CN108657020A - The control method of finished and device sauntered after a kind of new-energy automobile automated intelligent is anti- - Google Patents
The control method of finished and device sauntered after a kind of new-energy automobile automated intelligent is anti- Download PDFInfo
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- CN108657020A CN108657020A CN201810406409.1A CN201810406409A CN108657020A CN 108657020 A CN108657020 A CN 108657020A CN 201810406409 A CN201810406409 A CN 201810406409A CN 108657020 A CN108657020 A CN 108657020A
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- torque
- sauntered
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- module
- sauntering
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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
- B60L15/2072—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 drive off
- B60L15/2081—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 drive off for drive off 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
- B60L2240/40—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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses control method of finished and device that a kind of new-energy automobile automated intelligent is sauntered after anti-, this method includes：1) judge whether new-energy automobile enters uphill way and through having gone parking；2) initial value of ramp torque value is set, for keeping the state that do not saunter afterwards；3) according to pedal information, determine that, when driver loosens the brake but not bend the throttle, the dtc signal received according to step 2) obtains corresponding tach signal, and sends the corresponding moment information of this tach signal to motor；4) control of sauntering after preventing is carried out；5) moment information exported to step 3) according to the class information sauntered after step 4) is modified, and is allowed to the grade sauntered after under original torque to carry out different size of compensated torque.The present invention judges state of sauntering after whether automobile is in by the acquisition of vehicle condition, and the working condition of stable state starting is made up to by carrying out output torque compensation to motor if it is state of sauntering after.
Description
Technical field
The present invention relates to the full-vehicle controls that intelligent automobile technology more particularly to a kind of new-energy automobile automated intelligent are sauntered after anti-
Method and apparatus.
Background technology
If driver have unavoidable situation cannot timely step on the accelerator, vapour will occur on traditional automobile
The present situation sauntered after vehicle, this is than relatively hazardous.New-energy automobile is different from orthodox car, and motor does not have idling mode, with tradition
As long as automobile is balanced each other compared to the load torque of the motor output torque and automobile controlled at this time after automobile will be made to keep not
The state sauntered.General-utility car is unclamping parking brake or is loosening the brake between no bend the throttle, after automobile will appear
It saunters state, because automobile torque at this time is also not enough to overcome vehicle load torque, at this moment if inartificial control
Just will appear it is serious after saunter state.
Invention content
The technical problem to be solved in the present invention is for the defects in the prior art, it is automatic to provide a kind of new-energy automobile
The control method of finished and device sauntered after intelligence is anti-.
The technical solution adopted by the present invention to solve the technical problems is：It saunters after a kind of new-energy automobile automated intelligent is anti-
Control method of finished includes the following steps：
1) judge whether new-energy automobile enters uphill way and through having gone parking；The vehicle condition information of acquisition, including：
Accelerator pedal stroke, vehicle complete vehicle speed, the rotating speed of motor and moment information；
2) it detects and judges that ramp at this time turns by the database information of itself after the specifying information at the inclination angle in this ramp
Square value should be set as much states that could keep not sauntering afterwards；It is denoted as initial moment signal；
3) it according to pedal information, determines when driver loosens the brake but not bend the throttle, according to step
2) dtc signal received obtains corresponding tach signal, and sends the corresponding moment information of this tach signal to motor；
If 4) herein basis get on the car do not occur after saunter, automobile will keep this state；If automobile is basic herein
On have occurred after saunter phenomenon, then carry out it is anti-after saunter control：The size for speed of sauntering after judges the grade hereafter sauntered, and will tool
The level signal of body is sent to torque compensator control module and carries out compensated torque control to trigger it；
5) moment information exported to step 3) according to the class information sauntered after step 4) is modified, and is allowed to original
Torque under the grade sauntered after carry out different size of compensated torque；
6) data update is carried out to the database information of itself according to the result of step 5).
By said program, the grade sauntered after carries out the compensated torque of corresponding size, the torque of corresponding size
It calculates as follows：Motor torque is set as 2 to 3 times of current time ramp torque value, judges whether motor rotates forward and greatly again at this time
In 3rpm, if judging result is no, step 3) is substituted into using motor torque at this time as new ramp torque value, if motor is just
Turn and be more than 3rpm, is then transferred to step 4).
The full-vehicle control device sauntered after a kind of new-energy automobile automated intelligent is anti-, including：Ramp MAP module, motor speed
Pattern output torque module, torque compensator, module of sauntering after anti-；
The vehicle-state judgment module, for judging whether new-energy automobile enters uphill way and through having gone parking；
The ramp MAP module passes through the database information of itself after the specifying information at the inclination angle for detecting this ramp
The initial value for judging ramp torque value at this time, to keep the state that do not saunter afterwards；
Motor speed pattern output torque module, for according to pedal information, determining when driver loosens the brake but
Not when bend the throttle, corresponding tach signal is obtained according to the dtc signal of reception, and this tach signal is corresponded to
Moment information send motor to；
Module of sauntering after anti-carries out control of sauntering after preventing if sauntering phenomenon after being had occurred after being worked normally for electric motor of automobile：According to
The grade that the size for speed of sauntering afterwards is sauntered after judging, and specific level signal is sent to torque compensator control module to trigger
It carries out compensated torque control；
Torque compensator, for defeated to motor speed pattern output torque module after the level signal by module of sauntering after preventing
The moment information gone out is modified, and is allowed to the grade sauntered after under original torque and is mended to carry out the torque of corresponding size
It repays, the torque characteristics after compensation is sent to motor speed pattern output torque module, sends updated signal to motor
And it exports.
By said program, it is described it is anti-after saunter in module after the grade sauntered be predetermined level.
By said program, the grade sauntered after carries out the compensated torque of corresponding size, the torque of corresponding size
For preset value.
By said program, the grade sauntered after carries out the compensated torque of corresponding size, the torque of corresponding size
To be calculated by PID compensating control methods.
By said program, the grade sauntered after carries out the compensated torque of corresponding size, the torque of corresponding size
It calculates as follows：Motor torque is set as 2 to 3 times of current time ramp torque value, judges whether motor rotates forward and greatly again at this time
In 3rpm, if judging result is no, it is defeated to substitute into motor speed pattern using motor torque at this time as new ramp torque value
Go out torque module, if motor rotates forward and be more than 3rpm, module carries out control of sauntering after preventing by sauntering after preventing.
The beneficial effect comprise that：The output torque of motor is controlled by automated intelligent to make automobile on ramp
The case where sauntering after not occurring increases travel safety.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is that the anti-of the embodiment of the present invention slips by slope flow chart.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to limit
The fixed present invention.
As depicted in figs. 1 and 2, the full-vehicle control device sauntered after a kind of new-energy automobile automated intelligent is anti-, including：Ramp
MAP module, motor speed pattern output torque module, torque compensator, module of sauntering after anti-, motor speed pattern output torque mould
Block is connected with ramp MAP module, torque compensator module respectively, and at the same time, module of sauntering after anti-is also connected with torque compensator.
The vehicle-state judgment module, for judging whether new-energy automobile enters uphill way and through having gone parking；
The vehicle condition information of acquisition, including：Accelerator pedal stroke, vehicle complete vehicle speed, the rotating speed of motor and moment information；
The ramp MAP module passes through the database information of itself after the specifying information at the inclination angle for detecting this ramp
The initial value for judging ramp torque value at this time, to keep the state that do not saunter afterwards；
Motor speed pattern output torque module, for according to pedal information, determining when driver loosens the brake but
Not when bend the throttle, corresponding tach signal is obtained according to the dtc signal of reception, and this tach signal is corresponded to
Moment information send motor to；
Module of sauntering after anti-carries out control of sauntering after preventing if sauntering phenomenon after being had occurred after being worked normally for electric motor of automobile：According to
The grade that the size for speed of sauntering afterwards is sauntered after judging, and specific level signal is sent to torque compensator control module to trigger
It carries out compensated torque control；The grade sauntered afterwards is that predetermined level is divided into firsts and seconds in the present embodiment；
Prevent that slipping by slope module constantly monitors motor torque and judge whether automobile slips by slope, and slips if motor torque slips by slope
Slope counter adds 1, and constantly judges whether automobile can slip by slope, until output motor torque not so that automobile is slipped by slope for
Only.
Torque compensator, for defeated to motor speed pattern output torque module after the level signal by module of sauntering after preventing
The moment information gone out is modified, and is allowed to the grade sauntered after under original torque and is mended to carry out the torque of corresponding size
It repays, the torque characteristics after compensation is sent to motor speed pattern output torque module, sends updated signal to motor
And it exports.
The grade sauntered after carries out the compensated torque of corresponding size, and the torque of corresponding size is to pass through PID compensation controls
Method processed is calculated, and the torque calculation of corresponding size is as follows：Motor torque is set as the 2 to 3 of current time ramp torque value
Times, judge again at this time motor whether rotate forward and be more than 3rpm, if judging result be no, using motor torque at this time as newly
Ramp torque value substitutes into motor speed pattern output torque module, if motor rotates forward and be more than 3rpm, passes through module of sauntering after preventing
Carry out control of sauntering after preventing.
The output of motor torque is to obtain a certain drive mode of pedal by auto pedal pattern and motor external characteristics first
Thus external characteristics image obtains the torque of motor, obtains new motor external characteristics figure in conjunction with torque compensator module at this time
Picture is determined the true torque of motor by new external characteristics image, obtains automobile institute in conjunction with the anti-programme diagram that slips by slope of Fig. 2 at this time
The motor torque T neededm, automobile is made not slip by slope.
In the present embodiment, Anti-slip regulation module has further been installed additional.It is understood that when Automobile drive power is more than ground maximum
When adhesive force, automobile will have skidded phenomenon, and the appearance of slipping phenomenon is mainly that traction is not big enough or automobile
Torque is excessive, when carry out it is anti-slip by slope control when, it is likely that cause the dangerous situation of car skidding because motor torque is excessive,
Therefore it adds driving wheel skidding and calculates.When driving wheel skids, following amendment is done in the torque of motor：TIt is given=TIt is given- TSetting, in turn
Judge whether automobile skids again, if skid carries out above-mentioned amendment step again.If automobile no longer skids, exits and prevents slipping by slope program,
Wait for the input of the acceleration information signal of driver.
According to the control method for the full-vehicle control device that above-mentioned new-energy automobile automated intelligent slips after anti-, including walk as follows
Suddenly：
1, automobile enters uphill way and through having gone parking, and the torque of electric motor of automobile at this time is according to ramp MAP module
For data through row control, ramp MAP module passes through the database information of itself after the specifying information at the inclination angle for obtaining this ramp
Judge that ramp torque at this time should be much states that could keep not sauntering afterwards.
2, when driver loosens the brake but not bend the throttle, motor speed pattern output torque module exists
Obtain after the information of ramp MAP module will the corresponding tach signal of torque therewith, and the corresponding moment information of this signal is passed
Give motor.
If 3, herein basis get on the car do not occur after saunter, automobile will keep this state, wait for and accelerate life of going up a slope
The execution of order, if automobile is sauntered phenomenon after having occurred on basis herein, entire car controller will saunter control after row is anti-.
4, module of sauntering after preventing judges whether automobile saunters after row by the speed of automobile, and according to the size sauntered after speed
Judge the grade hereafter sauntered, and specific signal is sent to torque compensator control module to trigger it through row compensated torque control
System.
5, motor speed pattern output torque module output is turned after information of the torque compensator by module of sauntering after preventing
Square information is changed through row, is allowed to the grade sauntered after under original torque come through the different size of compensated torque of row.Pass through
Torque characteristics after compensation is conveyed to motor speed pattern output torque module, is allowed to export by PID compensating control methods.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (7)
- The control method of finished sauntered after 1. a kind of new-energy automobile automated intelligent is anti-, which is characterized in that include the following steps：1) judge whether new-energy automobile enters uphill way and through having gone parking；The vehicle condition information of acquisition, including：Throttle Pedal travel, vehicle complete vehicle speed, the rotating speed of motor and moment information；2) it detects and ramp torque value at this time is judged by the database information of itself after the specifying information at the inclination angle in this ramp Initial value, for keeping the state that do not saunter afterwards；It is denoted as initial moment signal；3) it according to pedal information, determines when driver loosens the brake but not bend the throttle, is connect according to step 2) The dtc signal of receipts obtains corresponding tach signal, and sends the corresponding moment information of this tach signal to motor；If 4) herein basis get on the car do not occur after saunter, automobile will keep this state；If automobile is herein on basis Saunter after having occurred phenomenon, then carry out it is anti-after saunter control：The size for speed of sauntering after judges the grade hereafter sauntered, and will be specific Level signal is sent to torque compensator and carries out compensated torque control to trigger；5) torque compensator is modified according to the moment information that the class information sauntered after step 4) exports step 3), is allowed to The grade sauntered after under original torque carries out different size of compensated torque；6) data update is carried out to the database information of itself according to the result of step 5).
- The control method of finished sauntered after 2. new-energy automobile automated intelligent according to claim 1 is anti-, which is characterized in that institute The grade sauntered after is stated to carry out the compensated torque of corresponding size, the torque calculation of corresponding size is as follows：Set motor torque It is 2 to 3 times of current time ramp torque value, judges whether motor rotates forward and be more than 3rpm again at this time, if judging result is no, Step 3) then is substituted into using motor torque at this time as new ramp torque value, if motor rotates forward and be more than 3rpm, is transferred to step It is rapid 4).
- The full-vehicle control device sauntered after 3. a kind of new-energy automobile automated intelligent is anti-, which is characterized in that including：Ramp MAP module, Motor speed pattern output torque module, torque compensator, module of sauntering after anti-；The vehicle-state judgment module, for judging whether new-energy automobile enters uphill way and through having gone parking；The ramp MAP module passes through the database information of itself after the specifying information at the inclination angle for detecting this ramp and judges The initial value for going out ramp torque value at this time, to keep the state that do not saunter afterwards；Motor speed pattern output torque module, for according to pedal information, determining when driver loosens the brake but not When bend the throttle, corresponding tach signal is obtained according to the dtc signal of reception, and by corresponding turn of this tach signal Square information sends motor to；Module of sauntering after anti-carries out control of sauntering after preventing if sauntering phenomenon after being had occurred after being worked normally for electric motor of automobile：It saunters after The grade that the size of speed is sauntered after judging, and specific level signal is sent to torque compensator control module trigger it into Row compensated torque controls；Torque compensator, for what is exported to motor speed pattern output torque module after the level signal by module of sauntering after preventing Moment information is modified, and is allowed to the grade sauntered after under original torque to carry out the compensated torque of corresponding size, is incited somebody to action Torque characteristics after compensation is sent to motor speed pattern output torque module, sends updated signal to motor and defeated Go out.
- The full-vehicle control device sauntered after 4. new-energy automobile automated intelligent according to claim 3 is anti-, which is characterized in that institute The grade sauntered after stating in sauntering module after preventing is predetermined level.
- The full-vehicle control device sauntered after 5. new-energy automobile automated intelligent according to claim 3 is anti-, which is characterized in that institute The grade sauntered after is stated to carry out the compensated torque of corresponding size, the torque of corresponding size is preset value.
- The full-vehicle control device sauntered after 6. new-energy automobile automated intelligent according to claim 3 is anti-, which is characterized in that institute The grade sauntered after is stated to carry out the compensated torque of corresponding size, the torque of corresponding size is to pass through PID compensating control methods It is calculated.
- The full-vehicle control device sauntered after 7. new-energy automobile automated intelligent according to claim 3 is anti-, which is characterized in that institute The grade sauntered after is stated to carry out the compensated torque of corresponding size, the torque calculation of corresponding size is as follows：Set motor torque It is 2 to 3 times of current time ramp torque value, judges whether motor rotates forward and be more than 3rpm again at this time, if judging result is no, Then substitute into motor speed pattern output torque module using motor torque at this time as new ramp torque value, if motor rotate forward and More than 3rpm, then control of sauntering after preventing is carried out by module of sauntering after preventing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810406409.1A CN108657020A (en) | 2018-04-30 | 2018-04-30 | The control method of finished and device sauntered after a kind of new-energy automobile automated intelligent is anti- |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810406409.1A CN108657020A (en) | 2018-04-30 | 2018-04-30 | The control method of finished and device sauntered after a kind of new-energy automobile automated intelligent is anti- |
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| CN201810406409.1A Pending CN108657020A (en) | 2018-04-30 | 2018-04-30 | The control method of finished and device sauntered after a kind of new-energy automobile automated intelligent is anti- |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111055890A (en) * | 2019-12-18 | 2020-04-24 | 成都国铁电气设备有限公司 | Intelligent detection method and detection system for railway vehicle anti-slip |
| CN111301180A (en) * | 2020-02-19 | 2020-06-19 | 武汉理工大学 | Method and system for preventing electric automobile from sliding down slope |
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Application publication date: 20181016 |