CN113386580A - Electric vehicle and wheel-side motor fault detection method, control method and device thereof - Google Patents
Electric vehicle and wheel-side motor fault detection method, control method and device thereof Download PDFInfo
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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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- G01R31/34—Testing dynamo-electric machines
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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
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention relates to an electric vehicle and a wheel side motor fault detection method, a wheel side motor fault control method and a wheel side motor fault detection device of the electric vehicle, and belongs to the technical field of electric vehicles. The detection method comprises the steps of obtaining a first actual wheel speed and a second actual wheel speed of a wheel when the accelerator opening degree is increased and/or decreased, calculating a first driving wheel speed of the wheel by using a first rotating speed of a wheel side motor, calculating a second driving wheel speed of the wheel by using a second rotating speed of the wheel side motor, comparing the speed difference between the first driving wheel speed and the first actual wheel speed, and the speed difference between the second driving wheel speed and the second actual wheel speed, and judging the broken shaft fault of the motor when two or one of the speed differences is larger than or equal to a corresponding vehicle speed threshold value respectively. The invention can detect the broken shaft fault of the wheel edge motor in time in the running process of the motor, and is beneficial to the safe running of the vehicle; when the motor has a broken shaft fault, the broken shaft fault of the motor can be accurately judged through twice speed difference judgment when the opening degree of the accelerator is increased and decreased, so that the fault misjudgment is avoided, and the reliability is high.
Description
Technical Field
The invention belongs to the technical field of electric vehicles, and particularly relates to an electric vehicle and a wheel-side motor fault detection method, a wheel-side motor fault control method and a wheel-side motor fault detection device of the electric vehicle.
Background
At present, wheel limit drive passenger train (contain the passenger train of wheel limit motor promptly) has become pure electric drive system's development trend because of advantages such as its system efficiency is higher, space saving, arrange flexibility, and it possesses unique motor fault handling mechanism: if the motor is found to be out of order, the out-of-order motor is shielded through the whole vehicle control strategy, and the vehicle can still run by the work of other non-out-of-order motors.
In the prior art, the description of the processing mechanism of the motor fault can be found in chinese patent publication No. CN110712525A, which discloses a limp control method of a wheel-side motor driving system, in which fault information of wheel-side motors of wheels at both sides is acquired, and if only one wheel-side motor has a fault, the wheel-side motor at the fault side is controlled to stop running, and the wheel-side motor at the non-fault side is controlled to continue running at a limited speed, so that the fault processing mechanism reduces vehicle anchor caused by the motor fault to a certain extent.
However, in the prior art, the description of how to find the motor fault can be found in chinese patent publication No. CN107471988B, which discloses a self-checking method for a motor driving system, the method controls a motor to operate with a first amount of movement by that an accelerator pedal does not give an instruction after a vehicle is powered on and before the motor is started, and detects the current and the rotation angle of the motor during the movement, and when the current of the motor is not equal to a preset current and the rotation angle of the motor is not equal to a preset rotation angle, it is determined that the motor has a fault. The method has the following disadvantages:
firstly, the motor may have a fault in the normal running process of the vehicle, and the motor is started at the moment, so that the fault in the running process of the motor cannot be found in time in the running process according to the judgment logic in the method, and the judgment can be started only after the motor is stopped and before the next start, so that the judgment is delayed, and the safe running of the vehicle is not facilitated.
And secondly, the shaft breakage fault of the wheel edge motor is caused by the external or self mechanical fault, so that the mechanical transmission connection between the wheel edge motor and the corresponding wheel is failed, the motor can still operate at the moment, but the wheel edge motor cannot output torque to the corresponding wheel, and then according to the judgment logic in the method, when the wheel edge motor with the shaft breakage fault operates according to the first operation quantity, the current and the rotation angle of the wheel edge motor are normal, the motor is judged not to have the fault, and the misjudgment is generated.
Disclosure of Invention
The invention aims to provide a wheel edge motor fault detection method of an electric vehicle, which is used for solving the problems that the motor fault is not detected timely and fault misjudgment is easy to occur in the prior art; the wheel side motor fault control method of the electric vehicle is also provided, and is used for solving the problems of untimely motor fault detection and error control caused by error judgment of the fault; the wheel edge motor fault control device of the electric vehicle is also provided, and is used for solving the problems of untimely motor fault detection and error control caused by fault misjudgment in the prior art; still provide an electric vehicle for solve prior art and detect motor trouble untimely, the misjudgement that breaks down easily leads to the vehicle to take the trouble to go, is unfavorable for driving safety's problem.
Based on the purpose, the technical scheme of the wheel side motor fault detection method of the electric vehicle is as follows:
when the accelerator opening of the electric vehicle is increased, acquiring a first rotating speed of a wheel-side motor in the electric vehicle, wherein the first rotating speed is the actual rotating speed or the average rotating speed of the wheel-side motor; acquiring a first actual wheel speed of a wheel corresponding to the wheel-side motor; according to the relation between the rotating speed of a wheel side motor and the wheel speed of a corresponding wheel in a normal running state, combining the first rotating speed to obtain a first driving wheel speed of the wheel corresponding to the wheel side motor, and detecting whether the speed difference between the first driving wheel speed and a first actual wheel speed of the wheel is not less than a set first wheel speed threshold value or not;
and/or when the accelerator opening of the electric vehicle is reduced, acquiring a second rotating speed of a wheel-side motor in the electric vehicle, wherein the second rotating speed is the actual rotating speed or the average rotating speed of the wheel-side motor; acquiring a second actual wheel speed of a wheel corresponding to the wheel-side motor; obtaining a second driving wheel speed of the wheel by combining the second rotating speed according to the relation between the rotating speed of the wheel edge motor and the wheel speed of the corresponding wheel in the normal running state, and detecting that the speed difference between the second driving wheel speed of the wheel and a second actual wheel speed is not less than a set second vehicle speed threshold value;
and when the speed difference between the first driving wheel speed and the first actual wheel speed of the wheel is not smaller than a set first vehicle speed threshold value and/or the speed difference between the second driving wheel speed and the second actual wheel speed of the wheel is not smaller than a set second vehicle speed threshold value, determining that the broken shaft fault of the wheel-side motor occurs.
The beneficial effects of the above technical scheme are:
according to the detection method, when the accelerator opening of the electric vehicle is increased and decreased, the first actual wheel speed and the second actual wheel speed of the wheel are obtained through the first rotating speed of the wheel motor, the first driving wheel speed of the wheel is obtained through the first rotating speed of the wheel motor, the second driving wheel speed of the wheel is obtained through the second rotating speed of the wheel motor, the speed difference between the first driving wheel speed and the first actual wheel speed and the speed difference between the second driving wheel speed and the second actual wheel speed are detected, and when the two speed differences are detected to be respectively larger than or equal to corresponding vehicle speed threshold values, the fact that the actual wheel speed of the vehicle cannot follow the corresponding driving wheel speed when the accelerator is added and the accelerator is reduced is indicated, and therefore the motor broken shaft fault is judged to occur. Or, when the accelerator opening of the electric vehicle is increased, the first driving wheel speed of the corresponding wheel is obtained by obtaining the first rotating speed of the wheel-side motor, the difference is made between the first driving wheel speed and the first actual rotating speed of the corresponding wheel, whether the speed difference is larger than or equal to a vehicle speed threshold value is judged, and therefore the motor broken shaft fault is judged. Or when the accelerator opening of the electric vehicle is reduced, obtaining the second driving wheel speed of the corresponding wheel by obtaining the second rotating speed of the wheel-side motor, and making a difference between the second driving wheel speed and the second actual rotating speed of the corresponding wheel, and judging whether the speed difference is greater than or equal to a vehicle speed threshold value, so as to judge that the motor shaft breakage fault occurs.
The invention can detect the broken shaft fault of the wheel edge motor in time in the running process of the motor, and is beneficial to the safe running of the vehicle; and when the motor has a broken shaft fault, the broken shaft fault of the wheel edge motor can be accurately judged by detecting the speed difference when the opening of the accelerator is increased and/or decreased under the condition of no load of the motor, so that the misjudgment is avoided, and the reliability is high.
In order to further guarantee the timeliness of detecting the broken shaft fault of the wheel-side motor, after the accelerator opening degree of the electric vehicle is increased, the speed difference between the first driving wheel speed and the first actual wheel speed of the wheel is detected to be larger than or equal to a set first vehicle speed threshold value, and the accelerator opening degree of the electric vehicle is detected not to be reduced within set time, so that a driver is reminded of performing the accelerator releasing operation. When the speed difference between the first driving wheel speed and the first actual wheel speed reaches or is greater than a first vehicle speed threshold value, a shaft breaking fault is preliminarily determined, and whether the shaft breaking fault occurs or not needs to be determined within set time so as to ensure the timeliness of fault determination.
Further, the calculation formula of the first driving wheel speed and the second driving wheel speed of the wheel is as follows:
where V1 is a first driving wheel speed of the wheel, V2 is a second driving wheel speed of the wheel, n1 is a first rotation speed of the wheel-side motor, n2 is a second rotation speed of the wheel-side motor, r is a rolling radius of the tire, and i is a transmission ratio between the rotation speed of the wheel-side motor and the corresponding wheel speed.
In order to avoid fault misjudgment, the first vehicle speed threshold value and/or the second vehicle speed threshold value should not be set too small, and the deviation between the driving vehicle speed and the actual wheel speed caused by bumpy road surface and turning road surface is considered, so the value range of the first vehicle speed threshold value and/or the second vehicle speed threshold value is 10-100 km/h.
Based on the purpose, the technical scheme of the wheel side motor fault control method of the electric vehicle is as follows:
determining a broken shaft fault of the wheel edge motor by the wheel edge motor fault detection method according to any one of claims 1 to 3;
and after the wheel edge motor is judged to have the broken shaft fault, carrying out motor fault mode control.
According to the wheel-side motor fault control method, the broken shaft fault of the motor can be quickly and effectively judged in the running process of the motor by using the wheel-side motor fault detection method, the reliability is high, the fault misjudgment is avoided, the error control caused by the fault misjudgment is avoided, and the safe running of a vehicle is facilitated.
Further, after the wheel-side motor has a broken shaft fault, when the detected accelerator opening of the electric vehicle is larger than a set opening threshold, the wheel-side motor with the fault is controlled not to output power, the wheel-side motor without the broken shaft fault is controlled to output power, the vehicle is controlled to run at a limited speed, and when the vehicle has the broken shaft fault, other non-fault motors can work, so that the vehicle can still run safely.
In order to further ensure safe driving of the vehicle, the control method further comprises:
judging whether a wheel-side motor without a broken shaft fault exists or not, and if so, allowing the vehicle to limp back to the factory; if not, the vehicle is not allowed to limp back to the factory.
Based on the above purpose, a wheel edge motor fault control device of an electric vehicle has the following technical scheme:
the wheel-side motor fault control method of the electric vehicle comprises a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor is coupled with the memory, and the processor realizes the wheel-side motor fault control method of the electric vehicle when executing the computer program.
The beneficial effects of the above technical scheme are:
the wheel edge motor fault control device provided by the invention can rapidly and effectively judge the broken shaft fault of the motor in the running process of the motor by using the wheel edge motor fault detection method, has high reliability, ensures that no fault misjudgment occurs, avoids error control caused by the fault misjudgment, and is beneficial to safe running of a vehicle.
Based on the above purpose, a technical scheme of the electric vehicle is as follows:
the wheel-side motor fault detection device comprises a memory, a processor and a computer program, wherein the computer program is stored in the memory and runs on the processor, the processor is coupled with the memory, and the processor executes the computer program to realize the wheel-side motor fault detection method of the electric vehicle.
The beneficial effects of the above technical scheme are:
according to the electric vehicle, the wheel-side motor fault control method is utilized, the broken shaft fault of the motor can be judged quickly and effectively in the running process of the motor, the misjudgment is avoided, the reliability is high, and the safe running of the electric vehicle is facilitated.
Further, the processor is a vehicle control unit, and the vehicle control unit is used for realizing fault detection and processing of the wheel-side motor.
Drawings
FIG. 1 is a flow chart of an embodiment of a wheel edge motor fault control method of the present invention;
FIG. 2 is a schematic view of an electric vehicle configuration of a vehicle embodiment of the invention;
the reference numerals in the figures are explained below:
1, a power battery; 2, a vehicle control unit; 3, a motor controller; 4, a wheel-side motor; 5, a speed reducer; and 6, vehicle wheels.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The embodiment of the control method comprises the following steps:
the embodiment of the wheel edge motor fault control method of the electric vehicle, which is disclosed by the invention, has the flow shown in figure 1 and comprises the following steps:
1) and detecting the fault of the wheel edge motor. The specific wheel edge motor fault detection steps are as follows:
the operating parameters of the vehicle are acquired. The parameters include a radius r of each wheel, a first rotation speed n1 of each wheel-side motor when an accelerator opening of the vehicle is increased, a second rotation speed n2 of each wheel-side motor when the accelerator opening is decreased, a gear ratio i between the rotation speed of each wheel-side motor and a corresponding wheel speed, and an actual wheel speed Vi of each wheel, which includes a first actual wheel speed of the wheel when the accelerator opening is increased, and a second actual wheel speed of the wheel when the accelerator opening is decreased.
And calculating a first driving wheel speed V1 of the wheel corresponding to the wheel edge motor according to the relation between the rotating speed of the wheel edge motor and the wheel speed of the corresponding wheel in the normal driving state and the first rotating speed n1 of the wheel edge motor. Specifically, the calculation formula of the first driving wheel speed V1 of the wheel (i.e. the relationship between the rotation speed of the wheel-side motor and the corresponding wheel speed) is as follows:
wherein V1 is the first driving wheel speed of the wheel, km/h; n1 is the first rotation speed of the wheel edge motor, rpm; r is the rolling radius of the tire, m; i is the transmission ratio between the rotating speed of the wheel edge motor and the speed of the corresponding wheel.
Detecting whether the speed difference between a first driving wheel speed V1 and a first actual wheel speed of a wheel is greater than or equal to a set first vehicle speed threshold value Vset _1, and if the speed difference is greater than or equal to Vset _1, preliminarily determining that a motor broken shaft fault possibly occurs, and needing further determination; and if the speed difference is smaller than Vset _1, judging that the motor shaft breakage fault does not occur.
And calculating a second driving wheel speed V2 of the wheel corresponding to the wheel edge motor according to the relation between the rotating speed of the wheel edge motor and the wheel speed of the corresponding wheel in the normal driving state and the second rotating speed n2 of the wheel edge motor. Specifically, the calculation formula of the second driving wheel speed V2 of the wheel (i.e. the relationship between the rotation speed of the wheel-side motor and the corresponding wheel speed) is as follows:
wherein V2 is the second driving wheel speed of the wheel, km/h; n2 is the second rotation speed of the wheel edge motor, rpm; r is the rolling radius of the tire, m; i is the transmission ratio between the rotating speed of the wheel edge motor and the speed of the corresponding wheel.
Detecting whether the speed difference between a second driving wheel speed V2 and a second actual wheel speed of the wheel is greater than or equal to a set second vehicle speed threshold value Vset _2, and if the speed difference is greater than or equal to Vset _2, determining that the shaft breaking fault of the motor occurs; if the voltage is less than Vset _2, the motor shaft breakage fault is judged not to occur.
2) And carrying out fault treatment on the wheel edge motor. The specific wheel edge motor fault processing steps are as follows:
as shown in fig. 1, after a motor broken shaft fault is detected, a motor fault mode is entered, and whether a non-fault motor exists is judged, wherein the specific judgment method is that the difference value between the number of driving motors and the number of fault motors is calculated, whether the difference value is greater than or equal to 1 is judged, if not greater than or equal to 1, it is judged that the non-fault motor does not exist, and the power output of the whole vehicle is cut off; and if the difference is greater than or equal to 1, judging that a non-fault motor exists. In the embodiment, if the non-failure motor exists, the vehicle is allowed to limp back to the factory; if there is no non-faulty motor, the vehicle is not allowed to limp back to the factory.
When the vehicle enters a motor fault mode, if the vehicle gear signal is detected not to be a neutral gear signal and the accelerator opening AccPed _ Norm (%) of the vehicle is larger than a set opening threshold value Norm _ set, the intention of driving the vehicle is shown to a driver, the driver is reminded of the occurrence of axle breaking fault of a wheel side motor, the power output of the whole vehicle is cut off, the driver is prompted to carry out double-flash opening operation, if the double-flash opening is detected, whether the accelerator opening AccPed _ Norm (%) of the vehicle is larger than the set value Norm _ set is detected again, if yes, the wheel side motor with the fault is controlled not to output power, the wheel side motor without the axle breaking fault is controlled to output power, the speed-limiting vehicle is controlled to run, and the vehicle limes back to the factory.
In this embodiment, it is necessary to determine whether a shaft breaking fault of the motor occurs by combining the comparison of the two speed differences, and when it is detected that the two speed differences are respectively greater than or equal to the corresponding speed thresholds, it is indicated that the actual wheel speed of the vehicle cannot follow the corresponding driving wheel speed when the accelerator is added and the accelerator is removed, so that the shaft breaking fault of the motor is determined. The invention can detect the broken shaft fault of the wheel edge motor in time in the running process of the motor, and is beneficial to the safe running of the vehicle; and when the motor has a broken shaft fault, the broken shaft fault of the wheel edge motor can be accurately judged by detecting the speed difference twice when the opening degree of the accelerator is increased and decreased under the condition of no load, so that the misjudgment is avoided, and the reliability is high.
In this embodiment, the shaft breakage failure of the motor can be reliably determined by two speed difference judgments, as another implementation manner, the speed of the motor rotation speed (or the driving wheel speed) can be also combined with the speed of the motor rotation speed (or the driving wheel speed) when the accelerator opening is increased, and the speed of the motor rotation speed (or the driving wheel speed) when the accelerator opening is decreased, for example, when a driver steps on the accelerator, the motor rotation speed (or the driving wheel speed) is rapidly increased, and the speed difference (i.e., the speed difference) V1-Vi _1 is greater than or equal to Vset _1, but the first actual wheel speed Vi _1 of the wheel does not follow; when the driver releases the accelerator, the rotating speed (or the driving wheel speed) of the motor does not drop rapidly, the vehicle speed difference (namely the speed difference) V2-Vi _2 is not less than Vset _2, and the second actual wheel speed Vi _2 of the wheel still does not follow, the motor shaft breakage fault is judged, and the judgment accuracy is further improved.
In this embodiment, the transmission ratio between the rotation speed of the wheel-side motor and the wheel speed of the corresponding wheel is determined according to the transmission component between the motor and the wheel, and if the transmission component includes a gearbox and a reducer, the transmission ratio is the product of the gearbox speed ratio and the final reduction ratio (i)g*i0) (ii) a If only the speed reducer is provided, the transmission ratio is the final reduction ratio i of the speed reducer0。
In order to accurately judge the axle breakage fault of the wheel-side motor, in the embodiment, the first vehicle speed threshold value Vset _1 and the second vehicle speed threshold value Vset _2 used for comparing with the two speed differences have a value range of 10-100 km/h, and the values of the first vehicle speed threshold value Vset _1 and the second vehicle speed threshold value Vset _2 may be the same or different.
In this embodiment, when the fault is processed after the axle breakage fault occurs in the wheel-side motor, the limp driving is performed by using the output power of the non-fault motor.
The motor failure mode control in this embodiment may also be replaced by a failure processing method in the prior art, for example, a limp home control method of a wheel-side motor driving system disclosed in chinese patent application publication No. CN110712525A mentioned in the background art, and the specific method is not described in detail in this embodiment.
The embodiment of the detection method comprises the following steps:
the embodiment of the invention relates to a method for detecting the fault of a wheel side motor of an electric vehicle, which comprises the following steps:
(1) the operating parameters of the vehicle are acquired.
(2) And calculating a first driving wheel speed V1 of the wheel corresponding to the wheel edge motor according to the relation between the rotating speed of the wheel edge motor and the wheel speed of the corresponding wheel in the normal driving state and the first rotating speed n1 of the wheel edge motor. It is detected whether the speed difference between the first driving wheel speed V1 and the first actual wheel speed of the wheel is greater than or equal to a set first vehicle speed threshold value Vset _ 1.
(3) And calculating a second driving wheel speed V2 of the wheel corresponding to the wheel edge motor according to the relation between the rotating speed of the wheel edge motor and the wheel speed of the corresponding wheel in the normal driving state and the second rotating speed n2 of the wheel edge motor. It is detected whether the speed difference between the second drive wheel speed V2 and the second actual wheel speed of the wheels is greater than or equal to a set second vehicle speed threshold value Vset _ 2.
(4) When the speed difference between the first driving wheel speed V1 and the first actual wheel speed of the wheel is greater than or equal to the set first vehicle speed threshold value Vset _ 1; and the speed difference between the second driving wheel speed V2 and the second actual wheel speed is greater than or equal to the set second vehicle speed threshold value Vset _2, judging that the broken shaft fault of the wheel edge motor occurs.
Since the wheel-side motor fault detection method in this embodiment is the wheel-side motor fault detection described in step 1) in the control method embodiment, which has been set forth in the control method embodiment clearly and completely enough, the detailed description of steps (1) to (4) above is omitted in this embodiment.
In this embodiment, according to the operation habit of the driver, when the driver steps on the accelerator, the accelerator opening is increased, and the primary speed difference is detected, and when the driver releases the accelerator, the accelerator opening is decreased, as another embodiment, after the accelerator opening of the electric vehicle is increased, if it is detected that the speed difference between the first driving wheel speed V1 and the first actual wheel speed is greater than or equal to the first vehicle speed threshold value Vset _1, and it is detected within the set time t that the accelerator opening of the electric vehicle is not decreased, the driver is reminded to release the accelerator operation, so as to realize the motor off-axis fault detection.
The present invention does not limit the timing sequence of detecting the speed difference between the increase of the accelerator opening and the decrease of the accelerator opening, and may judge according to the timing sequence of detecting the speed difference between the decrease of the accelerator opening and the decrease of the accelerator opening after the increase of the accelerator opening, or according to the timing sequence of detecting the speed difference between the increase of the accelerator opening and the decrease of the accelerator opening after the decrease of the accelerator opening, and preferably selects the timing sequence of detecting the speed difference between the decrease of the accelerator opening and the increase of the accelerator opening according to the operation habit of the driver.
The axle breakage fault of the wheel-side motor is judged by detecting the speed difference twice when the accelerator opening degree is increased and decreased, and as other implementation modes, the first driving wheel speed of the corresponding wheel can be obtained by obtaining the first rotating speed of the wheel-side motor only when the accelerator opening degree of the electric vehicle is increased, and the difference between the first driving wheel speed and the first actual rotating speed of the corresponding wheel is used for judging whether the speed difference is larger than or equal to a vehicle speed threshold value, so that the axle breakage fault of the motor is judged. In order to ensure high accuracy of judgment, when the accelerator opening of the electric vehicle is increased, judging whether the speed difference is greater than or equal to a vehicle speed threshold value or not twice continuously, and if so, determining that the motor is broken.
Or when the accelerator opening of the electric vehicle is reduced, obtaining the second driving wheel speed of the corresponding wheel by obtaining the second rotating speed of the wheel-side motor, and making a difference between the second driving wheel speed and the second actual rotating speed of the corresponding wheel, and judging whether the speed difference is greater than or equal to a vehicle speed threshold value, so as to judge that the motor shaft breakage fault occurs. Similarly, the judgment of the broken shaft fault of the wheel edge motor can be carried out when the accelerator opening of the electric vehicle is reduced twice continuously.
In this embodiment, the actual rotation speed of a single motor is used as the first rotation speed and the second rotation speed, and as another embodiment, the average rotation speed of the wheel-side motor on the vehicle may be used as the first rotation speed and the second rotation speed. For example, the vehicle has two wheel-side motors, the left rear wheel has one wheel-side motor, the right rear wheel has one wheel-side motor, and when determining whether the wheel-side motor of the left rear wheel has a broken shaft fault, the average rotation speed of the two wheel-side motors is used as the first rotation speed of the wheel-side motor of the left rear wheel for calculating the first driving wheel speed of the left rear wheel.
The embodiment of the vehicle is as follows:
an embodiment of the electric vehicle of the present invention, as shown in fig. 2, includes a power battery 1, a wheel-side motor driving system and a wheel-side motor fault detection device, where the wheel-side motor driving system includes a motor controller 3, a wheel-side motor 4, a speed reducer 5, and a wheel 6, where the motor controller 3 is connected with the wheel-side motor 4, and the wheel-side motor 4 is in transmission connection with the wheel 6 through the speed reducer 5. The wheel-side motor fault detection device comprises a vehicle control unit 2, a memory (not shown in the figure) and a computer program which is stored on the memory and runs on the vehicle control unit, the vehicle control unit is coupled with the memory, and the vehicle control unit realizes the wheel-side motor fault control method in the control method embodiment when executing the computer program.
In order to realize wheel-side motor fault detection, in this embodiment, the vehicle controller is respectively connected with a vehicle speed sensor and a motor rotation speed sensor in a collecting manner, wherein the vehicle speed sensor is used for detecting actual wheel speeds of the wheels 6, including a first actual wheel speed when the accelerator opening degree is increased and a second actual wheel speed when the accelerator opening degree is decreased, and sending detection data to the vehicle controller; and the motor rotating speed sensor is used for detecting the rotating speed of the wheel edge motor 4, comprises a first rotating speed n1 and a second rotating speed n2, and sends detection data to the whole vehicle controller.
In this embodiment, the vehicle control unit is further communicatively connected to a CAN network of the vehicle, and is configured to acquire other parameter information of the vehicle, such as an accelerator pedal opening degree, a gear signal, a wheel radius, and the like.
In this embodiment, after the vehicle control unit recognizes that the wheel-side motor 4 has the broken shaft fault, if it is detected that a non-fault wheel-side motor exists, a command of a power request is sent to the non-fault wheel-side motor, and the fault side motor does not receive the command of the power request, or even if the command of the power request is received, the command is not executed.
The electric vehicle in the present embodiment is not limited to the wheel-side single-suspension four-drive vehicle in fig. 2, and may be a wheel-side single-suspension rear-drive vehicle, a wheel-side single-suspension front-drive vehicle, or the like as another embodiment.
In this embodiment, it is not necessary to use the vehicle control unit to detect the broken shaft fault of the wheel-side motor, and as another embodiment, a separate processor may be used to detect the broken shaft fault. In consideration of reducing economic cost, the vehicle control unit is adopted to detect the broken shaft fault of the motor in the embodiment.
The embodiment of the device is as follows:
the embodiment provides a wheel edge motor fault control device of an electric vehicle, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor is coupled with the memory, and when the processor executes the computer program, the wheel edge motor fault control method in the above control method embodiment is implemented.
Illustratively, the computer program in this embodiment may be partitioned into one or more modules/units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the fault control device. For example, the computer program may be divided into a fault identification unit, a fault decision unit, a motor torque control unit.
The specific functions of each unit are as follows:
and the fault identification unit is used for identifying whether the broken shaft fault of the wheel-side motor occurs or not when the speed difference between the first driving wheel speed and the first actual wheel speed of the wheel is greater than or equal to a set first vehicle speed threshold value or not and the speed difference between the second driving wheel speed and the second actual wheel speed of the wheel is greater than or equal to a set second vehicle speed threshold value or not.
And the fault decision unit is used for reminding a driver of the broken shaft fault of the wheel motor after the broken shaft fault of the wheel motor is determined, cutting off the power output of the whole vehicle and reminding the driver of carrying out double-flash opening operation. The fault decision unit is also used for judging whether a wheel-side motor without the broken shaft fault exists or not, and if the wheel-side motor does not have the broken shaft fault, allowing the vehicle to limp back to the factory; if not, the vehicle is not allowed to limp back to the factory.
And the motor torque control unit is used for controlling the torque output by the non-fault motor according to the instruction sent by the fault decision unit, so that the vehicle runs at a limited speed to realize limping of the vehicle.
The Processor referred to in this embodiment may be a Central Processing Unit (CPU), or may be another general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or another Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the above division of the functional units is merely illustrated, and in practical applications, the above function distribution may be performed by different functional units according to needs, that is, the internal structure of the fault detection apparatus is divided into different functional units or modules to perform all or part of the above described functions. Each functional unit in the embodiments may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the application. The specific working process of each unit in this embodiment may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
In addition, each functional unit in this embodiment may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. A wheel edge motor fault detection method of an electric vehicle is characterized by comprising the following steps:
when the accelerator opening of the electric vehicle is increased, acquiring a first rotating speed of a wheel-side motor in the electric vehicle, wherein the first rotating speed is the actual rotating speed or the average rotating speed of the wheel-side motor; acquiring a first actual wheel speed of a wheel corresponding to the wheel-side motor; according to the relation between the rotating speed of a wheel side motor and the wheel speed of a corresponding wheel in a normal running state, combining the first rotating speed to obtain a first driving wheel speed of the wheel corresponding to the wheel side motor, and detecting whether the speed difference between the first driving wheel speed and a first actual wheel speed of the wheel is not less than a set first wheel speed threshold value or not;
and/or when the accelerator opening of the electric vehicle is reduced, acquiring a second rotating speed of a wheel-side motor in the electric vehicle, wherein the second rotating speed is the actual rotating speed or the average rotating speed of the wheel-side motor; acquiring a second actual wheel speed of a wheel corresponding to the wheel-side motor; obtaining a second driving wheel speed of the wheel by combining the second rotating speed according to the relation between the rotating speed of the wheel edge motor and the wheel speed of the corresponding wheel in the normal running state, and detecting whether the speed difference between the second driving wheel speed of the wheel and a second actual wheel speed is not less than a set second vehicle speed threshold value;
and when the speed difference between the first driving wheel speed and the first actual wheel speed of the wheel is not smaller than a set first vehicle speed threshold value and/or the speed difference between the second driving wheel speed and the second actual wheel speed of the wheel is not smaller than a set second vehicle speed threshold value, determining that the broken shaft fault of the wheel-side motor occurs.
2. The wheel-side motor fault detection method of an electric vehicle according to claim 1, characterized in that when the accelerator opening degree of the electric vehicle is increased, it is detected that the speed difference between the first driving wheel speed and the first actual wheel speed of the wheel is greater than or equal to a set first vehicle speed threshold value, and it is detected that the accelerator opening degree of the electric vehicle is not decreased within a set time, a driver is reminded to perform a throttle releasing operation.
3. The wheel-side motor malfunction detection method of an electric vehicle according to claim 1 or 2, characterized in that the calculation formulas of the first drive wheel speed and the second drive wheel speed of the wheel are as follows:
where V1 is a first driving wheel speed of the wheel, V2 is a second driving wheel speed of the wheel, n1 is a first rotation speed of the wheel-side motor, n2 is a second rotation speed of the wheel-side motor, r is a rolling radius of the tire, and i is a transmission ratio between the rotation speed of the wheel-side motor and the corresponding wheel speed.
4. The method for detecting the wheel-side motor fault of the electric vehicle according to claim 1 or 2, wherein the first vehicle speed threshold value and/or the second vehicle speed threshold value ranges from 10 km/h to 100 km/h.
5. A wheel side motor fault control method of an electric vehicle is characterized by comprising the following steps:
determining a broken shaft fault of the wheel edge motor by the wheel edge motor fault detection method according to any one of claims 1 to 4;
and after the wheel edge motor is judged to have the broken shaft fault, carrying out motor fault mode control.
6. The wheel-side motor failure control method of an electric vehicle according to claim 5, characterized in that the motor failure mode control includes:
and when the detected accelerator opening of the electric vehicle is larger than a set opening threshold, controlling the wheel side motor with the fault not to output power, controlling the wheel side motor without the broken shaft fault to output power, and controlling the vehicle to run at a limited speed.
7. The wheel-side motor failure control method of an electric vehicle according to claim 5 or 6, characterized by further comprising: judging whether a wheel-side motor without a broken shaft fault exists or not, and if so, allowing the vehicle to limp back to the factory; if not, the vehicle is not allowed to limp back to the factory.
8. A wheel-side motor failure control apparatus of an electric vehicle, comprising a memory and a processor, and a computer program stored on the memory and running on the processor, characterized in that the processor is coupled with the memory, and the processor implements the wheel-side motor failure control method of the electric vehicle according to any one of claims 5 to 7 when executing the computer program.
9. An electric vehicle comprising a wheel-side motor drive system, characterized by further comprising a wheel-side motor fault detection device comprising a memory and a processor, and a computer program stored on the memory and run on the processor, the processor being coupled to the memory, the processor implementing the wheel-side motor fault control method of the electric vehicle as claimed in any one of claims 5-7 when executing the computer program.
10. The electric vehicle of claim 9, characterized in that the processor is a vehicle control unit.
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Application publication date: 20210914 |