CN111845364B - Method for adjusting feedback moment of pure electric vehicle according to deceleration - Google Patents

Method for adjusting feedback moment of pure electric vehicle according to deceleration Download PDF

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Publication number
CN111845364B
CN111845364B CN202010718151.6A CN202010718151A CN111845364B CN 111845364 B CN111845364 B CN 111845364B CN 202010718151 A CN202010718151 A CN 202010718151A CN 111845364 B CN111845364 B CN 111845364B
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vehicle
feedback
feedback moment
deceleration
automobile
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CN111845364A (en
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蔡振兴
赵春明
周能辉
李磊
杜森
翟世欢
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Tianjin Yidingfeng Power Technology Co ltd
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Tianjin Yidingfeng Power Technology Co ltd
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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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/24—Coasting mode
    • 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 method for adjusting feedback torque of a pure electric vehicle according to deceleration, which comprises the following steps: the whole vehicle controller distinguishes the brake feedback state and the sliding feedback state of the vehicle through the brake switch state. And the whole vehicle controller looks up the current instantaneous speed of the vehicle to obtain a feedback moment standard value. Calculating the average deceleration of the vehicle at the rated time according to the current instantaneous speed of the vehicle; obtaining the expected deceleration of the current state through the table look-up of the current instantaneous speed of the automobile; and obtaining the step length adjustment value of the feedback moment coefficient by looking up a table according to the relation between the average deceleration and the expected deceleration multiple. And accumulating the step length adjustment values by the feedback moment coefficients to obtain real-time feedback moment coefficients. And taking the product of the feedback moment standard value and the feedback moment coefficient as a feedback moment value instruction. The method realizes the closed-loop control of the feedback moment, ensures the electric braking of the vehicle and improves the energy recovery of the vehicle in a full-load or downhill state.

Description

Method for adjusting feedback moment of pure electric vehicle according to deceleration
Technical Field
The invention relates to a method for adjusting feedback torque of a pure electric vehicle, in particular to a method for adjusting the feedback torque of the pure electric vehicle according to deceleration.
Background
In the existing pure electric vehicle feedback strategy, the calculation of feedback torque control is relatively single, and feedback is mainly performed according to vehicle parameters, vehicle speed and the like. The vehicle conditions cannot be distinguished when the vehicle is fully loaded, unloaded, ascending and descending. When a large braking feedback is required for full load or downhill, a sufficient feedback torque cannot be provided.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a method for adjusting the feedback torque of a pure electric vehicle according to deceleration, which realizes closed-loop control of the feedback torque, ensures electric braking of the vehicle and improves energy recovery of the vehicle in a full-load or downhill state.
The invention discloses a method for adjusting the feedback moment of a pure electric vehicle according to deceleration, which comprises the following steps:
the method comprises the steps that firstly, if the whole vehicle controller judges that the pure electric vehicle is in a feedback state and a brake switch is arranged on the pure electric vehicle, the whole vehicle controller judges that the vehicle is in a brake feedback state; otherwise, judging that the automobile is in a sliding feedback state;
secondly, if the automobile is in a braking feedback state, the whole automobile controller looks up a table according to the current instantaneous speed of the automobile to obtain a braking feedback moment standard value; if the automobile is in a sliding feedback state, the whole automobile controller obtains a sliding feedback moment standard value according to the current instantaneous speed table of the automobile;
third, the whole vehicle controller uses the instantaneous speed V of the vehicle within the set rated time T i Calculating the average speed V of the automobile in the rated time ave The formula is:wherein m=t/scheduling period of the whole vehicle controller program operation;
fourth, calculating the vehicle deceleration A of the automobile running at the nth time T, wherein the formula is as follows:
A＝(V ave2 -V ave1 )/T；
wherein V is ave2 For the average speed of the vehicle running at the (n-2) th T time, V ave1 An average vehicle speed at (n-1) th T time for the vehicle to run; t is s;
fifthly, the whole vehicle controller obtains the expected deceleration of the current state through the table look-up of the instantaneous speed of the vehicle; dividing the deceleration calculated by the vehicle by the expected deceleration to obtain a multiple value, and obtaining a real-time feedback moment coefficient step length adjustment value delta K through a multiple value table;
step six, defining a real-time feedback moment coefficient as K and an initial value as 1; the whole vehicle controller is based on the initial value 1 of the real-time feedback moment coefficient, and the step length adjustment value of the real-time feedback moment coefficient obtained in the fifth step is accumulated through a formula K=K+ [ delta ] K to obtain the real-time feedback moment coefficient;
and seventhly, the whole vehicle controller takes a brake feedback moment standard value or the product of a sliding feedback moment standard value and a real-time feedback moment coefficient as a feedback moment value instruction, and sends the feedback moment value instruction to a motor controller of the pure electric vehicle, and the motor controller controls a motor to carry out feedback.
The invention has the advantages that: the closed-loop control of the feedback moment is realized, and the energy recovery of the vehicle in a full-load or downhill state is improved while the electric braking of the vehicle is ensured.
Detailed Description
In order to better explain the summary, features and effects of the present invention, the following detailed description will be given with reference to the embodiments.
The invention discloses a method for adjusting the feedback moment of a pure electric vehicle according to deceleration, which comprises the following steps:
firstly, if the whole vehicle controller judges that the pure electric vehicle is in a feedback state (the judging method is just adopted in the prior art, for example, the entering feedback method disclosed in electric vehicle motor energy feedback strategy analysis published by the university of Han and Korea in 2016) and the pure electric vehicle is provided with a brake switch, the vehicle is judged to be in a brake feedback state; otherwise, judging that the automobile is in a sliding feedback state;
secondly, if the automobile is in a braking feedback state, the whole automobile controller looks up a table according to the current instantaneous speed of the automobile to obtain a braking feedback moment standard value; if the automobile is in the sliding feedback state, the whole automobile controller obtains a sliding feedback moment standard value according to the current instantaneous speed table of the automobile.
Thirdly, the whole vehicle controller modifies the instantaneous speed V of the vehicle in the set rated time T (calibratable by adopting the current methods commonly used in the automobile industry, such as CCP, XCP and the like, through an upper computer) i Calculating the average speed V of the automobile in the rated time ave The formula is:wherein m=t-Scheduling period of the whole vehicle controller program operation;
fourth, calculating the vehicle deceleration A of the automobile running at the nth time T, wherein the formula is as follows:
A＝(V ave2 -V ave1 )/T；
wherein V is ave2 For the average speed of the vehicle running at the (n-2) th T time, V ave1 An average vehicle speed at (n-1) th T time for the vehicle to run; t is s;
fifthly, the whole vehicle controller obtains the current state expected deceleration (calibratable) through the instantaneous speed of the vehicle and the table lookup; the calculated deceleration of the vehicle is divided by the expected deceleration to obtain a multiple value, and the real-time feedback moment coefficient step length adjustment value delta K (which can be calibrated) is obtained through a multiple value table.
And step six, defining the real-time feedback moment coefficient as K and the initial value as 1. The whole vehicle controller is based on the initial value 1 of the real-time feedback moment coefficient, and the step length adjustment value of the real-time feedback moment coefficient obtained in the fifth step is accumulated through the formula K=K+ [ delta ] K, so that the real-time feedback moment coefficient is obtained.
And seventhly, the whole vehicle controller takes a brake feedback moment standard value or the product of a sliding feedback moment standard value and a real-time feedback moment coefficient as a feedback moment value instruction, and sends the feedback moment value instruction to a motor controller of the pure electric vehicle, and the motor controller controls a motor to carry out feedback.
Example 1
(1) When the driver controls the electric automobile to enter the feedback working condition, the whole automobile controller firstly divides the feedback state into brake feedback/sliding feedback according to whether the driver operates the brake signal or not.
(2) And checking a table according to the brake feedback/slide feedback state.
Instantaneous vehicle speed (m/s) 0 5 10 20 30 40 50 60
Sliding feedback moment (Nm) 0 0 20 40 50 50 40 30
Braking feedback moment (Nm) 0 0 25 60 70 70 60 40
When a braking signal exists and the vehicle speed V=20m/s, the table look-up shows that the braking feedback moment standard value T is 60Nm.
(3) The scheduling period of the program running of the whole vehicle controller is 10ms, the instantaneous vehicle speed V is accumulated for 100 times by taking the rated time 1s as the period, and then the average vehicle speed V is obtained ave 。
(m=1s/10 ms, 100 instantaneous speeds will be accumulated in 1 s)
In the second step, the vehicle speed V=20m/s is the (n) th s of the vehicle running, and the average vehicle speeds in the last 2s before the state are the (n-1) th s average vehicle speeds V respectively ave1 And (n-2) th s average vehicle speed V ave2 The vehicle deceleration A is calculated:
A＝(V ave2 -V ave1 )/1s；
(4) The whole vehicle controller performs table lookup according to the instantaneous vehicle speed V to obtain the expected braking feedback deceleration A 1 。
Instantaneous vehicle speed (m/s) 0 5 10 20 30 40 50 60
Desired brake feedback deceleration (m/s) 2 ) 0 0 2 2 2 2 2 2
According to the 20m/s vehicle speed assumed in the first step, the desired deceleration is 2m/s 2
Let vehicle deceleration a=1 m/s 2 ；
Then according to (vehicle deceleration A/desired brake feedback deceleration A 1 ) And (3) looking up the ratio of the feedback moment coefficient step length adjustment value.
Ratio of 0 0.1 0.3 0.5 0.65 0.8 1 2
Feedback moment coefficient step length adjustment value 0.06 0.05 0.04 0.03 0.02 0.01 0 -0.05
Feedback moment coefficient step adjustment value Δk=0.03.
(5) And defining a real-time feedback moment coefficient K, wherein the initial value is 1. Delta K is accumulated with K as a base value.
Each cycle of the program is executed:
K＝K+△K；
when the ratio of the vehicle deceleration to the expected deceleration is smaller than 1, the real-time feedback moment coefficient is increased, when the ratio is equal to 1, the real-time feedback moment coefficient is unchanged, and otherwise, the real-time feedback moment coefficient is reduced.
(6) Feedback moment value calculating instruction T of whole vehicle controller tq And multiplying the brake feedback moment standard value by the real-time feedback moment coefficient.
T tq ＝T*K；
(7) And finally, the whole vehicle controller sends a feedback moment value instruction to the motor controller, and the motor controller controls the motor to feedback.

Claims (1)

1. The method for adjusting the feedback moment of the pure electric vehicle according to the deceleration is characterized by comprising the following steps of:
the method comprises the steps that firstly, if the whole vehicle controller judges that the pure electric vehicle is in a feedback state and a brake switch is arranged on the pure electric vehicle, the whole vehicle controller judges that the vehicle is in a brake feedback state; otherwise, judging that the automobile is in a sliding feedback state;
secondly, if the automobile is in a braking feedback state, the whole automobile controller looks up a table according to the current instantaneous speed of the automobile to obtain a braking feedback moment standard value; if the automobile is in a sliding feedback state, the whole automobile controller obtains a sliding feedback moment standard value according to the current instantaneous speed table of the automobile;
third, the whole vehicle controller uses the instantaneous speed V of the vehicle within the set rated time T i Calculating the average speed V of the automobile in the rated time ave The formula is:wherein m=t/scheduling period of the whole vehicle controller program operation;
fourth, calculating the vehicle deceleration A of the automobile running at the nth time T, wherein the formula is as follows:
A＝(V ave2 -V ave1 )/T；
wherein V is ave2 For the average speed of the vehicle running at the (n-2) th T time, V ave1 An average vehicle speed at (n-1) th T time for the vehicle to run; t is s;
fifthly, the whole vehicle controller obtains the expected deceleration of the current state through the table look-up of the instantaneous speed of the vehicle; dividing the deceleration calculated by the vehicle by the expected deceleration to obtain a multiple value, and obtaining a real-time feedback moment coefficient step length adjustment value delta K through a multiple value table;
step six, defining a real-time feedback moment coefficient as K and an initial value as 1; the whole vehicle controller is based on the initial value 1 of the real-time feedback moment coefficient, and the step length adjustment value of the real-time feedback moment coefficient obtained in the fifth step is accumulated through a formula K=K+ [ delta ] K to obtain the real-time feedback moment coefficient;
and seventhly, the whole vehicle controller takes a brake feedback moment standard value or the product of a sliding feedback moment standard value and a real-time feedback moment coefficient as a feedback moment value instruction, and sends the feedback moment value instruction to a motor controller of the pure electric vehicle, and the motor controller controls a motor to carry out feedback.
CN202010718151.6A 2020-07-23 2020-07-23 Method for adjusting feedback moment of pure electric vehicle according to deceleration Active CN111845364B (en)

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