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CN106114493A - A kind of electric automobile AMT shift process control method - Google Patents

A kind of electric automobile AMT shift process control method Download PDF

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Publication number
CN106114493A
CN106114493A CN201610603556.9A CN201610603556A CN106114493A CN 106114493 A CN106114493 A CN 106114493A CN 201610603556 A CN201610603556 A CN 201610603556A CN 106114493 A CN106114493 A CN 106114493A
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CN
China
Prior art keywords
tcu
motor
torque
shift
signal
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Pending
Application number
CN201610603556.9A
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Chinese (zh)
Inventor
郭孔辉
赵文强
宋新丽
王郑强
徐士强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changchun Konghui Automative Technology Co Ltd
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Changchun Konghui Automative Technology Co Ltd
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Priority to CN201610603556.9A priority Critical patent/CN106114493A/en
Publication of CN106114493A publication Critical patent/CN106114493A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • B60L15/28—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 without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—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
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B60W2540/103—Accelerator thresholds, e.g. kickdown
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/081—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B60W2710/1005—Transmission ratio engaged
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Transmission Device (AREA)

Abstract

A kind of electric automobile AMT shift process control method, comprises the steps: to drive motor driven electric car normally to travel；TCU judges whether to reach shifting points；When TCU judges that current state reaches shifting points, send gearshift request signal to VCU；TCU waits that VCU responds, it is judged that whether VCU allows gearshift；TCU receives VCU and allows the rear of signal of gearshift to send torque unloading command to MCU；TCU reads the dtc signal driving motor, it is judged that drive whether motor torque is offloaded to target torque；After TCU judges to drive motor torque to be offloaded to desired value, TCU sends gear instruction of seting out to shift motor, and shift motor is started working；TCU reads AMT shift signal, it may be judged whether be linked into target gear；After TCU judges to be linked into target gear, TCU sends torque to MCU and loads instruction；TCU reads and drives motor torque signal, it is judged that drive whether motor is loaded onto desired value, after being loaded into desired value, returns to step 1 and proceeds.The method shortens shift time to the full extent.

Description

A kind of electric automobile AMT shift process control method
Technical field
The present invention relates to technical field of electric vehicle transmission, be specifically related to a kind of electric automobile AMT shift process controlling party Method.
Background technology
For electric automobile, although driving motor to have wider speed adjustable range, but the high efficient area of motor leads to Often in certain range of speeds, when rotating speed too low or too high time, the efficiency of motor declines.Electric automobile uses multi-shifting speed variator It is possible not only to improve its climbable gradient, max. speed, it is also possible to improve the efficiency of motor thus increase its continual mileage.
AMT(Automatic Manual Transmission, electrical control automatic manual transmission case) it is traditional manual Improve on the basis of gear transmission.AMT has merged AT(hydraulic automatic speed variator) and MT(manual transmission) both Advantage, had both had hydraulic automatic speed variator self-shifting advantage, remain again the gear-driven efficiency of former manual transmission high, Low cost, simple in construction, the strong point of easily manufacture.
In order to reduce shift shock, improving smooth gear shifting, current existing AMT used for electric vehicle uses when gearshift and drives The unloading of galvanic electricity machine, pluck neutral, drive motor actively speed governing, put into gear, torque recovers such control method, the gearshift electricity when gearshift Machine needs start and stop twice, causes shift time longer to a certain extent.
Summary of the invention
For above-mentioned situation, the present invention proposes a kind of electric automobile AMT shift process control method, the gearshift when gearshift Motor is seted out and is kept off operation and drive motor actively speed governing to carry out simultaneously so that during gearshift, shift motor only carries out start and stop behaviour Make, thus shorten shift time to the full extent, improve the dynamic property of electric automobile.
Control method of the present invention employing following steps:
Step 1, driver's bend the throttle, normally travelled by driving motor driven electric car.
Step 2, when electric automobile normally travels, TCU is continuous according to signals such as the speed collected, accelerator pedal apertures Judge whether to reach shifting points.
Step 3, when TCU judges that current state reaches shifting points, to VCU send gearshift request signal.
Step 4, TCU wait that VCU responds, it is judged that whether VCU allows gearshift.
Step 5, when TCU receive VCU allow gearshift signal after, TCU to MCU send torque unloading command, target Value and rate of change, drive motor to start according to certain rate of change unloading.
Step 6, TCU read the dtc signal driving motor, it is judged that drive whether motor torque is offloaded to target torque.
Step 7, when TCU judges to drive after motor torque is offloaded to desired value, perform step 7-1, TCU to shift motor Sending gear instruction of seting out, shift motor is started working；Meanwhile, TCU performs step 7-2-1, TCU judges that AMT is the most Departing from current shift, after departing from current shift, perform step 7-2-2, TCU sends regulation rotary speed instruction signal to MCU and turns Speed desired value, drives motor to carry out actively speed governing, and regulated to rotating speed of target before AMT is linked into target gear.
Step 8, TCU read AMT shift signal, it may be judged whether be linked into target gear.
Step 9, after TCU judges to be linked into target gear, TCU sends torque to MCU and loads instruction, desired value and change Rate, drives motor to start to load.
Step 10, TCU read and drive motor torque signal, it is judged that drive whether motor is loaded onto desired value, when being loaded into After desired value, return to step 1 and proceed.
The present invention has the following advantages and effect:
1, compared with the present invention keeps off AMT control method with the most common electric automobile two, shift motor is worked start-stop time by It is down to once for twice, thus shortens shift time, improve the dynamic property of vehicle.
2, the present invention is under equal target, it is not necessary to plucks neutral to shorten shift motor and puts into gear the time and select big merit Rate, the shift motor of big torque, can select the shift motor that power, torque are relatively small, thus reduce cost.
Accompanying drawing explanation
Fig. 1 is the electric automobile AMT shift process control method schematic diagram that the present invention proposes；
Fig. 2 is the electric automobile AMT shift process control method flow chart that the present invention proposes.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings, and embodiments of the present invention include but not limited to Following Examples.
Embodiment:
As shown in Figure 1, 2: in figure, TCU is AMT controller, and VCU is entire car controller, and MCU is electric machine controller.
The electric automobile AMT shift process control method of the embodiment of the present invention comprises the steps:
Step 1, driver's bend the throttle, normally travelled by driving motor driven electric car；
Step 2, when electric automobile normally travels, TCU constantly judges according to signals such as the speed collected, accelerator pedal apertures Whether reach shifting points.
Step 3, when TCU judges that current state reaches shifting points, sends gearshift request signal to VCU.
Step 4, TCU waits that VCU responds, it is judged that whether VCU allows gearshift.
Step 5, after TCU receives the signal that VCU allows gearshift, TCU sends torque unloading command, target to MCU Value and rate of change, drive motor to start according to certain rate of change unloading.
Step 6, TCU reads the dtc signal driving motor, it is judged that drive whether motor torque is offloaded to target torque.
Step 7, when TCU judges to drive after motor torque is offloaded to desired value, perform step 7-1, TCU is to gearshift electricity Machine sends gear instruction of seting out, and shift motor is started working；Meanwhile, TCU performs step 7-2-1, TCU judges that AMT is the most Through departing from current shift, when departing from after current shift, perform step 7-2-2, TCU to MCU send rotational speed regulation command signal and Rotating speed desired value, drives motor to carry out actively speed governing, and regulated to rotating speed of target before AMT is linked into target gear.
Step 8, TCU read AMT shift signal, it may be judged whether be linked into target gear.
Step 9, after TCU judges to be linked into target gear, TCU sends torque to MCU and loads instruction, desired value and change Rate, drives motor to start to load.
Step 10, TCU read and drive motor torque signal, it is judged that drive whether motor is loaded onto desired value, when being loaded into After desired value, return to step 1 and proceed.

Claims (1)

1. an electric automobile AMT shift process control method, it is characterised in that: this control method comprises the steps:
Step 1, driver's bend the throttle, normally travelled by driving motor driven electric car；
Step 2, when electric automobile normally travels, TCU constantly judges according to signals such as the speed collected, accelerator pedal apertures Whether reach shifting points；
Step 3, when TCU judges that current state reaches shifting points, to VCU send gearshift request signal；
Step 4, TCU wait that VCU responds, it is judged that whether VCU allows gearshift；
Step 5, when TCU receive VCU allow gearshift signal after, TCU to MCU send torque unloading command, desired value and Rate of change, drives motor to start according to certain rate of change unloading；
Step 6, TCU read the dtc signal driving motor, it is judged that drive whether motor torque is offloaded to target torque；
Step 7, when TCU judges to drive after motor torque is offloaded to desired value, perform step 7-1, TCU sends to shift motor Gear of seting out instructs, and shift motor is started working；Meanwhile, TCU performs step 7-2-1, TCU judges whether AMT has been detached from Current shift, after departing from current shift, performs step 7-2-2, and TCU sends regulation rotary speed instruction signal and rotating speed mesh to MCU Scale value, drives motor to carry out actively speed governing, and regulated to rotating speed of target before AMT is linked into target gear；
Step 8, TCU read AMT shift signal, it may be judged whether be linked into target gear；
Step 9, after TCU judges to be linked into target gear, TCU sends torque to MCU and loads instruction, desired value and rate of change, drives Galvanic electricity machine starts to load；
Step 10, TCU read and drive motor torque signal, it is judged that drive whether motor is loaded onto desired value, when being loaded into target After value, return to step 1 and proceed.
CN201610603556.9A 2016-07-28 2016-07-28 A kind of electric automobile AMT shift process control method Pending CN106114493A (en)

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106402367A (en) * 2016-11-12 2017-02-15 黄伟 Automatic gear shifting method of electric vehicle
CN107215243A (en) * 2017-04-14 2017-09-29 中国北方车辆研究所 A kind of shift control method for many gear electric car wd vehicles
CN107499184A (en) * 2017-08-21 2017-12-22 合肥君信信息科技有限公司 Gear shifting method of automatic transmission electric automobile
CN107514456A (en) * 2017-08-21 2017-12-26 合肥翔望智能科技有限公司 A kind of automatic catch electric automobile gearshift system
CN107606129A (en) * 2017-08-17 2018-01-19 济宁中科先进技术研究院有限公司 Electric car two keeps off gearbox self shifter control method and its control system
CN108146295A (en) * 2018-01-16 2018-06-12 厦门金龙联合汽车工业有限公司 A kind of clutch adaptive control algorithm for improving AMT gear shifting qualities
CN108980332A (en) * 2017-06-01 2018-12-11 上海众联能创新能源科技股份有限公司 Two gear mechanical automatic gearbox control methods of pure electric coach
CN110645350A (en) * 2019-09-23 2020-01-03 奇瑞汽车股份有限公司 Pure electric vehicle speed reducer control method
CN110886838A (en) * 2019-11-29 2020-03-17 湖南海博瑞德电智控制技术有限公司 Gear shifting method based on two-gear AMT electric vehicle
CN110949142A (en) * 2019-12-09 2020-04-03 北理慧动（常熟）车辆科技有限公司 A kind of AMT shift process control method
CN111810625A (en) * 2019-04-12 2020-10-23 汉腾汽车有限公司 Control strategy for gear shifting process of driving motor
CN112013106A (en) * 2019-05-31 2020-12-01 长城汽车股份有限公司 Gear shifting control method and device
CN113154022A (en) * 2021-04-15 2021-07-23 常州易控汽车电子股份有限公司 Embedded module of gearbox controller
CN113442926A (en) * 2021-08-12 2021-09-28 安徽江淮汽车集团股份有限公司 Intelligent auxiliary gear shifting method
CN113883267A (en) * 2021-10-20 2022-01-04 珠海格力电器股份有限公司 Gear shifting control method and device for electric automobile gearbox
CN118306429A (en) * 2024-06-11 2024-07-09 江苏盛海智能科技有限公司 Control method and terminal for wheel track vehicle

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106402367A (en) * 2016-11-12 2017-02-15 黄伟 Automatic gear shifting method of electric vehicle
CN107215243A (en) * 2017-04-14 2017-09-29 中国北方车辆研究所 A kind of shift control method for many gear electric car wd vehicles
CN107215243B (en) * 2017-04-14 2021-07-13 中国北方车辆研究所 Gear shifting control method for multi-gear electric wheel drive vehicle
CN108980332A (en) * 2017-06-01 2018-12-11 上海众联能创新能源科技股份有限公司 Two gear mechanical automatic gearbox control methods of pure electric coach
CN107606129A (en) * 2017-08-17 2018-01-19 济宁中科先进技术研究院有限公司 Electric car two keeps off gearbox self shifter control method and its control system
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