CN111231697B - Control method and device for driving demand torque and vehicle - Google Patents
Control method and device for driving demand torque and vehicle Download PDFInfo
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- CN111231697B CN111231697B CN202010075332.1A CN202010075332A CN111231697B CN 111231697 B CN111231697 B CN 111231697B CN 202010075332 A CN202010075332 A CN 202010075332A CN 111231697 B CN111231697 B CN 111231697B
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
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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
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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Abstract
The invention relates to a control method and a control device of driving demand torque and a vehicle, wherein according to the driving demand of a new energy automobile, whether the type of the driving demand torque is the driving demand torque when the vehicle normally runs is determined according to a vehicle running mode and the driving intention of a driver, the control reliability is high, diversified driving demands can be met, and the calculation accuracy of the driving demand torque is improved; aiming at a double-motor double-clutch speed change system in a new energy electric automobile, a vehicle driving demand torque obtaining mode is introduced, namely, driving torque boundary points under all gears of a power system are obtained according to an inner contact method optimization curve fitting mode, and driving demand torques under different accelerator pedal opening degrees are obtained according to a power line division method and pedal sensitivity requirements; the change condition of the torque in the gear shifting process is considered, timely interference and limitation are carried out on the driving demand torque, gear shifting is guaranteed without power interruption, the torque of the gearbox is prevented from exceeding the limit, and the service life of the motor and the gearbox is prolonged.
Description
Technical Field
The invention belongs to the technical field of driving control of new energy automobiles, and particularly relates to a method and a device for controlling driving demand torque and a vehicle.
Background
With the rapid development of the new energy automobile industry, the pure electric control system has wider and wider application prospects in the automobile industry field, at present, the pure electric control system in a commercial vehicle mostly adopts a driving form of a direct-drive motor or a driving motor plus a gearbox, a calculation method of a traditional fuel automobile is mostly adopted for a solution mode of vehicle driving demand torque, an engine characteristic curve is replaced by an external characteristic curve of the motor, the vehicle driving demand torque is linearly controlled through the opening degree of an accelerator pedal, a brake pedal logic threshold value control method is mostly adopted for switching between the brake torque and the acceleration demand torque, the control method is simple, vehicle debugging is easy, but diversified driving demands cannot be met; meanwhile, aiming at a drive control system of a dual-drive motor and a gearbox, if a traditional control mode is adopted to obtain the required torque of the vehicle, the driver has obvious traffic pause and frustration before and after gear shifting, the driving comfort is seriously influenced,
disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention provides a method and a device for controlling driving required torque and a vehicle.
The technical scheme adopted by the invention is as follows:
a control method of a driving demand torque, a vehicle including a first drive motor and a second drive motor, comprising the steps of:
1) determining the vehicle operation mode according to the corresponding action;
2) analyzing the driving intention of the driver according to the corresponding action;
3) determining whether the type of the vehicle required torque is the driving required torque of the vehicle in the driving mode based on the vehicle running mode and the driver driving intention;
4) obtaining the driving demand torque of the vehicle in a driving mode;
the method is characterized in that the step 4) specifically comprises the following steps:
4.1) simultaneously considering mechanical loss, rolling resistance, air resistance, acceleration resistance and gradient resistance to construct a vehicle model;
4.2) inputting external characteristic curves respectively corresponding to the first driving motor and the second driving motor into the vehicle model, and respectively obtaining a relation curve between the maximum torque of the power system and the rotating speed of the output shaft under each gear in the vehicle model;
4.3) collecting the relationship curves of the maximum torque of the power system of all gears and the rotating speed of the output shaft into the same curve graph;
4.4) connecting the maximum torque boundary points of the power system under each gear in sequence according to the principle of increasing the vehicle speed and generating a curved connecting line, and marking a power splitting line in the curve chart;
4.5) adopting an optimized curve fitting mode, solving a smooth relation curve of the maximum torque of the power system and the rotating speed of the output shaft by an internal tangent method, wherein the maximum torque of the power system is solved by the following formula:
in the formula:
Tmax-maximum power system torque, Nm;
T1max-the vehicle model powertrain 1 gear maximum torque, Nm;
nout-gearbox output shaft speed, rpm;
n0the rotating speed, rpm, of an output shaft of the gearbox corresponding to the 1-gear maximum torque inflection point of the vehicle model power system;
f(nout) -maximum torque corresponding to 1-N gear of the vehicle model powertrain, N being a natural number greater than 1, found by interpolation;
4.6) obtaining the corresponding driving demand torque under different accelerator pedal opening degrees.
Further, the step 4.6) specifically includes: the pedal sensitivity coefficient is obtained by adopting the principle that the pedal is more sensitive in the range of the low-speed pedal during low-speed running and is more sensitive in the range of the high-speed pedal during high-speed running, and the driving demand torque obtaining formula is as follows:
in the formula:
Tmax-maximum power system torque, Nm;
λxx accelerator pedal sensitivity coefficient of low speed region under accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%; and the opening degree of the accelerator pedal<At 50%, λx>1 is ═ 1; opening degree of accelerator pedal>At 50%, λx<1；
Accrx-x accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%,%;
nout-gearbox output shaft speed, rpm;
noutx0the method comprises the following steps that-the rotating speed of an output shaft of a gearbox corresponding to the intersection point of the maximum torque of a power system under the opening degree of an accelerator pedal and a power dividing line is x, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100% and rpm;
ξxx accelerator pedal sensitivity coefficient of the high speed region at accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%; and the opening degree of the accelerator pedal<When 50%, xix<1; opening degree of accelerator pedal>At 50%, xix>＝1；
ΔTnoutx-powertrain correction torque at accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%, Nm.
Further, the method also comprises the step 5): performing torque intervention on the obtained driving demand torque, wherein the torque intervention at least comprises one of the following items: the method comprises the following steps of (1) interference of gearbox gear information, vehicle speed interference and boundary limit interference of parts;
the gearbox gear information interference process is as follows:
when any one of the first driving motor and the second driving motor is used as a gear-shifting speed-regulating motor, the driving required torque does not exceed the maximum torque which can be provided by the non-gear-shifting speed-regulating motor in the current gear;
when any one of the first driving motor and the second driving motor is not used as a gear shifting speed regulating motor, the driving required torque does not exceed the sum of the maximum torques which can be provided by the two driving motors at the current gear and does not exceed the maximum torque capacity which can be borne by the gearbox;
the vehicle speed interference process comprises the following steps: when the vehicle runs in the forward and reverse directions, the driving required torque does not exceed the torque corresponding to the highest speed of the vehicle running in the forward and reverse directions;
limiting factors in the component boundary limitation interference process at least comprise braking anti-lock torque limitation and battery torque limitation.
Further, the method also comprises the step 6): checking the driving demand torque direction and the driving motor running direction, and finally outputting a vehicle driving demand torque direction instruction and a driving motor running direction instruction;
the calibration standard in the calibration process of the driving demand torque direction is as follows:
when the vehicle runs in the positive direction, setting the driving demand torque direction as positive and the braking demand torque direction as negative;
when the vehicle runs in a reverse mode, setting the direction of the driving required torque as negative and the direction of the braking required torque as positive;
the calibration standard in the calibration process of the running direction of the driving motor is as follows:
when the motor rotating direction enables the vehicle to run forwards, setting the motor running direction as positive;
when the motor rotation direction causes the vehicle to run in reverse, the motor running direction is set to be negative.
Further, the vehicle operation modes in the step 1) include a shutdown mode, a parking mode, a standby mode, a crawling mode, a driving mode, a coasting mode, a braking mode, a failure mode, a parking charging mode and a vehicle cruising mode.
Further, the corresponding action in the step 2) at least comprises vehicle speed information, accelerator pedal opening information and brake pedal opening information.
Further, the present invention also proposes an apparatus for determining a driver required torque, comprising:
an operation mode determination module that determines a vehicle operation mode according to the corresponding action;
a driving intention analyzing module for analyzing the driving intention of the driver according to the corresponding action;
a torque judgment module which judges whether the type of the vehicle required torque is the driving required torque of the vehicle in the driving mode;
a driving demand torque calculation module that finds a driving demand torque of the vehicle in a drive mode;
characterized in that the driving demand torque calculation module includes:
a vehicle model construction unit that constructs a vehicle model while simultaneously considering mechanical loss, rolling resistance, air resistance, acceleration resistance, and gradient resistance;
the curve generating unit is used for respectively obtaining a relation curve between the maximum torque of the power system and the rotating speed of the output shaft under each gear in the vehicle model;
the curve integration unit is used for integrating the relationship curves of the maximum torque of all gears of the power system and the rotating speed of the output shaft into the same curve graph;
the curve connecting unit is used for sequentially connecting the maximum torque boundary points of the power system under each gear according to the principle of increasing the vehicle speed and generating a curve connecting line, and marking a power splitting line in the curve graph;
the curve optimization unit is used for solving a smooth relation curve of the maximum torque of the power system and the rotating speed of the output shaft by an internal tangent method;
and the accelerator pedal opening matching unit is used for solving a pedal sensitivity coefficient by adopting the principle that the pedal is more sensitive in the low-speed pedal range during low-speed running and the pedal is more sensitive in the high-speed pedal range during high-speed running, and solving the corresponding driving demand torque matched with the opening of each accelerator pedal.
Further, the torque intervention module performs torque intervention on the obtained driving demand torque.
And further, the direction checking module checks the driving demand torque direction and the driving motor running direction and finally outputs a vehicle driving demand torque direction instruction and a driving motor running direction instruction.
Further, the present invention also proposes a vehicle, comprising:
a memory for storing controller executable instructions;
and the controller is used for executing the control method.
Compared with the prior art, the invention has the following beneficial effects:
1) according to the driving requirement of the new energy automobile, whether the type of the vehicle required torque is the driving required torque in the vehicle driving mode or not is determined according to the vehicle running mode and the driving intention of a driver, the control reliability is high, diversified driving requirements can be met, and the calculation accuracy of the driving required torque is improved.
2) Aiming at a double-motor double-clutch speed change system in a new energy electric automobile, a vehicle driving demand torque obtaining mode is introduced, namely, driving torque boundary points under all gears of a power system are obtained according to an inner tangent method optimization curve fitting mode, driving demand torques under different accelerator pedal opening degrees are obtained according to a power line division method and pedal sensitivity requirements, and driving comfort is improved to the maximum extent while torque capacity of the power system under different gears is considered.
3) The change condition of the torque in the gear shifting process is considered, timely interference and limitation are carried out on the driving demand torque, gear shifting is guaranteed without power interruption, the torque of the gearbox is prevented from exceeding the limit, and the service life of the motor and the gearbox is prolonged.
4) According to the gear lever information and the internal structure of the gearbox, the torque direction required by the gearbox in driving and the running direction of the driving motor are verified, unexpected torque output is avoided, and driving safety is guaranteed.
Drawings
FIG. 1 is a flowchart illustrating steps of a method of controlling a driving demand torque according to the present invention;
FIG. 2 is a schematic structural diagram of a vehicle operation mode in step 1) of the present invention;
FIG. 3 is a flowchart illustrating the steps of determining the driving demand torque in step 3) according to the present invention;
FIGS. 4-7 are graphs showing the relationship between the maximum torque of the powertrain and the rotation speed of the output shaft in the 1 st gear and the 4 th gear, respectively, in step 3.2) of the present invention;
FIG. 8 is a graph of maximum torque of the powertrain in all gears in step 3.3) versus the rotational speed of the output shaft according to the present invention;
FIG. 9 is a schematic diagram of a curved connecting line generated by sequentially connecting the maximum torque boundary points of the powertrain in each gear in step 3.4) of the present invention;
FIG. 10 is a graph showing the smooth relationship between the maximum torque of the powertrain and the rotational speed of the output shaft, which is obtained by the internal tangent method in step 3.5) of the present invention;
fig. 11 is a driving demand torque map obtained in step 3.6) of the invention corresponding to different accelerator pedal opening degrees.
Detailed Description
The following non-limiting examples are presented to enable those of ordinary skill in the art to more fully understand the present invention and are not intended to limit the invention in any way.
Generally, a VCU of an electric vehicle includes software for calculating a driver-required torque, and the VCU calculates a torque corresponding to a force of a driver-required torque, which is referred to as a driver-required torque, from the force of the driver depressing an accelerator pedal. When the VCU function is normal, according to the strength of stepping on an accelerator pedal by a driver, the calculated driver required torque is the required torque which is in accordance with the expectation of the driver, and when the motor is controlled according to the torque, the vehicle can accelerate or decelerate according to the requirement of the driver.
With the continuous progress of new energy automobile technology, more and more commercial vehicles begin to adopt electric drive to solve the energy consumption problem, a dual-motor dual-clutch multi-mode driving system and a driving mode thereof have been provided in the prior art, wherein dual power sources are adopted to respectively provide input power to a speed change unit, a gear set of the power system is configured in a parallel shaft mode, and a power source and a gear are selectively coupled through a mode switching device; compared with the prior art, the double-clutch device is simultaneously configured, one power source is controlled to be input into the speed changing unit to drive the power to be switched on and off during gear shifting through the coordinated switching of the double-clutch device, and the gear and the power source are synchronously and selectively coupled.
However, a control method for the driving demand torque of the power switching mode is still lacked in the prior art, and the conventional control method for obtaining the vehicle demand torque causes obvious driving suspension feeling of a driver before and after shifting, so that a new control method for the driving demand torque in a vehicle driving mode is urgently needed.
The technical scheme provided by the invention is shown in figures 1-11:
a control method of a driving demand torque, a vehicle including a first drive motor and a second drive motor, comprising the steps of:
1) determining a vehicle running mode according to the corresponding action; preferably, as shown in fig. 1-2, the vehicle operating modes include a shutdown mode, a park mode, a standby mode, a creep mode, a drive mode, a coast mode, a brake mode, a fault mode, a parking charge mode, and a vehicle cruise mode.
2) Analyzing the driving intention of the driver according to the corresponding action;
3) determining whether the type of the vehicle required torque is the driving required torque of the vehicle in the driving mode based on the vehicle running mode and the driver driving intention;
4) and (3) obtaining the driving demand torque of the vehicle in a driving mode: the specific steps are shown in fig. 3:
4.1) considering mechanical loss, rolling resistance, air resistance, acceleration resistance and gradient resistance simultaneously, and constructing a vehicle model:
in the formula:
Tm1-torque of the first drive motor, Nm;
Tm2-the torque of the second drive motor, Nm;
i0-rear axle speed ratio;
η0-mechanical transmission efficiency of the rear axle;
r-wheel radius, m;
m-vehicle mass, kg;
g-acceleration by weight, m/s 2;
f-rolling resistance coefficient;
α -slope,%;
Cd-coefficient of air resistance;
a-area facing the wind, m2；
V is vehicle speed, km/h;
delta-moment of inertia;
du/dt-acceleration;
4.2) inputting external characteristic curves respectively corresponding to the first driving motor and the second driving motor into a vehicle model, and respectively obtaining a relation curve between the maximum torque of the power system and the rotating speed of the output shaft under each gear in the vehicle model, as shown in FIGS. 4-7;
4.3) integrating the maximum torque of the power system of all gears and the rotating speed of the output shaft into the same graph, as shown in FIG. 8;
4.4) connecting the maximum torque boundary points of the power system under each gear in sequence according to the principle of increasing the vehicle speed, generating a curved connecting line as shown in FIG. 9, and marking a power split line in the graph as shown in FIG. 10;
4.5) adopting an optimized curve fitting mode, obtaining a smooth relation curve of the maximum torque of the power system and the rotating speed of the output shaft by an internal cutting method, as shown in fig. 10, the reason that the internal cutting method is selected and the external cutting method is not selected for carrying out curve optimization fitting is that part of the torque of the fitted curve obtained by the external cutting method exceeds the maximum torque range which can be provided by the power system, so that obvious driving torque can be generated in the running process of the vehicle, and the driving comfort is reduced.
The maximum torque of the power system is obtained by the following formula:
in the formula:
Tmax-maximum power system torque, Nm;
T1max-the vehicle model powertrain 1 gear maximum torque, Nm;
nout-gearbox output shaft speed, rpm;
n0the rotating speed, rpm, of an output shaft of the gearbox corresponding to the 1-gear maximum torque inflection point of the vehicle model power system;
f(nout) -maximum torque corresponding to the vehicle model powertrain 1-4 gear found by interpolation;
4.6) the driving demand moment of torsion that corresponds under the different accelerator pedal openness of asking for, the footboard is more sensitive at low-speed footboard within range when taking low-speed to go, footboard sensitivity coefficient is asked at the more sensitive principle of high-speed footboard within range when going at high speed, in order to accord with driver's driving law, because footboard sensitivity can carry out the difference according to driving habit and mark, easy and simple to handle, can satisfy diversified driving demand, application scope is wide, therefore combine under footboard sensitivity and the power tangent line can satisfy invariable footboard state, be convenient for the driver when having the demand of anticipated invariable speed of a motor vehicle, strengthen the subjective impression of driving, improve driving comfort.
As shown in fig. 11, the driving request torque solving formula is as follows:
in the formula:
Tmax-maximum power system torque, Nm;
λxx accelerator pedal sensitivity coefficient of low speed region under accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%; and the opening degree of the accelerator pedal<At 50%, λx>1 is ═ 1; opening degree of accelerator pedal>At 50%, λx<1；
Accrx-x accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%,%;
nout-gearbox output shaft speed, rpm;
noutx0the method comprises the following steps that-the rotating speed of an output shaft of a gearbox corresponding to the intersection point of the maximum torque of a power system under the opening degree of an accelerator pedal and a power dividing line is x, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100% and rpm;
ξxx accelerator pedal sensitivity coefficient of the high speed region at accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%; and the opening degree of the accelerator pedal<When 50%, xix<1; opening degree of accelerator pedal>At 50%, xix>＝1；
ΔTnoutx-powertrain correction torque at accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%, Nm;
5) carrying out torque interference on the obtained driving demand torque, wherein the torque interference at least comprises gearbox gear information interference, vehicle speed interference and part boundary limitation interference so as to carry out timely torque interference on the driving demand torque output by the torque decision module and avoid the torque of the gearbox from exceeding the limit;
6) and checking the driving demand torque direction and the driving motor running direction, and finally outputting a vehicle driving demand torque direction instruction and a driving motor running direction instruction.
Specifically, the corresponding action of each vehicle running mode in the step 1) is taken as an initial state and is a shutdown mode, the vehicle enters a parking mode after receiving an on-gear signal, the vehicle is powered on at high voltage and a hand brake is released to enter a standby mode, the vehicle normally runs when not in neutral, the vehicle enters a fault mode when having a serious fault, the vehicle enters a parking charging mode when being charged, a cruise switch enters a vehicle cruise mode when being turned on, the vehicle enters a crawling mode when the opening degree of an accelerator pedal, the opening degree of a brake pedal and the vehicle speed are all smaller than preset threshold values, the vehicle enters a driving mode when the opening degree of the accelerator pedal is larger than the preset threshold values and the opening degree of the brake pedal is not larger than the preset threshold values, the vehicle enters a sliding mode when the.
Specifically, the corresponding actions according to which the driving intention of the driver is analyzed in the step 2) at least comprise vehicle speed information, accelerator pedal opening information and brake pedal opening information, so that the real driving intention of the driver is comprehensively analyzed through the information, and the accuracy of analysis is ensured.
Specifically, the maximum torque of the power system in the gear 1-4 in the step 4.5) is calculated by adopting a conformal difference method, so that the data fitting accuracy is further ensured, and the accuracy and the reliability of the driving demand torque obtained by the control method are improved.
Specifically, for the dual-motor and dual-clutch variable-speed drive system, in order to ensure no power interruption in the gear shifting process, one motor is arranged for gear shifting during the gear shifting activation, and corresponding gear shifting speed regulating motors are arranged differently under different gears during the gear shifting activation, for example, two motors are sequentially used as gear shifting motors during the gear shifting of 0-1; when the 1-2 gears are switched, the second driving motor is a gear shifting speed regulating motor, and the first driving motor is a driving motor; the first driving motor is a gear-shifting speed-regulating motor and the second driving motor is a driving motor during the 2-3 gear switching, the second driving motor is a gear-shifting speed-regulating motor during the 3-4 gear switching, and the first driving motor is a driving motor;
the gearbox gear information interference process in the step 5) comprises the following steps:
when any one of the first driving motor and the second driving motor is used as a gear-shifting speed-regulating motor, the driving required torque does not exceed the maximum torque which can be provided by the non-gear-shifting speed-regulating motor in the current gear;
when any one of the first driving motor and the second driving motor is not used as a gear shifting speed regulating motor, the driving required torque does not exceed the sum of the maximum torques which can be provided by the two driving motors at the current gear and does not exceed the maximum torque capacity which can be borne by the gearbox.
When guaranteeing to shift unpowered interruption, avoid gearbox moment of torsion transfinite, prolong the life of motor and gearbox.
Specifically, the vehicle speed interference process in the step 5) is as follows: when the vehicle runs in the forward and reverse directions, the driving demand torque does not exceed the torque corresponding to the highest speed of the vehicle running in the forward and reverse directions.
Specifically, the limiting factors in the component boundary limitation interference process in the step 5) at least comprise a brake anti-lock braking torque limit and a battery torque limit.
Specifically, the verification criteria in the verification process of the driving demand torque direction in step 6) are as follows:
when the vehicle runs in the positive direction, setting the driving demand torque direction as positive and the braking demand torque direction as negative;
when the vehicle runs in a reverse mode, the driving demand torque direction is set to be negative, and the braking demand torque direction is set to be positive.
Specifically, the calibration standard in the calibration process of the running direction of the driving motor in the step 6) is as follows:
when the motor rotating direction enables the vehicle to run forwards, setting the motor running direction as positive;
when the motor rotating direction enables the vehicle to run reversely, setting the motor running direction as negative;
according to the gear lever information and the internal structure of the gearbox, the torque direction required by the gearbox in driving and the running direction of the driving motor are verified, unexpected torque output is avoided, and driving safety is guaranteed.
Based on the same inventive concept, the embodiment also provides a device for determining the torque required by the driver; the method comprises the following steps:
an operation mode determination module that determines a vehicle operation mode according to the corresponding action;
a driving intention analyzing module for analyzing the driving intention of the driver according to the corresponding action;
a torque judgment module which judges whether the type of the vehicle required torque is the driving required torque of the vehicle in the driving mode;
a driving demand torque calculation module that finds a driving demand torque of the vehicle in a drive mode:
a torque interference module that performs torque interference on the obtained driving demand torque;
and the direction checking module is used for checking the driving demand torque direction and the driving motor running direction and finally outputting a vehicle driving demand torque direction instruction and a driving motor running direction instruction.
Further, the driving request torque calculation module includes:
a vehicle model construction unit that constructs a vehicle model while simultaneously considering mechanical loss, rolling resistance, air resistance, acceleration resistance, and gradient resistance;
the curve generating unit is used for respectively obtaining a relation curve between the maximum torque of the power system and the rotating speed of the output shaft under each gear in the vehicle model;
the curve integration unit is used for integrating the relationship curves of the maximum torque of all gears of the power system and the rotating speed of the output shaft into the same curve graph;
the curve connecting unit is used for sequentially connecting the maximum torque boundary points of the power system under each gear according to the principle of increasing the vehicle speed and generating a curve connecting line, and marking a power splitting line in the curve graph;
the curve optimization unit is used for solving a smooth relation curve of the maximum torque of the power system and the rotating speed of the output shaft by an internal tangent method;
the accelerator pedal opening matching unit is used for solving a pedal sensitivity coefficient by adopting the principle that a pedal is more sensitive in a low-speed pedal range during low-speed running and is more sensitive in a high-speed pedal range during high-speed running and solving corresponding driving demand torque matched with the opening of each accelerator pedal;
based on the same inventive concept, the present embodiment further provides a vehicle, including: a memory for storing controller executable instructions; a controller for executing the method of determining driver demand torque provided by the present embodiment.
Based on the same inventive concept, there is also provided a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the control method of determining a driving demand torque provided by the present embodiment.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A control method of a driving demand torque, a vehicle including a first drive motor and a second drive motor, comprising the steps of:
1) determining the vehicle operation mode according to the corresponding action;
2) analyzing the driving intention of the driver according to the corresponding action;
3) determining whether the type of the vehicle required torque is the driving required torque of the vehicle in the driving mode based on the vehicle running mode and the driver driving intention;
4) obtaining the driving demand torque of the vehicle in a driving mode;
the method is characterized in that the step 4) specifically comprises the following steps:
4.1) simultaneously considering mechanical loss, rolling resistance, air resistance, acceleration resistance and gradient resistance to construct a vehicle model;
4.2) inputting external characteristic curves respectively corresponding to the first driving motor and the second driving motor into the vehicle model, and respectively obtaining a relation curve between the maximum torque of the power system and the rotating speed of the output shaft under each gear in the vehicle model;
4.3) collecting the relationship curves of the maximum torque of the power system of all gears and the rotating speed of the output shaft into the same curve graph;
4.4) connecting the maximum torque boundary points of the power system under each gear in sequence according to the principle of increasing the vehicle speed and generating a curved connecting line, and marking a power splitting line in the curve chart;
4.5) adopting an optimized curve fitting mode, solving a smooth relation curve of the maximum torque of the power system and the rotating speed of the output shaft by an internal tangent method, wherein the maximum torque of the power system is solved by the following formula:
in the formula:
Tmax-maximum power system torque, Nm;
T1max-the vehicle model powertrain 1 gear maximum torque, Nm;
nout-gearbox output shaft speed, rpm;
n0the rotating speed, rpm, of an output shaft of the gearbox corresponding to the 1-gear maximum torque inflection point of the vehicle model power system;
f(nout) By inscribingThe maximum torque corresponding to 1-N gear of the vehicle model power system is obtained by the method, and N is a natural number greater than 1;
4.6) obtaining the corresponding driving demand torque under different accelerator pedal opening degrees.
2. The control method of the drive demand torque according to claim 1, characterized in that the step 4.6) specifically includes: the pedal sensitivity coefficient is obtained by adopting the principle that the pedal is more sensitive in the range of the low-speed pedal during low-speed running and is more sensitive in the range of the high-speed pedal during high-speed running, and the driving demand torque obtaining formula is as follows:
in the formula:
Tmax-maximum power system torque, Nm;
λxx accelerator pedal sensitivity coefficient of low speed region under accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%; and the opening degree of the accelerator pedal<At 50%, λx>1 is ═ 1; opening degree of accelerator pedal>At 50%, λx<1；
Accrx-x accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%,%;
nout-gearbox output shaft speed, rpm;
noutx0and rotating speed of an output shaft of the gearbox corresponding to an intersection point of the maximum torque of the power system and a power splitting line under the opening degree of an x accelerator pedal, wherein x is0％，10％，20％，30％，40％，50％，60％，70％，80％，90％，100％，rpm；
ξxX accelerator pedal sensitivity coefficient of the high speed region at accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%; and the opening degree of the accelerator pedal<When 50%, xix<1; opening degree of accelerator pedal>At 50%, xix>＝1；
ΔTnoutx-powertrain correction torque at accelerator pedal opening, wherein x is 0%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, 100%, Nm.
3. The control method of the drive request torque according to claim 1 or 2, characterized by further comprising step 5): performing torque intervention on the obtained driving demand torque, wherein the torque intervention at least comprises one of the following items: the method comprises the following steps of (1) interference of gearbox gear information, vehicle speed interference and boundary limit interference of parts;
the gearbox gear information interference process is as follows:
when any one of the first driving motor and the second driving motor is used as a gear-shifting speed-regulating motor, the driving required torque does not exceed the maximum torque which can be provided by the non-gear-shifting speed-regulating motor in the current gear;
when any one of the first driving motor and the second driving motor is not used as a gear shifting speed regulating motor, the driving required torque does not exceed the sum of the maximum torques which can be provided by the two driving motors at the current gear and does not exceed the maximum torque capacity which can be borne by the gearbox;
the vehicle speed interference process comprises the following steps: when the vehicle runs in the forward and reverse directions, the driving required torque does not exceed the torque corresponding to the highest speed of the vehicle running in the forward and reverse directions;
limiting factors in the component boundary limitation interference process at least comprise braking anti-lock torque limitation and battery torque limitation.
4. The control method of the drive request torque according to claim 1 or 2, characterized by further comprising step 6): checking the driving demand torque direction and the driving motor running direction, and finally outputting a vehicle driving demand torque direction instruction and a driving motor running direction instruction;
the calibration standard in the calibration process of the driving demand torque direction is as follows:
when the vehicle runs in the positive direction, setting the driving demand torque direction as positive and the braking demand torque direction as negative;
when the vehicle runs in a reverse mode, setting the direction of the driving required torque as negative and the direction of the braking required torque as positive;
the calibration standard in the calibration process of the running direction of the driving motor is as follows:
when the motor rotating direction enables the vehicle to run forwards, setting the motor running direction as positive;
when the motor rotation direction causes the vehicle to run in reverse, the motor running direction is set to be negative.
5. The control method of a driving demand torque according to claim 1 or 2, wherein the vehicle running modes in step 1) include a shutdown mode, a parking mode, a standby mode, a creep mode, a drive mode, a coast mode, a brake mode, a failure mode, a parking charge mode, and a vehicle cruise mode.
6. The control method of a driving demand torque according to claim 1 or 2, characterized in that the corresponding action in step 2) includes at least vehicle speed information, accelerator pedal opening information, and brake pedal opening information.
7. An apparatus for determining a driver demand torque, comprising:
an operation mode determination module that determines a vehicle operation mode according to the corresponding action;
a driving intention analyzing module for analyzing the driving intention of the driver according to the corresponding action;
a torque judgment module which judges whether the type of the vehicle required torque is the driving required torque of the vehicle in the driving mode;
a driving demand torque calculation module that finds a driving demand torque of the vehicle in a drive mode;
characterized in that the driving demand torque calculation module includes:
a vehicle model construction unit that constructs a vehicle model while simultaneously considering mechanical loss, rolling resistance, air resistance, acceleration resistance, and gradient resistance;
the curve generating unit is used for respectively obtaining a relation curve between the maximum torque of the power system and the rotating speed of the output shaft under each gear in the vehicle model;
the curve integration unit is used for integrating the relationship curves of the maximum torque of all gears of the power system and the rotating speed of the output shaft into the same curve graph;
the curve connecting unit is used for sequentially connecting the maximum torque boundary points of the power system under each gear according to the principle of increasing the vehicle speed and generating a curve connecting line, and marking a power splitting line in the curve graph;
the curve optimization unit is used for solving a smooth relation curve of the maximum torque of the power system and the rotating speed of the output shaft by an internal tangent method;
and the accelerator pedal opening matching unit is used for solving a pedal sensitivity coefficient by adopting the principle that the pedal is more sensitive in the low-speed pedal range during low-speed running and the pedal is more sensitive in the high-speed pedal range during high-speed running, and solving the corresponding driving demand torque matched with the opening of each accelerator pedal.
8. The apparatus for determining driver demand torque according to claim 7,
and a torque interference module which performs torque interference on the obtained driving demand torque.
9. The apparatus for determining driver demand torque as claimed in claim 7, wherein the direction checking module checks the driving demand torque direction and the driving motor running direction and finally outputs the vehicle driving demand torque direction command and the driving motor running direction command.
10. A vehicle, characterized in that the vehicle comprises:
a memory for storing controller executable instructions;
a controller for performing the control method of any one of claims 1-6.
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| CN112622634B (en) * | 2020-12-21 | 2022-06-03 | 江铃汽车股份有限公司 | Torque control method and system of electric automobile |
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| CN113183944B (en) * | 2021-04-20 | 2022-09-02 | 东风汽车集团股份有限公司 | Method and apparatus for determining driver demanded drive and creep torque |
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| CN114103651B (en) * | 2021-11-30 | 2024-05-17 | 凯博易控车辆科技(苏州)股份有限公司 | Method for controlling recovery of brake energy of whole vehicle |
| CN115217959B (en) * | 2021-12-10 | 2023-11-17 | 广州汽车集团股份有限公司 | Gear shifting control method and gear shifting control system |
| CN114633634B (en) * | 2022-02-24 | 2023-08-18 | 一汽解放汽车有限公司 | Motor gear-shifting control method, device, computer equipment and storage medium |
| CN114837836B (en) * | 2022-05-23 | 2023-05-30 | 中国第一汽车股份有限公司 | Engine torque control method, device, equipment and medium |
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