CN109760519A - The slow drop control method in the abrupt slope of electric car and system - Google Patents
The slow drop control method in the abrupt slope of electric car and system Download PDFInfo
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Abstract
The invention discloses a kind of slow drop control method in the abrupt slope of electric car and systems, this method comprises: obtaining vehicle parameter by entire car controller, and judge whether vehicle is able to enter and slide regenerating condition；If so, the second threshold that whether acceleration of vehicle is greater than the first threshold of calibration and whether the speed of vehicle is greater than calibration judged；If so, delaying drop state into abrupt slope, and the slow drop enable signal in abrupt slope is identified by entire car controller, provide reactive torque for vehicle, the reactive torque is by open loop torque, closed loop torque and slides feedback torque superposition gained；After vehicle deceleration, the acceleration and speed of vehicle are monitored, if the acceleration of vehicle is less than the third threshold value of calibration or speed is less than the 4th threshold value demarcated, the slow drop state in abrupt slope is exited and sails.The present invention realizes that drop function is delayed on abrupt slope without hardware such as brake pedal, ramp sensor, the slow drop setting buttons in abrupt slope, reduces vehicle components cost, reduces components bring functional safety hidden danger.
Description
Technical field
The present invention relates to automobile technical fields, delay drop control method more particularly to a kind of abrupt slope of electric car and are
System.
Background technique
With the rapid development of auto industry and the continuous improvement of people's living condition, automobile has become people's trip not
Can or one of the scarce vehicles.Car ownership increases year by year, and more and more people have private car.Now with people
The continuous promotion of environmental consciousness, new-energy automobile, especially electric car are rapidly developed.
Orthodox car abrupt slope slow-descending system is total generally by engine brake force and electric controlled brake system (such as ABS, ESC)
Same-action, cooperation gearbox reduce gear, run at a low speed vehicle descending.But in the slow drop intervention in ramp, hydraulic pump is repeatedly
Pressure braking will cause energy loss, and braking brake disk is easy fever, may result in the slow drop disabler in ramp, influences
Braking safety, furthermore brake fluid system low efficiency, it is at high cost, it is easy to produce failure.Electric car is generally only equipped with single-stage
More complicated gearbox is not used in retarder, can not generate braking force control vehicle descending speed by transformation gear.
The slow drop function in electric car abrupt slope is needed mostly by ramp sensor, the slow drop setting button in abrupt slope, braking at present
The hardware realizations such as push rod, brake disc temperature sensor, control brake-pipe pressure, will definitely increase vehicle components cost, with
This simultaneously, components by itself strain and external environmental interference etc. due to being influenced, so that there are risks for this functional safety stability.
Summary of the invention
For this purpose, an object of the present invention is to provide a kind of slow drop control method in the abrupt slope of electric car, without
The hardware such as brake pedal, ramp sensor, the slow drop setting button in abrupt slope delay drop function to realize abrupt slope, reduction vehicle components at
This, reduces components bring functional safety hidden danger.
A kind of slow drop control method in the abrupt slope of electric car, comprising:
Vehicle parameter is obtained by entire car controller, and judges whether vehicle is able to enter cunning according to the vehicle parameter of acquisition
Row regenerating condition；
If vehicle, which is able to enter, slides regenerating condition, judge the acceleration of vehicle whether be greater than calibration first threshold,
And whether the speed of vehicle is greater than the second threshold of calibration；
If the acceleration of vehicle is greater than the first threshold of calibration and the speed of vehicle is greater than the second threshold demarcated, into
Enter abrupt slope and delay drop state, and the slow drop enable signal in abrupt slope is identified by entire car controller, provides reactive torque for vehicle, this is reversed
Torque is by open loop torque, closed loop torque and slides feedback torque superposition gained；
After vehicle deceleration, monitor the acceleration and speed of vehicle, if the acceleration of vehicle be less than calibration third threshold value or
Speed be less than calibration the 4th threshold value, then exit abrupt slope delay drop state, carry out sliding state, using currently slide torque generation
Reactive torque is along ramp driving, wherein third threshold value is less than first threshold, and the 4th threshold value is less than second threshold.
The slow drop control method in the abrupt slope of the electric car provided according to the present invention, at least has the advantages that
(1) using the reactive torque slided and braking energy feedback generates, make vehicle deceleration, realize and the slow drop in traditional abrupt slope
Identical function, this method can be realized suddenly without hardware such as brake pedal, ramp sensor, the slow drop setting buttons in abrupt slope
The slow drop function in slope, reduces vehicle components cost, reduces components bring functional safety hidden danger, especially mitigation brake disc
Fever, abrasion bring hidden danger；
(2) when acceleration is greater than first threshold, and speed is greater than second threshold, delay drop state into abrupt slope, pass through vehicle
Controller identifies the slow drop enable signal in abrupt slope, provides reactive torque for vehicle；It is less than third threshold value in acceleration, speed is less than the
When four threshold values, exits abrupt slope and delays drop state, carry out sliding state, can realize that energy sufficiently recycles during vehicle descending,
Improve capacity usage ratio；
(3) reactive torque of the slow drop in abrupt slope is open loop torque, closed loop torque and slides feedback torque superposition gained and have
Torque linear transitions feature, it is ensured that vehicle speed in ramp driving is linear and stabilization rises or falls, no lofty and jump
Dynamic: when ramp increases, reactive torque is linearly increased, and speed stablizes decline；When ramp reduces, reactive torque linearly reduces,
Until exiting ramp delays drop state, into regenerating condition is slided, the smooth comfort of vehicle is strong.
In addition, the abrupt slope of above-mentioned electric car is slow according to the present invention drops control method, can also have following additional
Technical characteristic:
Further, described that vehicle parameter is obtained by entire car controller, and vehicle is judged according to the vehicle parameter of acquisition
Whether being able to enter the step of sliding regenerating condition includes:
Motor speed signal, gas pedal depth signal, brake pedal signal, brake switch are obtained by entire car controller
Signal, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal, motor speed is believed
Number speed signal is converted into obtain the speed of vehicle, to obtaining the acceleration of vehicle after the speed derivation；
Acquired signal is judged by entire car controller, if gas pedal depth signal, brake pedal signal,
Brake switch signal, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal reach
To respective preset value, then determines that vehicle is able to enter and slide regenerating condition.
Further, described that the slow drop enable signal in abrupt slope is identified by entire car controller, reactive torque is provided for vehicle
Step specifically includes:
Judge whether that recognizing the slow drop function in ramp enables；
If recognize ramp delay drop function enable, calculate separately open loop torque, closed loop P to torque, closed loop I to torque with
And currently slide feedback torque maximum；
Determine reactive torque, which is open loop torque, closed loop P is slided to torque, closed loop I to torque and currently
The sum of feedback torque maximum.
Further, the open loop torque is calculated using following methods:
0% grade resistance F1 under different speeds is calculated by vehicle sliding function, calculates different gradient gug resistance, is taken absolutely
To value F2；
The matrix that the output power of vehicle is supplied to based on different gradient, different speed gugs is calculated according to F1 and F2；
Calculating different gradient, different speed gugs are supplied to the matrix of the output torque T of vehicle；
Determine different-energy feedback level status；
Feedback torque absolute value is subtracted by torque T, is calculated under different-energy feedback grade, different gradient, difference
Open loop torque matrix under speed；
The matrix for calculating the corresponding acceleration of open loop torque under different-energy feedback grade, different gradient, different speeds, takes
Opposite number；
Obtain based under different-energy feedback grade, different speed, different gradient, the corresponding open loop torque of different acceleration
Matrix finally obtains open loop torque.
Further, the method also includes:
After vehicle deceleration, the acceleration and speed of vehicle are monitored, if vehicle is unsatisfactory for the third threshold that acceleration is less than calibration
Value or speed are less than the condition of the 4th threshold value of calibration, then pass back through the slow drop enable signal in entire car controller identification abrupt slope
Step.
Further, described to judge whether after recognizing the enabled step of the slow drop function in ramp, the method also includes:
If unidentified enabled to the slow drop function in ramp, regenerating condition is slided in return.
It is another object of the present invention to the steep slope slow down control system for proposing a kind of electric car, without braking
The hardware such as button are arranged to realize that drop function is delayed on abrupt slope in pedal, ramp sensor, the slow drop in abrupt slope, reduce vehicle components cost,
Reduce components bring functional safety hidden danger.
A kind of steep slope slow down control system of electric car, the system comprises:
Judgment module is obtained, for obtaining vehicle parameter by entire car controller, and is judged according to the vehicle parameter of acquisition
Whether vehicle, which is able to enter, is slided regenerating condition；
First judgment module slides regenerating condition if being able to enter for vehicle, judges whether the acceleration of vehicle is big
Whether it is greater than the second threshold of calibration in the first threshold of calibration and the speed of vehicle；
Enabled identification module, if the acceleration for vehicle is greater than the first threshold of calibration and the speed of vehicle is greater than mark
Fixed second threshold then enters abrupt slope and delays drop state, and identifies the slow drop enable signal in abrupt slope by entire car controller, mentions for vehicle
For reactive torque, the reactive torque is by open loop torque, closed loop torque and slides feedback torque superposition gained；
Deceleration monitoring modular, for the acceleration and speed of vehicle being monitored, if the acceleration of vehicle is less than after vehicle deceleration
The third threshold value or speed of calibration are less than the 4th threshold value of calibration, then exit abrupt slope and delay drop state, carry out sliding state, utilize
The reactive torque of torque generation is currently slided along ramp driving, wherein third threshold value is less than first threshold, and the 4th threshold value is less than the
Two threshold values.
The steep slope slow down control system of the electric car provided according to the present invention, at least has the advantages that
(1) using the reactive torque slided and braking energy feedback generates, make vehicle deceleration, realize and the slow drop in traditional abrupt slope
Identical function, this method can be realized suddenly without hardware such as brake pedal, ramp sensor, the slow drop setting buttons in abrupt slope
The slow drop function in slope, reduces vehicle components cost, reduces components bring functional safety hidden danger, especially mitigation brake disc
Fever, abrasion bring hidden danger；
(2) when acceleration is greater than first threshold, and speed is greater than second threshold, delay drop state into abrupt slope, pass through vehicle
Controller identifies the slow drop enable signal in abrupt slope, provides reactive torque for vehicle；It is less than third threshold value in acceleration or speed is less than
When four threshold values, exits abrupt slope and delay drop state, carry out sliding state, can realize that energy sufficiently returns during vehicle descending
It receives, improves capacity usage ratio；
(3) reactive torque of the slow drop in abrupt slope is open loop torque, closed loop torque and slides feedback torque superposition gained and have
Torque linear transitions feature, it is ensured that vehicle speed in ramp driving is linear and stabilization rises or falls, no lofty and jump
Dynamic: when ramp increases, reactive torque is linearly increased, and speed stablizes decline；When ramp reduces, reactive torque linearly reduces,
Until exiting ramp delays drop state, into regenerating condition is slided, the smooth comfort of vehicle is strong.
In addition, the steep slope slow down control system of above-mentioned electric car according to the present invention, can also have following additional
Technical characteristic:
Further, the acquisition judgment module is specifically used for:
Motor speed signal, gas pedal depth signal, brake pedal signal, brake switch are obtained by entire car controller
Signal, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal, motor speed is believed
Number speed signal is converted into obtain the speed of vehicle, to obtaining the acceleration of vehicle after the speed derivation；
Acquired signal is judged by entire car controller, if gas pedal depth signal, brake pedal signal,
Brake switch signal, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal reach
To respective preset value, then determines that vehicle is able to enter and slide regenerating condition.
Further, the enabled identification module is specifically used for:
Judge whether that recognizing the slow drop function in ramp enables；
If recognize ramp delay drop function enable, calculate separately open loop torque, closed loop P to torque, closed loop I to torque with
And currently slide feedback torque maximum；
Feedback torque maximum is slided to torque and currently to torque, closed loop I according to the open loop torque of calculating, closed loop P
Determine reactive torque, which is that open loop torque, closed loop P to torque, closed loop I slide feedback torque to torque and currently
The sum of maximum value.
Further, open loop torque specifically is calculated using following methods in the enabled identification module:
0% grade resistance F1 under different speeds is calculated to obtain by vehicle sliding function, different gradient gug resistance is calculated, takes
Absolute value F2；
The output power F that vehicle is supplied to based on different gradient, different speed gug is calculated according to F1 and F2
Matrix；
Calculating different gradient, different speed gugs are supplied to the matrix of the output torque T of vehicle；
Determine different-energy feedback level status；
Feedback torque absolute value is subtracted by torque T, is calculated under different-energy feedback grade, different gradient, difference
Open loop torque matrix under speed；
Calculate to obtain the square of the corresponding acceleration a of open loop torque under different-energy feedback grade, different gradient, different speed
Battle array, takes opposite number；
Obtain based under different-energy feedback grade, different speed, different gradient, the corresponding open loop torque of different acceleration
Matrix.
Further, the system also includes:
First return module, for the acceleration and speed of vehicle being monitored, if vehicle is unsatisfactory for acceleration after vehicle deceleration
Less than the condition that the third threshold value or speed of calibration are less than the 4th threshold value demarcated, then it is steep to pass back through entire car controller identification
Delay the step of drop enable signal in slope.
Further, the system also includes:
Second return module, if regenerating condition is slided in return for unidentified enabled to the slow drop function in ramp.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the embodiment of the present invention are from the description of the embodiment in conjunction with the following figures
It will be apparent and be readily appreciated that, in which:
Fig. 1 is the flow chart of the slow drop control method in abrupt slope of electric car according to a first embodiment of the present invention；
Fig. 2 is the calculation method flow chart of open loop torque；
Fig. 3 is the structural schematic diagram of the steep slope slow down control system of electric car according to a second embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Referring to Fig. 1, the slow drop control method in the abrupt slope for the electric car that first embodiment of the invention proposes, including step
S101~S104:
S101 obtains vehicle parameter by entire car controller, and judges that vehicle whether can according to the vehicle parameter of acquisition
Into sliding regenerating condition；
Wherein, step 101 can specifically include:
Motor speed signal, gas pedal depth signal, brake pedal signal, braking are obtained by entire car controller VCU
Switching signal, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal, motor is turned
Fast signal is converted into speed signal to obtain the speed of vehicle, to obtaining the acceleration of vehicle after the speed derivation；
Acquired signal is judged by entire car controller VCU, if gas pedal depth signal, brake pedal are believed
Number, brake switch signal, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal it is equal
Reach respective preset value, then determines that vehicle is able to enter and slide regenerating condition.
Respective preset value for example be specifically gas pedal depth signal be less than setting value 2%, brake switch be not switched on,
It brakes depth and is less than the 10% of setting value, energy feedback grade for any one grade in 1 grade, 2 grades, 3 grades, maximum monomer voltage
It is D gear that value, which is less than setting value U1, battery pack SOC value less than 100%, gear, then determines that vehicle is able to enter and slide regenerating condition.
It should be understood that vehicle can not carry out sliding regenerating condition if above-mentioned each condition value at least one is not reached,
Also the operation of the slow drop in subsequent abrupt slope can not just be executed.
S102 judges whether the acceleration of vehicle is greater than the first of calibration if vehicle, which is able to enter, slides regenerating condition
Whether threshold value and the speed of vehicle are greater than the second threshold of calibration；
Wherein,
S103, if the acceleration of vehicle is greater than the first threshold of calibration and the speed of vehicle is greater than the second threshold demarcated,
Then enter abrupt slope and delay drop state, and the slow drop enable signal in abrupt slope is identified by entire car controller, provides reactive torque for vehicle, it should
Reactive torque is by open loop torque, closed loop torque and slides feedback torque superposition gained；
Wherein, the step of identifying the slow drop enable signal in abrupt slope by entire car controller, providing reactive torque for vehicle is specific
Include:
Judge whether that recognizing the slow drop function in ramp enables；
If recognize ramp delay drop function enable, calculate separately open loop torque, closed loop P to torque, closed loop I to torque with
And currently slide feedback torque maximum；
Determine reactive torque, which is open loop torque, closed loop P is slided to torque, closed loop I to torque and currently
The sum of feedback torque maximum.That is reactive torque=open loop torque+closed loop P is to torque+closed loop I to torque+currently slides feedback
Torque maximum.
It should be understood that regenerating condition is slided in return if unidentified enabled to the slow drop function in ramp.
Wherein, open loop torque is the open loop torque line based on different acceleration, different ramps as obtained by function calculating calibration
Property variation introduce I to, to closed loop torque, reactive torque prevents vehicle descending from adding with P for the concussion repeatedly and mutation for avoiding torque
Speed, car speed decline.
When it is implemented, referring to Fig. 2, open loop torque can be calculated using following methods, including step S1031~
S1037:
S1031 calculates 0% grade resistance F1 (wherein, 10km/h~100km/h under different speeds by vehicle sliding function
Speed can be that a unit calculates to obtain 0% grade resistance under each speed with 10km/h), different gradient gug resistance is calculated, is taken
Absolute value F2 (wherein, 0% gradient~20% gradient can be that a unit calculates to obtain each gradient descending slope resistance with 1% gradient)；
S1032 calculates the output power that vehicle is supplied to based on different gradient, different speed gugs according to F1 and F2
Matrix (i.e. MAP, similarly hereinafter)；
S1033, calculating different gradient, different speed gugs are supplied to the matrix of the output torque T of vehicle；
S1034 determines different-energy feedback level status；
S1035 subtracts feedback torque absolute value by torque T, is calculated under different-energy feedback grade, different slopes
Open loop torque matrix under degree, different speeds；
S1036 calculates the corresponding acceleration of open loop torque under different-energy feedback grade, different gradient, different speeds
Matrix takes opposite number；
S1037, obtain based under different-energy feedback grade, different speed, different gradient, it is different that acceleration is corresponding opens
Ring torque matrix, finally obtains open loop torque.
S104 after vehicle deceleration, monitors the acceleration and speed of vehicle, if the acceleration of vehicle is less than the third threshold of calibration
It is worth or speed is less than the 4th threshold value demarcated, then exit abrupt slope and delay drop state, carry out sliding state, slides torque using current
The reactive torque of generation is along ramp driving, wherein third threshold value is less than first threshold, and the 4th threshold value is less than second threshold.
Wherein, it if the acceleration of vehicle is less than the third threshold value of calibration or speed is less than the 4th threshold value demarcated, exits
Drop state is delayed on abrupt slope, carries out sliding state, using the reactive torque for currently sliding torque generation along ramp driving, slides torsion herein
Under square effect, car speed decline.
Wherein, after vehicle deceleration, the acceleration and speed of vehicle are continued to monitor, if to be unsatisfactory for acceleration small for vehicle
It is less than the condition of the 4th threshold value of calibration in the third threshold value or speed of calibration, then passes back through entire car controller identification abrupt slope
The step of slow drop enable signal, i.e. return step S103.
According to the slow drop control method in the abrupt slope of electric car provided in this embodiment, at least have the advantages that
(1) using the reactive torque slided and braking energy feedback generates, make vehicle deceleration, realize and the slow drop in traditional abrupt slope
Identical function, this method can be realized suddenly without hardware such as brake pedal, ramp sensor, the slow drop setting buttons in abrupt slope
The slow drop function in slope, reduces vehicle components cost, reduces components bring functional safety hidden danger, especially mitigation brake disc
Fever, abrasion bring hidden danger；
(2) when acceleration is greater than first threshold, and speed is greater than second threshold, delay drop state into abrupt slope, pass through vehicle
Controller identifies the slow drop enable signal in abrupt slope, provides reactive torque for vehicle；It is less than third threshold value in acceleration or speed is less than
When four threshold values, exits abrupt slope and delay drop state, carry out sliding state, can realize that energy sufficiently returns during vehicle descending
It receives, improves capacity usage ratio；
(3) reactive torque of the slow drop in abrupt slope is open loop torque, closed loop torque and slides feedback torque superposition gained and have
Torque linear transitions feature, it is ensured that vehicle speed in ramp driving is linear and stabilization rises or falls, no lofty and jump
Dynamic: when ramp increases, reactive torque is linearly increased, and speed stablizes decline；When ramp reduces, reactive torque linearly reduces,
Until exiting ramp delays drop state, into regenerating condition is slided, the smooth comfort of vehicle is strong.
Referring to Fig. 3, based on the same inventive concept, the slow drop control in the abrupt slope for the electric car that second embodiment of the invention proposes
System processed, the system comprises:
Judgment module 10 is obtained, for obtaining vehicle parameter by entire car controller, and is sentenced according to the vehicle parameter of acquisition
Whether disconnected vehicle, which is able to enter, is slided regenerating condition；
First judgment module 20 slides regenerating condition if being able to enter for vehicle, judge vehicle acceleration whether
Greater than the second threshold whether first threshold of calibration and the speed of vehicle are greater than calibration；
Enabled identification module 30, if the acceleration for vehicle is greater than the first threshold of calibration and the speed of vehicle is greater than
The second threshold of calibration then enters abrupt slope and delays drop state, and identifies the slow drop enable signal in abrupt slope by entire car controller, is vehicle
Reactive torque is provided, the reactive torque is by open loop torque, closed loop torque and slides feedback torque superposition gained；
Deceleration monitoring modular 40, for the acceleration and speed of vehicle being monitored, if the acceleration of vehicle is small after vehicle deceleration
It is less than the 4th threshold value of calibration in the third threshold value or speed of calibration, then exits abrupt slope and delay drop state, carries out sliding state, benefit
With currently sliding the reactive torque of torque generation along ramp driving, wherein third threshold value is less than first threshold, and the 4th threshold value is less than
Second threshold.
Wherein, the acquisition judgment module 10 is specifically used for:
Motor speed signal, gas pedal depth signal, brake pedal signal, brake switch are obtained by entire car controller
Signal, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal, motor speed is believed
Number speed signal is converted into obtain the speed of vehicle, to obtaining the acceleration of vehicle after the speed derivation；
Acquired signal is judged by entire car controller, if gas pedal depth signal, brake pedal signal,
Brake switch signal, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal reach
To respective preset value, then determines that vehicle is able to enter and slide regenerating condition.
Wherein, the enabled identification module 20 is specifically used for:
Judge whether that recognizing the slow drop function in ramp enables；
If recognize ramp delay drop function enable, calculate separately open loop torque, closed loop P to torque, closed loop I to torque with
And currently slide feedback torque maximum；
Feedback torque maximum is slided to torque and currently to torque, closed loop I according to the open loop torque of calculating, closed loop P
Determine reactive torque, which is that open loop torque, closed loop P to torque, closed loop I slide feedback torque to torque and currently
The sum of maximum value.
Wherein, open loop torque specifically is calculated using following methods in the enabled identification module 20:
0% grade resistance F1 under different speeds is calculated to obtain by vehicle sliding function, different gradient gug resistance is calculated, takes
Absolute value F2；
The output power F that vehicle is supplied to based on different gradient, different speed gug is calculated according to F1 and F2
Matrix；
Calculating different gradient, different speed gugs are supplied to the matrix of the output torque T of vehicle；
Determine different-energy feedback level status；
Feedback torque absolute value is subtracted by torque T, is calculated under different-energy feedback grade, different gradient, difference
Open loop torque matrix under speed；
Calculate to obtain the square of the corresponding acceleration a of open loop torque under different-energy feedback grade, different gradient, different speed
Battle array, takes opposite number；
Obtain based under different-energy feedback grade, different speed, different gradient, the corresponding open loop torque of different acceleration
Matrix.
Wherein, the system also includes:
First return module 50, for the acceleration and speed of vehicle being monitored, if vehicle is unsatisfactory for accelerating after vehicle deceleration
The third threshold value or speed that degree is less than calibration then pass back through entire car controller identification less than the condition of the 4th threshold value of calibration
Delay the step of drop enable signal in abrupt slope.
Wherein, the system also includes:
Second return module 60, if regenerating condition is slided in return for unidentified enabled to the slow drop function in ramp.
According to the steep slope slow down control system of electric car provided in this embodiment, at least have the advantages that
(1) using the reactive torque slided and braking energy feedback generates, make vehicle deceleration, realize and the slow drop in traditional abrupt slope
Identical function, this method can be realized suddenly without hardware such as brake pedal, ramp sensor, the slow drop setting buttons in abrupt slope
The slow drop function in slope, reduces vehicle components cost, reduces components bring functional safety hidden danger, especially mitigation brake disc
Fever, abrasion bring hidden danger；
(2) when acceleration is greater than first threshold, and speed is greater than second threshold, delay drop state into abrupt slope, pass through vehicle
Controller identifies the slow drop enable signal in abrupt slope, provides reactive torque for vehicle；It is less than third threshold value in acceleration or speed is less than
When four threshold values, exits abrupt slope and delay drop state, carry out sliding state, can realize that energy sufficiently returns during vehicle descending
It receives, improves capacity usage ratio；
(3) reactive torque of the slow drop in abrupt slope is open loop torque, closed loop torque and slides feedback torque superposition gained and have
Torque linear transitions feature, it is ensured that vehicle speed in ramp driving is linear and stabilization rises or falls, no lofty and jump
Dynamic: when ramp increases, reactive torque is linearly increased, and speed stablizes decline；When ramp reduces, reactive torque linearly reduces,
Until exiting ramp delays drop state, into regenerating condition is slided, the smooth comfort of vehicle is strong.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.
The more specific example (non-exhaustive list) of computer-readable medium include the following: there are one or more wirings
Electrical connection section (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: logic gates specifically for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of slow drop control method in abrupt slope of electric car, which is characterized in that the described method includes:
Vehicle parameter is obtained by entire car controller, and judges whether vehicle is able to enter according to the vehicle parameter of acquisition and slides back
Feedback state；
If vehicle, which is able to enter, slides regenerating condition, judge the acceleration of vehicle whether be greater than calibration first threshold and
Whether the speed of vehicle is greater than the second threshold of calibration；
If the acceleration of vehicle is greater than the first threshold of calibration and the speed of vehicle is greater than the second threshold demarcated, enter steep
Drop state is delayed on slope, and identifies the slow drop enable signal in abrupt slope by entire car controller, provides reactive torque for vehicle, the reactive torque
By open loop torque, closed loop torque and slide feedback torque superposition gained；
After vehicle deceleration, the acceleration and speed of vehicle are monitored, if the acceleration of vehicle is less than the third threshold value or speed of calibration
It less than the 4th threshold value of calibration, then exits abrupt slope and delays drop state, carry out sliding state, using currently sliding the reversed of torque generation
Torque is along ramp driving, wherein third threshold value is less than first threshold, and the 4th threshold value is less than second threshold.
2. the slow drop control method in the abrupt slope of electric car according to claim 1, which is characterized in that described to pass through vehicle control
Device processed obtains vehicle parameter, and judges whether vehicle is able to enter the step of sliding regenerating condition packet according to the vehicle parameter of acquisition
It includes:
Motor speed signal, gas pedal depth signal, brake pedal signal, brake switch letter are obtained by entire car controller
Number, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal, by motor speed signal
Speed signal is converted into obtain the speed of vehicle, to obtaining the acceleration of vehicle after the speed derivation；
Acquired signal is judged by entire car controller, if gas pedal depth signal, brake pedal signal, braking
Switching signal, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal reach each
From preset value, then determine that vehicle is able to enter and slide regenerating condition.
3. the slow drop control method in the abrupt slope of electric car according to claim 1, which is characterized in that described to pass through vehicle control
The step of device identification processed abrupt slope delays drop enable signal, provides reactive torque for vehicle specifically includes:
Judge whether that recognizing the slow drop function in ramp enables；
It is enabled if recognizing ramp and delaying drop function, calculates separately open loop torque, closed loop P to torque, closed loop I to torque and work as
Before slide feedback torque maximum；
Determine reactive torque, which is that open loop torque, closed loop P to torque, closed loop I slide feedback to torque and currently
The sum of torque maximum.
4. the slow drop control method in the abrupt slope of electric car according to claim 3, which is characterized in that the open loop torque is adopted
It calculates using the following method:
0% grade resistance F1 under different speeds is calculated by vehicle sliding function, different gradient gug resistance is calculated, takes absolute value
F2；
The matrix that the output power of vehicle is supplied to based on different gradient, different speed gugs is calculated according to F1 and F2；
Calculating different gradient, different speed gugs are supplied to the matrix of the output torque T of vehicle；
Determine different-energy feedback level status；
Feedback torque absolute value is subtracted by torque T, is calculated under different-energy feedback grade, different gradient, different speeds
Lower open loop torque matrix；
The matrix for calculating the corresponding acceleration of open loop torque under different-energy feedback grade, different gradient, different speeds, takes opposite
Number；
Obtain based under different-energy feedback grade, different speed, different gradient, the corresponding open loop torque square of different acceleration
Battle array, finally obtains open loop torque.
5. the slow drop control method in the abrupt slope of electric car according to claim 1, which is characterized in that the method is also wrapped
It includes:
After vehicle deceleration, monitor the acceleration and speed of vehicle, if vehicle be unsatisfactory for acceleration be less than calibration third threshold value or
Speed is less than the condition of the 4th threshold value of calibration, then passes back through entire car controller identification abrupt slope slow the step of dropping enable signal.
6. the slow drop control method in the abrupt slope of electric car according to claim 3, which is characterized in that described to judge whether to know
It is clipped to after the enabled step of the slow drop function in ramp, the method also includes:
If unidentified enabled to the slow drop function in ramp, regenerating condition is slided in return.
7. a kind of steep slope slow down control system of electric car, which is characterized in that the system comprises:
Judgment module is obtained, for obtaining vehicle parameter by entire car controller, and vehicle is judged according to the vehicle parameter of acquisition
Whether it is able to enter and slides regenerating condition；
First judgment module slides regenerating condition if being able to enter for vehicle, judges whether the acceleration of vehicle is greater than mark
Whether the speed of fixed first threshold and vehicle is greater than the second threshold of calibration；
Enabled identification module, if the acceleration for vehicle is greater than the first threshold of calibration and the speed of vehicle is greater than calibration
Second threshold then enters abrupt slope and delays drop state, and identifies the slow drop enable signal in abrupt slope by entire car controller, provides instead for vehicle
To torque, the reactive torque is by open loop torque, closed loop torque and slides feedback torque superposition gained；
Deceleration monitoring modular, for monitoring the acceleration and speed of vehicle after vehicle deceleration, if the acceleration of vehicle is less than calibration
Third threshold value or speed be less than the 4th threshold value of calibration, then exit abrupt slope and delay drop state, sliding state is carried out, using current
The reactive torque of torque generation is slided along ramp driving, wherein third threshold value is less than first threshold, and the 4th threshold value is less than the second threshold
Value.
8. the steep slope slow down control system of electric car according to claim 7, which is characterized in that the acquisition judges mould
Block is specifically used for:
Motor speed signal, gas pedal depth signal, brake pedal signal, brake switch letter are obtained by entire car controller
Number, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal, by motor speed signal
Speed signal is converted into obtain the speed of vehicle, to obtaining the acceleration of vehicle after the speed derivation；
Acquired signal is judged by entire car controller, if gas pedal depth signal, brake pedal signal, braking
Switching signal, energy feedback level signal, maximum cell voltage value, battery pack SOC signal and driving switch signal reach each
From preset value, then determine that vehicle is able to enter and slide regenerating condition.
9. the steep slope slow down control system of electric car according to claim 7, which is characterized in that the enabled identification mould
Block is specifically used for:
Judge whether that recognizing the slow drop function in ramp enables；
It is enabled if recognizing ramp and delaying drop function, calculates separately open loop torque, closed loop P to torque, closed loop I to torque and work as
Before slide feedback torque maximum；
Feedback torque maximum is slided to torque and currently and is determined to torque, closed loop I according to the open loop torque of calculating, closed loop P
Reactive torque, it is maximum which is open loop torque, closed loop P slides feedback torque to torque, closed loop I to torque and currently
The sum of value.
10. the steep slope slow down control system of electric car according to claim 9, which is characterized in that the enabled identification
Open loop torque specifically is calculated using following methods in module:
0% grade resistance F1 under different speeds is calculated to obtain by vehicle sliding function, different gradient gug resistance is calculated, takes absolutely
Value F2；
The matrix that the output power F of vehicle is supplied to based on different gradient, different speed gugs is calculated according to F1 and F2；
Calculating different gradient, different speed gugs are supplied to the matrix of the output torque T of vehicle；
Determine different-energy feedback level status；
Feedback torque absolute value is subtracted by torque T, is calculated under different-energy feedback grade, different gradient, different speeds
Lower open loop torque matrix；
The matrix of the corresponding acceleration a of open loop torque under different-energy feedback grade, different gradient, different speed is calculated to obtain, is taken
Opposite number；
Obtain based under different-energy feedback grade, different speed, different gradient, the corresponding open loop torque square of different acceleration
Battle array.
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| CN110654358A (en) * | 2019-10-30 | 2020-01-07 | 徐州徐工汽车制造有限公司 | Heavy truck steep slope slow descending control system and control method |
| CN110667393A (en) * | 2019-09-27 | 2020-01-10 | 上海伊控动力***有限公司 | Recovery control method for sliding energy of pure electric animal flow vehicle |
| CN111361556A (en) * | 2020-02-24 | 2020-07-03 | 浙江吉利新能源商用车集团有限公司 | Vehicle speed limit auxiliary control method and system |
| CN111439129A (en) * | 2020-04-14 | 2020-07-24 | 江西精骏电控技术有限公司 | Sliding energy recovery control method for electric automobile |
| CN111791713A (en) * | 2020-06-05 | 2020-10-20 | 力高(山东)新能源技术有限公司 | New energy automobile energy feedback control method and system |
| CN112477609A (en) * | 2020-11-10 | 2021-03-12 | 东风汽车集团有限公司 | Electric vehicle and electric vehicle sliding energy recovery method and recovery system |
| CN112848921A (en) * | 2021-01-27 | 2021-05-28 | 奇瑞新能源汽车股份有限公司 | Downhill method and device of electric automobile and vehicle |
| CN113276684A (en) * | 2021-06-30 | 2021-08-20 | 江铃汽车股份有限公司 | Sliding energy recovery control method for electric automobile |
| CN113829898A (en) * | 2021-11-15 | 2021-12-24 | 合众新能源汽车有限公司 | Vehicle control method and vehicle |
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| CN111361556A (en) * | 2020-02-24 | 2020-07-03 | 浙江吉利新能源商用车集团有限公司 | Vehicle speed limit auxiliary control method and system |
| CN111439129A (en) * | 2020-04-14 | 2020-07-24 | 江西精骏电控技术有限公司 | Sliding energy recovery control method for electric automobile |
| CN111791713A (en) * | 2020-06-05 | 2020-10-20 | 力高(山东)新能源技术有限公司 | New energy automobile energy feedback control method and system |
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| CN112848921A (en) * | 2021-01-27 | 2021-05-28 | 奇瑞新能源汽车股份有限公司 | Downhill method and device of electric automobile and vehicle |
| CN113276684A (en) * | 2021-06-30 | 2021-08-20 | 江铃汽车股份有限公司 | Sliding energy recovery control method for electric automobile |
| CN113829898A (en) * | 2021-11-15 | 2021-12-24 | 合众新能源汽车有限公司 | Vehicle control method and vehicle |
| CN113829898B (en) * | 2021-11-15 | 2023-09-12 | 合众新能源汽车股份有限公司 | Vehicle control method and vehicle |
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