CN112498122B - Torque control method and device and electric automobile - Google Patents

Torque control method and device and electric automobile Download PDF

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Publication number
CN112498122B
CN112498122B CN201910871406.XA CN201910871406A CN112498122B CN 112498122 B CN112498122 B CN 112498122B CN 201910871406 A CN201910871406 A CN 201910871406A CN 112498122 B CN112498122 B CN 112498122B
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torque
change rate
adjusting
current
nominal
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CN112498122A (en
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朱妍博
代康伟
梁海强
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle 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
    • 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
    • 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
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • 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 embodiment of the invention provides a torque control method and device and an electric automobile, relates to the technical field of vehicle control, and comprises the following steps: when the electric automobile is in a parking state, acquiring the gradient of a road where the electric automobile is located; acquiring output torque of a motor and pedal opening of an accelerator pedal at intervals of a first preset time length; when a release signal sent by an electronic parking brake system is not received, adjusting the target torque of the motor according to the gradient, the pedal opening and the output torque which are collected currently; and when a release signal sent by the electronic parking brake system is received, adjusting the target torque of the motor according to the gradient, the currently acquired pedal opening, the currently acquired output torque and the first moment when the release signal is received. The scheme of the invention realizes the matching of the torque of the motor and the release process of the calipers of the electronic parking brake system, and eliminates the grinding disc noise of the calipers.

Description

Torque control method and device and electric automobile
Technical Field
The invention relates to the technical field of vehicle control, in particular to a torque control method and device and an electric vehicle.
Background
In the prior art, after an electric automobile is parked on a slope through an electronic parking brake system, a driver can generate grinding disc sounds of 'creaky' with different degrees when an accelerator pedal is deeply stepped on for starting, or the grinding disc sounds do not exist after the accelerator pedal is stepped on, but the delay of vehicle acceleration is very strong, so that the matching effect of a motor and the electronic parking brake system is poor and satisfactory, and the grinding disc sounds of the accelerator pedal cannot be eliminated under the condition of ensuring the response of the accelerator pedal.
Disclosure of Invention
The invention aims to provide a torque control method and device and an electric automobile, which are used for eliminating grinding disc noise generated when the electric automobile starts on a hill in the prior art.
In order to achieve the above object, the present invention provides a torque control method comprising:
when the electric automobile is in a parking state, acquiring the gradient of a road where the electric automobile is located;
acquiring output torque of a motor and pedal opening of an accelerator pedal at intervals of a first preset time length;
when a release signal sent by an electronic parking brake system is not received, adjusting the target torque of the motor according to the gradient, the pedal opening and the output torque which are collected currently;
and when a release signal sent by the electronic parking brake system is received, adjusting the target torque of the motor according to the gradient, the currently acquired pedal opening, the currently acquired output torque and the first moment when the release signal is received.
Wherein the step of adjusting the target torque of the motor according to the gradient, the currently collected pedal opening, and the currently collected output torque comprises:
acquiring a first nominal torque change rate according to the gradient and a prestored gradient-torque change rate comparison table;
determining the current required torque of the electric automobile according to the currently acquired pedal opening;
determining the current torque change rate of the electric automobile according to the output torque, the current demand torque and the first preset time length which are acquired currently;
adjusting the target torque based on the first nominal torque rate of change and the current torque rate of change.
Wherein adjusting the target torque based on the first nominal torque rate of change and the current torque rate of change comprises:
obtaining a first difference between the first nominal torque change rate and the current torque change rate;
if the first difference value is larger than a first preset value, adjusting the target torque according to the current torque change rate; otherwise, the target torque is adjusted according to the first nominal torque change rate.
Wherein adjusting the target torque of the motor according to the gradient, the currently collected pedal opening, the currently collected output torque, and a first time at which the release signal is received comprises:
acquiring a second moment of currently acquiring the opening degree of the pedal;
acquiring a second nominal torque change rate according to the first moment, the second moment and the gradient;
acquiring the current required torque of the electric automobile according to the currently acquired pedal opening;
and adjusting the target torque according to the current demand torque, the currently acquired output torque and the second nominal torque change rate.
Wherein the step of deriving a second nominal torque rate of change based on the first time, the second time, and the grade comprises:
calculating the time difference between the second time and the first time;
if the time difference is smaller than a second preset time length, acquiring a second nominal torque change rate according to the gradient and a first prestored gradient-time-torque change rate comparison table; otherwise, the second nominal torque rate of change is obtained from the grade and a second look-up table of pre-stored grade-time-torque rates of change.
Wherein the step of adjusting the target torque of the electric machine in accordance with the current required torque, the currently acquired output torque, and the second nominal torque rate of change comprises:
acquiring the current torque change rate of the electric automobile according to the output torque, the current required torque and the first preset time;
obtaining a second difference between the second nominal torque rate of change and the current torque rate of change;
if the second difference value is larger than a second preset value, adjusting the target torque according to the current torque change rate; otherwise, the target torque is adjusted according to the second nominal torque change rate.
An embodiment of the present invention further provides a torque control device, including:
the acquisition module is used for acquiring the gradient of a road where the electric automobile is located when the electric automobile is in a parking state;
the acquisition module is used for acquiring the output torque of the motor and the pedal opening of the accelerator pedal at intervals of a first preset time length;
the first adjusting module is used for adjusting the target torque of the motor according to the gradient, the pedal opening degree and the output torque which are acquired currently when a release signal sent by the electronic parking brake system is not received;
and the second adjusting module is used for adjusting the target torque of the motor according to the gradient, the pedal opening degree collected currently, the output torque collected currently and the first moment when the release signal is received when the release signal sent by the electronic parking brake system is received.
Wherein the first adjusting module comprises:
the first obtaining submodule is used for obtaining a first nominal torque change rate according to the gradient and a prestored gradient-torque change rate comparison table;
the first determining submodule is used for determining the current required torque of the electric automobile according to the currently acquired pedal opening;
the second determining submodule is used for determining the current torque change rate of the electric automobile according to the output torque, the current required torque and the first preset time length which are acquired currently;
a first adjusting submodule, configured to adjust the target torque according to the first nominal torque change rate and the current torque change rate.
Wherein the first adjusting submodule comprises:
a first obtaining unit, configured to obtain a first difference between the first nominal torque change rate and the current torque change rate;
the first adjusting unit is used for adjusting the target torque according to the current torque change rate if the first difference value is larger than a first preset value; otherwise, the target torque is adjusted according to the first nominal torque change rate.
Wherein the second adjusting module comprises:
the second obtaining submodule is used for obtaining a second moment of currently collecting the pedal opening;
the third obtaining submodule is used for obtaining a second nominal torque change rate according to the first moment, the second moment and the gradient;
the third obtaining submodule is used for obtaining the current required torque of the electric automobile according to the currently collected pedal opening;
and the second adjusting submodule is used for adjusting the target torque according to the current required torque, the currently acquired output torque and the second nominal torque change rate.
Wherein the third obtaining sub-module includes:
a calculating unit, configured to calculate a time difference between the second time and the first time;
a second obtaining unit, configured to obtain a second nominal torque change rate according to the slope and a first lookup table of slope-time-torque change rates stored in advance if the time difference is smaller than a second preset time period; otherwise, the second nominal torque rate of change is obtained from the grade and a second look-up table of pre-stored grade-time-torque rates of change.
Wherein the second adjusting submodule comprises:
the third obtaining unit is used for obtaining the current torque change rate of the electric automobile according to the output torque, the current required torque and the first preset time length;
a fourth obtaining unit, configured to obtain a second difference between the second nominal torque change rate and the current torque change rate;
the second adjusting unit is used for adjusting the target torque according to the current torque change rate if the second difference value is larger than a second preset value; otherwise, the target torque is adjusted according to the second nominal torque change rate.
The embodiment of the invention also provides an electric automobile which comprises the torque control device.
An embodiment of the present invention further provides an electric vehicle, including: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the torque control method as described above.
Embodiments of the present invention also provide a computer readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the torque control method as described above.
The technical scheme of the invention at least has the following beneficial effects:
according to the torque control method, when the electric automobile is in a parking state, the gradient of a road where the electric automobile is located is obtained, a first preset time interval is reserved, and the output torque of a motor and the pedal opening of an accelerator pedal are collected; when a release signal sent by an electronic parking brake system is not received, adjusting the target torque of the motor according to the gradient, the pedal opening and the output torque which are collected currently; and when a release signal sent by the electronic parking brake system is received, adjusting the target torque of the motor according to the gradient, the currently acquired pedal opening, the currently acquired output torque and the first moment when the release signal is received. The torque of the motor is adjusted according to the process of locking-releasing in-process-complete releasing of the calipers of the electronic parking brake system, so that the torque of the motor is not too large at each stage of the whole process of releasing the calipers of the electronic parking brake system, and the grinding disc noise of 'squeaking' is avoided.
Drawings
FIG. 1 is a schematic diagram illustrating the basic steps of a torque control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram showing the basic composition of a torque control device according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Aiming at the problem that the sound of a grinding disc occurs in the release process of calipers of an electronic parking brake system in the prior art, the invention provides a torque control method, a torque control device and an electric automobile, which realize the matching of the motor torque and the release process of the calipers and completely eliminate the sound of the grinding disc of the calipers on the premise of ensuring no delay when an accelerator pedal is stepped on.
As shown in fig. 1, an embodiment of the present invention provides a torque control method, including:
and S101, when the electric automobile is in a parking state, acquiring the gradient of the road where the electric automobile is located.
In this step, the gradient of the road can be acquired by the gradient sensor on the electric vehicle.
And S102, collecting the output torque of the motor and the pedal opening of an accelerator pedal at intervals of a first preset time.
In this step, the current required torque of the electric vehicle is calculated according to the pedal opening by acquiring the pedal opening of the accelerator pedal, and in order to avoid the disc noise of calipers of the electronic parking brake system, the torque change rate needs to be determined according to the acquired output torque of the motor and the current required torque.
And step S103, when a release signal sent by the electronic parking brake system is not received, adjusting the target torque of the motor according to the gradient, the currently acquired pedal opening and the currently acquired output torque.
Here, it should be noted that the electronic parking brake system includes three states of a lock state-a release in process-a complete release state, and when the release signal is not received, the electronic parking brake system is in the lock state, and the torque of the motor is in a normally rising stage; therefore, the target torque of the motor may be adjusted only according to the gradient, the currently collected pedal opening degree, and the currently collected output torque.
And step S104, when a release signal sent by the electronic parking brake system is received, adjusting the target torque of the motor according to the gradient, the currently acquired pedal opening, the currently acquired output torque and the first moment when the release signal is received.
After receiving a release signal sent by the electronic parking brake system, the electronic parking brake system is in a state in a release process, wherein the state in the release process comprises a clamping force release section and a caliper idle stroke section, and the two stages are divided by time.
According to the torque control method, when the release signal is not received, namely the electronic parking brake system is in a locking state, the nominal torque change rate of the motor is determined according to the gradient; since the output torque of the motor needs to be matched with the release process of the caliper of the electronic parking brake system, after the release signal is received, the nominal torque change rate of the motor needs to be determined according to the gradient, the current moment and the first moment; determining a required torque according to the pedal opening, and adjusting a target torque through comparison of a current torque change rate and a nominal torque change rate; the torque of the motor is matched with the release process of the calipers of the electronic parking brake system, so that the phenomenon that the output torque of the motor is not matched with the release process of the calipers to generate the sound of the grinding disc is avoided, and the driving feeling of a driver is improved.
Specifically, in step S103, the step of adjusting the target torque of the motor according to the gradient, the currently acquired pedal opening, and the currently acquired output torque includes:
first, a first nominal torque rate of change is obtained based on the grade and a pre-stored grade-torque rate look-up table.
In this step, the gradient-torque change rate comparison table is a corresponding relation between the gradient of the road where the electric vehicle is located and the torque change rate of the motor of the electric vehicle, which is determined in advance according to experimental data; wherein the first nominal torque rate of change is a maximum torque rate of change of the electric machine at the current grade.
Secondly, determining the current required torque of the electric automobile according to the currently acquired pedal opening.
And then, determining the current torque change rate of the electric automobile according to the currently acquired output torque, the currently acquired demand torque and the first preset time length.
The torque change rate is a change amount of torque per unit time. Therefore, in this step, the current torque change rate of the electric vehicle is determined by the ratio of the difference between the first preset time period and the output torque to the first preset time period.
Finally, the target torque is adjusted according to the first nominal torque change rate and the current torque change rate.
In order to avoid the situation that the driving feeling is not good due to the fact that the vehicle has a feeling of rapid acceleration when starting, in the step, the target torque is adjusted according to the first nominal torque change rate and the current torque change rate, so that the torque change rate of the motor is smaller than the first nominal torque change rate.
More specifically, the step of adjusting the target torque based on the first nominal torque change rate and the current torque change rate includes:
obtaining a first difference between the first nominal torque change rate and the current torque change rate;
if the first difference value is larger than a first preset value, adjusting the target torque according to the current torque change rate; otherwise, the target torque is adjusted according to the first nominal torque change rate.
As can be seen from the above, the first nominal torque change rate is a pre-calibrated maximum torque change rate of the motor when the caliper is in the lock-up state; therefore, in this step, the torque change rate used for adjusting the target torque of the motor is determined by the difference between the first nominal torque change rate and the current torque change rate.
Specifically, in step S104, the step of adjusting the target torque of the motor according to the gradient, the currently acquired pedal opening, the currently acquired output torque, and the first time when the release signal is received includes:
firstly, acquiring a second moment of currently acquiring the opening degree of the pedal;
second, a second nominal torque rate of change is obtained based on the first time, the second time, and the grade.
After receiving a release signal sent by the electronic parking brake system, the electronic parking brake system firstly calculates the hill-holding torque of the electric automobile, then enters a clamping force release stage, and finally enters an idle stroke stage. Since the torque change rate of each stage is changed in real time, it is necessary to determine the current second nominal torque change rate according to the change in time.
And then, acquiring the current required torque of the electric automobile according to the currently acquired pedal opening.
And finally, adjusting the target torque according to the current required torque, the currently acquired output torque and the second nominal torque change rate.
Similarly, the second nominal torque change rate is the current maximum torque change rate of the motor, and in order to improve the driving feeling, the step still adjusts the target torque according to the current required torque, the currently acquired output torque, and the second nominal torque change rate.
Specifically, the step of obtaining a second nominal torque rate of change according to the first time, the second time, and the gradient includes:
calculating the time difference between the second time and the first time;
if the time difference is smaller than a second preset time length, acquiring a second nominal torque change rate according to the gradient and a first prestored gradient-time-torque change rate comparison table; otherwise, the second nominal torque rate of change is obtained from the grade and a second look-up table of pre-stored grade-time-torque rates of change.
Since the caliper release process of the electronic parking brake system includes: the clamping force releasing stage and the caliper idle stroke stage are distinguished by time, so that the step determines whether the currently adopted comparison table is the first comparison table or the second comparison table according to the time difference. Wherein the first and second control tables are also predetermined based on experimental data.
Specifically, the step of adjusting the target torque of the motor according to the current required torque, the currently acquired output torque, and the second nominal torque change rate includes:
firstly, the current torque change rate of the electric automobile is obtained according to the output torque, the current demand torque and the first preset time.
Secondly, acquiring a second difference value between the second nominal torque change rate and the current torque change rate;
finally, if the second difference value is larger than a second preset value, the target torque is adjusted according to the current torque change rate; otherwise, the target torque is adjusted according to the second nominal torque change rate.
The torque control method comprises the steps of determining a prestored comparison table which is required to be adopted at present according to a release signal, an output torque, a pedal opening and time, wherein the comparison table comprises a gradient-torque change rate comparison table corresponding to a caliper locking stage, a first comparison table of gradient-time-torque change rate corresponding to a clamping force release stage and a second comparison table of gradient-time-torque change rate corresponding to an idle stroke stage; and determining the current torque conversion rate according to the comparison table, the current output torque, the current required torque and the time so as to adjust the target torque of the motor, so that the output torque of the motor is completely matched with the release process of the caliper, and when the caliper is not completely withdrawn from the friction disc, the motor has larger torque to generate the disc sound.
As shown in fig. 2, an embodiment of the present invention provides a torque control device including:
the acquiring module 201 is configured to acquire a gradient of a road where an electric vehicle is located when the electric vehicle is in a parking state;
the acquisition module 202 is used for acquiring the output torque of the motor and the pedal opening of an accelerator pedal at intervals of a first preset time length;
the first adjusting module 203 is configured to adjust a target torque of the motor according to the gradient, the pedal opening degree currently acquired, and the output torque currently acquired when a release signal sent by the electronic parking brake system is not received;
and the second adjusting module 204 is configured to, when a release signal sent by the electronic parking brake system is received, adjust a target torque of the motor according to the gradient, the currently acquired pedal opening, the currently acquired output torque, and a first time when the release signal is received.
In the torque control device according to the embodiment of the present invention, the first adjusting module 203 includes:
the first obtaining submodule is used for obtaining a first nominal torque change rate according to the gradient and a prestored gradient-torque change rate comparison table;
the first determining submodule is used for determining the current required torque of the electric automobile according to the currently acquired pedal opening;
the second determining submodule is used for determining the current torque change rate of the electric automobile according to the output torque, the current required torque and the first preset time length which are acquired currently;
a first adjusting submodule, configured to adjust the target torque according to the first nominal torque change rate and the current torque change rate.
In the torque control device according to the embodiment of the present invention, the first adjustment submodule includes:
a first obtaining unit, configured to obtain a first difference between the first nominal torque change rate and the current torque change rate;
the first adjusting unit is used for adjusting the target torque according to the current torque change rate if the first difference value is larger than a first preset value; otherwise, the target torque is adjusted according to the first nominal torque change rate.
In the torque control device according to the embodiment of the present invention, the second adjustment module includes:
the second obtaining submodule is used for obtaining a second moment of currently collecting the pedal opening;
the third obtaining submodule is used for obtaining a second nominal torque change rate according to the first moment, the second moment and the gradient;
the third obtaining submodule is used for obtaining the current required torque of the electric automobile according to the currently collected pedal opening;
and the second adjusting submodule is used for adjusting the target torque according to the current required torque, the currently acquired output torque and the second nominal torque change rate.
In the torque control device according to the embodiment of the present invention, the third obtaining submodule includes:
a calculating unit, configured to calculate a time difference between the second time and the first time;
a second obtaining unit, configured to obtain a second nominal torque change rate according to the slope and a first lookup table of slope-time-torque change rates stored in advance if the time difference is smaller than a second preset time period; otherwise, the second nominal torque rate of change is obtained from the grade and a second look-up table of pre-stored grade-time-torque rates of change.
In the torque control device according to the embodiment of the present invention, the second adjustment submodule includes:
the third obtaining unit is used for obtaining the current torque change rate of the electric automobile according to the output torque, the current required torque and the first preset time length;
a fourth obtaining unit, configured to obtain a second difference between the second nominal torque change rate and the current torque change rate;
the second adjusting unit is used for adjusting the target torque according to the current torque change rate if the second difference value is larger than a second preset value; otherwise, the target torque is adjusted according to the second nominal torque change rate.
In the torque control device according to the embodiment of the present invention, on one hand, the first adjusting module 203 adjusts the target torque of the motor according to the slope acquired by the acquiring module 201, the output torque currently acquired by the acquiring module 202, and the pedal opening currently acquired by the acquiring module; on the other hand, the second adjusting module 203 adjusts the target torque of the motor according to the gradient acquired by the acquiring module 201, the output torque and the pedal opening degree acquired by the acquiring module 202 at present, and the first time when the release signal sent by the electronic parking brake system is received; the output torque of the motor is matched with the release process of the calipers of the electronic parking brake system, and the grinding disc sound of the electronic parking brake system can be completely eliminated on the premise that the accelerator pedal is not delayed.
The embodiment of the invention also provides an electric automobile which comprises the torque control device.
An embodiment of the present invention further provides an electric vehicle, including: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the torque control method as described above.
Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements the steps of the torque control method as described above.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (13)

1. A torque control method, comprising:
when the electric automobile is in a parking state, acquiring the gradient of a road where the electric automobile is located;
acquiring output torque of a motor and pedal opening of an accelerator pedal at intervals of a first preset time length;
when a release signal sent by an electronic parking brake system is not received, adjusting the target torque of the motor according to the gradient, the pedal opening and the output torque which are collected currently;
when a release signal sent by the electronic parking brake system is received, adjusting the target torque of the motor according to the gradient, the pedal opening degree collected at present, the output torque collected at present and the first moment when the release signal is received;
the step of adjusting the target torque of the motor according to the gradient, the currently acquired pedal opening and the currently acquired output torque comprises:
acquiring a first nominal torque change rate according to the gradient and a prestored gradient-torque change rate comparison table;
determining the current required torque of the electric automobile according to the currently acquired pedal opening;
determining the current torque change rate of the electric automobile according to the output torque, the current demand torque and the first preset time length which are acquired currently;
adjusting the target torque based on the first nominal torque rate of change and the current torque rate of change.
2. The torque control method of claim 1, wherein adjusting the target torque based on the first nominal torque rate of change and the current torque rate of change comprises:
obtaining a first difference between the first nominal torque change rate and the current torque change rate;
if the first difference value is larger than a first preset value, adjusting the target torque according to the current torque change rate; otherwise, the target torque is adjusted according to the first nominal torque change rate.
3. The torque control method according to claim 1, wherein the step of adjusting the target torque of the motor in accordance with the gradient, the pedal opening degree currently collected, the output torque currently collected, and a first timing at which the release signal is received includes:
acquiring a second moment of currently acquiring the opening degree of the pedal;
acquiring a second nominal torque change rate according to the first moment, the second moment and the gradient;
acquiring the current required torque of the electric automobile according to the currently acquired pedal opening;
and adjusting the target torque according to the current demand torque, the currently acquired output torque and the second nominal torque change rate.
4. The torque control method of claim 3, wherein obtaining a second nominal torque rate of change based on the first time, the second time, and the grade comprises:
calculating the time difference between the second time and the first time;
if the time difference is smaller than a second preset time length, acquiring a second nominal torque change rate according to the gradient and a first prestored gradient-time-torque change rate comparison table; otherwise, the second nominal torque rate of change is obtained from the grade and a second look-up table of pre-stored grade-time-torque rates of change.
5. The torque control method according to claim 3, wherein the step of adjusting the target torque of the motor in accordance with the current required torque, the currently collected output torque, and the second nominal torque change rate includes:
acquiring the current torque change rate of the electric automobile according to the output torque, the current required torque and the first preset time;
obtaining a second difference between the second nominal torque rate of change and the current torque rate of change;
if the second difference value is larger than a second preset value, adjusting the target torque according to the current torque change rate; otherwise, the target torque is adjusted according to the second nominal torque change rate.
6. A torque control device, comprising:
the acquisition module is used for acquiring the gradient of a road where the electric automobile is located when the electric automobile is in a parking state;
the acquisition module is used for acquiring the output torque of the motor and the pedal opening of the accelerator pedal at intervals of a first preset time length;
the first adjusting module is used for adjusting the target torque of the motor according to the gradient, the pedal opening degree and the output torque which are acquired currently when a release signal sent by the electronic parking brake system is not received;
the second adjusting module is used for adjusting the target torque of the motor according to the gradient, the pedal opening degree collected currently, the output torque collected currently and the first moment when the release signal is received when the release signal sent by the electronic parking brake system is received;
the first adjustment module includes:
the first obtaining submodule is used for obtaining a first nominal torque change rate according to the gradient and a prestored gradient-torque change rate comparison table;
the first determining submodule is used for determining the current required torque of the electric automobile according to the currently acquired pedal opening;
the second determining submodule is used for determining the current torque change rate of the electric automobile according to the output torque, the current required torque and the first preset time length which are acquired currently;
a first adjusting submodule, configured to adjust the target torque according to the first nominal torque change rate and the current torque change rate.
7. The torque control device of claim 6, wherein the first adjustment submodule includes:
a first obtaining unit, configured to obtain a first difference between the first nominal torque change rate and the current torque change rate;
the first adjusting unit is used for adjusting the target torque according to the current torque change rate if the first difference value is larger than a first preset value; otherwise, the target torque is adjusted according to the first nominal torque change rate.
8. The torque control device of claim 6, wherein the second adjustment module comprises:
the second obtaining submodule is used for obtaining a second moment of currently collecting the pedal opening;
the third obtaining submodule is used for obtaining a second nominal torque change rate according to the first moment, the second moment and the gradient;
the third obtaining submodule is used for obtaining the current required torque of the electric automobile according to the currently collected pedal opening;
and the second adjusting submodule is used for adjusting the target torque according to the current required torque, the currently acquired output torque and the second nominal torque change rate.
9. The torque control device of claim 8, wherein the third acquisition submodule includes:
a calculating unit, configured to calculate a time difference between the second time and the first time;
a second obtaining unit, configured to obtain a second nominal torque change rate according to the slope and a first lookup table of slope-time-torque change rates stored in advance if the time difference is smaller than a second preset time period; otherwise, the second nominal torque rate of change is obtained from the grade and a second look-up table of pre-stored grade-time-torque rates of change.
10. The torque control device of claim 8, wherein the second adjustment submodule includes:
the third obtaining unit is used for obtaining the current torque change rate of the electric automobile according to the output torque, the current required torque and the first preset time length;
a fourth obtaining unit, configured to obtain a second difference between the second nominal torque change rate and the current torque change rate;
the second adjusting unit is used for adjusting the target torque according to the current torque change rate if the second difference value is larger than a second preset value; otherwise, the target torque is adjusted according to the second nominal torque change rate.
11. An electric vehicle characterized by comprising the torque control device according to any one of claims 6 to 10.
12. An electric vehicle, comprising: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the torque control method according to any one of claims 1 to 5.
13. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the torque control method according to any one of claims 1 to 5.
CN201910871406.XA 2019-09-16 2019-09-16 Torque control method and device and electric automobile Active CN112498122B (en)

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CN114670671A (en) * 2021-12-08 2022-06-28 北京新能源汽车股份有限公司 Electric automobile control method and device and electric automobile

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CN109552068A (en) * 2018-12-10 2019-04-02 山东国金汽车制造有限公司 A kind of electric car uphill starting anti-skid control method
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CN107539300A (en) * 2017-08-30 2018-01-05 北京新能源汽车股份有限公司 Braking method and device for remotely driving electric automobile, controller and electric automobile
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