CN113844279A - Control method for inhibiting starting shake of electric automobile - Google Patents
Control method for inhibiting starting shake of electric automobile Download PDFInfo
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- CN113844279A CN113844279A CN202111119035.3A CN202111119035A CN113844279A CN 113844279 A CN113844279 A CN 113844279A CN 202111119035 A CN202111119035 A CN 202111119035A CN 113844279 A CN113844279 A CN 113844279A
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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
- B60L15/2072—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 drive off
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a control method for inhibiting starting jitter of an electric automobile, which relates to the technical field of the electric automobile, and is characterized in that a current motor rotating speed absolute value is compared with a first rotating speed preset value and a second rotating speed preset value to determine whether a speed mode should be entered currently, then a motor target rotating speed Spdref is set according to a gear signal issued by a current vehicle controller VCU, and an amplitude limiting torque request Tref is obtained by carrying out amplitude limiting on an output Spd _ out of a speed controller, aiming at the technical problem that the electric automobile shakes during starting in the prior art, the control method for inhibiting the starting jitter of the electric automobile can enable a motor controller MCU to enter a corresponding speed mode according to different conditions during starting of the electric automobile, so that the rotating speed of the motor is stable, the shaking of the electric automobile is effectively inhibited, and in addition, the control method provided by the invention can be executed circularly, has the advantages of real-time and high efficiency.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a control method for inhibiting starting shake of an electric automobile.
Background
The conventional automobile usually adopts an internal combustion engine as power, and the internal combustion engine accelerates the consumption of limited energy of human beings and also causes serious environmental problems. And the electric automobile with zero emission, low heat radiation and low noise is valued and welcomed by people. However, in the prior art, due to the influence of the manufacturing precision, the assembly process and the consistency problem of various parts of gears, splines and other transmission parts of the power transmission of the electric automobile, the electric automobile has a shaking phenomenon during starting, and the comfort of the automobile is seriously reduced.
At present, the following three ways are generally adopted to suppress the shaking when the electric automobile starts: 1. adding a compensation torque; 2. applying a tooth torque; 3. changing a torque loading slope;
1. adding a compensation torque: generally, a motor controller MCU obtains a motor rotating speed jitter amount by filtering the motor rotating speed at different depths and then solving a difference value, then multiplies the jitter amount by a compensation coefficient to obtain a compensation torque, and then superposes the compensation torque and the given torque of a VCU of a vehicle control unit to inhibit the motor jitter. However, the method has the problem that mutual influence between the filter parameter and the compensation coefficient is difficult to calibrate, and is not completely applicable to different electric automobiles.
2. Apply tooth torque: usually, a fixed small torque is applied to the motor according to the gear information of the vehicle, so that the gears are always tightly meshed, gaps among transmission parts are eliminated, and vehicle vibration can be reduced to a certain extent.
3. Change torque loading ramp rate: the method is generally used for changing the torque loading slope during torque reversing so as to reduce the vibration caused by impact between parts of the transmission, and the effect of the method is influenced if the motor controller MCU is unstable during small torque output.
The three modes are usually to fixedly set the motor controller MCU to be in a torque mode, and the torque control is open-loop control, so that the smoothness of the motor speed cannot be guaranteed, and thus the three modes all have the problem that the shake of the electric vehicle during starting cannot be well suppressed, and the shake of the vehicle can be effectively suppressed if the motor speed is smooth.
Disclosure of Invention
The invention aims to overcome the defects of three modes in the background technology, provides a control method for inhibiting starting shake of an electric automobile, and solves the technical problem that the electric automobile shakes during starting.
In order to achieve the purpose, the invention provides a control method for inhibiting starting shake of an electric automobile, which comprises the following steps:
s01: the motor controller MCU acquires the current motor rotating speed;
s02: the motor controller MUC receives a torque signal, a brake signal and a gear signal which are issued by a VCU of the vehicle controller;
s03: judging whether the motor controller MCU is in a starting state, if so, executing S04, and if not, executing S17;
s04: judging whether the absolute value of the current motor rotating speed is greater than a first rotating speed preset value, if so, executing S05, and if not, executing S17, wherein the first rotating speed preset value is a rotating speed value for starting jitter control;
s05: judging whether the absolute value of the current motor rotating speed is smaller than a second rotating speed preset value, if so, executing S06, and if not, executing S17, wherein the second rotating speed preset value is a rotating speed value for closing jitter control;
s06: judging whether the brake is pressed, if not, executing S07, and if so, executing S17;
s07: determining a periodic rotating speed increment spd _ cmd according to the torque issued by the VCU of the whole vehicle controller, wherein the periodic rotating speed increment spd _ cmd is positively correlated with the torque issued by the VCU of the whole vehicle controller;
s08: determining an output limit value spd _ torque _ max under a speed mode according to the torque issued by the VCU of the vehicle controller, wherein the output limit value spd _ torque _ max is positively correlated with the torque issued by the VCU of the vehicle controller, and the maximum value of the output limit value spd _ torque _ max is the maximum output torque of the motor;
s09: judging whether the current gear is the D gear, if so, executing S11, and if not, executing S10;
s10: judging whether the current gear is the R gear, if so, executing S12, and if not, executing S17;
s11: judging whether the target rotating speed Spdref of the motor is greater than a second rotating speed preset value, if so, executing S13, and if not, executing S14, wherein the target rotating speed Spdref of the motor is a simulated given rotating speed entering a speed mode;
s12: judging whether the target rotating speed Spdref of the motor is smaller than the opposite number of the second rotating speed preset value, if so, executing S16, and if not, executing S15;
s13: setting the target rotating speed Spdref of the motor as a second rotating speed preset value, and then executing S18;
s14: setting the target rotating speed of the motor Spdref of the next period as the sum of the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing S18;
s15: setting the target rotating speed of the motor Spdref of the next period as the difference between the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing S18;
s16: setting the target rotating speed Spdref of the motor as the opposite number of the preset second rotating speed value, and then executing S18;
s17: setting the target motor rotating speed Spdref as the current motor rotating speed, and then executing S19;
s18: enter speed mode, then execute S20;
s19: entering a torque mode, thereby ending the process;
s20: and carrying out amplitude limiting on the output Spd _ out of the speed controller according to the output amplitude limiting value Spd _ torque _ max to obtain an amplitude limiting torque request Tref, and ending the process.
Optionally, a linear relationship is satisfied between the periodic speed increment spd _ cmd and the delivered torque.
Optionally, an S-shaped curve relationship is satisfied between the periodic rotational speed increment spd _ cmd and the issued torque.
Optionally, a linear relationship is satisfied between the output limiter spd _ torque _ max and the delivered torque.
Optionally, the output limiter spd _ torque _ max and the delivered torque satisfy an S-shaped curve relationship.
The invention has the beneficial effects that:
the embodiment of the invention provides a control method for inhibiting starting jitter of an electric automobile, which is characterized in that whether a speed mode should be entered currently is determined by comparing a current absolute value of a motor rotating speed with a first rotating speed preset value and a second rotating speed preset value, a target rotating speed Spdref of the motor is set according to a gear signal issued by a VCU of a vehicle controller at present, and an amplitude limiting torque request Tref is obtained by limiting an output Spd _ out of a speed controller High efficiency.
The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flow chart of a control method for suppressing starting shake of an electric vehicle according to an embodiment of the invention;
fig. 2 is a system block diagram of a control method for suppressing starting shake of an electric vehicle according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail below with reference to specific examples in order to facilitate understanding by those skilled in the art.
Referring to fig. 1 and fig. 2, an embodiment of the present invention provides a control method for suppressing starting jitter of an electric vehicle, including the following steps:
step S01: the motor controller MCU acquires the current motor rotating speed; in this embodiment, the current motor speed is collected through the MCU, and the collected motor speed is uploaded to the VCU.
Step S02: the motor controller MCU receives a torque, a brake signal and a gear signal transmitted by the VCU; specifically, the motor controller MCU receives a torque signal, a brake signal and a gear signal issued by the vehicle control unit VCU, and the torque signal, the brake signal and the gear signal issued by the vehicle control unit VCU are determined according to corresponding operations of a driver.
Step S03: judging whether the motor controller MCU is in a starting state, if so, executing step S04, otherwise, executing step S17; specifically, whether the motor controller MCU is in a starting state is judged through the vehicle control unit VCU, so as to execute subsequent corresponding steps, wherein the starting state is also called as Ready state, which indicates that the motor controller MCU of the electric vehicle has been started successfully, and can be started at any time.
Step S04: judging whether the absolute value of the current motor rotating speed is greater than a first rotating speed preset value, if so, executing step S05, and if not, executing step S17, wherein the first rotating speed preset value is a rotating speed value for starting jitter control; specifically, when the absolute value of the current motor rotating speed is smaller than the first rotating speed preset value, the starting shaking trend of the electric automobile does not occur, and a torque mode is adopted; if the absolute value of the current motor rotating speed is greater than the first rotating speed preset value, the electric vehicle is powered on, the electric vehicle has a starting shaking trend, and then enters a speed mode.
Step S05: judging whether the absolute value of the current motor rotating speed is smaller than a second rotating speed preset value, if so, executing step S06, and if not, executing step S17, wherein the second rotating speed preset value is a rotating speed value for closing the shaking control; the second preset rotating speed value also needs to be selected according to the shaking condition of the real vehicle, and specifically, when the absolute value of the rotating speed of the current motor is smaller than the second preset rotating speed value, the electric vehicle can start to shake and then enters a speed mode; if the absolute value of the current motor rotating speed is larger than the second rotating speed preset value, the electric automobile is driven, starting shake of the electric automobile cannot occur, and then the electric automobile enters a torque mode; in addition, the comparison and judgment are performed by the motor controller MCU in this step, which is not described herein again.
Step S06: judging whether the brake is pressed, if not, executing the step S07, and if so, executing the step S17; specifically, the motor controller MCU determines whether the brake is pressed according to whether a brake signal issued by the vehicle control unit VCU is received.
Step S07: determining a periodic rotating speed increment spd _ cmd according to the torque issued by the VCU of the whole vehicle controller, wherein the periodic rotating speed increment spd _ cmd is positively correlated with the torque issued by the VCU of the whole vehicle controller; in this embodiment, the periodic rotational speed increment spd _ cmd and the torque delivered by the vehicle control unit VCU satisfy a linear relationship or an S-shaped curve relationship, in other embodiments, other positively correlated curve relationships may be used between the periodic rotational speed increment spd _ cmd and the torque delivered by the vehicle control unit VCU, and those skilled in the art can adjust the relationship according to actual needs, so that the technical scheme for achieving the effect of suppressing the starting jitter of the motor belongs to the protection scope of the present invention.
Step S08: determining an output limit value spd _ torque _ max under a speed mode according to the torque issued by the VCU of the vehicle controller, wherein the output limit value spd _ torque _ max is positively correlated with the issued torque; the output amplitude limit spd _ torque _ max is also referred to as a torque limit threshold, and the maximum value of the output amplitude limit spd _ torque _ max is the maximum output torque of the motor, in this embodiment, the output amplitude limit spd _ torque _ max and the delivered torque satisfy a linear relationship or an S-shaped curve relationship, in other embodiments, the output amplitude limit spd _ torque _ max and the delivered torque may also have other curve relationships in positive correlation, and a person skilled in the art can adjust the output amplitude limit spd _ torque _ max according to actual needs, so that the technical scheme of inhibiting the starting jitter of the motor is within the protection scope of the present invention.
Step S09: and judging whether the current gear is the D gear, if so, executing the step S11, otherwise, executing the step S10, specifically, determining whether the electric automobile is currently positioned in the D gear or the R gear according to a gear signal received from the VCU of the vehicle controller, and then setting the target rotating speed Spdref of the subsequent motor.
Step S10: and judging whether the current gear is the R gear, if so, executing the step S12, otherwise, executing the step S17, and specifically, determining whether the electric automobile is currently positioned in the D gear or the R gear according to a gear signal received from the VCU of the vehicle controller, so that the target rotating speed Spdref of the subsequent motor can be set.
Step S11: and judging whether the target rotating speed Spdref of the motor is greater than a second rotating speed preset value, if so, executing step S13, and if not, executing step S14, wherein the target rotating speed Spdref of the motor is the simulated given rotating speed entering the speed mode.
Step S12: and judging whether the target rotating speed Spdref of the motor is smaller than the opposite number of the preset second rotating speed value, if so, executing the step S16, and if not, executing the step S15.
Step S13: setting the target rotating speed Spdref of the motor as a second rotating speed preset value, and then executing a step S18; specifically, when the D gear is located and the target rotating speed Spdref of the motor is greater than a second rotating speed preset value, the target rotating speed Spdref of the motor is equal to the second rotating speed preset value, wherein the target rotating speed Spdref of the motor is used as a reference input of the speed controller, the rotating speed of the motor is used as a feedback input of the speed controller, and the speed controller obtains a speed controller output Spd _ out after PI control according to the reference input and the feedback input.
Step S14: setting the target rotating speed of the motor Spdref of the next period as the sum of the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing step S18; specifically, when the gear D is located and the target rotation speed Spdref of the motor is smaller than the second preset rotation speed value, the target rotation speed Spdref of the motor is equal to the sum of the target rotation speed Spdref of the motor in the previous cycle and the cycle rotation speed increment spd _ cmd.
Step S15: setting the target rotating speed of the motor Spdref of the next period as the difference between the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing step S18; specifically, when the target rotation speed Spdref is greater than the second rotation speed preset value, the target rotation speed Spdref is equal to the difference between the target rotation speed Spdref of the previous cycle and the cycle rotation speed increment spd _ cmd.
Step S16: setting the target rotating speed Spdref of the motor as the opposite number of the preset second rotating speed value, and then executing the step S18; specifically, when the target rotation speed Spdref is lower than the second preset rotation speed value, the target rotation speed Spdref is equal to the second preset rotation speed value.
Step S17: setting the target motor speed Spdref as the current motor speed, and then executing step S19; in this embodiment, the motor controller MCU saves the current motor speed in preparation for entering the speed mode next time. Step S18: enter speed mode, then execute step S20; specifically, the jitter control switch module controls the motor controller MCU to enter the speed mode of the set motor target rotating speed Spdref mode, so that the motor controller MCU works in a speed closed loop, the rotating speed and the speed of the motor are stable, and jitter cannot occur.
Step S19: entering a torque mode, thereby ending the process; in addition, when the motor controller MCU works in a torque mode, the torque issued by the VCU of the vehicle controller VCU is directly used as the reference input of the torque controller, and the motor torque is controlled after passing through the torque controller module, the FOC module and the inverter module.
Step S20: and carrying out amplitude limiting processing on the speed controller output Spd _ out according to the output amplitude limiting value Spd _ torque _ max to obtain an amplitude limiting torque request Tref, wherein the amplitude limiting torque request Tref is used as a reference input of the torque controller, so that the process is ended, but the process is only a single process in a control process of inhibiting the starting jitter of the electric automobile, and can be circularly and repeatedly executed in the starting process of the electric automobile.
To sum up, in the control method for suppressing start jitter of an electric vehicle according to an embodiment of the present invention, the absolute value of the current motor rotation speed is compared with the first and second preset rotation speed values to determine whether the current speed mode should be entered, the target motor rotation speed Spdref is set according to the gear signal issued by the current vehicle controller VCU, and the amplitude-limiting torque request Tref is obtained by performing amplitude limiting on the output Spd _ out of the speed controller High efficiency.
The above embodiments are illustrative of the present invention, and are not intended to limit the present invention, and any simple modifications of the present invention are within the scope of the present invention. The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (5)
1. A control method for restraining starting shake of an electric automobile is characterized by comprising the following steps:
s01: the motor controller MCU acquires the current motor rotating speed;
s02: the motor controller MCU receives a torque, a brake signal and a gear signal transmitted by the VCU;
s03: judging whether the motor controller MCU is in a starting state, if so, executing S04, and if not, executing S17;
s04: judging whether the absolute value of the current motor rotating speed is greater than a first rotating speed preset value, if so, executing S05, and if not, executing S17, wherein the first rotating speed preset value is a rotating speed value for starting jitter control;
s05: judging whether the absolute value of the current motor rotating speed is smaller than a second rotating speed preset value, if so, executing S06, and if not, executing S17, wherein the second rotating speed preset value is a rotating speed value for closing jitter control;
s06: judging whether the brake is pressed, if not, executing S07, and if so, executing S17;
s07: determining a periodic rotating speed increment spd _ cmd according to the torque issued by the VCU of the whole vehicle controller, wherein the periodic rotating speed increment spd _ cmd is positively correlated with the torque issued by the VCU of the whole vehicle controller;
s08: determining an output limit value spd _ torque _ max under a speed mode according to the torque issued by the VCU of the vehicle controller, wherein the output limit value spd _ torque _ max is positively correlated with the issued torque, and the maximum value of the output limit value spd _ torque _ max is the maximum output torque of the motor;
s09: judging whether the current gear is the D gear, if so, executing S11, and if not, executing S10;
s10: judging whether the current gear is the R gear, if so, executing S12, and if not, executing S17;
s11: judging whether the target rotating speed Spdref of the motor is greater than a second rotating speed preset value, if so, executing S13, and if not, executing S14, wherein the target rotating speed Spdref of the motor is a simulated given rotating speed entering a speed mode;
s12: judging whether the target rotating speed Spdref of the motor is smaller than the opposite number of the second rotating speed preset value, if so, executing S16, and if not, executing S15;
s13: setting the target rotating speed Spdref of the motor as a second rotating speed preset value, and then executing S18;
s14: setting the target rotating speed of the motor Spdref of the next period as the sum of the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing S18;
s15: setting the target rotating speed of the motor Spdref of the next period as the difference between the target rotating speed of the motor Spdref of the previous period and the period rotating speed increment spd _ cmd, and then executing S18;
s16: setting the target rotating speed Spdref of the motor as the opposite number of the preset second rotating speed value, and then executing S18;
s17: setting the target motor rotating speed Spdref as the current motor rotating speed, and then executing S19;
s18: enter speed mode, then execute S20;
s19: entering a torque mode, thereby ending the process;
s20: and carrying out amplitude limiting on the output Spd _ out of the speed controller according to the output amplitude limiting value Spd _ torque _ max to obtain an amplitude limiting torque request Tref, and ending the process.
2. The control method for suppressing the starting shake of the electric vehicle as claimed in claim 1, wherein a linear relationship is satisfied between the periodic rotational speed increment spd _ cmd and the delivered torque.
3. The control method for suppressing starting shake of the electric vehicle as claimed in claim 1, wherein an S-shaped curve relationship is satisfied between the periodic rotational speed increment spd _ cmd and the issued torque.
4. The control method for suppressing start shaking of an electric vehicle as set forth in claim 1, wherein the output limiter value spd _ torque _ max and the delivered torque satisfy a linear relationship.
5. The control method for suppressing the starting shake of the electric vehicle as claimed in claim 1, wherein the output limiter spd _ torque _ max and the delivered torque satisfy a sigmoid curve relationship.
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