer below, slip by slope phenomenon and will result in automobile crash, bring security risk.
Especially fresh driver, the probability bigger slipped by slope during uphill starting.
Invention content
The present invention causes automobile crash not to overcome vehicle existing in the prior art to be easy to slip by slope in uphill starting
Foot, provide it is a kind of enough operating times can be provided for driver, the pure electricity for the security risk that elimination automobile crash is brought
Electrical automobile is anti-to slip by slope control device and its control method.
To achieve the goals above, present invention employs following technical schemes：
A kind of pure electric automobile is anti-to slip by slope control device, including entire car controller VCU, automotive motor controller MCU, automobile
Motor, brake pedal, accelerator pedal, driving switch, parking brake switch, velocity sensor and anti-skid device；The anti-skid device packet
The fixed block on the body of a motor car is included, 2 tracks on fixed block are set to along automobile direction of advance, across 2 tracks and with 2
The head rod that track is all connected with, power plant, the second connecting rod, third connecting rod, and respectively with the second connecting rod,
The fixture block of three connecting rods connection；Head rod is connect with the second connecting rod and third connecting rod respectively by power plant；Institute
Entire car controller VCU is stated to switch with automotive motor controller MCU, brake pedal, accelerator pedal, driving switch, parking brake respectively, is fast
Sensor and anti-skid device electrical connection are spent, MCU is electrically connected with electric motor of automobile.
The present invention by entire car controller VCU detect vehicle be in slip by slope state when, by MCU pairs of automotive motor controller
The control model of motor is converted to rotating speed control by direct torque, automotive motor controller MCU according to the rotating speed size of motor not
The output pretightning force torque of disconnected regulation motor controller, it is dynamic for driver come not slipping by slope for short time of realizing vehicle on ramp
Provide the enough manipulation time.
Preferably, the power plant includes first motor, the first cylinder, the second cylinder and the second motor；First gas
Cylinder is fixedly connected with one end of head rod, and the telescopic rod of the first cylinder is connect with the second connecting rod, the second cylinder and first
The other end of connecting rod is fixedly connected, and the telescopic rod of the second cylinder is connect with third connecting rod, the second motor and head rod
Connection, first motor and the second motor are electrically connected with entire car controller VCU.
Preferably, the first motor is located on head rod, the second motor is located on fixed block.
Preferably, fixture block is trapezoidal, fixture block is equipped with vacuum generator, and decorative pattern is equipped on the outer surface of fixture block, blocks
Pressure sensor is equipped on the outer surface of block, the lower surface of fixture block is equipped with sucker；Each pressure sensor with vehicle control
Device VCU electrical connections processed, sucker are connect with vacuum generator.
A kind of anti-control method for slipping by slope control device of pure electric automobile, includes the following steps：
The maximum (top) speed V of electric motor of automobile when (5-1) setting vehicle is staticmaxDuration T is slipped by slope with longestmax；
The state of (5-2) entire car controller VCU detections brake pedal, accelerator pedal, driving switch and parking brake switch,
When driving switch is in drive shift state, brake pedal and accelerator pedal are not stepped on, and when parking brake is put down, and are turned
Enter step (5-3)；
When driving switch, which is in the numerical value that neutral position state and velocity sensor detect, is more than 0, it is transferred to step (5-
4)；
(5-3) entire car controller VCU sends target control pattern and object run rotating speed gives automotive motor controller MCU,
Automotive motor controller MCU is realized according to the rotating speed size constantly regulate pretightning force torque of electric motor of automobile and is prevented slipping by slope function；
The VCU control anti-skid device work of (5-4) entire car controller, makes automobile halt or retreat.
Preferably, step (5-3) is as follows：
(6-1) entire car controller VCU sends target control pattern and object run rotating speed gives automotive motor controller MCU,
It is controlled for rotating speed when automotive motor controller MCU receives the target control pattern that entire car controller VCU is sent, object run turns
When speed is 0, automotive motor controller MCU exports initial pretightning force torque, and starts timing, and timing duration is indicated with t；If
t≤Tmax, it is transferred to step (6-2)；If t ＞ Tmax, it is transferred to step (6-6)；
The rotating speed v of (6-2) automotive motor controller MCU detection electric motor of automobile,
If the rotating speed v ＞ 0 or v >=-V of electric motor of automobilemaxWhen, it is transferred to step (6-3)；
If the rotating speed v ＜-V of electric motor of automobilemax, it is transferred to step (6-4)；
(6-3) automotive motor controller MCU continues to output prefastening torque, and continues timing, as t ＞ TmaxWhen, it is transferred to step
Suddenly (6-6)；
(6-4) automotive motor controller MCU exports torque in slope, and then automotive motor controller MCU detects electric motor of automobile
Rotating speed v,
If the rotating speed v ＞ 0 of electric motor of automobile, automotive motor controller MCU are transferred to step (6- according to speed attenuation torque
5)；
If rotating speed v≤0 of electric motor of automobile, current torque output is kept, and continue timing, as t ＞ TmaxWhen, it is transferred to
Step (6-6)；
(6-5) during torque is decayed, automotive motor controller MCU detects the rotating speed v of electric motor of automobile, if automobile
Rotating speed v≤V of motormaxAnd t ＞ Tmax, it is transferred to step (6-6)；
If the rotating speed v ＞ V of electric motor of automobilemax, it is transferred to step (6-3)；
(6-6) automotive motor controller MCU exits zero-turn speed execution pattern, automotive motor controller MCU detection automobile electricity
The rotating speed v of machine, if the rotating speed v ＜ V of electric motor of automobilemax, target pattern is switched to torque mode, automobile by entire car controller VCU
Electric machine controller MCU is according to entire car controller VCU instruction control vehicle operations.
Preferably, step (5-4) is as follows：
(7-1) controller controls the first cylinder and the second cylinder operation by controlling first motor, the second connecting rod and
Third connecting rod earthward moves, when the lower surface of fixture block when being contacted with ground, be located at fixture block lower surface pressure sensor
It detects pressure value, and signal is passed into controller, controller controls the first cylinder stop motion；
(7-2) controller controls the work of the second motor, drives head rod to be slided on 2 tracks, when the side of fixture block
When face is contacted with automotive wheel, the pressure sensor positioned at fixture block side detects pressure value, and signal is passed to controller,
Controller controls the second motor and is stopped；
(7-3) controller controls vacuum generator work, evacuates the air in sucker, and sucker is attracted with ground, and fixture block will
Automotive wheel clamping makes automobile halt or retreat.
Therefore, the present invention has the advantages that：The present invention constantly adjusts preload by automotive motor controller MCU
The size of power torque, not slipping by slope for short time that realizes vehicle on ramp, enough operating times is provided for driver, together
When the present invention do not slip by slope when realizing vehicle neutral gear or failure by anti-skid device, realize it is dual it is anti-slip by slope function, eliminate
The security risk of automobile crash.
Description of the drawings
Fig. 1 is the system block diagram of the present invention；
Fig. 2 is a kind of structural schematic diagram of the anti-skid device of the present invention；
Fig. 3 is the flow chart of the present invention.
In figure：Entire car controller VCU1, automotive motor controller MCU2, electric motor of automobile 3, brake pedal 4, accelerator pedal 5,
Driving switch 6, parking brake switch 7, velocity sensor 8, anti-skid device 9, vacuum generator 10, pressure sensor 11, fixed block 91,
Second connecting rod 92, third connecting rod 93, fixture block 94, first motor 95, the first cylinder 96, the second cylinder 97 and the second motor
98。
Specific implementation mode
The present invention is described further with specific implementation mode below in conjunction with the accompanying drawings：
Embodiment as depicted in figs. 1 and 2, which is that a kind of pure electric automobile is anti-, slips by slope control device, including entire car controller
VCU1, automotive motor controller MCU2, electric motor of automobile 3, brake pedal 4, accelerator pedal 5, driving switch 6, parking brake switch 7, speed
Spend sensor 8 and anti-skid device 9；As shown in Fig. 2, the anti-skid device includes the fixed block 91 being set on body of a motor car, along vapour
Vehicle direction of advance is set to 2 tracks on fixed block, across 2 tracks and the head rod that is all connected with 2 tracks, power
Device, the second connecting rod 92, third connecting rod 93, and the fixture block 94 that is connect respectively with the second connecting rod, third connecting rod；First
Connecting rod is connect with the second connecting rod and third connecting rod respectively by power plant；The entire car controller VCU respectively with vapour
Vehicle motor controller MCU, brake pedal, accelerator pedal, driving switch, parking brake switch, velocity sensor and anti-skid device are electrically connected
It connects, MCU is electrically connected with electric motor of automobile.
Wherein, as depicted in figs. 1 and 2, power plant includes first motor 95, the first cylinder 96, the second cylinder 97 and
Two motors 98；First cylinder is fixedly connected with one end of head rod, and the telescopic rod of the first cylinder is connect with the second connecting rod,
Second cylinder is fixedly connected with the other end of head rod, and the telescopic rod of the second cylinder is connect with third connecting rod, the second electricity
Machine is connect with head rod, and first motor and the second motor are electrically connected with entire car controller VCU；First motor is located at first
In connecting rod, the second motor is located on fixed block；Fixture block is trapezoidal, and fixture block is equipped with vacuum generator 10, the outer surface of fixture block
On be equipped with decorative pattern, be equipped with pressure sensor 11 on the outer surface of fixture block, the lower surface of fixture block is equipped with sucker；Each pressure
Sensor is electrically connected with entire car controller VCU, and sucker is connect with vacuum generator.
As shown in figure 3, a kind of anti-control method for slipping by slope control device of pure electric automobile, includes the following steps：
Step 100, the maximum (top) speed V of electric motor of automobile when setting vehicle is staticmaxDuration T is slipped by slope with longestmax；
Step 200, entire car controller VCU detects the state of brake pedal, accelerator pedal, driving switch and parking brake switch,
When driving switch is in drive shift state, brake pedal and accelerator pedal are not stepped on, and when parking brake is put down, and are turned
Enter step 300；
When driving switch, which is in the numerical value that neutral position state and velocity sensor detect, is more than 0, it is transferred to step 400；
Step 300, entire car controller VCU sends target control pattern and object run rotating speed to automotive motor controller
MCU, automotive motor controller MCU are realized according to the rotating speed size constantly regulate pretightning force torque of electric motor of automobile and are prevented slipping by slope function
Step 301, entire car controller VCU sends target control pattern and object run rotating speed to automotive motor controller
MCU is controlled when automotive motor controller MCU receives the target control pattern that entire car controller VCU is sent for rotating speed, target fortune
When row rotating speed is 0, automotive motor controller MCU exports initial pretightning force torque, and starts timing, and timing duration is indicated with t；
If t≤Tmax, it is transferred to step 302；If t ＞ Tmax, it is transferred to step 306；
Step 302, automotive motor controller MCU detects the rotating speed v of electric motor of automobile,
If the rotating speed v ＞ 0 or v >=-V of electric motor of automobilemaxWhen, it is transferred to step 303；
If the rotating speed v ＜-V of electric motor of automobilemax, it is transferred to step 304；
Step 303, automotive motor controller MCU continues to output prefastening torque, and continues timing, as t ＞ TmaxWhen, turn
Enter step 306；
Step 304, automotive motor controller MCU exports torque in slope, and then automotive motor controller MCU detects automobile electricity
The rotating speed v of machine,
If the rotating speed v ＞ 0 of electric motor of automobile, automotive motor controller MCU is transferred to step 305 according to speed attenuation torque；
If rotating speed v≤0 of electric motor of automobile, current torque output is kept, and continue timing, as t ＞ TmaxWhen, it is transferred to
Step 306；Wherein, torque in slope indicates vehicle required Motor torque under the maximum gradient in slope；
Step 305, during torque is decayed, the rotating speed v of automotive motor controller MCU detection electric motor of automobile, if
Rotating speed v≤V of electric motor of automobilemaxAnd t ＞ Tmax, it is transferred to step 306；
If the rotating speed v ＞ V of electric motor of automobilemax, it is transferred to step 303；
Step 306, automotive motor controller MCU exits zero-turn speed execution pattern, and automotive motor controller MCU detects automobile
The rotating speed v of motor, if the rotating speed v ＜ V of electric motor of automobilemax, target pattern is switched to torque mode, vapour by entire car controller VCU
Vehicle motor controller MCU is according to entire car controller VCU instruction control vehicle operations.
Step 400, entire car controller VCU controls anti-skid device work, and automobile is made to halt or retreat
Step 401, controller controls the first cylinder and the second cylinder operation, the second connecting rod by controlling first motor
Earthward moved with third connecting rod, when the lower surface of fixture block when being contacted with ground, be located at fixture block lower surface pressure sensing
Device detects pressure value, and signal is passed to controller, and controller controls the first cylinder stop motion；
Step 402, controller controls the work of the second motor, drives head rod to be slided on 2 tracks, when fixture block
When side is contacted with automotive wheel, the pressure sensor positioned at fixture block side detects pressure value, and signal is passed to control
Device, controller control the second motor and are stopped；
Step 403, controller control vacuum generator work evacuates the air in sucker, and sucker is attracted with ground, fixture block
By automotive wheel clamping, automobile is made to halt or retreat.
It should be understood that this embodiment is only used to illustrate the invention but not to limit the scope of the invention.In addition, it should also be understood that,
After having read the content of the invention lectured, those skilled in the art can make various modifications or changes to the present invention, these etc.
Valence form is also fallen within the scope of the appended claims of the present application.
Claims (7)
1. a kind of pure electric automobile is anti-to slip by slope control device, which is characterized in that including entire car controller VCU (1), electric motor of automobile control
Device MCU (2) processed, electric motor of automobile (3), brake pedal (4), accelerator pedal (5), driving switch (6), parking brake switch (7), speed pass
Sensor (8) and anti-skid device (9)；The anti-skid device includes the fixed block (91) being set on body of a motor car, along automobile advance side
To 2 tracks on fixed block, across 2 tracks and the head rod that is all connected with 2 tracks, power plant,
Two connecting rods (92), third connecting rod (93), and the fixture block (94) that is connect respectively with the second connecting rod, third connecting rod；First
Connecting rod is connect with the second connecting rod and third connecting rod respectively by power plant；The entire car controller VCU respectively with vapour
Vehicle motor controller MCU, brake pedal, accelerator pedal, driving switch, parking brake switch, velocity sensor and anti-skid device are electrically connected
It connects, MCU is electrically connected with electric motor of automobile.
2. pure electric automobile according to claim 1 is anti-to slip by slope control device, which is characterized in that the power plant includes
First motor (95), the first cylinder (96), the second cylinder (97) and the second motor (98)；The one of first cylinder and head rod
End is fixedly connected, and the telescopic rod of the first cylinder is connect with the second connecting rod, and the other end of the second cylinder and head rod is fixed
Connection, the telescopic rod of the second cylinder are connect with third connecting rod, and the second motor is connect with head rod, first motor and second
Motor is electrically connected with entire car controller VCU.
3. pure electric automobile according to claim 2 is anti-to slip by slope control device, which is characterized in that the first motor is located at
On head rod, the second motor is located on fixed block.
4. pure electric automobile according to claim 1 or 2 or 3 is anti-to slip by slope control device, which is characterized in that fixture block is in ladder
Shape, fixture block are equipped with vacuum generator (10), are equipped with decorative pattern on the outer surface of fixture block, pressure is equipped on the outer surface of fixture block
The lower surface of sensor (11), fixture block is equipped with sucker；Each pressure sensor is electrically connected with entire car controller VCU, sucker
It is connect with vacuum generator.
5. a kind of based on the anti-control method for slipping by slope control device of pure electric automobile described in claim 1, which is characterized in that packet
Include following steps：
The maximum (top) speed V of electric motor of automobile when (5-1) setting vehicle is staticmaxDuration T is slipped by slope with longestmax；
The state of (5-2) entire car controller VCU detections brake pedal, accelerator pedal, driving switch and parking brake switch,
When driving switch is in drive shift state, brake pedal and accelerator pedal are not stepped on, and when parking brake is put down, and are transferred to step
Suddenly (5-3)；
When driving switch, which is in the numerical value that neutral position state and velocity sensor detect, is more than 0, it is transferred to step (5-4)；
(5-3) entire car controller VCU sends target control pattern and object run rotating speed gives automotive motor controller MCU, automobile
Electric machine controller MCU is realized according to the rotating speed size constantly regulate pretightning force torque of electric motor of automobile and is prevented slipping by slope function；
The VCU control anti-skid device work of (5-4) entire car controller, makes automobile halt or retreat.
6. the anti-control method for slipping by slope control device of pure electric automobile according to claim 5, which is characterized in that step
(5-3) is as follows：
(6-1) entire car controller VCU sends target control pattern and object run rotating speed gives automotive motor controller MCU, works as vapour
Vehicle motor controller MCU receives the target control pattern that entire car controller VCU is sent and is controlled for rotating speed, and object run rotating speed is
When 0, automotive motor controller MCU exports initial pretightning force torque, and starts timing, and timing duration is indicated with t；If t≤
Tmax, it is transferred to step (6-2)；If t ＞ Tmax, it is transferred to step (6-6)；
The rotating speed v of (6-2) automotive motor controller MCU detection electric motor of automobile,
If the rotating speed v ＞ 0 or v >=-V of electric motor of automobilemaxWhen, it is transferred to step (6-3)；
If the rotating speed v ＜-V of electric motor of automobilemax, it is transferred to step (6-4)；
(6-3) automotive motor controller MCU continues to output prefastening torque, and continues timing, as t ＞ TmaxWhen, it is transferred to step
(6-6)；
(6-4) automotive motor controller MCU exports torque in slope, and then automotive motor controller MCU detects turning for electric motor of automobile
Fast v,
If the rotating speed v ＞ 0 of electric motor of automobile, automotive motor controller MCU are transferred to step (6-5) according to speed attenuation torque；
If rotating speed v≤0 of electric motor of automobile, current torque output is kept, and continue timing, as t ＞ TmaxWhen, it is transferred to step
(6-6)；
(6-5) during torque is decayed, automotive motor controller MCU detects the rotating speed v of electric motor of automobile, if electric motor of automobile
Rotating speed v≤VmaxAnd t ＞ Tmax, it is transferred to step (6-6)；
If the rotating speed v ＞ V of electric motor of automobilemax, it is transferred to step (6-3)；
(6-6) automotive motor controller MCU exits zero-turn speed execution pattern, automotive motor controller MCU detection electric motor of automobile
Rotating speed v, if the rotating speed v ＜ V of electric motor of automobilemax, target pattern is switched to torque mode, electric motor of automobile by entire car controller VCU
Controller MCU is according to entire car controller VCU instruction control vehicle operations.
7. the anti-control method for slipping by slope control device of pure electric automobile according to claim 5, which is characterized in that step
(5-4) is as follows：
(7-1) controller controls the first cylinder and the second cylinder operation, the second connecting rod and third by controlling first motor
Connecting rod earthward moves, when the lower surface of fixture block when being contacted with ground, be located at fixture block lower surface pressure sensor detect
Controller is passed to pressure value, and by signal, controller controls the first cylinder stop motion；
(7-2) controller control the second motor work, drive head rod slided on 2 tracks, when the side of fixture block with
When automotive wheel contacts, the pressure sensor positioned at fixture block side detects pressure value, and signal is passed to controller, control
Device controls the second motor and is stopped；
(7-3) controller controls vacuum generator work, evacuates the air in sucker, and sucker and ground are attracted, and fixture block is by automobile
Wheel clamping makes automobile halt or retreat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810065253.5A CN108275033B (en) | 2018-01-23 | 2018-01-23 | The anti-control method for slipping by slope control device of pure electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810065253.5A CN108275033B (en) | 2018-01-23 | 2018-01-23 | The anti-control method for slipping by slope control device of pure electric automobile |
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| CN108275033A true CN108275033A (en) | 2018-07-13 |
| CN108275033B CN108275033B (en) | 2019-10-08 |
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|---|---|---|---|
| CN201810065253.5A Expired - Fee Related CN108275033B (en) | 2018-01-23 | 2018-01-23 | The anti-control method for slipping by slope control device of pure electric automobile |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588368A (en) * | 2019-09-17 | 2019-12-20 | 武汉理工通宇新源动力有限公司 | Motor controller slope-parking control method and system for new energy automobile |
| CN111186309A (en) * | 2020-01-02 | 2020-05-22 | 广汽蔚来新能源汽车科技有限公司 | Electric automobile slope-sliding prevention control system and method, computer equipment and storage medium |
| CN111231693A (en) * | 2020-01-10 | 2020-06-05 | 北京车和家信息技术有限公司 | Anti-slope-sliding control method and device |
| CN113479073A (en) * | 2021-08-02 | 2021-10-08 | 潍柴动力股份有限公司 | Slope-sliding-prevention control method and device, vehicle control unit and storage medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110588368A (en) * | 2019-09-17 | 2019-12-20 | 武汉理工通宇新源动力有限公司 | Motor controller slope-parking control method and system for new energy automobile |
| CN111186309A (en) * | 2020-01-02 | 2020-05-22 | 广汽蔚来新能源汽车科技有限公司 | Electric automobile slope-sliding prevention control system and method, computer equipment and storage medium |
| CN111231693A (en) * | 2020-01-10 | 2020-06-05 | 北京车和家信息技术有限公司 | Anti-slope-sliding control method and device |
| CN113479073A (en) * | 2021-08-02 | 2021-10-08 | 潍柴动力股份有限公司 | Slope-sliding-prevention control method and device, vehicle control unit and storage medium |
| CN113479073B (en) * | 2021-08-02 | 2024-05-17 | 潍柴动力股份有限公司 | Anti-slip control method and device, whole vehicle controller and storage medium |
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| CN108275033B (en) | 2019-10-08 |
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