CN113147410A - E-ABS control method for small electric vehicle - Google Patents

E-ABS control method for small electric vehicle Download PDF

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Publication number
CN113147410A
CN113147410A CN202110554180.8A CN202110554180A CN113147410A CN 113147410 A CN113147410 A CN 113147410A CN 202110554180 A CN202110554180 A CN 202110554180A CN 113147410 A CN113147410 A CN 113147410A
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China
Prior art keywords
rotating speed
limit value
abs control
abs
brake
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CN202110554180.8A
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Chinese (zh)
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CN113147410B (en
Inventor
胡维超
高宇
陈清付
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Shenzhen Gobao Electronic Technology Co Ltd
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Shenzhen Gobao Electronic 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
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/16—Acceleration longitudinal
    • 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
    • B60L2240/421—Speed
    • 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)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses an E-ABS control method of a small electric vehicle, which comprises the following steps: 1) collecting a brake signal and judging whether the brake state is effective or not; 2) setting an upper limit value and a lower limit value of an E-ABS control rotating speed interval, and comparing the current rotating speed of the motor with the upper limit value and the lower limit value; 3) dividing an E-ABS control rotating speed interval into a plurality of rotating speed intervals, judging which rotating speed interval the current rotating speed of the motor is in, obtaining the current target acceleration, and dynamically adjusting the size of the brake according to the error between the target acceleration serving as a reference amount and the actual acceleration serving as a feedback amount by using a fuzzy control algorithm or a PID control algorithm; 4) and exiting the braking state. The E-ABS of the small electric vehicle is controlled by the feedback signal of the acceleration sensor, the braking force is controlled in real time by using a preset acceleration curve according to the feedback of the current actual acceleration of the vehicle, and the stability of the whole vehicle during braking is kept.

Description

E-ABS control method for small electric vehicle
Technical Field
The invention relates to an E-ABS control method, in particular to an E-ABS control method of a small electric vehicle.
Background
The E-ABS control method of the electric two-wheeled vehicle in the prior art can generate different braking force within a certain speed interval according to the magnitude of the reverse driving force generated by the speed control motor. The control method in the prior art has the following defects: the output of the fixed braking force gives a user a sense of sudden stop, so that the driving comfort is reduced.
Disclosure of Invention
The invention aims to provide an E-ABS control method of a small electric vehicle and the vehicle.
The invention is realized by adopting the following technical scheme:
an E-ABS control method for a small electric vehicle, characterized by comprising the steps of:
1) gather the brake signal, judge whether the brake state is effective: if the braking state is effective, the braking flag bit is set to be effective, or: the braking state is invalid, and the braking state is quitted;
2) setting an upper limit value and a lower limit value of an E-ABS control rotating speed interval, and comparing the current rotating speed of the motor with the upper limit value and the lower limit value: if the current rotating speed of the motor is between the upper limit value and the lower limit value of the E-ABS control rotating speed interval, the E-ABS is started, or: if the rotating speed of the motor is out of the upper limit value and the lower limit value of the E-ABS control rotating speed interval, returning to the step 1), and continuously judging whether the braking state is effective;
3) dividing an E-ABS control rotating speed interval into a plurality of rotating speed intervals, judging which rotating speed interval the current rotating speed of the motor is in, obtaining the current target acceleration, and dynamically adjusting the size of the brake according to the error between the target acceleration serving as a reference amount and the actual acceleration serving as a feedback amount by using a fuzzy control algorithm or a PID control algorithm;
4) and exiting the braking state.
Further, in the step 1), if the brake state is effective, the accelerator output is cleared, and the handle is set to be ineffective in speed regulation.
Further, in the step 4), the brake state is quitted, the effective brake flag bit is cleared, and the rotating handle is set to be effective in speed regulation.
Further, when the error between the target acceleration and the actual acceleration is large, the fuzzy control algorithm is used for adjusting the magnitude of the braking force, and when the error between the target acceleration and the actual acceleration is small, the PID control algorithm is used for adjusting the magnitude of the braking force.
The invention has the beneficial technical effects that: the E-ABS of the small electric vehicle is controlled by an acceleration sensor feedback signal, the braking force is controlled in real time by an algorithm according to the feedback of the current actual acceleration of the vehicle by using a preset acceleration curve, and the stability of the whole vehicle during braking is kept.
Drawings
FIG. 1 is an overall flow chart of an E-ABS control method for a small electric vehicle.
FIG. 2 is a control logic flow diagram of an E-ABS control method.
Detailed Description
The invention will be better understood by the following description of embodiments thereof, but the applicant's specific embodiments are not intended to limit the invention to the particular embodiments shown, and any changes in the definition of parts or features and/or in the overall structure, not essential changes, are intended to define the scope of the invention.
In the present invention, small electric vehicles are generally referred to as riding electric vehicles, including electric bicycles, electric tricycles, electric motorcycles, etc., but in some specific cases, small non-electric vehicles are also included in the scope of protection of the present patent.
As shown in fig. 1, the main idea of the present invention is: 1. detecting whether the electric two-wheeled vehicle meets the condition of entering the E-ABS, and if so, entering the E-ABS control; 2. setting a reference acceleration according to the current rotating speed, feeding back the actual acceleration through a sensor, adjusting the currently output braking force by using fuzzy PID dual-mode control, and outputting a corresponding braking force through an FOC control motor to enable the actual acceleration to reach the reference acceleration; 3. and after the electric two-wheeled vehicle meets the condition of exiting the E-ABS, closing the drive and ending the E-ABS control.
As shown in fig. 2, the specific E-ABS control method includes the steps of:
1. and (3) collecting a brake signal, judging whether the brake state is effective, if so, entering the brake state, setting a brake flag bit, resetting the accelerator output, and at the moment, adjusting the speed by the turning handle inefficiently. Otherwise, the braking state is exited, and the step 4 is executed.
2. Recording the E-ABS control rotating speed interval as Nmin～NmaxAccording to the calculated current rotating speed N of the motor, the current rotating speed N is compared with an upper limit value NmaxAnd a lower limit value NminAnd comparing and judging whether the E-ABS can be started currently. When the rotating speed N>NmaxOr N<NminCan not be started when rotating at the speed Nmin<N<NmaxThe E-ABS is turned on. And (4) when the E-ABS output is started, executing the step 3, and otherwise, returning to the step 1.
3. Dividing the whole rotating speed interval into rotating speed intervals with reference accelerations of a0, a1 and … an +1 respectively: n is a radical ofmin～N0、N0～N1、…Nn～Nmax. And obtaining the current target acceleration a through the rotating speed interval where the current rotating speed N is located. The control algorithm uses fuzzy PID dual-mode control, when the error between the reference target acceleration a and the feedback actual acceleration a is large, the fuzzy control is used, and when the error is smaller than a certain range, the PID control algorithm is adopted to adjust the braking force. According to the common technical knowledge in the field mastered by the technicians in the field and by combining the actual working conditions and experimental data, the fuzzy control algorithm is used for adjusting the magnitude of the braking force when the error between the target acceleration and the actual acceleration is large, and the PID control algorithm is used for adjusting the magnitude of the braking force when the error between the target acceleration and the actual acceleration is small.
4. And the brake state is quitted, the effective brake flag bit is cleared, and the rotating handle can normally regulate the speed.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
For small electric vehicles to which the E-ABS control method is applied, it should also fall within the scope of protection of the present patent claims.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that all such changes and modifications as fall within the true spirit and scope of the invention be considered as within the following claims.

Claims (4)

1. An E-ABS control method for a small electric vehicle, characterized by comprising the steps of:
1) gather the brake signal, judge whether the brake state is effective: if the braking state is effective, the braking flag bit is set to be effective, or: the braking state is invalid, and the braking state is quitted;
2) setting an upper limit value and a lower limit value of an E-ABS control rotating speed interval, and comparing the current rotating speed of the motor with the upper limit value and the lower limit value: if the current rotating speed of the motor is between the upper limit value and the lower limit value of the E-ABS control rotating speed interval, the E-ABS is started, or: if the rotating speed of the motor is out of the upper limit value and the lower limit value of the E-ABS control rotating speed interval, returning to the step 1), and continuously judging whether the braking state is effective;
3) dividing an E-ABS control rotating speed interval into a plurality of rotating speed intervals, judging which rotating speed interval the current rotating speed of the motor is in, obtaining the current target acceleration, and dynamically adjusting the size of the brake according to the error between the target acceleration serving as a reference amount and the actual acceleration serving as a feedback amount by using a fuzzy control algorithm or a PID control algorithm;
4) and exiting the braking state.
2. The E-ABS control method for small electric vehicles according to claim 1, wherein in step 1), if the braking state is valid, the throttle output is cleared, and the throttle setting is invalid.
3. The E-ABS control method for small electric vehicles according to claim 1, wherein in step 4), the brake state is exited, the brake valid flag bit is cleared, and the turning handle speed regulation is set to be valid.
4. The E-ABS control method for a small-sized electric vehicle according to claim 1, wherein the magnitude of the braking force is adjusted using a fuzzy control algorithm when an error between the target acceleration and the actual acceleration is large, and the magnitude of the braking force is adjusted using a PID control algorithm when the error between the target acceleration and the actual acceleration is small.
CN202110554180.8A 2021-05-20 2021-05-20 E-ABS control method for small electric vehicle Active CN113147410B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114578682A (en) * 2022-03-02 2022-06-03 煤炭科学研究总院有限公司 Coal mining machine towing cable control method and device and storage medium
WO2024120045A1 (en) * 2022-12-07 2024-06-13 中车大连机车车辆有限公司 Speed control method for alternating-current transmission locomotive

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CN107415771A (en) * 2017-04-21 2017-12-01 韩燊睿 A kind of electric bicycle speed-regulating control system and method
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CN110605971A (en) * 2019-09-17 2019-12-24 中国第一汽车股份有限公司 Ramp parking control method and system for electric automobile and electric automobile
CN210437171U (en) * 2019-08-16 2020-05-01 张殿英 Buffering deceleration control device based on acceleration
DE102019204021A1 (en) * 2019-03-25 2020-10-01 Ford Global Technologies, Llc Device for adjusting an output power of an electric drive of an electric bicycle, operating method and electric bicycle

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US3519805A (en) * 1967-11-29 1970-07-07 Westinghouse Electric Corp Vehicle stopping control apparatus
US20070087898A1 (en) * 2005-10-18 2007-04-19 Siemens Vdo Automotive Corporation Passive Start with invalid brake ON-OFF switch state
CN102582600A (en) * 2012-03-20 2012-07-18 奇瑞汽车股份有限公司 Brake force real-time adjusting method based on brake-by-wire system and adjusting device
CN103758433A (en) * 2014-01-16 2014-04-30 江苏新绿能科技有限公司 Gate machine controller for shield gate and control method implemented by gate machine controller
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CN114578682A (en) * 2022-03-02 2022-06-03 煤炭科学研究总院有限公司 Coal mining machine towing cable control method and device and storage medium
WO2024120045A1 (en) * 2022-12-07 2024-06-13 中车大连机车车辆有限公司 Speed control method for alternating-current transmission locomotive

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Address after: No. 3 Gongye West Road, Songshan Lake Park, Dongguan City, Guangdong Province, 523000

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