CN114393997B - Electric vehicle hill-holding control method, device, storage medium and controller - Google Patents

Electric vehicle hill-holding control method, device, storage medium and controller Download PDF

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Publication number
CN114393997B
CN114393997B CN202210005561.5A CN202210005561A CN114393997B CN 114393997 B CN114393997 B CN 114393997B CN 202210005561 A CN202210005561 A CN 202210005561A CN 114393997 B CN114393997 B CN 114393997B
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motor
speed
control
zero
electric vehicle
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CN114393997A (en
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张晓庆
牛高产
李立
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a method, a device, a storage medium and a controller for controlling an electric vehicle to stay on a slope, wherein the method comprises the following steps: when the electric vehicle is in a slope parking state and the rotating speed of the electric vehicle motor is smaller than a first rotating speed threshold value, performing zero-speed PI control on the motor; and when the rotating speed of the motor of the electric vehicle is smaller than a second rotating speed threshold value, performing zero-speed PI control and load torque observation control on the motor at the same time. The scheme provided by the invention can reduce the backward sliding distance of the vehicle in a slope and improve the driving comfort.

Description

Electric vehicle hill-holding control method, device, storage medium and controller
Technical Field
The present invention relates to the field of control, and in particular, to a method and apparatus for controlling an electric vehicle to stay on a slope, a storage medium, and a controller.
Background
With the development of society, the popularity of new energy automobiles is also higher, the driving safety of vehicles is a serious concern, hill start is a common condition in many cases of vehicle driving, and under the condition of no hill sensor, the vehicles are extremely easy to slide.
In the anti-slip control of the new energy electric automobile, a control method is generally adopted, such as adding a ramp sensor or PID speed closed-loop control, but the method has some disadvantages, such as high cost of the ramp sensor and addition of a hardware circuit; because the electric automobile body is a large-inertia and large-delay system, the traditional zero-speed PI control method is not good in effect, and a good balance cannot be achieved on the aspects of non-ultra-fast and fast braking.
Disclosure of Invention
The invention aims to overcome the defects of the related art, and provides a method, a device, a storage medium and a controller for controlling the parking of an electric vehicle, so as to solve the problem that a new energy automobile in the related art has long backward sliding distance of the vehicle in the process of parking.
In one aspect, the present invention provides a method for controlling an electric vehicle to stay on a slope, including: when the electric vehicle is in a slope parking state and the rotating speed of the electric vehicle motor is smaller than a first rotating speed threshold value, performing zero-speed PI control on the motor; and when the rotating speed of the motor of the electric vehicle is smaller than a second rotating speed threshold value, performing zero-speed PI control and load torque observation control on the motor at the same time.
Optionally, the method further comprises: when the motor is subjected to zero-speed PI control, and when the rotating speed of the motor is zero, the opening degree of the accelerator pedal is detected, and the torque is larger than the torque required by the current hill-holding state, the hill-holding state is exited.
Optionally, the method further comprises: when the motor is subjected to zero-speed PI control and load torque observation control simultaneously, when the rotating speed of the motor is detected to be larger than a third threshold value and smaller than zero, the load torque observation control is stopped, the zero-speed PI control is only performed, and the hill-holding state is stopped until the rotating speed of the motor is zero.
Optionally, load torque observation control is performed on the motor, including: and estimating the current load torque according to the current motor rotating speed and the current motor output torque.
Another aspect of the present invention provides an electric vehicle hill-holding control device, including: the first control unit is used for performing zero-speed PI control on the motor of the electric vehicle when the electric vehicle is in a slope parking state and the rotating speed of the motor is smaller than a first rotating speed threshold value; and the second control unit is used for simultaneously carrying out zero-speed PI control and load torque observation control on the motor of the electric vehicle when the rotating speed of the motor is smaller than a second rotating speed threshold value.
Optionally, the first control unit is further configured to: when the motor is subjected to zero-speed PI control, and when the rotating speed of the motor is zero, the opening degree of the accelerator pedal is detected, and the torque is larger than the torque required by the current hill-holding state, the hill-holding state is exited.
Optionally, the second control unit is further configured to: when the motor is subjected to zero-speed PI control and load torque observation control simultaneously, when the rotating speed of the motor is detected to be larger than a third threshold value and smaller than zero, the load torque observation control is stopped, the zero-speed PI control is only performed, and the hill-holding state is stopped until the rotating speed of the motor is zero.
Optionally, the second control unit performs load torque observation control on the motor, and includes: and estimating the current load torque according to the current motor rotating speed and the current motor output torque.
In a further aspect the invention provides a storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the methods described above.
In a further aspect the invention provides an electric vehicle motor controller comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described hereinbefore when the program is executed.
In yet another aspect, the present invention provides an electric vehicle motor controller, including any one of the electric vehicle hill-holding control devices described above.
According to the technical scheme, whether the vehicle enters a parking state is judged according to the current rotating speed and gear information of the vehicle, if the vehicle enters the parking state, the output torque is continuously regulated through PI control firstly according to the current speed deviation, the rotating speed of a motor of the vehicle is detected in real time, and when the rotating speed of the motor is smaller than a preset threshold value, zero-speed PI control and load torque observation control are simultaneously carried out to carry out motor output torque control, wherein the load torque observation control method is adopted to rapidly finish output torque regulation. When the rotating speed of the motor is near zero speed, load torque observation control is removed, the backward sliding distance of the vehicle is short, the stabilizing time is short, and the vehicle can stably stay on a slope.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a method schematic diagram of an embodiment of a hill-holding control method for an electric vehicle according to the present invention;
FIG. 2 is a schematic diagram of a method of controlling a hill-holding of an electric vehicle according to an embodiment of the present invention;
fig. 3 is a block diagram of an embodiment of a hill-holding control device for an electric vehicle according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the anti-slip control of the new energy electric automobile, a control method generally adopted comprises adding a ramp sensor or PID speed closed-loop control, but the method has some disadvantages, such as higher cost of the ramp sensor and the need of adding a hardware circuit. Because the electric automobile body is a large-inertia and large-delay system, the traditional zero-speed PI control method is not good in effect, and a good balance cannot be achieved on the aspects of non-ultra-fast and fast braking.
The PI zero-speed control in the related art is rotational speed loop PI control with zero rotational speed instruction, the control output torque is accurate, the slope-stopping effect can be ensured to the greatest extent, but because the vehicle body belongs to a large inertia system, and the rotational speed loop control system belongs to double closed loop adjustment (the inner loop is a current loop), the rotational speed loop response is slower, and the problems of long control adjustment time and long backward slip distance of the vehicle can occur. Aiming at the problems that a vehicle backward slip distance is long and control and adjustment time is long in a new energy automobile parking process, the invention provides a vehicle parking control optimization scheme based on load torque observation and PI control.
The invention provides a hill-holding control method for an electric vehicle. The method may be implemented in an electric vehicle motor controller.
Fig. 1 is a schematic diagram of a method of an embodiment of a hill-holding control method for an electric vehicle according to the present invention.
As shown in fig. 1, the hill-holding control method at least includes step S110, step S120 and step S130 according to an embodiment of the present invention.
Step S110, when the electric vehicle is in a hill-holding state and the rotation speed of the electric vehicle motor is less than a first rotation speed threshold, performing zero-speed PI control on the motor.
Further, when the motor is subjected to zero-speed PI control, and when the rotating speed of the motor is zero, the opening degree of the accelerator pedal is detected, and the torque is larger than the torque required by the current hill-holding state, the hill-holding state is exited.
Specifically, when the rotational direction of the motor is opposite to the vehicle drive range demand and the rotational speed is less than the first rotational speed threshold β 1 And when no other faults are generated by the motor at the moment, judging that the electric automobile is in a hill-holding state. When the whole Vehicle Controller (VCU) obtains that the electric vehicle is in a slope parking state at present according to the current gear information and the rotating speed condition of the vehicle, an anti-slip opening instruction is sent to the motor controller, and after the Motor Controller (MCU) receives the anti-slip opening instruction sent by the whole Vehicle Controller (VCU), the rotating speed of the motor is controlled in a zero-speed PI control mode, and anti-slip torque is output. The zero-speed PI control means that when the vehicle is in a slope parking state, the given rotating speed is 0, and then the speed of the vehicle is controlled to be zero, so that the phenomenon of slope sliding is prevented.
When the vehicle is judged to be in a parking state, the current rotating speed of the motor of the electric vehicle is monitored in real time, when the current rotating speed of the motor of the electric vehicle is negative (when the rotating speed direction is the same as the rotating speed direction of the forward gear, the rotating speed direction is negative when the rotating speed direction is opposite to the rotating speed direction of the forward gear, the rotating speed of the motor is positive when the rotating direction of the motor is the same as the rotating direction of the motor in the forward gear, namely, the rotating speed of the motor is negative when the rotating direction of the motor is opposite to the rotating direction of the forward gear), and is smaller than a set first rotating speed threshold value, or when the current rotating speed of the motor of the electric vehicle is positive and is smaller than the set first rotating speed threshold value, the motor of the electric vehicle is in a sliding state, the sliding speed is relatively small, the zero-speed PI control can be adopted for adjustment, the zero-speed PI motor output torque control with a rotating speed instruction of zero is started, the current rotating speed of the vehicle is monitored in real time, and if the current rotating speed of the electric vehicle is in a zero-speed, and the accelerator pedal is detected and the current information is larger than the required parking torque.
And step S120, when the rotating speed of the motor of the electric vehicle is smaller than a second rotating speed threshold value, performing zero-speed PI control and load torque observation control on the motor at the same time.
And when the current gear of the electric vehicle is a forward gear, if the rotating speed of the current motor is negative and smaller than a set second rotating speed threshold value, or when the current rotating speed of the electric vehicle is positive and smaller than the set second rotating speed threshold value, performing zero-speed PI control and load torque observation control simultaneously, and performing motor output torque (electromagnetic torque) control, wherein the load torque (load torque) observation control is to estimate the current load torque according to the current rotating speed of the motor and the current motor output torque (electromagnetic torque).
The load torque estimation formula is:
wherein T is e Is the electromagnetic torque of the motor, T l Is the load torque, J is the moment of inertia, omega is the motor speed, and B is the frictionDamping coefficient.
The motor output torque control scheme is carried out by adopting zero-speed PI+load torque observation control, so that the output torque adjustment can be rapidly completed, and the backward slip distance of the vehicle in the slope parking process is effectively shortened on the basis of ensuring the smoothness of control.
In the above-mentioned hill-holding control scheme, when the current gear of the electric vehicle is a forward gear, β 1 、β 2 、β 3 Is negative, beta is the current gear of the electric vehicle is the reverse gear 1 、β 2 、β 3 Positive values.
In order to clearly illustrate the technical scheme of the invention, the execution flow of the electric vehicle hill-holding control method provided by the invention is described in the following by a specific embodiment.
Fig. 2 is a schematic diagram of a method of an embodiment of a hill-holding control method for an electric vehicle according to the present invention. As shown in fig. 2, taking forward gear hill-holding control as an example, the new energy pure electric vehicle hill-holding control flow provided by the scheme is shown in fig. 2. Wherein beta is 1 、β 2 、β 3 Respectively set first, second and third rotation speed thresholds, and are all negative values, |beta 2 |＞|β 1 |＞|β 3 I (I); n is the current rotation speed of the motor, and the unit is rpm. When the vehicle is in a parking state, the current rotating speed of the motor of the electric vehicle is monitored in real time, when the current rotating speed of the motor of the vehicle is negative and is smaller than a set first rotating speed threshold value, zero-speed PI motor output torque control with a rotating speed command of zero is started, the current rotating speed of the motor of the vehicle is detected in real time, if the current speed of the electric vehicle is at zero speed, accelerator pedal information is detected at the same time, and the torque is larger than the torque required by the current parking, the vehicle exits from a parking mode at the moment; and if the current vehicle speed is negative and smaller than the set second rotating speed threshold value, starting zero-speed PI control and load torque observation control to control the motor output torque.
The invention also provides a device for controlling the electric vehicle to stay on the slope. The apparatus may be implemented in an electric vehicle motor controller. Fig. 3 is a block diagram of an embodiment of a hill-holding control device for an electric vehicle according to the present invention. As shown in fig. 3, the electric vehicle hill-holding control device 100 includes a first control unit 110 and a second control unit 120.
The first control unit 110 is configured to perform zero-speed PI control on the electric motor when the electric vehicle is in a hill-holding state and the rotational speed of the electric motor is less than a first rotational speed threshold.
Further, when the motor is subjected to zero-speed PI control, and when the rotating speed of the motor is zero, the opening degree of the accelerator pedal is detected, and the torque is larger than the torque required by the current hill-holding state, the hill-holding state is exited.
Specifically, when the rotational direction of the motor is opposite to the vehicle drive range demand and the rotational speed is less than the first rotational speed threshold β 1 And when no other faults are generated by the motor at the moment, judging that the electric automobile is in a hill-holding state. When the whole Vehicle Controller (VCU) obtains that the electric vehicle is in a slope parking state at present according to the current gear information and the rotating speed condition of the vehicle, an anti-slip opening instruction is sent to the motor controller, and after the Motor Controller (MCU) receives the anti-slip opening instruction sent by the whole Vehicle Controller (VCU), the rotating speed of the motor is controlled in a zero-speed PI control mode, and anti-slip torque is output. The zero-speed PI control means that when the vehicle is in a slope parking state, the given rotating speed is 0, and then the speed of the vehicle is controlled to be zero, so that the phenomenon of slope sliding is prevented.
When the vehicle is judged to be in a parking state, the current rotating speed of the motor of the electric vehicle is monitored in real time, when the current rotating speed of the electric vehicle is negative (when the rotating speed direction is the same as the rotating speed direction of the forward gear, the rotating speed direction is negative when the rotating speed direction is opposite to the rotating speed direction of the forward gear, the rotating speed of the motor is positive when the rotating direction of the motor is the same as the rotating direction of the motor in the forward gear, namely, the rotating speed of the motor is negative when the rotating direction of the motor is opposite to the rotating direction of the forward gear), and is smaller than a set first rotating speed threshold value, or when the current rotating speed of the motor of the electric vehicle is positive and smaller than the set first rotating speed threshold value, the vehicle is in a sliding state at this moment, the sliding speed is relatively small, the zero-speed PI control can be adopted for adjustment, the zero-speed PI motor output torque control with a rotating speed instruction of zero is started, the current rotating speed of the vehicle is monitored in real time, and if the current rotating speed of the electric vehicle is in a zero-speed, accelerator pedal information is detected and the current torque is larger than the required parking torque, and the vehicle is in a parking mode.
The second control unit 120 is configured to perform zero-speed PI control and load torque observation control on the electric vehicle motor simultaneously when the rotational speed of the motor is less than a second rotational speed threshold.
And when the current gear of the electric vehicle is a forward gear, if the rotating speed of the current motor is negative and smaller than a set second rotating speed threshold value, or when the current rotating speed of the electric vehicle motor is positive and smaller than the set second rotating speed threshold value, simultaneously performing zero-speed PI control and load torque observation control, and performing motor output torque (electromagnetic torque) control, wherein the load torque (load torque) observation control is used for estimating the current load torque according to the current motor rotating speed and the current motor output torque.
The load torque estimation formula is:
wherein T is e Is the electromagnetic torque of the motor, T l The load torque is represented by J, the rotational inertia is represented by omega, the motor speed is represented by omega, and the friction damping coefficient is represented by B.
The motor output torque control scheme is carried out by adopting zero-speed PI+load torque observation control, so that the output torque adjustment can be rapidly completed, and the backward slip distance of the vehicle in the slope parking process is effectively shortened on the basis of ensuring the smoothness of control. Optionally, the torque signal output by the load torque observer can be calculated into torque current, and the torque current is fed forward to the current loop input, so that the response speed of the motor speed loop can be increased, and the dynamic performance of the motor is improved.
The above-mentioned control scheme of parking, in the present gear of the said electric vehicle is advancingIn the case of gear beta 1 、β 2 、β 3 Is negative, beta is the current gear of the electric vehicle is the reverse gear 1 、β 2 、β 3 Positive values.
The present invention also provides a storage medium corresponding to the electric vehicle hill-holding control method, having stored thereon a computer program which when executed by a processor performs the steps of any of the methods described above.
The invention also provides an electric vehicle motor controller corresponding to the electric vehicle hill-holding control method, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the steps of any of the methods described above.
The invention also provides an electric vehicle motor controller corresponding to the electric vehicle hill-holding control device, which comprises any one of the electric vehicle hill-holding control devices.
According to the scheme provided by the invention, whether the vehicle enters a parking state is judged according to the current rotating speed and gear information of the vehicle, if the vehicle enters the parking state, the output torque is continuously regulated through PI control firstly according to the current speed deviation, the rotating speed of a motor of the vehicle is detected in real time, and when the rotating speed of the motor is smaller than a preset threshold value, zero-speed PI control and load torque observation control are simultaneously carried out to carry out motor output torque control, wherein the load torque observation control method is adopted, and the output torque regulation can be rapidly completed. When the rotating speed of the motor is near zero speed, load torque observation control is removed, the backward sliding distance of the vehicle is short, the stabilizing time is short, and the vehicle can stably stay on a slope.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software that is executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate components may or may not be physically separate, and components as control devices may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the related art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only an example of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (8)

1. A hill-holding control method for an electric vehicle, comprising:
when the electric vehicle is in a hill-holding state, and the rotation speed of the electric vehicle motor is less than a first rotation speed threshold beta 1 When the motor is in zero-speed PI control; the zero-speed PI control means that when the electric vehicle is in a slope parking state, the given rotating speed is 0, and the speed of the electric vehicle is controlled to be zero;
when the rotation speed of the electric vehicle motor is smaller than a second rotation speed threshold beta 2 When the motor is in operation, zero-speed PI control and load torque observation control are simultaneously carried out on the motor; wherein, |beta 2 |＞|β 1 The load torque is the load torque, the motor output torque is the electromagnetic torque, and the load torque observation control is to estimate the current load torque according to the current motor rotating speed and the current motor output torque;
wherein the load torque estimation formula is:
wherein T is e Is the electromagnetic torque of the motor, T l The load torque is represented by J, the rotational inertia is represented by omega, the motor speed is represented by omega, and the friction damping coefficient is represented by B.
2. The method as recited in claim 1, further comprising:
when the motor is subjected to zero-speed PI control, and when the rotating speed of the motor is zero, the opening degree of the accelerator pedal is detected, and the torque is larger than the torque required by the current hill-holding state, the hill-holding state is exited.
3. The method according to claim 1 or 2, further comprising:
when the motor is simultaneously subjected to zero-speed PI control and load torque observation control, detecting that the rotating speed of the motor is greater than a third threshold value beta 3 And when the speed of the motor is zero, the load torque observation control is exited, and only zero-speed PI control is performed, so that the motor exits from a slope-parking state; wherein, |beta 2 |＞|β 1 |＞|β 3 |。
4. An electric vehicle hill-holding control device, characterized by comprising:
a first control unit for controlling the motor of the electric vehicle to rotate at a speed less than a first rotation speed threshold beta when the electric vehicle is in a hill-holding state 1 When the motor is in zero-speed PI control; the zero-speed PI control means that when the electric vehicle is in a slope parking state, the given rotating speed is 0, and the speed of the electric vehicle is controlled to be zero;
a second control unit for controlling the motor of the electric vehicle to rotate at a speed less than a second speed threshold beta 2 When the motor is in operation, zero-speed PI control and load torque observation control are simultaneously carried out on the motor; wherein, |beta 2 |＞|β 1 The load torque is the load torque, the motor output torque is the electromagnetic torque, and the load torque observation control is to estimate the current load torque according to the current motor rotating speed and the current motor output torque;
wherein the load torque estimation formula is:
wherein T is e Is the electromagnetic torque of the motor, T l Is the load torque, J is the moment of inertia, ω isAnd the rotating speed of the motor, and B is the friction damping coefficient.
5. The apparatus of claim 4, wherein the first control unit is further configured to:
when the motor is subjected to zero-speed PI control, and when the rotating speed of the motor is zero, the opening degree of the accelerator pedal is detected, and the torque is larger than the torque required by the current hill-holding state, the hill-holding state is exited.
6. The apparatus according to claim 4 or 5, wherein the second control unit is further configured to:
when the motor is simultaneously subjected to zero-speed PI control and load torque observation control, detecting that the rotating speed of the motor is greater than a third threshold value beta 3 And when the speed of the motor is zero, the load torque observation control is exited, and only zero-speed PI control is performed, so that the motor exits from a slope-parking state; wherein, |beta 2 |＞|β 1 |＞|β 3 |。
7. A storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of claims 1-3.
8. An electric vehicle motor controller comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1 to 3 when the program is executed, or comprising the electric vehicle hill-holding control device of any one of claims 4 to 6.
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