CN111976502B - Pure electric vehicle speed limiting method based on dynamic calculation - Google Patents
Pure electric vehicle speed limiting method based on dynamic calculation Download PDFInfo
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- CN111976502B CN111976502B CN202010755862.0A CN202010755862A CN111976502B CN 111976502 B CN111976502 B CN 111976502B CN 202010755862 A CN202010755862 A CN 202010755862A CN 111976502 B CN111976502 B CN 111976502B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to the technical field of new energy automobiles, in particular to a speed limiting method of a pure electric automobile based on dynamic calculation, which comprises the following steps of S3: the micro control unit detects whether the vehicle has a fault, if so, the step goes to S4, and if not, the step goes to S5, S4: judging whether the vehicle speed is less than the fault vehicle speed V3, if so, returning to S3, otherwise, entering S6, S5: judging whether the automobile speed is less than the low-stage speed limit value V1, if so, returning to S3, otherwise, entering S6, S6: sending a torque reduction signal to the micro control unit through the vehicle-mounted communication device, reducing the kp value and increasing the ki value in PID regulation, reducing the torque reduction speed and entering S7, S7: the invention can stably control the highest speed of the vehicle, can obviously improve the smoothness of the whole vehicle and solves the problems of vibration and abnormal sound caused by system inertia.
Description
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a speed limiting method of a pure electric automobile based on dynamic calculation.
Background
Along with the development of new energy automobiles, the quality problem of the automobiles is more and more emphasized, the safety requirement is greatly increased, the current speed limiting strategy is generally simpler, the phenomena of shaking, tooth beating and the like of a transmission system in actual operation are more obvious, in addition, the impact on a power grid is also large, the damage to modules such as IGBTs and the like is easily caused, and the mechanical inertia, the mechanical clearance and the like of the whole automobile are not considered.
Disclosure of Invention
The invention aims to provide a pure electric vehicle speed limiting method based on dynamic calculation so as to solve the problems in the background technology.
The technical scheme of the invention is as follows:
a vehicle speed limiting method of a pure electric vehicle based on dynamic calculation comprises the following steps:
step S1: the low-range speed limit value V1, the fault vehicle speed V3, the high-range speed limit value V2 and the fault vehicle speed V4 are preset.
Step S2: the micro control unit respectively collects a vehicle speed signal, the opening degree and the switching value of a brake pedal and the opening degree and the switching value of an accelerator pedal;
step S3: the micro control unit detects whether the vehicle has a fault, if so, the step S4 is carried out, and if not, the step S5 is carried out;
step S4: judging whether the vehicle speed is less than the fault vehicle speed V3, if so, returning to the step S3, and if not, entering the step S6;
step S5: judging whether the automobile speed is less than the low-stage speed limit value V1, if so, returning to the step S3, and if not, entering the step S6;
step S6: sending a torque reduction signal to a micro control unit through a vehicle-mounted communication device, controlling the power and the rotating speed reduction of the power motor of the automobile by the micro control unit, reducing the kp value in PID regulation, increasing the ki value, reducing the torque reduction speed and entering the step S7;
step S7: the method is characterized in that a dynamic adjustment mode is adopted, a torque signal is sent to a micro control unit through a vehicle-mounted communication device, the torque is controlled to be the same in the original direction, the torque is quickly converted into the torque in the other direction, and the positive and negative torques are adjusted repeatedly, so that the speed of the whole vehicle is maintained in a target speed range of +/-3 km/h.
Further, the method further comprises a step S8, wherein the step S8: judging whether the SOC of the electric quantity of the power battery of the automobile is greater than 95%, if so, sending a braking signal to the ESC system by the micro control unit to control the speed of the automobile to be reduced, otherwise, sending a negative torque signal to the motor controller by the micro control unit according to the requirement of increasing the negative torque of the vehicle-mounted communication device, and changing the current directions of the power motor and the power battery by the motor controller through a contactor to recover energy.
Further, the step S7 includes:
a positive torque dynamic adjusting step: when the torque is judged to be more than +/-3 NM, the torque is firstly reduced to +/-3 NM, 5 message cycles are stopped, then the torque is quickly changed to-3 NM, the zero torque state is passed, then 5 message cycles are stopped, and the required negative torque is adjusted according to the normal speed.
A negative torque dynamic adjusting step: when the torque is judged to be larger than-3 NM, the torque is reduced to-3 NM firstly, 5 message periods are kept, then the torque is changed to +3NM rapidly, the zero torque state is passed, 5 message periods are kept, and the required positive torque is adjusted according to the normal speed.
Further, the method also comprises the step of S9:
step S3: the micro control unit detects whether the vehicle has a fault, if so, the step S10 is carried out, and if not, the step S11 is carried out;
step S10: judging whether the vehicle speed is less than the fault vehicle speed V4, if so, returning to the step S3, and if not, entering the step S12;
step S11: judging whether the automobile speed is less than a high-speed limit value V2, if so, returning to the step S3, and if not, entering the step S12;
step S12: sending a torque reduction signal to a micro control unit through a vehicle-mounted communication device, and controlling an automobile power motor to adjust to the maximum negative torque by the micro control unit;
further, the low speed limit V1 of the step S3 and the step S4 is greater than the breakdown vehicle speed V3, the high speed limit V2 of the step S10 and the step S11 is greater than the breakdown vehicle speed V4, and the breakdown vehicle speed V4 is greater than the breakdown vehicle speed V3.
Further, when the vehicle speed is reduced to the low-range speed limit value V1-5km/h, the overspeed prompt is canceled from the instrument, and when the vehicle speed is reduced to the high-range speed limit value V2-5km/h, the severe overspeed display is canceled from the instrument.
The invention provides a pure electric vehicle speed limiting method based on dynamic calculation through improvement, and compared with the prior art, the pure electric vehicle speed limiting method based on dynamic calculation has the following improvements and advantages:
one is as follows: the invention can stably control the highest speed of the vehicle, control the motor, the reduction gearbox, the transmission system and the like in a reasonable running range, greatly reduce the probability of damage and obviously improve the smoothness of the whole vehicle.
The second step is as follows: the system can well limit the speed of the whole vehicle, greatly reduce the risk of overspeed to the driver and passengers, reduce the torque and simultaneously assist the electric brake to more effectively reduce the speed of the whole vehicle under the condition that the vehicle condition allows.
And thirdly: the invention can dynamically calculate the load and the acceleration of the vehicle to better realize dynamic adjustment, can lead the vehicle to quickly transit around zero torque by utilizing the interval of setting the target vehicle speed to be +/-3 km/h, well eliminates mechanical clearance, prevents the repeated change of the contact surface of the gear, and solves the problems of jitter and abnormal sound caused by the inertia of the system.
Drawings
The invention is further explained below with reference to the figures and examples:
FIG. 1 is a schematic diagram of the logic of signal acquisition according to the present invention;
FIG. 2 is a schematic illustration of the logic for dynamic vehicle speed adjustment of the present invention;
FIG. 3 is a schematic diagram illustrating the logic of step S9 according to the present invention;
Detailed Description
The present invention is described in detail below, and technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a vehicle speed limiting method of a pure electric vehicle based on dynamic calculation through improvement, as shown in fig. 1-3, comprising the following steps:
step S1: the preset low speed limit V1, the breakdown vehicle speed V3, the high speed limit V2, and the breakdown vehicle speed V4 may be written in advance in the internal memory of the vehicle-mounted communication device in the following amounts: wheel radius, motor external characteristic curve, maximum vehicle speed limit value (divided into high and low gears) and transmission system speed ratio.
The vehicle-mounted communication device is electrically connected with the ABS system, the micro control unit, the power battery and the motor controller through CAN lines respectively.
Step S2: the micro control unit respectively collects a vehicle speed signal, the opening and the switching value of a brake pedal and the opening and the switching value of an accelerator pedal, and acquires the vehicle speed signal from the ABS system; the micro control unit acquires the opening degree and the switching value of a brake pedal, the opening degree and the switching value of an accelerator pedal and driving mode switching from the vehicle-mounted communication device;
step S3: the micro control unit detects whether the vehicle has a fault, if so, the step S4 is carried out, and if not, the step S5 is carried out; when the micro control unit detects a non-power fault of a general fault (such as a fault condition of electric equipment in a vehicle), the speed of the vehicle is further limited, and certain safety influence caused by the fault when the vehicle is too fast is avoided.
Step S4: and judging whether the vehicle speed is less than the fault vehicle speed V3, if so, returning to the step S3, otherwise, entering the step S6, if the vehicle speed is less than the fault vehicle speed V3, driving the vehicle within a safe driving speed, and if the vehicle speed is greater than the fault vehicle speed V3, limiting the driving speed of the vehicle.
Step S5: and judging whether the automobile speed is less than the low-stage speed limit value V1, if so, returning to the step S3, otherwise, entering the step S6, if the automobile speed is less than the low-stage speed limit value V1, judging that the running speed of the automobile is normal, and if the automobile speed is greater than the low-stage speed limit value V1, judging that the running speed of the automobile needs to be limited.
Step S6: the vehicle-mounted communication device sends a torque reduction signal to the micro control unit, the micro control unit controls the power and the rotating speed of the power motor of the automobile to be reduced, the kp value in PID adjustment is reduced, the ki value is increased, the torque reduction speed is reduced, the step S7 is carried out, the kp value in PID adjustment is properly reduced, overshooting caused by too high adjustment speed is avoided, the ki is increased, the dynamic response speed is increased, and the target value is more quickly approached.
Step S7: the method adopts a dynamic adjustment mode, transmits a torque signal to a micro control unit through a vehicle-mounted communication device, controls the torque in the original direction to be the same, quickly converts the torque into the other direction, and repeatedly adjusts the positive torque and the negative torque to maintain the speed of the whole vehicle within a range of +/-3 km/h of a target speed, so that the speed of the whole vehicle is adjusted within a range of +/-3 km/h, and the speed of the whole vehicle is not necessarily controlled in an absolute target manner, but is controlled and the feeling of a driver is controlled.
Further comprising a step S8, wherein the step S8: judging whether the SOC of the electric quantity of the automobile power battery is greater than 95%, if so, sending a braking signal to the ESC system by the micro control unit to control the reduction of the automobile speed, otherwise, sending a negative torque signal to the motor controller by the vehicle-mounted communication device to increase the requirement of a negative torque, changing the current directions of the power motor and the power battery by the motor controller through a contactor to carry out energy recovery, and when the output torque of the automobile is zero, still not reducing the automobile speed, and the SOC of the power battery is less than 95%, properly increasing the requirement of the negative torque, reversely charging the power battery, and reducing the automobile speed by using an energy recovery mode.
If the output torque of the vehicle is zero, the vehicle speed cannot be reduced, the SOC of the battery is larger than 95%, the battery cannot be charged in an energy recovery mode to limit the vehicle speed, if the electric quantity of the energy recovery is larger than 5%, the battery is overloaded, overload activation can affect circuit current to enable the battery to be in short-circuit explosion, and potential safety hazards exist.
The step S7 includes:
a positive torque dynamic adjusting step: when the torque is judged to be larger than +/-3 NM, the torque is firstly reduced to +/-3 NM, 5 message cycles are stopped, then the torque is quickly changed to-3 NM, the torque passes through a zero torque state, then the torque stays for 5 message cycles, the required negative torque is adjusted to the size according to the normal speed, when the torque is judged to be larger than +/-3 NM, the torque is firstly reduced to +/-3 NM, the torque stays for 5 message cycles (generally 10ms), then the torque is quickly changed to-3 NM, the torque passes through the zero torque state, then the torque stays for 5 message cycles, and the required negative torque is adjusted to the size according to the normal speed. The-3 NM is quickly compiled from +3NM to prevent the gear from swinging in the gap so as to bring jitter, the retention time is mainly used for preventing the gear from impacting due to overlarge change, the direction process is the same, and in addition, 3NM and 5 message periods need actual test and calibration determination.
A negative torque dynamic adjusting step: when the torque is judged to be larger than-3 NM, the torque is reduced to-3 NM firstly, the torque stays for 5 message periods, then the torque is changed to +3NM rapidly, the zero torque state is passed, then the torque stays for 5 message periods, the required positive torque is adjusted according to the normal speed, when the torque is judged to be larger than-3 NM, the torque is reduced to-3 NM firstly, the torque stays for 5 message periods (generally 10ms), then the torque is changed to +3NM rapidly, the torque passes through the zero torque state, then the torque stays for 5 message periods, and the required negative torque is adjusted according to the normal speed. The-3 NM rapid guide +3NM is used for preventing the gear from swinging in the gap so as to bring jitter, the retention time is mainly used for preventing the gear from impacting due to overlarge change, the direction process is the same, and in addition, 3NM and 5 message periods need actual test and calibration determination.
Further comprising step S9:
step S3: and the micro control unit detects whether the vehicle has a fault, if so, the step S10 is carried out, if not, the step S11 is carried out, and if the vehicle is subjected to dynamic adjustment, the vehicle is continuously detected.
Step S10: and judging whether the vehicle speed is less than the fault vehicle speed V4, if so, returning to the step S3, otherwise, entering the step S12, if not, returning to the step S3, and judging whether the vehicle speed is less than the fault vehicle speed V4.
Step S11: and judging whether the automobile speed is less than the high-stage speed limit value V2, if so, returning to the step S3, otherwise, entering the step S12, if not, returning to the step S3, and judging whether the automobile speed is less than the low-stage speed limit value V2.
Step S12: the vehicle-mounted communication device sends a torque reduction signal to the micro control unit, the micro control unit controls the power motor of the vehicle to adjust to the maximum negative torque, when the vehicle speed is greater than a high-section speed limit value V2 or is greater than a fault vehicle speed V4, the vehicle is over-speed seriously, potential safety hazards exist, the vehicle speed is urgently required to be reduced, the micro control unit controls the power motor of the vehicle to adjust to the maximum negative torque, and the speed reduction efficiency is improved.
The low-stage speed limit value V1 of the step S3 and the step S4 is greater than the fault vehicle speed V3, the high-stage speed limit value V2 of the step S10 and the step S11 is greater than the fault vehicle speed V4, and the fault vehicle speed V4 is greater than the fault vehicle speed V3.
Wherein the high-speed limit value V2 is equal to the low-speed limit value V1 minus 5km/h, and wherein the breakdown vehicle speed V4 is equal to the breakdown vehicle speed V3 minus 5 km/h.
When the vehicle speed is reduced to a low-section speed limit value V1-5km/h, the overspeed prompt is canceled from the instrument, and when the vehicle speed is reduced to a high-section speed limit value V2-5km/h, the serious overspeed display is canceled from the instrument.
When the vehicle speed exceeds the low-section speed limit value V1, the display shows that 'you have overspeed'.
When the vehicle speed exceeds the high-speed limit value V2, a display is displayed on the meter, wherein the display shows that the speed is seriously overspeed and the speed is reduced immediately.
When the vehicle speed is reduced to a low-range speed limit value V1-5km/h, the overspeed prompt is canceled and displayed on the instrument.
When the vehicle speed is reduced to a high-section speed limit value V2-5km/h, the display of 'you have overspeed seriously and please decelerate immediately' is cancelled on the instrument.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A pure electric vehicle speed limiting method based on dynamic calculation is characterized by comprising the following steps: the method comprises the following steps:
step S1: presetting a low-stage speed limit value V1, a fault vehicle speed V3, a high-stage speed limit value V2 and a fault vehicle speed V4;
step S2: respectively acquiring a vehicle speed signal, the opening degree of a brake pedal and the opening degree of an accelerator pedal by a micro-control unit;
step S3: detecting whether the vehicle has a fault by using a micro control unit, if so, entering a step S4, and if not, entering a step S5;
step S4: judging whether the vehicle speed is less than the fault vehicle speed V3, if so, returning to the step S3, and if not, entering the step S6;
step S5: judging whether the automobile speed is less than the low-stage speed limit value V1, if so, returning to the step S3, and if not, entering the step S6;
step S6: sending a torque reduction signal to a micro control unit through a vehicle-mounted communication device, controlling the power and the rotating speed reduction of the power motor by the micro control unit, reducing the kp value in PID regulation, increasing the ki value, reducing the torque reduction speed and entering the step S7;
step S7: the method is characterized in that a dynamic adjustment mode is adopted, a torque signal is sent to a micro control unit through a vehicle-mounted communication device, the torque is controlled to be the same in the original direction, the torque is quickly converted into the torque in the other direction, and the positive and negative torques are adjusted repeatedly, so that the speed of the whole vehicle is maintained in a target speed range of +/-3 km/h.
2. The pure electric vehicle speed limiting method based on dynamic calculation is characterized in that: further comprising a step S8, wherein the step S8: judging whether the SOC of the electric quantity of the power battery of the automobile is greater than 95%, if so, sending a braking signal to the ESC system by the micro control unit to control the speed of the automobile to be reduced, otherwise, sending a negative torque signal to the motor controller by the micro control unit according to the requirement of increasing the negative torque of the vehicle-mounted communication device, and changing the current directions of the power motor and the power battery by the motor controller through a contactor to recover energy.
3. The pure electric vehicle speed limiting method based on dynamic calculation is characterized in that: the step S7 includes:
a positive torque dynamic adjusting step: when the torque is judged to be more than +/-3 NM, the torque is reduced to +/-3 NM firstly, 5 message cycles are stopped, then the torque is quickly changed to-3 NM, a zero torque state is passed, then 5 message cycles are stopped, and the required negative torque is adjusted according to a normal speed;
a negative torque dynamic adjusting step: when the torque is judged to be larger than-3 NM, the torque is reduced to-3 NM firstly, 5 message periods are kept, then the torque is changed to +3NM rapidly, the zero torque state is passed, 5 message periods are kept, and the required positive torque is adjusted according to the normal speed.
4. The pure electric vehicle speed limiting method based on dynamic calculation is characterized in that: further comprising step S9:
step S3: the micro control unit detects whether the vehicle has a fault, if so, the step S10 is carried out, and if not, the step S11 is carried out;
step S10: judging whether the vehicle speed is less than the fault vehicle speed V4, if so, returning to the step S3, and if not, entering the step S12;
step S11: judging whether the automobile speed is less than a high-speed limit value V2, if so, returning to the step S3, and if not, entering the step S12;
step S12: and sending a torque reduction signal to the micro control unit through the vehicle-mounted communication device, and controlling the power motor to adjust to the maximum negative torque by the micro control unit.
5. The pure electric vehicle speed limiting method based on dynamic calculation is characterized in that: the low-stage speed limit value V1 of the step S3 and the step S4 is greater than the fault vehicle speed V3, the high-stage speed limit value V2 of the step S10 and the step S11 is greater than the fault vehicle speed V4, and the fault vehicle speed V4 is greater than the fault vehicle speed V3.
6. The pure electric vehicle speed limiting method based on dynamic calculation is characterized in that: when the vehicle speed is reduced to a low-section speed limit value V1-5km/h, the overspeed prompt is canceled from the instrument, and when the vehicle speed is reduced to a high-section speed limit value V2-5km/h, the serious overspeed display is canceled from the instrument.
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| CN113370791B (en) * | 2021-06-10 | 2023-03-14 | 合肥工业大学 | Pure electric vehicle and regenerative braking control recovery method, device and system thereof |
| CN113665374B (en) * | 2021-09-28 | 2024-06-18 | 潍柴动力股份有限公司 | Vehicle speed control method, device, equipment and storage medium |
| CN114394034A (en) * | 2022-01-29 | 2022-04-26 | 重庆长安新能源汽车科技有限公司 | Power-saving mode control method and system and electric automobile |
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