CN111746298A - Control method for preventing pure electric vehicle from sliding - Google Patents
Control method for preventing pure electric vehicle from sliding Download PDFInfo
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- CN111746298A CN111746298A CN202010517885.8A CN202010517885A CN111746298A CN 111746298 A CN111746298 A CN 111746298A CN 202010517885 A CN202010517885 A CN 202010517885A CN 111746298 A CN111746298 A CN 111746298A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a control method for preventing a pure electric vehicle from sliding, which comprises the following steps: step 1: measuring a motor position angle signal, and converting the signal into a digital signal; step 2: calculating the mechanical angle of the rotor through the digital signals; and step 3: calculating the difference value between the mechanical angle of the rotor in the current period and the mechanical angle of the rotor in the previous period; and 4, step 4: accumulating all the difference values obtained by the calculation in the step (3) to obtain a rotor displacement value, and converting the rotor displacement value into vehicle slope sliding displacement; and 5: and calculating a compensation torque according to the vehicle slope slipping displacement, and adding a preset torque command and the compensation torque to obtain a torque command of the motor controller. When the vehicle is detected to slide and retreat, the invention can accurately detect the displacement of the vehicle in a shorter time, and output the compensation torque through PID operation to prevent the vehicle from sliding, thereby improving the comfort of the whole vehicle.
Description
Technical Field
The invention relates to a control method for preventing a pure electric vehicle from sliding, aims to achieve the purpose of preventing the pure electric vehicle from sliding through accurately calculating the displacement of the pure electric vehicle, and belongs to the technical field of motor control.
Background
Because pure electric vehicles cost is higher, and the slope sensor is installed to vehicle itself seldom, consequently, because unable accurate judgement slope, the vehicle often can slide backward because of receiving the influence of gravity when lifting brake pedal when the vehicle is at ramp starting, in case the navigating mate does not in time react and come, will collide with other vehicles, causes the incident. In view of the above problems, it is desirable to provide a control method for preventing a vehicle from sliding.
Disclosure of Invention
The invention aims to solve the technical problem of providing a control method for preventing the pure electric vehicle from sliding against the vehicle aiming at the defects of the prior art, when the vehicle is detected to slide and retreat, the vehicle displacement can be accurately detected in a short time, the compensation torque is output through PID operation to prevent sliding, and the comfort of the whole vehicle is improved.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a control method for preventing a pure electric vehicle from sliding comprises the following steps:
step 1: measuring a motor position angle signal, and converting the signal into a digital signal;
step 2: calculating the mechanical angle of the rotor through the digital signals;
and step 3: calculating the difference value between the mechanical angle of the rotor in the current period and the mechanical angle of the rotor in the previous period;
and 4, step 4: accumulating all the difference values obtained by the calculation in the step (3) to obtain a rotor displacement value, and converting the rotor displacement value into vehicle slope sliding displacement;
and 5: and calculating a compensation torque according to the vehicle slope slipping displacement, and adding a preset torque command and the compensation torque to obtain a torque command of the motor controller.
As a further improved technical solution of the present invention, the step 1 includes:
step 1: the rotation variable sensor collects a motor position angle signal and sends the motor position angle signal to the rotation variable digital converter, the rotation variable digital converter converts a voltage signal into a digital signal, and the rotation variable digital converter transmits the digital signal to an MCU in the motor controller.
As a further improved technical solution of the present invention, the step 2 includes:
the MCU in the motor controller calculates the mechanical angle of the rotor through a digital signal sent by the rotary-transformer digital converter, and the formula is as follows:
wherein theta ismAs mechanical angle of rotor, thetaresIs an angle digital signal measured by a rotary change sensor; p is a radical ofresIs the number of pole pairs of the rotation.
As a further improved technical solution of the present invention, the step 3 includes:
the motor controller calculates the difference value between the rotor mechanical angle in the current period and the rotor mechanical angle in the previous period, and the formula is as follows:
Δθm1＝θmnow-θmlast；
when Δ θmWhen < -2048,. DELTA.theta.m＝Δθm1+4096；
When Δ θm>2047, Δ θm＝Δθm1-4096；
Else Δ θm＝Δθm1；
Wherein theta ismnowFor the current period of the rotor mechanical angle, θmlastFor last period of rotor mechanical angle, Δ θmThe difference value of the rotor mechanical angle in the current period and the rotor mechanical angle in the previous period is obtained;
after each calculation, another θmlast＝θmnowNamely, the mechanical angle of the rotor in the current period is used as the mechanical angle of the rotor in the previous period.
As a further improved technical solution of the present invention, the step 4 includes:
the motor controller accumulates all the calculated difference values to obtain a rotor displacement value, and the calculation formula is as follows:
wherein theta issumAs value of rotor displacement, Δ θm(n) is the nth differenceThe value k is the number of accumulations;
converting the rotor displacement value into vehicle slope sliding displacement, wherein the calculation formula is as follows:
S＝θsum*2*π*r/(ig*4096)；
wherein S is the vehicle slope sliding displacement, r is the vehicle wheel radius, and ig is the speed reducer reduction ratio.
As a further improved technical solution of the present invention, the step 5 comprises:
the motor controller calculates output compensation torque according to the vehicle slope sliding displacement, and the calculation formula is as follows:
wherein KpIs a proportionality coefficient; kiIs an integral coefficient; kdIs a differential coefficient; e (k) is a displacement input error of the current period, wherein e (k) is 0-s (k), and s (k) is a vehicle slope sliding displacement of the current period; e (k-1) is the displacement input error of the previous period; e (n) is the displacement input error of the nth time; u (k) is the compensation torque;
and taking the value of the torque command given by the vehicle controller plus the compensation torque as the final torque command of the motor controller, and outputting the final torque command to the motor by the motor controller.
As a further improved technical scheme of the invention, the rotary transformer is adopted as the rotary transformer.
The invention has the beneficial effects that: when the vehicle is detected to slide and retreat, the invention can accurately detect the displacement of the vehicle in a short time, output the compensation torque through PID operation to prevent sliding, optimize the working condition control strategies such as sliding prevention and the like, and improve the comfort of the whole vehicle.
Drawings
FIG. 1 is an overall control block diagram of the anti-sliding control system of the pure electric vehicle.
FIG. 2 is a block diagram of a torque compensation algorithm of the anti-rolling control system of the pure electric vehicle when the input torque of an accelerator pedal is insufficient.
FIG. 3 is a block diagram of an algorithm for accurately calculating the vehicle sliding displacement of the pure electric vehicle anti-sliding control system.
Detailed Description
Embodiments of the invention are further illustrated below with reference to figures 1-3:
because the motor has the characteristics of low speed, large torque and high maximum rotating speed, most pure electric vehicles do not adopt a gearbox, but adopt a single reduction ratio speed reducer to directly drive the vehicle, and when the whole vehicle is subjected to anti-sliding control, a torque instruction sent by the whole vehicle can be compensated by detecting the displacement of the whole vehicle. The embodiment provides a control system and a control method for accurately calculating the displacement of a pure electric vehicle, when the situation that the vehicle slips backwards is detected, the displacement of the vehicle can be accurately detected in a short time, slipping is prevented by outputting compensation torque through PID operation, and the comfort of the whole vehicle is improved.
The control system for preventing the pure electric vehicle from sliding during displacement comprises hardware such as a vehicle control unit, an accelerator pedal sensor, a brake pedal sensor, a motor controller, a rotation transformer sensor and the like; the software part comprises a rolling displacement accurate calculation algorithm and a torque compensation algorithm. The method comprises the following steps that an accelerator pedal sensor collects information of an accelerator pedal and inputs the information to a vehicle control unit, and the vehicle control unit outputs a torque instruction to a motor controller according to the opening degree of the accelerator pedal; the rotary transformer sensor transmits the acquired analog signals to a rotary transformer, the rotary transformer transmits the digital signals to an MCU (microprogrammed control unit) in the motor controller, the MCU in the motor controller calculates the sliding displacement and judges whether to start a sliding prevention compensation strategy.
When the pure electric vehicle is started on a slope and the brake pedal is released, if a torque instruction given by the accelerator pedal is insufficient to drive the whole vehicle, the whole vehicle retreats at the moment, and the anti-sliding compensation strategy is started.
As shown in fig. 1, when the pure electric vehicle starts up on a slope, an accelerator pedal sensor signal and a brake pedal sensor signal are transmitted to the vehicle control unit, and the vehicle control unit gives a torque instruction after comprehensive analysis. When the torque instruction is smaller than the slope starting torque required by the pure electric vehicle, the pure electric vehicle generates slope slipping displacement, and the slope slipping displacement is accurately calculated by a slope slipping displacement algorithm; and meanwhile, setting the slope sliding mark to be 1, starting a torque compensation algorithm by the motor controller, continuously adjusting the compensation torque by the torque compensation algorithm according to the slope sliding displacement, and outputting a torque instruction given by the vehicle controller and the compensation torque as a final torque instruction of the motor controller until the slope sliding displacement is changed to be 0 when the pure electric vehicle is pulled to the slope starting point, and resetting the compensation torque by the motor controller when the slope sliding algorithm sets the slope sliding mark to be 0.
As shown in fig. 2, the torque compensation algorithm employs PID control. The displacement of the pure electric vehicle during the slope is taken as '0' displacement, the slope displacement calculated by the slope displacement algorithm is subtracted from the '0' displacement to obtain a displacement error which is taken as the input of the PID, the PID calculates the torque to be compensated according to the error, and the calculation formula is as follows:
as shown in fig. 3, the motor position angle signal inputted by the rotation sensor is sent to a rotation digital converter, the rotation digital converter converts the voltage signal into a digital signal and outputs the digital signal to an MCU in the motor controller, and the MCU converts the digital signal into an actual position signal of the motor. And calculating the difference value between the rotor angle in the current period and the rotor angle in the previous period, accumulating the angle difference values to obtain the rotor displacement of the motor, and converting the rotor displacement into the displacement of the whole vehicle. And finally, using the processed displacement signal in a torque compensation control algorithm.
The control algorithm of the control system for preventing the pure electric vehicle from sliding during displacement comprises the following steps:
step 1: the rotation variable sensor collects a motor position angle signal and sends the motor position angle signal to the rotation variable digital converter, the rotation variable digital converter converts a voltage signal into a digital signal, and the rotation variable digital converter transmits the digital signal to an MCU in the motor controller.
The rotary transformer sensor in the embodiment adopts a rotary transformer, and the transformer is a precise angle, position and speed detection device, and is suitable for all occasions using rotary encoders, in particular to occasions where the rotary encoders cannot work normally, such as high temperature, severe cold, humidity, high speed, high vibration and the like. The inspection resolution of current commercial resolver systems can reach 2 to the power of 12 per revolution, 4096.
Step 2: the MCU in the motor controller calculates the mechanical angle of the rotor through a digital signal sent by the rotary-transformer digital converter, and the formula is as follows:
wherein theta ismAs mechanical angle of rotor, thetaresIs an angle digital signal measured by a rotary change sensor; p is a radical ofresIs the number of pole pairs of the rotation.
And step 3: the MCU in the motor controller calculates the difference value between the rotor mechanical angle in the current period and the rotor mechanical angle in the previous period, and the formula is as follows:
Δθm1＝θmnow-θmlast；
when Δ θmWhen < -2048,. DELTA.theta.m＝Δθm1+4096；
When Δ θm>2047, Δ θm＝Δθm1-4096；
Else Δ θm＝Δθm1；
Wherein theta ismnowThe mechanical angle of the rotor in the current period is; thetamlastThe mechanical angle of the rotor in the previous period; delta thetamThe difference value of the rotor mechanical angle in the current period and the rotor mechanical angle in the previous period is obtained;
after each calculation, another θmlast＝θmnowNamely, the mechanical angle of the rotor in the current period is used as the mechanical angle of the rotor in the previous period.
And 4, step 4: and the MCU in the motor controller accumulates all the calculated difference values to obtain a rotor displacement value, and the calculation formula is as follows:
wherein theta issumIs the rotor displacement value; delta thetam(n) is the nth difference; k is the accumulated times and represents the current period;
converting the rotor displacement value into vehicle slope sliding displacement, wherein the calculation formula is as follows:
S＝θsum*2*π*r/(ig*4096)；
wherein S is the vehicle slope sliding displacement, r is the vehicle wheel radius, and ig is the speed reducer reduction ratio.
And 5: the MCU in the motor controller calculates compensation torque according to the vehicle slope sliding displacement, and the calculation formula is as follows:
wherein KpIs a proportionality coefficient; kiIs an integral coefficient; kdIs a differential coefficient; e (k) is a displacement input error of the current period, wherein e (k) is 0-s (k), and s (k) is a vehicle slope sliding displacement of the current period; e (k-1) is the displacement input error of the previous period; e (n) is the displacement input error of the nth time; u (k) is the compensation torque;
and taking the value of the torque command given by the vehicle controller plus the compensation torque as the final torque command of the motor controller, and providing the torque for the motor by the motor controller according to the torque command.
The anti-sliding strategy of the embodiment adopts a PID control algorithm, and when the pure electric vehicle is given to run on a slope, the position instruction of the motor controller of the pure electric vehicle is '0'. When the pure electric vehicle slides, the accurately calculated displacement is fed back to the PID input end; and outputting the compensation torque through PID operation. PID has the advantage of quick response, can compensate the not enough of input torque fast, prevents swift current car fast. Due to the increase of the torque, the pure electric vehicle moves forward, the closer the pure electric vehicle is to the position before vehicle sliding, the smaller the compensated torque is, when the pure electric vehicle moves forward to the position before vehicle sliding, the compensated torque is reduced to 0, the vehicle sliding prevention algorithm is closed at the moment, and the starting is completed.
When the pure electric vehicle is started on a slope, the anti-sliding algorithm is started when the backward displacement of the pure electric vehicle can be detected in time, the motor controller automatically compensates the output torque of the motor, and the anti-sliding control of the vehicle is effectively realized.
The scope of the present invention includes, but is not limited to, the above embodiments, and the present invention is subject to the appended claims, and any alterations, modifications, and improvements that may occur to those skilled in the art are intended to be included in the scope of the present invention.
Claims (7)
1. The control method for preventing the pure electric vehicle from sliding is characterized by comprising the following steps of: the method comprises the following steps:
step 1: measuring a motor position angle signal, and converting the signal into a digital signal;
step 2: calculating the mechanical angle of the rotor through the digital signals;
and step 3: calculating the difference value between the mechanical angle of the rotor in the current period and the mechanical angle of the rotor in the previous period;
and 4, step 4: accumulating all the difference values obtained by the calculation in the step (3) to obtain a rotor displacement value, and converting the rotor displacement value into vehicle slope sliding displacement;
and 5: and calculating a compensation torque according to the vehicle slope slipping displacement, and adding a preset torque command and the compensation torque to obtain a torque command of the motor controller.
2. The pure electric vehicle anti-rolling control method according to claim 1, characterized in that: the step 1 comprises the following steps:
step 1: the rotation variable sensor collects a motor position angle signal and sends the motor position angle signal to the rotation variable digital converter, the rotation variable digital converter converts a voltage signal into a digital signal, and the rotation variable digital converter transmits the digital signal to an MCU in the motor controller.
3. The pure electric vehicle anti-rolling control method according to claim 1, characterized in that: the step 2 comprises the following steps:
the MCU in the motor controller calculates the mechanical angle of the rotor through a digital signal sent by the rotary-transformer digital converter, and the formula is as follows:
wherein theta ismAs mechanical angle of rotor, thetaresIs an angle digital signal measured by a rotary change sensor; p is a radical ofresIs the number of pole pairs of the rotation.
4. The pure electric vehicle anti-rolling control method according to claim 1, characterized in that: the step 3 comprises the following steps:
the motor controller calculates the difference value between the rotor mechanical angle in the current period and the rotor mechanical angle in the previous period, and the formula is as follows:
Δθm1＝θmnow-θmlast；
when Δ θmWhen < -2048,. DELTA.theta.m＝Δθm1+4096；
When Δ θm>2047, Δ θm＝Δθm1-4096；
Else Δ θm＝Δθm1；
Wherein theta ismnowFor the current period of the rotor mechanical angle, θmlastFor last period of rotor mechanical angle, Δ θmThe difference value of the rotor mechanical angle in the current period and the rotor mechanical angle in the previous period is obtained;
after each calculation, another θmlast＝θmnowNamely, the mechanical angle of the rotor in the current period is used as the mechanical angle of the rotor in the previous period.
5. The pure electric vehicle anti-rolling control method according to claim 1, characterized in that: the step 4 comprises the following steps:
the motor controller accumulates all the calculated difference values to obtain a rotor displacement value, and the calculation formula is as follows:
wherein theta issumAs value of rotor displacement, Δ θm(n) is the nth difference, k is the accumulated number;
converting the rotor displacement value into vehicle slope sliding displacement, wherein the calculation formula is as follows:
S＝θsum*2*π*r/(ig*4096)；
wherein S is the vehicle slope sliding displacement, r is the vehicle wheel radius, and ig is the speed reducer reduction ratio.
6. The pure electric vehicle anti-rolling control method according to claim 1, characterized in that: the step 5 comprises the following steps:
the motor controller calculates output compensation torque according to the vehicle slope sliding displacement, and the calculation formula is as follows:
wherein KpIs a proportionality coefficient; kiIs an integral coefficient; kdIs a differential coefficient; e (k) is a displacement input error of the current period, wherein e (k) is 0-s (k), and s (k) is a vehicle slope sliding displacement of the current period; e (k-1) is the displacement input error of the previous period; e (n) is the displacement input error of the nth time; u (k) is the compensation torque;
and taking the value of the torque command given by the vehicle controller plus the compensation torque as the final torque command of the motor controller, and outputting the final torque command to the motor by the motor controller.
7. The pure electric vehicle anti-rolling control method according to claim 2, characterized in that: the rotary transformer sensor adopts a rotary transformer.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114148181A (en) * | 2021-11-26 | 2022-03-08 | 天津英捷利汽车技术有限责任公司 | Pure electric vehicle slope slipping prevention method and system based on rotating speed ring and position ring |
| CN114347799A (en) * | 2021-12-30 | 2022-04-15 | 臻驱科技（上海）有限公司 | Motor angle control system and method for high-voltage direct-current charging of electric automobile |
| CN115352457A (en) * | 2022-09-02 | 2022-11-18 | 潍柴动力股份有限公司 | Method for determining vehicle slip state, device thereof, processor and MCU |
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| CN202345429U (en) * | 2011-11-07 | 2012-07-25 | 郑州飞机装备有限责任公司 | Pure electric vehicle motor controller with stable parking function on slope |
| CN105416092A (en) * | 2015-12-29 | 2016-03-23 | 潍柴动力股份有限公司 | Backward-sliding-prevention control method and system for pure electric vehicle |
| CN109808506A (en) * | 2018-12-27 | 2019-05-28 | 江苏敏安电动汽车有限公司 | Anti- based on Fuzzy Adaptive PID Control slips by slope method, system and electric car |
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| US20030085677A1 (en) * | 2001-11-06 | 2003-05-08 | Tsutomu Wakitani | Electric vehicle |
| CN202345429U (en) * | 2011-11-07 | 2012-07-25 | 郑州飞机装备有限责任公司 | Pure electric vehicle motor controller with stable parking function on slope |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114148181A (en) * | 2021-11-26 | 2022-03-08 | 天津英捷利汽车技术有限责任公司 | Pure electric vehicle slope slipping prevention method and system based on rotating speed ring and position ring |
| CN114148181B (en) * | 2021-11-26 | 2024-02-02 | 天津英捷利汽车技术有限责任公司 | Pure electric vehicle anti-slip method and system based on rotating speed ring and position ring |
| CN114347799A (en) * | 2021-12-30 | 2022-04-15 | 臻驱科技（上海）有限公司 | Motor angle control system and method for high-voltage direct-current charging of electric automobile |
| CN114347799B (en) * | 2021-12-30 | 2023-09-22 | 臻驱科技（上海）有限公司 | Motor angle control system and method for high-voltage direct-current charging of electric automobile |
| CN115352457A (en) * | 2022-09-02 | 2022-11-18 | 潍柴动力股份有限公司 | Method for determining vehicle slip state, device thereof, processor and MCU |
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