CN111605553B - Torque segmentation gradient filtering control method and device for new energy automobile - Google Patents
Torque segmentation gradient filtering control method and device for new energy automobile Download PDFInfo
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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
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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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 provides a new energy automobile torque subsection gradient filtering control method and device, which are used for judging the relation whether the current period input torque value is larger than the last period output torque value or not, and determining a threshold before the gap is increased and a threshold after the gap is increased according to the rotating speed of a motor and the opening degree of an accelerator pedal; dividing the torque rising process into three stages of before-clearance passing, during-clearance passing and after-clearance passing according to a threshold before clearance passing and a threshold after clearance passing; filtering each stage of the torque rising process by adopting different torque rising gradient limit values; the filter control for the torque down phase is the same as the filter control principle for the up phase. The invention considers the influence of different working modes and different accelerator pedal opening degrees on the torque change rate and the influence of different accelerator pedal opening degrees on the clearance threshold value, and can adjust the torque change rate of the vehicle under various working conditions so as to weaken the phenomena of impact, play and the like.
Description
Technical Field
The invention belongs to the technical field of new energy automobile control, and particularly relates to a new energy automobile torque segmented gradient filtering control method and device.
Background
As shown in fig. 1, when torque is transmitted between the entire transmission systems (especially when torque changes drastically and the transmission direction changes), the rotational speed of the engine or the motor may shake due to the existence of the gaps, so that the driver and the passengers may feel impacts, play, and pull back.
The Chinese invention patent application with publication number 'CN 104670213A' proposes a torque control method for eliminating jitter caused by gaps of an automobile transmission system, the control method proposed by the patent application eliminates the phenomenon of gap jitter, and the specific scheme of the patent is that primary filtering is used before and after the gap is passed, so that the torque change rate is reduced; and the secondary filtering is used in the gap, so that the torque change rate is smaller when the gap is passed, and the effect of different torque change rates in the gap and outside the gap is achieved, and the aim of eliminating the jitter is fulfilled. However, the patent application is mainly designed aiming at the process of changing the torque direction, the condition that the change of the torque is fast in the process of rising or falling is not considered, the gap torque threshold is judged to be obtained by using a temperature table look-up of lubricating oil, the influence of the vehicle speed and the accelerator pedal opening degree on the gap threshold is not considered, the required torques under the conditions of different vehicle speeds and different accelerator pedal opening degrees are different and even have larger difference, meanwhile, the temperature change of the lubricating oil is easily influenced by external factors such as environment temperature, and the like, so that the obtained gap threshold is not in accordance with the actual operation condition, and the control effect is poor.
Disclosure of Invention
The invention aims to provide a torque sectional gradient filtering control method and device for a new energy automobile, and the method and device are used for solving the problem of poor control effect caused by a gap threshold value when torque sectional gradient filtering is determined according to the temperature of lubricating oil in the prior art.
In order to achieve the aim, the invention provides a torque subsection gradient filtering control method for a new energy automobile, which comprises the following steps of:
judging whether the current period input torque value is larger than the last period output torque value or not, if so, determining that the torque is in a rising stage, and determining a threshold before rising through the gap and a threshold after rising through the gap according to the rotating speed of the motor and the opening degree of an accelerator pedal; dividing the torque rising process into three stages of before-clearance passing, during-clearance passing and after-clearance passing according to a threshold before clearance passing and a threshold after clearance passing; filtering each stage of the torque rising process by adopting different torque rising gradient limit values;
judging whether the current period input torque value is larger than the last period output torque value or not, if so, determining that the torque is in a descending stage, and determining a threshold before descending the clearance and a threshold after descending the clearance according to the rotating speed of the motor and the opening degree of an accelerator pedal; dividing the torque reduction process into three stages of before clearance passing, during clearance passing and after clearance passing according to the threshold before clearance passing and the threshold after clearance passing; filtering is performed with different torque-down gradient limits for each phase of the torque-down process.
The invention has the beneficial effects that:
the invention considers the influence of different working modes and different accelerator pedal opening degrees on the torque change rate and the influence of different motor rotating speeds and different accelerator pedal opening degrees on the clearance threshold value, and can adjust the torque change rate of the vehicle under various working conditions so as to weaken the phenomena of impact, play and the like.
In order to clarify the magnitude of the gradient value corresponding to each stage, the torque rising gradient value corresponding to the intermediate stage of the over clearance is the minimum in the pre-gap-passing stage, the intermediate stage of the over clearance and the post-gap-passing stage of the torque rising process; in the pre-clearance-passing stage, the middle-clearance-passing stage and the post-clearance-passing stage of the torque reduction process, the value of the torque reduction gradient corresponding to the middle-clearance-passing stage is the smallest.
In order to reduce the impact and the play phenomenon in the torque rising process, the process of filtering by adopting different torque rising gradient limit values in each stage of the torque rising process comprises the following steps:
1) judging the stage of the current period in the rising process according to the torque output value of the previous period, the threshold before rising through the gap and the threshold after rising through the gap, and filtering the torque input value of the current period by adopting the torque rising gradient limit value corresponding to the stage;
2) calculating the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period, and if the torque input value of the current period is not less than the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period, the torque output value of the current period is equal to the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period; and if the torque input value of the current period is smaller than the sum of the torque output value of the previous period and the torque rising gradient limit value corresponding to the current period, the torque output value of the current period is equal to the torque input value of the current period.
In order to reduce the impact and the play phenomenon in the torque reduction process, the process of filtering by adopting different torque reduction gradient limit values in each stage of the torque reduction process comprises the following steps:
A) judging the stage of the current cycle in the descending process according to the torque output value of the previous cycle, the threshold value before descending the gap and the threshold value after descending the gap, and filtering the torque input value of the current cycle by adopting the torque descending gradient limit value corresponding to the stage;
B) calculating the difference between the torque output value of the upper period and the torque descending gradient limit value corresponding to the current period, and if the torque input value of the current period is not less than the difference between the torque output value of the upper period and the torque ascending gradient limit value corresponding to the current period, the torque output value of the current period is equal to the torque input value of the current period; and if the torque input value of the current period is smaller than the difference between the torque output value of the previous period and the torque descending gradient limit value corresponding to the current period, the torque output value of the current period is equal to the difference between the torque output value of the previous period and the torque ascending gradient limit value corresponding to the current period.
In order to improve the calculation accuracy of the torque rising gradient limit value and the torque falling gradient limit value, the torque rising gradient limit value or the torque falling gradient limit value of the corresponding stage is determined according to the rotating speed of the motor, the opening degree of an accelerator pedal, the opening degree and the change rate of a brake pedal and the gear.
The invention also provides a torque segmentation gradient filtering control device of the new energy automobile, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the following steps when executing the program:
judging whether the current period input torque value is larger than the last period output torque value or not, if so, determining that the torque is in a rising stage, and determining a threshold before rising through the gap and a threshold after rising through the gap according to the rotating speed of the motor and the opening degree of an accelerator pedal; dividing the torque rising process into three stages of before-clearance passing, during-clearance passing and after-clearance passing according to a threshold before clearance passing and a threshold after clearance passing; filtering each stage of the torque rising process by adopting different torque rising gradient limit values;
judging whether the current period input torque value is larger than the last period output torque value or not, if so, determining that the torque is in a descending stage, and determining a threshold before descending the clearance and a threshold after descending the clearance according to the rotating speed of the motor and the opening degree of an accelerator pedal; dividing the torque reduction process into three stages of before clearance passing, during clearance passing and after clearance passing according to the threshold before clearance passing and the threshold after clearance passing; filtering is performed with different torque-down gradient limits for each phase of the torque-down process.
The invention has the beneficial effects that:
the invention considers the influence of different working modes and different accelerator pedal opening degrees on the torque change rate and the influence of different motor rotating speeds and different accelerator pedal opening degrees on the clearance threshold value, and can adjust the torque change rate of the vehicle under various working conditions so as to weaken the phenomena of impact, play and the like.
In order to clarify the magnitude of the gradient value corresponding to each stage, the torque rising gradient value corresponding to the intermediate stage of the over clearance is the minimum in the pre-gap-passing stage, the intermediate stage of the over clearance and the post-gap-passing stage of the torque rising process; in the pre-clearance-passing stage, the middle-clearance-passing stage and the post-clearance-passing stage of the torque reduction process, the value of the torque reduction gradient corresponding to the middle-clearance-passing stage is the smallest.
In order to reduce the impact and the play phenomenon in the torque rising process, the process of filtering by adopting different torque rising gradient limit values in each stage of the torque rising process comprises the following steps:
1) judging the stage of the current period in the rising process according to the torque output value of the previous period, the threshold before rising through the gap and the threshold after rising through the gap, and filtering the torque input value of the current period by adopting the torque rising gradient limit value corresponding to the stage;
2) calculating the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period, and if the torque input value of the current period is not less than the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period, the torque output value of the current period is equal to the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period; and if the torque input value of the current period is smaller than the sum of the torque output value of the previous period and the torque rising gradient limit value corresponding to the current period, the torque output value of the current period is equal to the torque input value of the current period.
In order to reduce the impact and the play phenomenon in the torque reduction process, the process of filtering by adopting different torque reduction gradient limit values in each stage of the torque reduction process comprises the following steps:
A) judging the stage of the current cycle in the descending process according to the torque output value of the previous cycle, the threshold value before descending the gap and the threshold value after descending the gap, and filtering the torque input value of the current cycle by adopting the torque descending gradient limit value corresponding to the stage;
B) calculating the difference between the torque output value of the upper period and the torque descending gradient limit value corresponding to the current period, and if the torque input value of the current period is not less than the difference between the torque output value of the upper period and the torque ascending gradient limit value corresponding to the current period, the torque output value of the current period is equal to the torque input value of the current period; and if the torque input value of the current period is smaller than the difference between the torque output value of the previous period and the torque descending gradient limit value corresponding to the current period, the torque output value of the current period is equal to the difference between the torque output value of the previous period and the torque ascending gradient limit value corresponding to the current period.
In order to improve the calculation accuracy of the torque rising gradient limit value and the torque falling gradient limit value, the torque rising gradient limit value or the torque falling gradient limit value of the corresponding stage is determined according to the rotating speed of the motor, the opening degree of an accelerator pedal, the opening degree and the change rate of a brake pedal and the gear.
Drawings
FIG. 1 is a schematic illustration of a prior art transmission mechanical lash;
FIG. 2 is a torque segmented gradient filter schematic of the present invention;
FIG. 3 is a flow chart of a torque step-gradient filtering control method of the present invention when the torque is in the ramp-up phase;
FIG. 4 is a flow chart of a torque piecewise gradient filtering control method of the present invention when the torque is in a ramp-down phase;
FIG. 5 is a graph of the effect of the torque segmented gradient filtering of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings:
the method comprises the following steps:
the torque required by the driver is not linear, but can be divided into two parts, namely a torque rising stage and a torque descending stage, and aiming at the two stages, each stage can be divided into a pre-clearance-passing stage, a middle-clearance-passing stage and a post-clearance-passing stage; the torque segmented gradient filtering is used for calibrating the ascending or descending change speed of the 6 stages respectively, a small torque change speed is set in the middle stage of the gap passing, a large torque change speed is set in the front stage of the gap passing and the rear stage of the gap passing, and the torque change speed is associated with the motor speed, the accelerator pedal opening, the brake pedal opening and the gear, so that the torque segmented gradient filtering meets the running working conditions of most vehicles and meets the requirements of smoothness and responsiveness of a driver. The torque segmented gradient filtering schematic is shown in fig. 2. In this embodiment, the torque-step gradient filter may be divided into 6 blocks according to different torque intervals, as shown in fig. 2, which are a pre-gap torque-up phase (POS _ TrqLow), a mid-gap torque-up phase (POS _ trqmaddle), a post-gap torque-up phase (POS _ TrqHigh), a pre-gap torque-down phase (NEG _ TrqHigh), a mid-gap torque-down phase (NEG _ TrqMiddle), and a post-gap torque-down phase (NEG _ TrqLow).
During torque gradient filtering, gradient filtering is carried out according to each section after torque segmentation, and the processing principle of each section is as follows: the speed of torque change is slow during over-lash and the torque change is fast before or after over-lash, requiring response to the driver's torque change demand. The embodiment mainly includes filter control for a torque rising phase and a torque falling phase, wherein, as shown in fig. 3, the filter control process in the torque rising phase includes the following steps:
1) and judging whether the difference value between the input torque value of the current period and the output torque value after torque subsection gradient filtering of the previous period is greater than or equal to 0, if so, determining a torque rising stage, and otherwise, determining a torque falling stage.
2) Setting a gap threshold value according to debugging experience by a designer by taking an original torque value before filtering as a current period required torque value (namely a current period input torque value), wherein the gap threshold value before rising is smaller than the gap threshold value after rising in a torque rising stage, and the gap threshold value is related to the motor speed, the accelerator pedal opening, the brake pedal opening, the change rate and the gear, so that the designer sets different gap threshold values according to the accelerator pedal opening and the motor speed, for example, the gap threshold value needs to be set to be larger when a large acceleration request and a small motor speed are required; small acceleration requests and large motor speeds, the gap threshold needs to be set small. And comparing the output torque value after the torque sectional gradient filtering of the upper period with a threshold value before the ascending clearance and a threshold value after the ascending clearance, wherein if the output torque value after the torque sectional gradient filtering of the upper period is smaller than or equal to the threshold value before the ascending clearance, the torque is in a phase before the ascending clearance (POS _ TrqLow), if the output torque value after the torque sectional gradient filtering of the upper period is larger than or equal to the threshold value after the ascending clearance, the torque is in a phase after the clearance (POS _ TrqHigh), otherwise, the torque is in a phase in the clearance (POS _ TrqMiddle) during the torque ascending.
3) Setting a torque ascending gradient limit value, wherein the torque ascending gradient limit value is obtained according to the motor rotating speed, the accelerator pedal opening, the brake pedal opening, the change rate and the gear table look-up experience, comparing the sum of the output torque value after torque subsection gradient filtering of the upper period with the torque ascending gradient limit value with the input torque value of the current period, if the sum of the output torque value after torque subsection gradient filtering of the upper period and the torque ascending gradient limit value is smaller than the input torque value of the current period, the output torque value of the current period is equal to the sum of the output torque value after torque subsection gradient filtering of the upper period and the torque ascending gradient limit value, and if not, the output torque value of the current period is equal to the input torque value of the current period. The effect after the gradient filtering processing in the torque rising stage is shown in fig. 5, the filtering stage includes three stages, in the figure, numeral 1 corresponds to the pre-gap stage, numeral 2 corresponds to the mid-gap stage, numeral 3 corresponds to the post-gap stage, a pre-gap-rising threshold and a post-gap-rising threshold are set, and the actual torque output in fig. 5 is obtained by the filtering control method of the present invention.
As shown in fig. 4, the filtering control process at the torque down stage includes the steps of:
(1) and then judging whether the difference value between the input value of the current period and the output torque value after torque subsection gradient filtering of the previous period is smaller than 0, and if the difference value is smaller than 0, determining that the torque is in a torque reduction stage.
(2) Setting a gap threshold value according to debugging experience by a designer by taking an original torque value before filtering as a current period required torque value (namely a current period input torque value), and setting the gap threshold value before and after the gap is reduced in a torque reduction stage, wherein the threshold value before the gap is reduced is smaller than the threshold value after the gap is reduced, and the gap threshold value is related to the opening degree of an accelerator pedal and the rotating speed of a motor, so that the designer sets different gap threshold values according to the opening degree of the accelerator pedal and the rotating speed of the motor, for example, the gap threshold value needs to be set to be larger when a large acceleration request and a small rotating speed of the motor are required; small acceleration requests and large motor speeds, the gap threshold needs to be set small. And comparing the output torque value after the torque sectional gradient filtering of the upper period with a descending clearance threshold value and a descending clearance threshold value, wherein if the output torque value after the torque sectional gradient filtering of the upper period is smaller than or equal to the descending clearance threshold value, the torque is in a descending clearance after-phase (NEG _ TrqLow), if the output torque value after the torque sectional gradient filtering of the upper period is larger than or equal to the descending clearance before-threshold value, the torque is in a pre-clearance torque descending phase (NEG _ TrqHigh), otherwise, the torque is in a torque descending phase (NEG _ TrqMiddle) in the clearance.
(3) Setting a torque descending gradient limit value, wherein the torque descending gradient limit value is obtained according to the motor rotating speed, the accelerator pedal opening, the brake pedal opening, the change rate and the gear table look-up experience, comparing the difference between the output torque value after the torque subsection gradient filtering of the upper period and the torque descending gradient limit value with the input torque value of the current period, if the difference between the output torque value after the torque subsection gradient filtering of the upper period and the torque descending gradient limit value is smaller than the input torque value of the current period, the output torque value of the current period is equal to the input torque value of the current period, and otherwise, the output torque value of the current period is equal to the difference between the output torque value after the torque subsection gradient filtering of the upper period and the torque descending gradient limit value.
It should be noted that, a designer needs to design that the torque gradient changes differently in different working modes, a larger torque gradient is needed to meet a driving power request in a sport mode, and a smaller torque gradient is needed in an energy-saving mode; the torque change gradient in each stage is related to the rotation speed of the motor, the opening degree of an accelerator pedal, the opening degree of a brake pedal, the change rate and the gear.
The torque rising process: in the three stages of the pre-clearance-passing stage, the middle clearance-passing stage and the post-clearance-passing stage, the torque rising gradient value corresponding to the middle clearance-passing stage is the minimum; and (3) torque reduction process: in the three stages of the pre-clearance-passing stage, the middle-clearance-passing stage and the post-clearance-passing stage, the value of the torque decline gradient corresponding to the middle-clearance-passing stage is the minimum.
The embodiment of the device is as follows:
the invention also provides a torque segmentation gradient filtering control device of the new energy automobile, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the following steps when executing the program:
judging whether the current period input torque value is larger than the last period output torque value or not, if so, determining that the torque is in a rising stage, and determining a threshold before rising through the gap and a threshold after rising through the gap according to the rotating speed of the motor and the opening degree of an accelerator pedal; dividing the torque rising process into three stages of before-clearance passing, during-clearance passing and after-clearance passing according to a threshold before clearance passing and a threshold after clearance passing; filtering each stage of the torque rising process by adopting different torque rising gradient limit values;
judging whether the current period input torque value is larger than the last period output torque value or not, if so, determining that the torque is in a descending stage, and determining a threshold before descending the clearance and a threshold after descending the clearance according to the rotating speed of the motor and the opening degree of an accelerator pedal; dividing the torque reduction process into three stages of before clearance passing, during clearance passing and after clearance passing according to the threshold before clearance passing and the threshold after clearance passing; filtering is performed with different torque-down gradient limits for each phase of the torque-down process.
Since the apparatus is a process or a program corresponding to the above method, and a specific embodiment of the method has been described in detail in the above embodiments, the specific embodiment of the apparatus will not be described in detail.
It should be noted that the clearance threshold is generally near the absolute zero point, the threshold before the clearance is passed in the torque rising stage is smaller than the threshold after the clearance and is both larger than the absolute zero point, the threshold before the clearance is passed in the torque falling stage is larger than the threshold after the clearance and is both smaller than the absolute zero point, and the smaller the rotation speed, the more obvious the clearance is passed in the torque, so the smaller the rotation speed, the larger the absolute value of the difference between the threshold before the clearance is passed and the threshold after the clearance is needed to be calibrated; different accelerator opening degrees indicate that the torque requirements of drivers are greatly different, so that the absolute values of the pre-clearance threshold value and the post-clearance threshold value need to be calibrated to be smaller when the accelerator is larger so as to adapt to the requirements of the drivers.
When the torque rises or falls, the rising gradient limit value and the falling gradient limit value are changed along with the change of the rotating speed of the motor, the opening degree of an accelerator pedal, the opening degree of a brake pedal, a gear and the output torque; the smaller the motor rotating speed is, the more obvious the vibration of the vehicle is, and the smaller the required torque rising gradient limit value or the torque falling gradient limit value is at the moment; the opening degree of an accelerator pedal and the opening degree of a brake pedal represent the strong degree of the torque demand of a driver, and the larger the opening degree of the pedal is, the larger the torque rising gradient limit value is required to be or the larger the torque falling gradient limit value is required to be; the gear is also expressed as the torque demand degree of a driver, the torque rising gradient limit value or the torque falling limit value is relatively small in the energy-saving gear, and the torque rising gradient limit value or the torque falling gradient limit value is relatively large in the power gear in the same way; the output torque shows that the change rates of different output torque sections are different, a smaller ascending gradient limit value or a smaller descending gradient limit value is needed when the output torque is smaller, and a larger ascending torque limit value or a larger descending torque limit value is needed when the output torque is larger.
The specific embodiments are given above, but the present invention is not limited to the above-described embodiments. The basic idea of the present invention lies in the above basic scheme, and it is obvious to those skilled in the art that no creative effort is needed to design various modified models, formulas and parameters according to the teaching of the present invention. Variations, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.
Claims (6)
1. The new energy automobile torque subsection gradient filtering control method is characterized by comprising the following steps:
judging whether the current period input torque value is larger than the last period output torque value or not, if so, determining that the torque is in a rising stage, and determining a threshold before rising through the gap and a threshold after rising through the gap according to the rotating speed of the motor and the opening degree of an accelerator pedal; dividing the torque rising process into three stages of before-clearance passing, during-clearance passing and after-clearance passing according to a threshold before clearance passing and a threshold after clearance passing; filtering each stage of the torque rising process by adopting different torque rising gradient limit values; the process of filtering each phase of the torque up process with a different torque up gradient limit includes:
1) judging the stage of the current period in the rising process according to the torque output value of the previous period, the threshold before rising through the gap and the threshold after rising through the gap, and filtering the torque input value of the current period by adopting the torque rising gradient limit value corresponding to the stage;
2) calculating the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period, and if the torque input value of the current period is not less than the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period, the torque output value of the current period is equal to the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period; if the torque input value of the current period is smaller than the sum of the torque output value of the previous period and the torque rising gradient limit value corresponding to the current period, the torque output value of the current period is equal to the torque input value of the current period;
judging whether the current period input torque value is larger than the last period output torque value or not, if so, determining that the torque is in a descending stage, and determining a threshold before descending the clearance and a threshold after descending the clearance according to the rotating speed of the motor and the opening degree of an accelerator pedal; dividing the torque reduction process into three stages of before clearance passing, during clearance passing and after clearance passing according to the threshold before clearance passing and the threshold after clearance passing; filtering each stage of the torque reduction process by adopting different torque reduction gradient limit values; the process of filtering with different torque droop gradient limits for each phase of the torque droop process includes:
A) judging the stage of the current cycle in the descending process according to the torque output value of the previous cycle, the threshold value before descending the gap and the threshold value after descending the gap, and filtering the torque input value of the current cycle by adopting the torque descending gradient limit value corresponding to the stage;
B) calculating the difference between the torque output value of the upper period and the torque descending gradient limit value corresponding to the current period, and if the torque input value of the current period is not less than the difference between the torque output value of the upper period and the torque ascending gradient limit value corresponding to the current period, the torque output value of the current period is equal to the torque input value of the current period; and if the torque input value of the current period is smaller than the difference between the torque output value of the previous period and the torque descending gradient limit value corresponding to the current period, the torque output value of the current period is equal to the difference between the torque output value of the previous period and the torque ascending gradient limit value corresponding to the current period.
2. The new energy automobile torque segmented gradient filtering control method according to claim 1, wherein in a pre-gap-passing stage, a middle-gap-passing stage and a post-gap-passing stage of a torque rising process, a value of a torque rising gradient corresponding to the middle-gap-passing stage is minimum; in the pre-clearance-passing stage, the middle-clearance-passing stage and the post-clearance-passing stage of the torque reduction process, the value of the torque reduction gradient corresponding to the middle-clearance-passing stage is the smallest.
3. The new energy automobile torque segmented gradient filtering control method according to claim 1, characterized in that a torque rising gradient limit value or a torque falling gradient limit value of a corresponding stage is determined according to a motor rotating speed, an accelerator pedal opening degree, a brake pedal opening degree, a change rate and a gear.
4. A torque segmentation gradient filtering control device of a new energy automobile comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and is characterized in that the processor executes the program to realize the following steps:
judging whether the current period input torque value is larger than the last period output torque value or not, if so, determining that the torque is in a rising stage, and determining a threshold before rising through the gap and a threshold after rising through the gap according to the rotating speed of the motor and the opening degree of an accelerator pedal; dividing the torque rising process into three stages of before-clearance passing, during-clearance passing and after-clearance passing according to a threshold before clearance passing and a threshold after clearance passing; filtering each stage of the torque rising process by adopting different torque rising gradient limit values; the process of filtering each phase of the torque up process with a different torque up gradient limit includes:
1) judging the stage of the current period in the rising process according to the torque output value of the previous period, the threshold before rising through the gap and the threshold after rising through the gap, and filtering the torque input value of the current period by adopting the torque rising gradient limit value corresponding to the stage;
2) calculating the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period, and if the torque input value of the current period is not less than the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period, the torque output value of the current period is equal to the sum of the torque output value of the upper period and the torque rising gradient limit value corresponding to the current period; if the torque input value of the current period is smaller than the sum of the torque output value of the previous period and the torque rising gradient limit value corresponding to the current period, the torque output value of the current period is equal to the torque input value of the current period;
judging whether the current period input torque value is larger than the last period output torque value or not, if so, determining that the torque is in a descending stage, and determining a threshold before descending the clearance and a threshold after descending the clearance according to the rotating speed of the motor and the opening degree of an accelerator pedal; dividing the torque reduction process into three stages of before clearance passing, during clearance passing and after clearance passing according to the threshold before clearance passing and the threshold after clearance passing; filtering each stage of the torque reduction process by adopting different torque reduction gradient limit values; the process of filtering with different torque droop gradient limits for each phase of the torque droop process includes:
A) judging the stage of the current cycle in the descending process according to the torque output value of the previous cycle, the threshold value before descending the gap and the threshold value after descending the gap, and filtering the torque input value of the current cycle by adopting the torque descending gradient limit value corresponding to the stage;
B) calculating the difference between the torque output value of the upper period and the torque descending gradient limit value corresponding to the current period, and if the torque input value of the current period is not less than the difference between the torque output value of the upper period and the torque ascending gradient limit value corresponding to the current period, the torque output value of the current period is equal to the torque input value of the current period; and if the torque input value of the current period is smaller than the difference between the torque output value of the previous period and the torque descending gradient limit value corresponding to the current period, the torque output value of the current period is equal to the difference between the torque output value of the previous period and the torque ascending gradient limit value corresponding to the current period.
5. The new energy automobile torque segmented gradient filtering control device according to claim 4, wherein in a pre-clearance-passing stage, a middle-clearance-passing stage and a post-clearance-passing stage of a torque rising process, a torque rising gradient value corresponding to the middle-clearance-passing stage is minimum; in the pre-clearance-passing stage, the middle-clearance-passing stage and the post-clearance-passing stage of the torque reduction process, the value of the torque reduction gradient corresponding to the middle-clearance-passing stage is the smallest.
6. The device for controlling the torque gradient filtering of the new energy automobile according to claim 4, wherein a torque rising gradient limit value or a torque falling gradient limit value of a corresponding stage is determined according to a motor rotation speed, an accelerator pedal opening, a brake pedal opening, a change rate and a gear.
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| EP4108503B1 (en) * | 2021-03-30 | 2024-01-31 | Zhejiang Geely Holding Group Co., Ltd. | Motor torque filtering control method and system, and hybrid vehicle |
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