CN110203077A - Crawling control method, system and its electric vehicle of electric vehicle - Google Patents
Crawling control method, system and its electric vehicle of electric vehicle Download PDFInfo
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- CN110203077A CN110203077A CN201910481835.6A CN201910481835A CN110203077A CN 110203077 A CN110203077 A CN 110203077A CN 201910481835 A CN201910481835 A CN 201910481835A CN 110203077 A CN110203077 A CN 110203077A
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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
-
- 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
- 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
- B60L15/2063—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 creeping
-
- 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
-
- 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
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- 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)
Abstract
The invention discloses the crawling control method systems and electric vehicle of a kind of electric vehicle, wherein the crawling control method of electric vehicle is the following steps are included: detect the gas pedal aperture and brake pedal aperture of electric vehicle, and detect the gear that electric vehicle is presently in；When gas pedal aperture and brake pedal aperture are zero and the gear that is presently in of electric vehicle is drivable position, if electric machine controller detects that negative revolving speed occurs in motor, then PID is carried out by electric machine controller to adjust to export steady slope torque to motor, so that electric vehicle executes the anti-slip function of parking；After electric vehicle executes the anti-slip function of parking, crawling torque is sent to electric machine controller, so that electric vehicle executes crawling function, wherein crawling torque is greater than steady slope torque.Pass through as a result, and increases PID adjusting and moment of torsion control output, so that vehicle start crawling function and the anti-slip function seamless combination of parking, to avoid vehicle because of driving or brake exception and bring unstability.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to the crawling control method of a kind of electric vehicle, a kind of electric vehicle
Crawling control system and a kind of electric vehicle.
Background technique
With the development of science and technology, new-energy automobile especially pure electric vehicle is quickly grown, while to pure electric vehicle
Technical requirements it is also higher and higher so that vehicle functions are also more and more perfect, but at present pure electric coach carry be
It in function of uniting, prevents from slipping by slope between crawling function and usually to generate conflict, the condition due to entering the two functions is similar and not
Distinguish, so be easy to cause vehicle when vehicle start while entering two functional status, so as to cause vehicle traction or
Braking is abnormal, so that there are certain unstability for vehicle.
Summary of the invention
The present invention is directed to solve one of the technical problem in above-mentioned technology at least to a certain extent.For this purpose, of the invention
One purpose is to propose a kind of crawling control method of electric vehicle, by increasing PID adjusting and moment of torsion control output, so that
Vehicle start crawling function and the anti-slip function seamless combination of parking, to avoid vehicle because of driving or brake exception and bring
Unstability.
Second object of the present invention is to propose a kind of crawling control system of electric vehicle.
Third object of the present invention is to propose a kind of electric vehicle.
In order to achieve the above objectives, a kind of crawling control method for electric vehicle that first aspect present invention proposes, the crawling
Control method is the following steps are included: detect the gas pedal aperture and brake pedal aperture of the electric vehicle, and described in detecting
The gear that electric vehicle is presently in；When the gas pedal aperture and the brake pedal aperture are zero and described electronic
When the gear that vehicle is presently in is drivable position, if electric machine controller detects that negative revolving speed occurs in motor, by described
Electric machine controller carries out PID and adjusts to export steady slope torque to the motor, prevents so that the electric vehicle executes the parking
Slip function；After the electric vehicle executes the anti-slip function of parking, crawling torque is sent to the electric machine controller, so as to
The electric vehicle executes the crawling function, wherein the crawling torque is greater than the steady slope torque.
The crawling control method of the electric vehicle proposed according to the present invention, by the gas pedal aperture for detecting electric vehicle
With brake pedal aperture, and the gear that electric vehicle is presently in is detected；When gas pedal aperture and brake pedal aperture are
Zero and the gear that is presently in of electric vehicle when being drivable position, if electric machine controller detects that negative revolving speed occurs in motor,
PID is carried out by electric machine controller to adjust to export steady slope torque to motor, so that electric vehicle executes the anti-slip function of parking；?
After electric vehicle executes the anti-slip function of parking, transmission crawling torque is to electric machine controller, so that electric vehicle executes crawling function,
Wherein, crawling torque is greater than steady slope torque.The present invention by vehicle start crawling function and prevents from slipping by slope the seamless knot of function as a result,
It closes, is exported by increase PID adjusting with moment of torsion control, to avoid vehicle because driving or braking and is abnormal and bring is unstable
Property.
In addition, the crawling control method of electric vehicle set forth above can also have following additional skill according to the present invention
Art feature:
Optionally, the steady slope torque calculates according to the following formula:
U (k)=U (k-1)+p0e(k)+p1e(k-1)+p2e(k-2)
Wherein, U (k) is the steady slope torque of current period, and U (k-1) was the steady slope torque in a upper period, p0=Kp(1+TD/
T0), p1=-Kp(1+2TD/T0-TD/Ti), p2=Kp·TD/T0, KpFor gain coefficient, TDFor derivative time constant, T0To adjust week
Phase, TiFor integration time constant, e (k) is the torque error value of previous cycle, and e (k-1) is the torque error in the first two period
Value, e (k-2) are the torque error value in first three period.
Optionally, when the gas pedal aperture and the brake pedal aperture are zero and the electric vehicle is current
When locating gear is drivable position, if the electric machine controller is not detected the motor and negative revolving speed occurs, directly send out
Send the crawling torque to the electric machine controller, so as to the electric machine controller according to the crawling torque to the motor into
Row control.
Optionally, when the gas pedal aperture and the brake pedal aperture are zero, wherein if described electronic
The gear that vehicle is in steep uphill, the electric vehicle is presently in is forward and the electric machine controller detects
Reverse to the motor is greater than preset rotation speed threshold value, then carries out PID by the electric machine controller and adjust to export surely
Slope torque is to the motor；If the gear that the electric vehicle is on down slope, the electric vehicle is presently in is
It retreats gear and the electric machine controller detects that the reverse of the motor is greater than preset rotation speed threshold value, then by described
Electric machine controller carries out PID and adjusts to export steady slope torque to the motor.
In order to achieve the above objectives, second aspect of the present invention embodiment proposes a kind of crawling control system of electric vehicle,
Wherein the electric vehicle has the function of crawling and the anti-slip function of parking, and the crawling control system includes: the inspection of gas pedal aperture
Module is surveyed, for detecting the gas pedal aperture of the electric vehicle；Brake pedal Measuring opening module, for detecting the electricity
The brake pedal aperture of motor-car；Gear detection module, the gear being presently in for detecting the electric vehicle；Full-vehicle control
Device and electric machine controller, carry out CAN communication between the entire car controller and the electric machine controller, the entire car controller exists
The gas pedal aperture and the brake pedal aperture are zero and the gear that is presently in of the electric vehicle is driving gear
It detects whether motor negative revolving speed occurs by the electric machine controller when position, and detects the motor in the electric machine controller
PID is carried out by the electric machine controller when there is negative revolving speed to adjust to export steady slope torque to the motor, so as to the electricity
Motor-car executes the anti-slip function of parking, and sends crawling after the electric vehicle executes the anti-slip function of parking and turn round
Square gives the electric machine controller, so that the electric vehicle executes the crawling function, wherein the crawling torque is greater than described
Steady slope torque.
The crawling control system for proposing electric vehicle according to the present invention is detected electronic by gas pedal Measuring opening module
The gas pedal aperture of vehicle, brake pedal Measuring opening module detect the brake pedal aperture of electric vehicle, and gear detects mould
The gear that block detection electric vehicle is presently in, and be in gas pedal aperture and brake pedal aperture by entire car controller
Zero and the gear that is presently in of electric vehicle whether there is negative revolving speed by electric machine controller detection motor when being drivable position,
And electric machine controller detect motor occur negative revolving speed when by electric machine controller carry out PID adjusting with export steady slope torque to
Motor so that electric vehicle executes the anti-slip function of parking, and sends crawling after electric vehicle executes the anti-slip function of parking and turns round
Square is to electric machine controller, so that electric vehicle executes crawling function, wherein crawling torque is greater than steady slope torque.It is of the invention as a result,
It by vehicle start crawling function and prevents from slipping by slope function seamless combination, be exported by increasing PID adjusting with moment of torsion control, to keep away
Exempt from vehicle because of driving or brakes exception and bring unstability.
Optionally, the electric machine controller calculates the steady slope torque according to the following formula:
U (k)=U (k-1)+p0e(k)+p1e(k-1)+p2e(k-2)
Wherein, U (k) is the steady slope torque of current period, and U (k-1) was the steady slope torque in a upper period, p0=Kp(1+TD/
T0), p1=-Kp(1+2TD/T0-TD/Ti), p2=Kp·TD/T0, KpFor gain coefficient, TDFor derivative time constant, T0To adjust week
Phase, TiFor integration time constant, e (k) is the torque error value of previous cycle, and e (k-1) is the torque error in the first two period
Value, e (k-2) are the torque error value in first three period.
Optionally, when the gas pedal aperture and the brake pedal aperture are zero and the electric vehicle is current
When locating gear is drivable position, if the electric machine controller is not detected the motor and negative revolving speed, the vehicle occurs
Controller then directly transmits the crawling torque to the electric machine controller, so that the electric machine controller is turned round according to the crawling
Square controls the motor.
Optionally, when the gas pedal aperture and the brake pedal aperture are zero, if the electric vehicle
In steep uphill, the electric vehicle is presently in, and gear is forward and the electric machine controller detects institute
The reverse for stating motor is greater than preset rotation speed threshold value, and the entire car controller then passes through the electric machine controller and carries out PID tune
Section is to export steady slope torque to the motor.
Optionally, when the gas pedal aperture and the brake pedal aperture are zero, if the electric vehicle
On down slope, gear that the electric vehicle is presently in is retreats gear and the electric machine controller detects institute
The reverse for stating motor is greater than preset rotation speed threshold value, and the entire car controller then passes through the electric machine controller and carries out PID tune
Section is to export steady slope torque to the motor.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of electric vehicle comprising above-mentioned electricity
The crawling control system of motor-car.
The electric vehicle proposed according to the present invention can be in crawling by the crawling control system of above-mentioned electric vehicle
When function and the anti-slip function of parking generate conflict, increase PID and adjust and exported with moment of torsion control, thus avoid vehicle because driving or
Braking bring unstability extremely.
Detailed description of the invention
Fig. 1 is the flow diagram according to the crawling control method of the electric vehicle of the embodiment of the present invention；
Fig. 2 is the flow diagram according to the crawling control method of the electric vehicle of one embodiment of the invention；
Fig. 3 is the torque correspondence diagram according to the crawling control method of the electric vehicle of the embodiment of the present invention；
Fig. 4 is the block diagram according to the crawling control system of the electric vehicle of the embodiment of the present invention；
Fig. 5 is the block diagram according to the electric vehicle of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In order to better understand the above technical scheme, the exemplary reality that the present invention will be described in more detail below with reference to accompanying drawings
Apply example.Although showing exemplary embodiment of the present invention in attached drawing, it being understood, however, that may be realized in various forms this hair
It is bright and should not be limited by the embodiments set forth herein.It is to be able to thoroughly understand this on the contrary, providing these embodiments
Invention, and the scope of the present invention can be fully disclosed to those skilled in the art.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
Fig. 1 is the flow diagram according to the crawling control method of the electric vehicle of the embodiment of the present invention.As shown in Figure 1,
The crawling control method of the electric vehicle of the embodiment of the present invention the following steps are included:
Step 101, the gas pedal aperture and brake pedal aperture of electric vehicle are detected, and detects the current institute of electric vehicle
The gear at place.
Step 102, when gas pedal aperture and brake pedal aperture be zero and the gear that is presently in of electric vehicle be
When drivable position, if electric machine controller detects that negative revolving speed occurs in motor, PID is carried out by electric machine controller and is adjusted with defeated
Steady slope torque is to motor out, so that electric vehicle executes the anti-slip function of parking.
That is, when detecting that gas pedal and brake pedal are not operated, and the shelves that electric vehicle is presently in
When position is drivable position, if electric machine controller detects that negative revolving speed occurs in motor, PID adjusting is carried out by electric machine controller
Trend is slipped after having vehicle not so that electric vehicle executes the anti-slip function of parking to export steady slope torque to motor.
According to an embodiment of the present invention, when gas pedal aperture and brake pedal aperture are zero, if electric vehicle
In the steep uphill, the gear that electric vehicle is presently in is forward and electric machine controller detects the anti-of motor
Speed of walking around is greater than preset rotation speed threshold value, then carries out PID by electric machine controller and adjust to export steady slope torque to motor.
According to an embodiment of the present invention, when gas pedal aperture and brake pedal aperture are zero, if electric vehicle
On the down slope, the gear that electric vehicle is presently in be retrogressing gear and electric machine controller detects the anti-of motor
Speed of walking around is greater than preset rotation speed threshold value, then carries out PID by electric machine controller and adjust to export steady slope torque to motor.
According to an embodiment of the present invention, the steady slope torque in above-described embodiment is calculated all in accordance with following formula:
U (k)=U (k-1)+p0e(k)+p1e(k-1)+p2e(k-2)
Wherein, U (k) is the steady slope torque of current period, and U (k-1) was the steady slope torque in a upper period, p0=Kp(1+TD/
T0), p1=-Kp(1+2TD/T0-TD/Ti), p2=Kp·TD/T0, KpFor gain coefficient, TDFor derivative time constant, T0To adjust week
Phase, TiFor integration time constant, e (k) is the torque error value of previous cycle, and e (k-1) is the torque error in the first two period
Value, e (k-2) are the torque error value in first three period.
Step 103, after electric vehicle executes the anti-slip function of parking, crawling torque is sent to electric machine controller, so as to electricity
Motor-car executes the crawling function, wherein crawling torque is greater than steady slope torque.
That is, the speed of vehicle is zero in the case where slipping trend after electric vehicle does not have, and vehicle is stayed non-
Car stop position, meets crawling condition, and entire car controller sends crawling torque to electric machine controller, so that electric vehicle executes crawling function
Can, so that vehicle gentle start.
It should be noted that being greater than steady slope in brake pedal or the torque that pedal and current motor export of stepping on the throttle
Parking anti-slip function is exited when torque.
The crawling control method of the electric vehicle proposed according to the present invention, by the gas pedal aperture for detecting electric vehicle
With brake pedal aperture, and the gear that electric vehicle is presently in is detected；When gas pedal aperture and brake pedal aperture are
Zero and the gear that is presently in of electric vehicle when being drivable position, if electric machine controller detects that negative revolving speed occurs in motor,
PID is carried out by electric machine controller to adjust to export steady slope torque to motor, so that electric vehicle executes the anti-slip function of parking；?
After electric vehicle executes the anti-slip function of parking, transmission crawling torque is to electric machine controller, so that electric vehicle executes crawling function,
Wherein, crawling torque is greater than steady slope torque.The present invention by vehicle start crawling function and prevents from slipping by slope the seamless knot of function as a result,
It closes, is exported by increase PID adjusting with moment of torsion control, to avoid vehicle because driving or braking and is abnormal and bring is unstable
Property.
Fig. 2 is the flow diagram according to the crawling control method of the electric vehicle of one embodiment of the invention.Such as Fig. 2 institute
Show, the present embodiment and the difference of last embodiment are, the crawling control method for the electric vehicle that the present embodiment proposes further includes
Following steps:
Step 104, when gas pedal aperture and brake pedal aperture be zero and the gear that is presently in of electric vehicle be
When drivable position, if electric machine controller is not detected motor and negative revolving speed occurs, crawling torque is directly transmitted to motor control
Device, so that electric machine controller controls motor according to crawling torque.
That is, when detecting that gas pedal and brake pedal are not operated, and the shelves that electric vehicle is presently in
When position is drivable position, if electric machine controller is not detected motor and negative revolving speed occurs, crawling directly occurs for entire car controller if
Torque is to electric machine controller, so that electric machine controller controls motor according to crawling torque, thereby executing crawling function.
As one embodiment, as shown in figure 3, it is curve comparison figure of crawling torque and steady slope torque, wherein horizontal axis
For time t, the longitudinal axis is torque T.
In conclusion the crawling control method of the electric vehicle proposed according to the present invention, by the oil for detecting electric vehicle
Door pedal opening and brake pedal aperture, and detect the gear that electric vehicle is presently in；When gas pedal aperture and braking are stepped on
Plate aperture is zero and the gear that is presently in of electric vehicle when being drivable position, if electric machine controller detects that motor goes out
Now negative revolving speed then carries out PID by electric machine controller and adjusts to export steady slope torque to motor, so that electric vehicle executes parking
Anti-slip function；After electric vehicle executes the anti-slip function of parking, crawling torque is sent to electric machine controller, so that electric vehicle is held
Row crawling function, wherein crawling torque is greater than steady slope torque.The present invention by vehicle start crawling function and prevents from slipping by slope as a result,
Function seamless combination is exported by increasing PID adjusting and moment of torsion control, to avoid vehicle because of driving or brake exception and band
The unstability come.
In addition, as shown in figure 4, the embodiment of the present invention also proposed a kind of crawling control system of electric vehicle, wherein should
Electric vehicle has the function of crawling and the anti-slip function of parking, crawling control system include: gas pedal Measuring opening module 102,
Brake pedal Measuring opening module 103, gear detection module 104, entire car controller 100 and electric machine controller 101.
Wherein, gas pedal Measuring opening module 102 is used to detect the gas pedal aperture of electric vehicle；Brake pedal is opened
Degree detection module 103 is used to detect the brake pedal aperture of electric vehicle；Gear detection module 104 is worked as detecting electric vehicle
Preceding locating gear；CAN communication is carried out between entire car controller 100 and electric machine controller 101, entire car controller 100 is in throttle
Pedal opening and brake pedal aperture are zero and the gear that is presently in of electric vehicle passes through motor control when being drivable position
Device 101 detects whether motor negative revolving speed occurs, and passes through motor control when negative revolving speed occurs in electric machine controller detection 101 to motor
Device 101 processed carries out PID and adjusts to export steady slope torque to motor, so that electric vehicle executes the anti-slip function of parking, and in electricity
Transmission crawling torque is to electric machine controller after motor-car executes the anti-slip function of parking, so that electric vehicle executes crawling function,
In, crawling torque is greater than steady slope torque.
According to an embodiment of the present invention, the steady slope torque in above-described embodiment is calculated all in accordance with following formula:
U (k)=U (k-1)+p0e(k)+p1e(k-1)+p2e(k-2)
Wherein, U (k) is the steady slope torque of current period, and U (k-1) was the steady slope torque in a upper period, p0=Kp(1+TD/
T0), p1=-Kp(1+2TD/T0-TD/Ti), p2=Kp·TD/T0, KpFor gain coefficient, TDFor derivative time constant, T0To adjust week
Phase, TiFor integration time constant, e (k) is the torque error value of previous cycle, and e (k-1) is the torque error in the first two period
Value, e (k-2) are the torque error value in first three period.
Further, when gas pedal aperture and brake pedal aperture are zero and the gear that is presently in of electric vehicle
When for drivable position, if electric machine controller 101 is not detected motor and negative revolving speed occurs, entire car controller 100 ifs, is directly transmitted
Crawling torque is to electric machine controller 101, so that electric machine controller 101 controls motor according to crawling torque.
According to an embodiment of the present invention, when gas pedal aperture and brake pedal aperture are zero, if electric vehicle
In the steep uphill, the gear that electric vehicle is presently in is forward and electric machine controller 101 detects motor
Reverse is greater than preset rotation speed threshold value, and entire car controller 100 then carries out PID by electric machine controller 101 and adjusts to export surely
Slope torque is to motor.
According to an embodiment of the present invention, when gas pedal aperture and brake pedal aperture are zero, if electric vehicle
On the down slope, the gear that electric vehicle is presently in be retrogressing gear and electric machine controller 101 detects motor
Reverse is greater than preset rotation speed threshold value, and entire car controller 100 then carries out PID by electric machine controller 101 and adjusts to export surely
Slope torque is to motor.
It should be noted that the illustration previously for the crawling control method of electric vehicle is equally applicable to this implementation
The crawling control system of example electric vehicle, details are not described herein again.
In conclusion proposing the crawling control system of electric vehicle according to the present invention, pass through gas pedal Measuring opening mould
Block detects the gas pedal aperture of electric vehicle, and brake pedal Measuring opening module detects the brake pedal aperture of electric vehicle,
The gear that gear detection module detection electric vehicle is presently in, and stepped on by entire car controller in gas pedal aperture and braking
Plate aperture is zero and whether the gear that is presently in of electric vehicle is gone out by electric machine controller detection motor when being drivable position
Now negative revolving speed, and PID is carried out by electric machine controller when electric machine controller detects that negative revolving speed occurs in motor and is adjusted to export
Steady slope torque is to motor, so that electric vehicle executes the anti-slip function of parking, and after electric vehicle executes the anti-slip function of parking
Crawling torque is sent to electric machine controller, so that electric vehicle executes crawling function, wherein crawling torque is greater than steady slope torque.
The present invention by vehicle start crawling function and prevents from slipping by slope function seamless combination as a result, by increasing PID adjusting and moment of torsion control
Output, to avoid vehicle because of driving or brake exception and bring unstability.
In addition, as shown in figure 5, the embodiment of the present invention also proposed a kind of electric vehicle 2000 comprising above-mentioned is electronic
The crawling control system 1000 of vehicle.Since description has been carried out in the crawling control system 1000 to above-mentioned electric vehicle, therefore
Here it is no longer described in detail.
The electric vehicle proposed according to the present invention can be in crawling by the crawling control system of above-mentioned electric vehicle
When function and the anti-slip function of parking generate conflict, increase PID and adjust and exported with moment of torsion control, thus avoid vehicle because driving or
Braking bring unstability extremely.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with spy
Fixed orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
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
It is interpreted as that identical embodiment or example must be directed to.Moreover, particular features, structures, materials, or characteristics described
It can be combined in any suitable manner in any one or more of the embodiments or examples.In addition, those skilled in the art can
Different embodiments or examples described in this specification are engaged and be combined.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of crawling control method of electric vehicle, which is characterized in that the electric vehicle has the function of that crawling and parking are anti-
Slip function, the crawling control method the following steps are included:
The gas pedal aperture and brake pedal aperture of the electric vehicle are detected, and detects what the electric vehicle was presently in
Gear；
When the gas pedal aperture and the brake pedal aperture be zero and the gear that is presently in of the electric vehicle be
When drivable position, if electric machine controller detects that negative revolving speed occurs in motor, PID adjusting is carried out by the electric machine controller
To export steady slope torque to the motor, so that the electric vehicle executes the anti-slip function of parking；
After the electric vehicle executes the anti-slip function of parking, crawling torque is sent to the electric machine controller, with toilet
It states electric vehicle and executes the crawling function, wherein the crawling torque is greater than the steady slope torque.
2. the crawling control method of electric vehicle as described in claim 1, which is characterized in that the steady slope torque is according to following
Formula calculates:
U (k)=U (k-1)+p0e(k)+p1e(k-1)+p2e(k-2)
Wherein, U (k) is the steady slope torque of current period, and U (k-1) was the steady slope torque in a upper period, p0=Kp(1+TD/T0), p1
=-Kp(1+2TD/T0-TD/Ti), p2=Kp·TD/T0, KpFor gain coefficient, TDFor derivative time constant, T0For regulating cycle, Ti
For integration time constant, e (k) is the torque error value of previous cycle, and e (k-1) is the torque error value in the first two period, e (k-
It 2) is the torque error value in first three period.
3. the crawling control method of electric vehicle as claimed in claim 1 or 2, which is characterized in that when the gas pedal is opened
Degree and the brake pedal aperture are zero and the gear that is presently in of electric vehicle when being drivable position, if described
Electric machine controller is not detected the motor and negative revolving speed occurs, then directly transmits the crawling torque to the electric machine controller,
So that the electric machine controller controls the motor according to the crawling torque.
4. the crawling control method of electric vehicle as described in claim 1, which is characterized in that when the gas pedal aperture and
When the brake pedal aperture is zero, wherein
If the gear that the electric vehicle is in steep uphill, the electric vehicle is presently in is forward and institute
It states electric machine controller and detects that the reverse of the motor is greater than preset rotation speed threshold value, then carried out by the electric machine controller
PID is adjusted to export steady slope torque to the motor；
If the gear that the electric vehicle is on down slope, the electric vehicle is presently in is retrogressing gear and institute
It states electric machine controller and detects that the reverse of the motor is greater than preset rotation speed threshold value, then carried out by the electric machine controller
PID is adjusted to export steady slope torque to the motor.
5. a kind of crawling control system of electric vehicle, which is characterized in that the electric vehicle has the function of that crawling and parking are anti-
Function is slipped, the crawling control system includes:
Gas pedal Measuring opening module, for detecting the gas pedal aperture of the electric vehicle；
Brake pedal Measuring opening module, for detecting the brake pedal aperture of the electric vehicle；
Gear detection module, the gear being presently in for detecting the electric vehicle；
Entire car controller and electric machine controller carry out CAN communication between the entire car controller and the electric machine controller, described
Entire car controller is zero in the gas pedal aperture and the brake pedal aperture and the electric vehicle is presently in
It detects whether motor negative revolving speed occurs by the electric machine controller when gear is drivable position, and is examined in the electric machine controller
It measures and PID adjusting is carried out to export steady slope torque to the electricity by the electric machine controller when negative revolving speed occurs in the motor
Machine so that the electric vehicle executes the anti-slip function of parking, and executes the anti-slip function of parking in the electric vehicle
Can after send crawling torque to the electric machine controller, so that the electric vehicle executes the crawling function, wherein described compacted
Row torque is greater than the steady slope torque.
6. the crawling control system of electric vehicle as claimed in claim 5, which is characterized in that the electric machine controller according to
Lower formula calculates the steady slope torque:
U (k)=U (k-1)+p0e(k)+p1e(k-1)+p2e(k-2)
Wherein, U (k) is the steady slope torque of current period, and U (k-1) was the steady slope torque in a upper period, p0=Kp(1+TD/T0), p1
=-Kp(1+2TD/T0-TD/Ti), p2=Kp·TD/T0, KpFor gain coefficient, TDFor derivative time constant, T0For regulating cycle, Ti
For integration time constant, e (k) is the torque error value of previous cycle, and e (k-1) is the torque error value in the first two period, e (k-
It 2) is the torque error value in first three period.
7. such as the crawling control system of electric vehicle described in claim 5 or 6, which is characterized in that when the gas pedal is opened
Degree and the brake pedal aperture are zero and the gear that is presently in of electric vehicle when being drivable position, if described
Electric machine controller is not detected the motor and negative revolving speed occurs, and the entire car controller then directly transmits the crawling torque to institute
Electric machine controller is stated, so that the electric machine controller controls the motor according to the crawling torque.
8. the crawling control system of electric vehicle as claimed in claim 5, which is characterized in that when the gas pedal aperture and
When the brake pedal aperture is zero, if the electric vehicle is in steep uphill, the electric vehicle is presently in
Gear be that forward and the electric machine controller detect that the reverse of the motor is greater than preset rotation speed threshold value, institute
It states entire car controller and passes through the electric machine controller progress PID adjusting then to export steady slope torque to the motor.
9. the crawling control system of electric vehicle as claimed in claim 5, which is characterized in that when the gas pedal aperture and
When the brake pedal aperture is zero, if the electric vehicle is on down slope, the electric vehicle is presently in
Gear be to retreat gear and the electric machine controller to detect that the reverse of the motor is greater than preset rotation speed threshold value, institute
It states entire car controller and passes through the electric machine controller progress PID adjusting then to export steady slope torque to the motor.
10. a kind of electric vehicle, which is characterized in that the crawling including the electric vehicle as described in any one of claim 5-9
Control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910481835.6A CN110203077A (en) | 2019-06-04 | 2019-06-04 | Crawling control method, system and its electric vehicle of electric vehicle |
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| CN201910481835.6A CN110203077A (en) | 2019-06-04 | 2019-06-04 | Crawling control method, system and its electric vehicle of electric vehicle |
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| 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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| CN112198910A (en) * | 2020-10-30 | 2021-01-08 | 南通大学 | Detection and implementation algorithm for automatic stable speed of battery car in downhill |
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| 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 |
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| CN111645534A (en) * | 2020-05-11 | 2020-09-11 | 摩登汽车(盐城)有限公司 | Slope-sliding-prevention control method and control system for pure electric vehicle |
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| CN114393997A (en) * | 2022-01-04 | 2022-04-26 | 珠海格力电器股份有限公司 | Electric vehicle hill-holding control method and device, storage medium and controller |
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