CN110329084A - The control method of the anti-slip auxiliary system in electric car slope road - Google Patents
The control method of the anti-slip auxiliary system in electric car slope road Download PDFInfo
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- CN110329084A CN110329084A CN201910672863.6A CN201910672863A CN110329084A CN 110329084 A CN110329084 A CN 110329084A CN 201910672863 A CN201910672863 A CN 201910672863A CN 110329084 A CN110329084 A CN 110329084A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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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 a kind of control methods of the anti-slip auxiliary system in electric car slope road, comprising: whether gear, vehicle occur the tach signal of gear switch and motor where electric machine controller detection selector；If gear switch do not occur for vehicle, and current gear is D grades, then electric machine controller is by D grades of virtual gear assignment in the anti-slip control system in slope road；Electric machine controller judge motor speed whether within the scope of the first rotary speed threshold value and braking depth whether less than the first depth threshold, the corresponding direction of motor rotation of the first rotary speed threshold value is opposite with direction of traffic；If, then electric machine controller starts the anti-slip function in D grades of first time slopes road, vehicle enters the anti-slip mode in slope road, motor enters rotating speed control mode, under rotating speed control mode, the rotating speed of target of the motor is 0rpm, calculates the anti-slip torque in slope road in real time by electric machine controller and controls motor and executes the torque, so that stationary vehicle.The present invention can be realized the anti-slip function in slope road of low cost.
Description
Technical field
The present invention relates to automobile technical fields, more particularly to a kind of controlling party of the anti-slip auxiliary system in electric car slope road
Method.
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.
It is one of critical function of automobile that slope road is anti-slip, the slope road anti running system of conventional fuel oil vehicle be mostly based on ESP,
The chassis control systems such as EPB, when vehicle brake is to after stopping, ESP system controls and maintains the hydraulic pressure of hydraulic braking internal system
Power, and then stationary vehicle is kept, and EPB system pushes brake(-holder) block by parking motor on brake and deceleration device, in turn
Keep stationary vehicle.If this two ways is used in electric car, there are higher costs, and control logic is complicated, and components are numerous
The problem of.
Summary of the invention
For this purpose, it is an object of the invention to propose a kind of control method of the anti-slip auxiliary system in electric car slope road, with reality
The anti-slip function in slope road of existing low cost.
A kind of control method of the anti-slip auxiliary system in electric car slope road, the anti-slip auxiliary system packet in electric car slope road
Electric machine controller and motor are included, the control method includes:
Whether gear, vehicle occur turn of gear switch and the motor where the electric machine controller detection selector
Fast signal；
If gear switch do not occur for vehicle, and current gear is D grades, then the electric machine controller is by the anti-slip control in slope road
D grades of virtual gear assignment in system processed, the virtual gear are the practical execution gear of the electric machine controller；
The electric machine controller judge motor speed whether within the scope of the first rotary speed threshold value and braking depth whether be less than
First depth threshold, the corresponding direction of motor rotation of first rotary speed threshold value are opposite with direction of traffic；
If the motor speed is within the scope of first rotary speed threshold value and the braking depth is less than first depth
Threshold value, then the electric machine controller starts the anti-slip function in D grades of first time slopes road, and vehicle enters the anti-slip mode in slope road, the motor
Into rotating speed control mode, under rotating speed control mode, the rotating speed of target of the motor is 0rpm, real by the electric machine controller
When calculate the anti-slip torque in slope road and control motor and execute the torque so that stationary vehicle.
The control method of the anti-slip auxiliary system in electric car slope road provided according to the present invention, can not increase cost
Under the premise of, it is anti-slip that slope road can be realized by the cooperation of electric machine controller and motor, by electric machine controller to motor speed, shelves
The real time monitoring of the signals such as position, brake depth, judges whether vehicle needs to enter the anti-slip function in slope road, and controls motor in time
Revolving speed prevents vehicle from occurring it is expected that the opposite direction of traffic direction slips to current gear, keeps stationary vehicle, ensure that driving
Safety also provides time enough for driver and completes vehicle start operation.In addition, the present invention is without brake handle, pressure
Power feeds other hardware settings such as valve, reduces vehicle components cost, and strong operability, it is easy to accomplish.
In addition, the control method of the above-mentioned anti-slip auxiliary system in electric car slope road according to the present invention, can also have as
Under additional technical characteristic:
Further, the method also includes:
For vehicle in the anti-slip mode in slope road, the electric machine controller acquires gear signal, accelerator pedal signal, braking in real time
Depth signal；
The electric machine controller judges whether accelerator pedal torque is greater than when the anti-slip torque in scarp slope road or whether brakes depth
It is D grades non-greater than whether first depth threshold or current gear switch to；
If accelerator pedal torque is greater than when the anti-slip torque in scarp slope road or brakes depth greater than first depth threshold or work as
Preceding gear switch then exits the anti-slip function in slope road to D grades non-, and the motor is switched to torque control mode, and described in returning
Whether gear, vehicle occur the step of the tach signal of gear switch and the motor where electric machine controller detection selector
Suddenly；
If accelerator pedal torque is not more than when the anti-slip torque in scarp slope road and braking depth is not more than first depth threshold
And current gear does not switch to D grades non-, the anti-slip function in the road Ze Po is starting accumulative preset time backed off after random, then by the motor
It is switched to torque control mode, after exiting the anti-slip function in slope road, if motor speed is more than or equal to 0rpm again, returns to institute
Whether gear, vehicle occur the step of the tach signal of gear switch and the motor where stating electric machine controller detection selector
Suddenly.
Further, the method also includes:
After exiting the anti-slip function in slope road, if motor speed is within the scope of the second rotary speed threshold value and braking depth is second
Within the scope of depth threshold, then the electric machine controller starts the anti-slip function in second of slope of D shelves road, and it is anti-slip that vehicle is again introduced into slope road
Mode, the motor enter rotating speed control mode, and under rotating speed control mode, the rotating speed of target of the motor is 0rpm, by institute
It states electric machine controller and calculates the anti-slip torque in slope road in real time and control motor and execute the torque, so that stationary vehicle, wherein described
The corresponding direction of motor rotation of two rotary speed threshold values and direction of traffic on the contrary, and second rotary speed threshold value absolute value be greater than it is described
The absolute value of first rotary speed threshold value, second depth threshold are less than first depth threshold.
Further, the method also includes:
If gear switch do not occur for vehicle, and current gear is R grades, then the electric machine controller is by the anti-slip control in slope road
R grades of virtual gear assignment in system processed, the virtual gear are the practical execution gear of the electric machine controller；
The electric machine controller judge motor speed whether within the scope of third rotary speed threshold value and braking depth whether be less than
First depth threshold, the corresponding direction of motor rotation of the third rotary speed threshold value is identical as direction of traffic, and the third
The absolute value of rotary speed threshold value is equal with the absolute value of first rotary speed threshold value；
If the motor speed is within the scope of the third rotary speed threshold value and the braking depth is less than first depth
Threshold value, then the electric machine controller starts the anti-slip function in R grades of first time slopes road, and vehicle enters the anti-slip mode in slope road, the motor
Into rotating speed control mode, under rotating speed control mode, the rotating speed of target of the motor is 0rpm, real by the electric machine controller
When calculate the anti-slip torque in slope road and control motor and execute the torque so that stationary vehicle.
Further, the method also includes:
For vehicle in the anti-slip mode in slope road, the electric machine controller acquires gear signal, accelerator pedal signal, braking in real time
Depth signal；
The electric machine controller judges whether accelerator pedal torque is greater than when the anti-slip torque in scarp slope road or whether brakes depth
It is R grades non-greater than whether first depth threshold or current gear switch to；
If accelerator pedal torque is greater than when the anti-slip torque in scarp slope road or brakes depth greater than first depth threshold or work as
Preceding gear switch then exits the anti-slip function in slope road to R grades non-, and the motor is switched to torque control mode, and described in returning
Whether gear, vehicle occur the step of the tach signal of gear switch and the motor where electric machine controller detection selector
Suddenly；
If accelerator pedal torque is not more than when the anti-slip torque in scarp slope road and braking depth is not more than first depth threshold
And current gear does not switch to R grades non-, the anti-slip function in the road Ze Po is starting accumulative preset time backed off after random, then by the motor
It is switched to torque control mode, after exiting the anti-slip function in slope road, if motor speed is more than or equal to 0rpm again, returns to institute
Whether gear, vehicle occur the step of the tach signal of gear switch and the motor where stating electric machine controller detection selector
Suddenly.
Further, the method also includes:
After exiting the anti-slip function in slope road, if motor speed is within the scope of the 4th rotary speed threshold value and braking depth is described
Within the scope of second depth threshold, then the electric machine controller starts the anti-slip function in second of slope of R shelves road, and vehicle is again introduced into slope road
Anti-slip mode, the motor enter rotating speed control mode, and under rotating speed control mode, the rotating speed of target of the motor is 0rpm,
The anti-slip torque in slope road is calculated by the electric machine controller in real time and controls motor and executes the torque, so that stationary vehicle, wherein institute
State that the corresponding direction of motor rotation of the 4th rotary speed threshold value is identical as direction of traffic, and the absolute value of the 4th rotary speed threshold value and institute
The absolute value for stating the second rotary speed threshold value is identical.
Further, the method also includes:
If gear switch do not occur for vehicle, and current gear is N grades, then the electric machine controller is by the anti-slip control in slope road
N grades of virtual gear assignment in system processed, and terminate process.
Further, the method also includes:
Gear switch has occurred in vehicle, then the electric machine controller is first by the virtual shelves in the anti-slip control system in slope road
N grades of assignment of position；
If vehicle current gear is D grades, judge motor speed numerical value whether less than the 5th rotary speed threshold value, described 5th turn
The corresponding direction of motor rotation of fast threshold value is opposite with direction of traffic；
If motor speed numerical value is not less than the 5th rotary speed threshold value, by the virtual shelves in the anti-slip control system in slope road
Position D grade of assignment, subsequently into the electric machine controller judge motor speed whether within the scope of the first rotary speed threshold value and brake depth
The step of whether degree is less than the first depth threshold.
Further, the method also includes:
Gear switch has occurred in vehicle, then the electric machine controller is first by the virtual shelves in the anti-slip control system in slope road
N grades of assignment of position；
If vehicle current gear is R grades, judge whether motor speed numerical value is greater than the 6th rotary speed threshold value, described 6th turn
The corresponding direction of motor rotation of fast threshold value is identical as direction of traffic；
If motor speed numerical value is not more than the 6th rotary speed threshold value, by the virtual shelves in the anti-slip control system in slope road
Position R grade of assignment, subsequently into the electric machine controller judge motor speed whether within the scope of third rotary speed threshold value and brake depth
The step of whether degree is less than first depth threshold.
Further, first rotary speed threshold value is -10~0rpm；
Second rotary speed threshold value is -200~-10rpm；
The third rotary speed threshold value is 0~10rpm；
4th rotary speed threshold value is 10~200rpm；
5th rotary speed threshold value is -1rpm；
6th rotary speed threshold value is 1rpm；
First depth threshold is 70%；
Second depth threshold is 15%~70%.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the embodiment of the present invention to technology
Scheme is clearly and completely described, it is clear that and described embodiments are some of the embodiments of the present invention, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
The control method for the anti-slip auxiliary system in electric car slope road that one embodiment of the invention proposes, the electric car slope road
Anti-slip auxiliary system includes electric machine controller and motor, and the control method of the present embodiment is mainly controlled by electric machine controller and realized.
The control method includes step S1~S8:
S1, whether gear, vehicle occur gear switch and the motor where the electric machine controller detection selector
Tach signal；
Subsequent step is executed according to whether gear switches, if gear switch occurs, enters step S2；If shelves do not occur
Position switching and current gear are N grades, then enter step S3；If gear switch does not occur and current gear is D grades, enter step
S5；If gear switch does not occur and current gear is R grades, S6 is entered step.
S2, the electric machine controller described first draw N grades of virtual gear assignment in the anti-slip control system in slope road here
Enter virtual gear, virtual gear is the practical execution gear of the electric machine controller, different from the gear of driver's operation, into
When the anti-slip control in the road Hang Po, the practical gear executed of electric machine controller is virtual gear；
If current gear (gear of driver's operation) is N grades, again by the input virtual gear of the anti-slip control system in slope road
Secondary assignment N grades, subsequently into step S4；
If current gear is D grades, judge motor speed numerical value whether less than the 5th rotary speed threshold value, the 5th revolving speed threshold
Be worth corresponding direction of motor rotation and direction of traffic on the contrary, the 5th rotary speed threshold value be specially -1rpm (indicate traffic direction with
The D working days hope traffic direction on the contrary, slipping after vehicle), if motor speed numerical value is less than -1rpm, the anti-slip control system in the road Ze Jiangpo
Assignment N grades again of input virtual gear, enter step S4；If motor speed numerical value is not less than -1rpm, the anti-slip control in the road Ze Jiangpo
D grades of the virtual gear input signal assignment of molding block, subsequently into step S5；
If currently practical gear is R grades, judge whether motor speed numerical value is greater than the 6th rotary speed threshold value, described 6th turn
The corresponding direction of motor rotation of fast threshold value is identical as direction of traffic, and the 6th rotary speed threshold value is specially that 1rpm (indicates operation side
To hoping traffic direction with the R working days on the contrary, slipping before vehicle), if motor speed numerical value is greater than 1rpm, the anti-slip control in the road Ze Jiangpo is
Assignment N grades again of the input virtual gear of system, enter step S4；If motor speed numerical value is not more than 1rpm, the road Ze Jiangpo is anti-slip
R grades of the virtual gear input signal assignment of control module, subsequently into step S6.
The input virtual gear of the anti-slip control system in slope road is assigned a value of N grades and terminates process by S3.
S4, repetition enter step S2.
S5, the electric machine controller is by D grades of virtual gear assignment in the anti-slip control system in slope road, the motor control
Device processed judge motor speed whether within the scope of the first rotary speed threshold value and whether braking depth less than the first depth threshold, described the
The corresponding direction of motor rotation of one rotary speed threshold value and direction of traffic on the contrary, in the present embodiment, first rotary speed threshold value is specially-
10~0rpm, the first depth threshold are specially 70%.
If between motor speed -10~0rpm and braking depth is less than 70%, the electric machine controller starts D shelves first
The anti-slip function in the road Ci Po, vehicle enter the anti-slip mode in slope road, and the motor enters rotating speed control mode, in rotating speed control mode
Under, the rotating speed of target of the motor is 0rpm, is calculated the anti-slip torque in slope road in real time by the electric machine controller and is controlled motor and held
Row torque, so that stationary vehicle.Here rotating speed control mode difference and traditional torque control mode are to control motor and turn
Control mode for the purpose of speed, and it is indirect to motor output torque；
In addition, vehicle, in the anti-slip mode in slope road, the electric machine controller can acquire gear signal, accelerator pedal letter in real time
Number, braking depth signal；
The electric machine controller judges whether accelerator pedal torque is greater than when the anti-slip torque in scarp slope road or whether brakes depth
Greater than 70% or current gear whether switch to it is D grades non-；
If accelerator pedal torque is greater than when the anti-slip torque in scarp slope road or braking depth is greater than 70% or current gear switches to
It is D grades non-, then the anti-slip function in slope road is exited, the motor is switched to traditional torque control mode, and returns to the motor control
The step of device processed detects selector place gear, whether vehicle occurs gear switch and the tach signal of the motor, that is, return
Return step S1；
If accelerator pedal torque be not more than when the anti-slip torque in scarp slope road and braking depth no more than 70% and current gear not
Switch to D grades non-, the anti-slip function in the road Ze Po is starting accumulative preset time (e.g. 4s) backed off after random, then cuts the motor
Be changed to torque control mode, after exiting the anti-slip function in slope road, if motor speed is more than or equal to 0rpm again, return described in
Whether gear, vehicle occur the step of the tach signal of gear switch and the motor where electric machine controller detection selector
Suddenly, i.e. return step S1；If motor speed is within the scope of the second rotary speed threshold value and braking depth is within the scope of the second depth threshold,
Then enter step S7, wherein the corresponding direction of motor rotation of second rotary speed threshold value and direction of traffic are on the contrary, and described second
The absolute value of rotary speed threshold value is greater than the absolute value of first rotary speed threshold value, and second depth threshold is less than first depth
Threshold value, specifically in the present embodiment, the second rotary speed threshold value are -200~-10rpm, and the second depth threshold is 15%~70%, i.e.,
If motor speed enters step S7 between -200~-10rpm and when braking depth is between 15%~70%.
S6, the electric machine controller is by R grades of virtual gear assignment in the anti-slip control system in slope road；
The electric machine controller judge motor speed whether within the scope of third rotary speed threshold value and braking depth whether be less than
First depth threshold, the corresponding direction of motor rotation of the third rotary speed threshold value is identical as direction of traffic, and the third
The absolute value of rotary speed threshold value is equal with the absolute value of first rotary speed threshold value, specifically in the present embodiment, the third revolving speed
Threshold value is 0~10rpm；
If whether motor speed is between 0~10rpm and braking depth is less than 70%, the electric machine controller starts R
The anti-slip function in shelves first time slope road, vehicle enter the anti-slip mode in slope road, and the motor enters rotating speed control mode, control in revolving speed
Under mode, the rotating speed of target of the motor is 0rpm, calculates the anti-slip torque in slope road in real time by the electric machine controller and controls electricity
Machine executes the torque, so that stationary vehicle.
Wherein, for vehicle in the anti-slip mode in slope road, the electric machine controller acquires gear signal, accelerator pedal letter in real time
Number, braking depth signal；
The electric machine controller judges whether accelerator pedal torque is greater than when the anti-slip torque in scarp slope road or whether brakes depth
It is R grades non-greater than whether first depth threshold or current gear switch to；
If accelerator pedal torque is greater than when the anti-slip torque in scarp slope road or brakes depth greater than first depth threshold or work as
Preceding gear switch then exits the anti-slip function in slope road to R grades non-, and the motor is switched to torque control mode, and described in returning
Whether gear, vehicle occur the step of the tach signal of gear switch and the motor where electric machine controller detection selector
Suddenly, i.e. return step S1；
If accelerator pedal torque is not more than when the anti-slip torque in scarp slope road and braking depth is not more than first depth threshold
And current gear does not switch to R grades non-, the anti-slip function in the road Ze Po is starting accumulative preset time (such as 4s) backed off after random, then will
The motor is switched to torque control mode, after exiting the anti-slip function in slope road, if motor speed is more than or equal to 0rpm again,
Whether gear, vehicle occur the revolving speed of gear switch and the motor where then returning to the electric machine controller detection selector
The step of signal, i.e. return step S1；If motor speed is within the scope of the 4th rotary speed threshold value and braking depth is deep described second
It spends in threshold range, then enters step S8, in the present embodiment, the 4th rotary speed threshold value is 10~200rpm, and the second depth threshold is
15%~70%.
S7, the electric machine controller start the anti-slip function in second of slope of D shelves road, and vehicle is again introduced into the anti-slip mode in slope road,
The motor enters rotating speed control mode, and under rotating speed control mode, the rotating speed of target of the motor is 0rpm, by the motor
Controller, which calculates the anti-slip torque in slope road in real time and controls motor, executes the torque, so that stationary vehicle.Wherein, vehicle is anti-on slope road
It slips in mode, electric machine controller actual acquisition gear, accelerator pedal signal, braking depth signal judge that accelerator pedal torque is
It is no be greater than when the anti-slip torque in scarp slope road or braking depth whether be greater than 70% or be switched to it is D grades non-, if so, the anti-slip function in slope road
It immediately exiting from, is switched to torque control model, repetition enters step S1, if not, after the anti-slip function in slope road adds up timing 4 seconds,
The anti-slip function in slope road exits, and is switched to torque control model, if motor speed numerical value is again less than 0rpm is equal to, repeats to enter
Step S1, if motor speed repeats step between -200~-10rpm and when braking depth is between 15%~70%
S7。
S8, the electric machine controller start the anti-slip function in second of slope of R shelves road, and vehicle is again introduced into the anti-slip mode in slope road,
The motor enters rotating speed control mode, and under rotating speed control mode, the rotating speed of target of the motor is 0rpm, by the motor
Controller, which calculates the anti-slip torque in slope road in real time and controls motor, executes the torque, so that stationary vehicle；
For vehicle in the anti-slip mode in slope road, actual acquisition accelerator pedal signal, braking depth signal judge that accelerator pedal is turned round
Square whether be greater than when the anti-slip torque in scarp slope road or braking depth whether be greater than 70% or be switched to it is R grades non-, if so, slope road is anti-slip
Function immediately exits from, and is switched to torque control model, and repetition enters step S1, if not, the anti-slip function in slope road adds up timing 4 seconds
Afterwards, the anti-slip function in slope road exits, and is switched to torque control model, if motor speed numerical value is more than or equal to 0rpm again, repeats
S1 is entered step, if motor speed repeats step between 10~200rpm and when braking depth is between 15%~70%
Rapid S8.
The present invention proposes that anti running system input in slope road is virtual by monitoring currently practical gear and gear switch whether occurring
Gear, it is anti-by assignment slope road when gear switch occurring and motor speed direction is opposite with the expected driving direction of actual-gear
The problem of system input virtual gear is N grades, avoids the anti running system false triggering of the road gear switch Shi Po is slipped, guarantees driving peace
Full property and comfort.After when slope road, anti-slip function is exited, vehicle is slipped, when revolving speed is in a certain range and the case where touch on the brake
Under, the anti-slip function in slope road can activate again, prevent vehicle from continuing to slip, avoid since motor speed is more sensitive, fluctuation compared with
Greatly, the problem of anti-slip activation condition in slope road is more harsh, and vehicle cannot be introduced into the anti-slip mode in slope road sometimes improves travel safety
And system reliability.
According to the control method of the anti-slip auxiliary system in electric car slope provided in this embodiment road, cost can not increased
Under the premise of, it is anti-slip that slope road can be realized by the cooperation of electric machine controller and motor, by electric machine controller to motor speed,
The real time monitoring of the signals such as gear, brake depth, judges whether vehicle needs to enter the anti-slip function in slope road, and controls motor in time
Revolving speed, prevent vehicle from occurring it is expected that the opposite direction of traffic direction slips to current gear, keep stationary vehicle, ensure that row
Vehicle safety also provides time enough for driver and completes vehicle start operation.The present invention not only has under vehicle advance operating condition
Slope road it is anti-slip, while having the road vehicle backing operating condition Xia Po anti-slip, further improve travel safety.In addition, this hair
It is bright to reduce vehicle components cost, and strong operability without other hardware settings such as brake handle, pressure supply valves,
It is easily achieved.
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 control method of the anti-slip auxiliary system in electric car slope road, which is characterized in that electric car slope road is anti-slip
Auxiliary system includes electric machine controller and motor, and the control method includes:
Whether gear, vehicle occur the revolving speed letter of gear switch and the motor where the electric machine controller detection selector
Number；
If gear switch does not occur for vehicle, and current gear is D grades, then the anti-slip control in the slope road is by the electric machine controller
D grades of virtual gear assignment in system, the virtual gear are the practical execution gear of the electric machine controller；
The electric machine controller judge motor speed whether within the scope of the first rotary speed threshold value and braking depth whether less than first
Depth threshold, the corresponding direction of motor rotation of first rotary speed threshold value are opposite with direction of traffic；
If the motor speed is within the scope of first rotary speed threshold value and the braking depth is less than first depth threshold,
Then the electric machine controller starts the anti-slip function in D grades of first time slopes road, and vehicle enters the anti-slip mode in slope road, and the motor, which enters, to be turned
Fast control model, under rotating speed control mode, the rotating speed of target of the motor is 0rpm, is calculated in real time by the electric machine controller
The anti-slip torque in slope road simultaneously controls motor and executes the torque, so that stationary vehicle.
2. the control method of the anti-slip auxiliary system in electric car slope according to claim 1 road, which is characterized in that the side
Method further include:
For vehicle in the anti-slip mode in slope road, the electric machine controller acquires gear signal, accelerator pedal signal, braking depth in real time
Signal；
The electric machine controller judges whether accelerator pedal torque is greater than when whether the anti-slip torque in scarp slope road or braking depth are greater than
It is D grades non-whether first depth threshold or current gear switch to；
If accelerator pedal torque is greater than when the anti-slip torque in scarp slope road or braking depth are greater than first depth threshold or current shelves
Position switches to D grades non-, then exits the anti-slip function in slope road, the motor is switched to torque control mode, and return to the motor
The step of controller detects selector place gear, whether vehicle occurs gear switch and the tach signal of the motor；
If accelerator pedal torque is not more than when the anti-slip torque in scarp slope road and brakes depth no more than first depth threshold and work as
Preceding gear does not switch to D grades non-, and the anti-slip function in the road Ze Po is starting accumulative preset time backed off after random, then switches the motor
, if motor speed is more than or equal to 0rpm again, the electricity is returned to after exiting the anti-slip function in slope road for torque control mode
The step of machine controller detects selector place gear, whether vehicle occurs gear switch and the tach signal of the motor.
3. the control method of the anti-slip auxiliary system in electric car slope according to claim 2 road, which is characterized in that the side
Method further include:
After exiting the anti-slip function in slope road, if motor speed is within the scope of the second rotary speed threshold value and braking depth is in the second depth
In threshold range, then the electric machine controller starts the anti-slip function in second of slope of D shelves road, and vehicle is again introduced into the anti-slip mould in slope road
Formula, the motor enter rotating speed control mode, and under rotating speed control mode, the rotating speed of target of the motor is 0rpm, by described
Electric machine controller, which calculates the anti-slip torque in slope road in real time and controls motor, executes the torque, so that stationary vehicle, wherein described second
The corresponding direction of motor rotation of rotary speed threshold value and direction of traffic on the contrary, and the absolute value of second rotary speed threshold value be greater than described the
The absolute value of one rotary speed threshold value, second depth threshold are less than first depth threshold.
4. the control method of the anti-slip auxiliary system in electric car slope according to claim 3 road, which is characterized in that the side
Method further include:
If gear switch does not occur for vehicle, and current gear is R grades, then the anti-slip control in the slope road is by the electric machine controller
R grades of virtual gear assignment in system, the virtual gear are the practical execution gear of the electric machine controller；
The electric machine controller judge motor speed whether within the scope of third rotary speed threshold value and braking depth whether be less than it is described
First depth threshold, the corresponding direction of motor rotation of the third rotary speed threshold value is identical as direction of traffic, and the third revolving speed
The absolute value of threshold value is equal with the absolute value of first rotary speed threshold value；
If the motor speed is within the scope of the third rotary speed threshold value and the braking depth is less than first depth threshold,
Then the electric machine controller starts the anti-slip function in R grades of first time slopes road, and vehicle enters the anti-slip mode in slope road, and the motor, which enters, to be turned
Fast control model, under rotating speed control mode, the rotating speed of target of the motor is 0rpm, is calculated in real time by the electric machine controller
The anti-slip torque in slope road simultaneously controls motor and executes the torque, so that stationary vehicle.
5. the control method of the anti-slip auxiliary system in electric car slope according to claim 4 road, which is characterized in that the side
Method further include:
For vehicle in the anti-slip mode in slope road, the electric machine controller acquires gear signal, accelerator pedal signal, braking depth in real time
Signal；
The electric machine controller judges whether accelerator pedal torque is greater than when whether the anti-slip torque in scarp slope road or braking depth are greater than
It is R grades non-whether first depth threshold or current gear switch to；
If accelerator pedal torque is greater than when the anti-slip torque in scarp slope road or braking depth are greater than first depth threshold or current shelves
Position switches to R grades non-, then exits the anti-slip function in slope road, the motor is switched to torque control mode, and return to the motor
The step of controller detects selector place gear, whether vehicle occurs gear switch and the tach signal of the motor；
If accelerator pedal torque is not more than when the anti-slip torque in scarp slope road and brakes depth no more than first depth threshold and work as
Preceding gear does not switch to R grades non-, and the anti-slip function in the road Ze Po is starting accumulative preset time backed off after random, then switches the motor
, if motor speed is more than or equal to 0rpm again, the electricity is returned to after exiting the anti-slip function in slope road for torque control mode
The step of machine controller detects selector place gear, whether vehicle occurs gear switch and the tach signal of the motor.
6. the control method of the anti-slip auxiliary system in electric car slope according to claim 5 road, which is characterized in that the side
Method further include:
After exiting the anti-slip function in slope road, if motor speed is within the scope of the 4th rotary speed threshold value and braking depth is described second
Within the scope of depth threshold, then the electric machine controller starts the anti-slip function in second of slope of R shelves road, and it is anti-slip that vehicle is again introduced into slope road
Mode, the motor enter rotating speed control mode, and under rotating speed control mode, the rotating speed of target of the motor is 0rpm, by institute
It states electric machine controller and calculates the anti-slip torque in slope road in real time and control motor and execute the torque, so that stationary vehicle, wherein described
The corresponding direction of motor rotation of four rotary speed threshold values is identical as direction of traffic, and the absolute value of the 4th rotary speed threshold value and described the
The absolute value of two rotary speed threshold values is identical.
7. the control method of the anti-slip auxiliary system in electric car slope according to claim 6 road, which is characterized in that the side
Method further include:
If gear switch does not occur for vehicle, and current gear is N grades, then the anti-slip control in the slope road is by the electric machine controller
N grades of virtual gear assignment in system, and terminate process.
8. the control method of the anti-slip auxiliary system in electric car slope according to claim 7 road, which is characterized in that the side
Method further include:
Gear switch has occurred in vehicle, then the electric machine controller first assigns the virtual gear in the anti-slip control system in slope road
N grades of value；
If vehicle current gear is D grades, judge motor speed numerical value whether less than the 5th rotary speed threshold value, the 5th revolving speed threshold
It is opposite with direction of traffic to be worth corresponding direction of motor rotation；
If motor speed numerical value is not less than the 5th rotary speed threshold value, the virtual gear in the anti-slip control system in slope road is assigned
D grades of value, subsequently into the electric machine controller judge motor speed whether within the scope of the first rotary speed threshold value and braking depth be
It is no less than the first depth threshold the step of.
9. the control method of the anti-slip auxiliary system in electric car slope according to claim 8 road, which is characterized in that the side
Method further include:
Gear switch has occurred in vehicle, then the electric machine controller first assigns the virtual gear in the anti-slip control system in slope road
N grades of value；
If vehicle current gear is R grades, judge whether motor speed numerical value is greater than the 6th rotary speed threshold value, the 6th revolving speed threshold
It is identical as direction of traffic to be worth corresponding direction of motor rotation；
If motor speed numerical value is not more than the 6th rotary speed threshold value, the virtual gear in the anti-slip control system in slope road is assigned
R grades of value, subsequently into the electric machine controller judge motor speed whether within the scope of third rotary speed threshold value and braking depth be
No the step of being less than first depth threshold.
10. the control method of the anti-slip auxiliary system in electric car slope according to claim 9 road, it is characterised in that:
First rotary speed threshold value is -10~0rpm；
Second rotary speed threshold value is -200~-10rpm；
The third rotary speed threshold value is 0~10rpm；
4th rotary speed threshold value is 10~200rpm；
5th rotary speed threshold value is -1rpm；
6th rotary speed threshold value is 1rpm；
First depth threshold is 70%；
Second depth threshold is 15%~70%.
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