CN108275153B - Method and system for controlling electric automobile to slide down slope - Google Patents
Method and system for controlling electric automobile to slide down slope Download PDFInfo
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- CN108275153B CN108275153B CN201611264976.5A CN201611264976A CN108275153B CN 108275153 B CN108275153 B CN 108275153B CN 201611264976 A CN201611264976 A CN 201611264976A CN 108275153 B CN108275153 B CN 108275153B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000002265 prevention Effects 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 230000003750 conditioning effect Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 238000002474 experimental method Methods 0.000 description 1
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
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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
- B60L15/28—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
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- 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
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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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application provides an electric automobile slope slipping prevention control method and system, wherein the method comprises the following steps: judging whether the state of the electric automobile needs to enter an anti-slope-sliding mode or not according to the opening degree of an accelerator pedal, the gear of an automobile gear shifting lever and a Hall signal; when the electric automobile enters the anti-slope-slipping mode, a given forward torque is calculated according to the slope slipping distance of the electric automobile and a proportionality coefficient K, the motor of the electric automobile is controlled to output the given forward torque, the slope slipping distance of the electric automobile is determined according to the number of sectors passed by the motor in the reverse rotation, the given forward torque is in direct proportion to the number of sectors passed by the motor in the reverse rotation, and the proportionality coefficient is K. According to the method and the system for controlling the electric automobile to slide away from the slope, the Hall signal detected by the Hall sensor arranged on the motor is used as a condition for judging that the electric automobile enters the slope sliding prevention mode, the inclination angle sensor which is commonly adopted at present is replaced, and the cost of the electric automobile is reduced.
Description
Technical Field
The invention relates to an electric automobile slope slipping prevention control method and system, in particular to a light electric automobile slope slipping prevention control method and system based on a Hall position sensor.
Background
With the continuous development of economy, automobiles are used as convenient vehicles, and the number of the automobiles is increased explosively. The traditional automobile adopts an internal combustion engine as a power system, needs to consume a large amount of petrochemical fuel, and seriously aggravates energy shortage and environmental pollution. To solve the above problems, countries in the world are actively seeking new vehicles with low pollution emission and low energy consumption. The electric automobile has the advantages of small pollution, low noise, energy conservation, environmental protection and the like, and is widely concerned and generally regarded. The electric automobile is driven by the motor, and the motor can not maintain idle speed like a traditional engine in order to save electric quantity consumption and prolong the service life of the motor when the automobile is stopped; although the technology saves energy consumption, when the vehicle is parked or started on a slope, if the motor is adopted for slope parking, the motor always works to consume energy, the driving mileage is reduced, and the motor can be locked up when the vehicle is parked on the slope for a long time. Therefore, when the electric automobile is parked on a slope, a driver needs to adopt a mechanical braking mode, but the electric automobile needs a certain time to move forward due to the fact that the driver releases the brake and steps on the accelerator motor to generate power output, and the electric automobile is easy to slide on the slope in the certain time. In the prior art, the slope inclination is usually detected by the aid of an inclination sensor in the pure electric vehicle slope slipping prevention, so that the cost of hardware is increased. Therefore, there is a need to improve the prior art to overcome the deficiencies of the prior art.
Disclosure of Invention
In view of the above, it is desirable to provide a method and a system for controlling an electric vehicle to prevent a vehicle from sliding down a slope at low cost.
The embodiment of the invention provides an electric automobile slope slipping prevention control method, which comprises the following steps:
judging whether the state of the electric automobile needs to enter an anti-slope-sliding mode or not according to the opening degree of an accelerator pedal, the gear of an automobile gear shifting lever and a Hall signal;
when entering the anti-slope-slipping mode, calculating a given forward torque according to the slope slipping distance of the electric automobile and a proportionality coefficient K, and controlling a motor of the electric automobile to output the given forward torque, wherein the slope slipping distance of the electric automobile is determined according to the number of sectors passed by the motor in the reverse rotation, the given forward torque is in direct proportion to the number of sectors passed by the motor in the reverse rotation, and the proportionality coefficient is K.
As a preferable scheme, when the opening degree of an accelerator pedal is smaller than a preset value, the gear of an automobile gear shift lever is in a D gear, and the motor is confirmed to rotate reversely according to a Hall signal, the fact that the electric automobile needs to enter the anti-slope-sliding mode is confirmed.
Preferably, the given forward torque is proportional to the number of sectors through which the motor rotates in reverse.
Preferably, when the electric automobile is in the anti-slope-slipping mode, the given positive torque output by the motor is gradually increased.
As a preferable aspect, the method further includes:
and when the state of the electric automobile meets the preset condition, controlling the electric automobile to exit the anti-slope-slipping mode.
As a preferable scheme, the preset condition includes at least one of the following:
the electric automobile is in the anti-slope-sliding mode for more than preset time;
the gear of the electric automobile is switched from a D gear to an R gear or an N gear;
the opening degree of an accelerator pedal reaches a preset value;
the motor reverse rotation exceeds a predetermined maximum number of sectors passed by the motor reverse rotation;
and the preset maximum sector number passed by the motor in the reverse rotation is obtained by calculating according to the transmission ratio of the electric automobile.
The embodiment of the invention provides an electric automobile anti-slope-sliding control system, which comprises:
the judging module is used for judging whether the state of the electric automobile needs to enter an anti-slope-sliding mode or not according to the opening degree of an accelerator pedal, the gear of an automobile gear shifting lever and a Hall signal; and
and the anti-slope-sliding action module is used for calculating a given forward torque and controlling a motor of the electric automobile to output the given forward torque according to the slope sliding distance of the electric automobile and a proportionality coefficient K when the electric automobile enters an anti-slope-sliding mode, wherein the slope sliding distance of the electric automobile is determined according to the number of sectors passed by the motor in the reverse rotation, the given forward torque is in direct proportion to the number of sectors passed by the motor in the reverse rotation, and the proportionality coefficient is K.
As a preferred scheme, the system further comprises a slope exiting anti-sliding module, wherein the slope exiting anti-sliding module is used for controlling the electric automobile to exit the anti-sliding mode when the state of the electric automobile meets a preset condition; the preset condition at least comprises one of the following conditions:
the electric automobile is in the anti-slope-sliding mode for more than preset time;
the gear of the electric automobile is switched from a D gear to an R gear or an N gear;
the opening degree of an accelerator pedal reaches a set value;
the motor reverse rotation exceeds a predetermined maximum number of sectors passed by the motor reverse rotation;
and the preset maximum sector number passed by the motor in the reverse rotation is obtained by calculating according to the transmission ratio of the electric automobile.
Preferably, the given forward torque is proportional to the number of sectors through which the motor rotates in reverse.
According to the method and the system for controlling the electric automobile to slide away from the slope, the Hall signal detected by the Hall sensor arranged on the motor is used as a condition for judging that the electric automobile enters the slope sliding prevention mode, the inclination angle sensor which is commonly adopted at present is replaced, and the cost of the electric automobile is reduced.
Drawings
In the drawings:
fig. 1 shows a block diagram of an electric vehicle according to an embodiment of the present invention.
Fig. 2 is a block diagram of a control system of the motor of the present invention.
Fig. 3 is a waveform diagram of a hall signal sensed by the hall sensor.
Fig. 4 to 5 are flowcharts of an electric vehicle hill-slip prevention control method according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of an electric vehicle landslide prevention control system according to an embodiment of the present invention.
Description of the main elements
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It is to be understood that the drawings are provided solely for the purposes of reference and illustration and are not intended as a definition of the limits of the invention. The dimensions shown in the figures are for clarity of description only and are not to be taken in a limiting sense.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1, fig. 1 shows a block diagram of an electric vehicle 100 according to an embodiment of the present invention. The electric vehicle 100 mainly includes a main circuit power circuit 10, a control circuit 20, and a permanent magnet motor 30. The main circuit power circuit 10 includes a storage battery 11 for supplying power to the electric vehicle, an inverter bridge 12, and a dc filter capacitor 13. The control circuit 20 includes a position detection circuit 22, a current detection circuit 24, a conditioning circuit 27, a driving circuit 28, and a main controller 26, and the main controller 26 controls the operation of the electric vehicle. The position detection circuit 22 comprises three hall sensors Ha, Hb and Hc, the hall sensors Ha, Hb and Hc are used for detecting the magnetic field position of the rotor of the permanent magnet motor 30 and outputting hall signals, the main controller 26 can judge the positive and negative rotation of the motor according to the hall signals and by combining the opening degree of an accelerator pedal and the gear of a gear lever of the automobile, and the main controller 26 can also determine the rotating speed of the motor according to the hall signals. The current detection circuit 24 includes a current sensor. The signals output by the current detection circuit 24 and the hall sensors Ha, Hb, and Hc are output to the main controller 26 through the conditioning circuit 27. The master controller 26 may also receive gear signals indicative of forward, reverse, and neutral positions of the electric vehicle gear shift lever and an accelerator opening signal reflecting an opening of an accelerator pedal. The torque command Te received by the permanent magnet motor 30 is mainly given by an accelerator, and the torque command of the motor can be determined by the opening degree of an accelerator pedal. The main controller 26 outputs a driving signal for driving the permanent magnet motor 30 according to the received hall signal, the gear signal of the electric vehicle, the accelerator opening signal, and the like, and the driving signal is output to the inverter bridge 12 through the driving circuit 28 to control the energizing mode of the semiconductor switching element in the inverter bridge 12 to correspondingly drive the permanent magnet motor 30 to operate.
Referring to fig. 2, fig. 2 is a block diagram of a control system for performing anti-slope-slipping control based on hall signals sensed by hall sensors Ha, Hb, and Hc according to an embodiment of the present invention. The motor control system comprises a Clark converter 53, a rotor position detection and estimation module 54, a current PI controller 57, a Park inverter 50, an SVPWM module 52, an inverter bridge 12, a control unit 60 and the like. The motor control block diagram generally comprises a rotating speed ring and a current ring, wherein the rotating speed ring is an outer ring, and the current ring is an inner ring, so that the functions of frequency conversion, speed regulation and the like are realized. In the motor control scheme of the electric automobile, the torque is mainly given by an accelerator to form single current loop control. Given torque is calculated to obtain a given current idrefAnd iqrefWith the current i fed backdAnd iqAnd performing difference, and performing proportional integral through the current PI controller 57 to obtain a given voltage command. The given voltage command controls permanent magnet motor 30 in a chopping mode via SVPWM module 52. The above control variables are all accomplished under a rotating coordinate system. It will be appreciated by those skilled in the art that the Clark converter 53, rotor position detection and estimation module 54, current PI controller 57, Park inverter 50, SVPWM module 52, control unit 60, etc. may be a series of computer program segments capable of being executed by the main controller 26 and capable of performing fixed functions.
In the embodiment of the present invention, the control unit 60 performs the anti-creep control of the electric vehicle based on the hall signals sensed by the hall sensors Ha, Hb, and Hc. Fig. 3 is a waveform diagram of hall signals sensed by the hall sensors Ha, Hb, Hc. Because the Hall signals output when the motor rotates positively and negatively are opposite, whether the motor rotates reversely, namely whether the electric automobile slides down a slope, can be judged through the Hall signals, and the sector through which the motor rotates reversely can be obtained according to the Hall signals.
Referring to fig. 4, a flowchart of an anti-slope-slipping control method for an electric vehicle according to an embodiment of the present invention is shown, where the method includes:
s1: and judging whether the state of the electric automobile needs to enter an anti-slope-slipping mode.
Specifically, whether the state of the electric automobile needs to enter the anti-slope-slipping mode or not can be judged according to the opening degree of an accelerator pedal, the gear of an automobile gear shifting lever and a Hall signal. And (5) when the electric automobile needs to enter the anti-slope-slipping mode, executing the step S2, otherwise, repeatedly executing the step S1.
Referring to fig. 5, the step S1 specifically includes the following steps:
s11: and judging whether the motor is in a reverse rotation state, if the motor rotates reversely, executing the step S12, and if the motor rotates normally, repeatedly executing the step S11.
Specifically, when the actually obtained hall signal is opposite to the hall signal predetermined when the motor rotates forward, the motor rotation can be confirmed.
S12: and judging whether the gear of the automobile gear shifting lever is in the D gear or not according to the gear signal of the electric automobile, executing step S13 if the gear is in the D gear, and returning to execute step S11 if the gear is not in the D gear.
S13: and judging whether the accelerator opening is smaller than a preset value or not according to the accelerator opening signal, if so, confirming that an anti-slope-slipping mode needs to be entered, and if not, returning to execute the step S11.
From the process, the motor can enter the anti-slope-slipping mode only when the opening degree of the accelerator pedal is smaller than the preset value, the gear is in the D gear and three conditions of motor reversal are confirmed to be simultaneously met according to the Hall signal, so that the motor executes the anti-slope-slipping action. As long as one condition is not met, the electric automobile does not enter the anti-slope-slipping mode.
S2: when the electric automobile enters the anti-slope-slipping mode, a given forward torque is calculated according to the slope slipping distance of the electric automobile, and the motor of the electric automobile is controlled to output the given forward torque.
Specifically, the slope slipping distance of the electric automobile can be judged by determining the number of sectors passed by the electric automobile when the electric automobile slips down the slope, namely when the motor rotates reversely through the Hall signals Ha, Hb and Hc. The given forward torque generated by the motor in the anti-slope-slipping mode is in direct proportion to the sector passed by the motor in the reverse rotation, and the more sectors passed by the motor in the reverse rotation indicates that the farther the distance of the electric automobile sliding down when slipping down the slope is, the larger the given forward torque needs to be provided. During specific calculation, a proportionality coefficient K can be set, and the proportionality coefficient K can be determined through experiment or theoretical calculation according to the whole vehicle weight and the gradient of the electric vehicle. And given that the forward torque may be increased gradually, allowing for comfort and continuity of driving during a hill fall.
As will be understood by those skilled in the art, the allowable slope sliding distance of the electric vehicle is generally a determined value, and the maximum number of sectors to be passed by the electric vehicle in the reverse rotation of the motor corresponding to the allowable slope sliding distance of the electric vehicle can be calculated according to the transmission ratio of the whole electric vehicle. When the motor stops within the maximum sector number, namely the whole descending moment of the electric automobile is equal to the given positive moment of the motor, and the whole electric automobile is static, the balance of the whole electric automobile is maintained, and the function of slope slipping prevention is achieved.
S3: and when the state of the electric automobile meets the preset condition, controlling the electric automobile to exit the anti-slope-slipping mode.
Specifically, the preset conditions in this embodiment at least include:
the electric automobile is in the anti-slope-sliding mode for more than preset time;
the gear of the electric automobile is switched from a D gear to an R gear or an N gear;
the opening degree of an accelerator pedal reaches a set value;
the motor reverse rotation exceeds a predetermined maximum number of sectors passed by the motor reverse rotation.
Those skilled in the art will appreciate that the conditions under which the electric vehicle exits the anti-creep mode may be set. For example, the motor is in the anti-creep mode with time limitation, i.e. a preset time is set, which is dependent on the overload capability of the main controller 26, e.g. the preset time may be set to 3-5 seconds. And when the time that the electric automobile is in the anti-slope-slipping mode exceeds the preset time, the electric automobile can exit the anti-slope-slipping mode. Or when the motor is in the anti-slope-slipping mode, the motor reverse rotation exceeds the maximum sector number, which indicates that the slope is too large or the load is too large at the moment, so that the anti-slope-slipping mode can be automatically exited to protect the main controller 26 to the maximum extent, and the main controller 26 is prevented from being damaged due to too large current. After the vehicle exits the anti-slope-sliding mode, the given positive torque disappears, and the vehicle body slides freely to a stable state.
When the gear of the electric automobile is changed, for example, the D gear is switched to the R gear or the N gear, the anti-slope-slipping mode can also be exited. If the motor keeps balance after entering the anti-slope-slipping mode, if the motor needs to start on the slope, the anti-slope-slipping mode can be exited. At this time, the exit from the anti-slope-slipping mode needs to meet one of the following two conditions: 1. the gear is switched from the D gear to the R or N gear; 2. when the opening degree of the accelerator reaches a preset value, the intention of the driver to start the vehicle uphill is shown. The motor is normally started, namely, torque output is carried out by adjusting the opening of the throttle valve, so that the electric automobile can be normally started on a ramp.
It will be appreciated by those skilled in the art that the foregoing is a detailed description of the method provided by the embodiments of the invention. According to different requirements, the execution sequence of the blocks in the flowchart may also be changed, for example, the execution sequence of steps S11-S13 may be changed, and of course, steps S11-S13 may also be executed simultaneously in other embodiments.
Fig. 6 is a schematic diagram of an electric vehicle landslide prevention control system according to an embodiment of the present invention. The electric automobile slope-sliding prevention control system comprises a judgment module 61, a slope-sliding prevention action module 62 and a slope-sliding prevention quitting module 63. The module according to the embodiment of the present invention refers to a series of computer program segments capable of being executed by a processing device and performing a fixed function, which are stored in a storage device and can be executed by the main controller 26.
The judging module 61 is used for judging whether the state of the electric automobile needs to enter the anti-slope-slipping mode according to the opening degree of an accelerator pedal, the gear of an automobile gear shifting lever and a Hall signal. The anti-slope-slipping action module 62 is configured to calculate a given forward torque according to a slope slipping distance of the electric vehicle and control a motor of the electric vehicle to output the given forward torque when the electric vehicle enters the anti-slope-slipping mode. And the exit anti-slope-sliding module 63 is used for controlling the electric automobile to exit the anti-slope-sliding mode when the state of the electric automobile meets the preset condition.
Aiming at the problem of slope slipping of the existing light electric automobile in hill starting, the embodiment of the invention provides a method for judging whether the electric automobile enters a slope slipping prevention mode by using a Hall signal detected by a Hall sensor arranged on a motor, so that the method replaces an inclination angle sensor which is commonly adopted at present, and the cost of the electric automobile is reduced. And when entering the anti-slope-slipping mode, judging the passing sector of the motor during the reverse rotation according to the Hall signal, and providing a given forward torque to the motor according to the passing sector. If the electric automobile continues to roll backwards at the moment, gradually increasing the given forward torque until the vehicle stops rolling backwards or the given forward torque is increased to the maximum value of the given forward torque corresponding to the slope rolling distance allowed by the electric automobile so as to maintain the comfort and the continuity of driving.
In the several embodiments provided in the present invention, it should be understood that the disclosed system and method may be implemented in other ways. For example, the system embodiments described above are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units, modules or devices recited in the system claims can also be implemented by one and the same unit, module or device in software or hardware.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.
Claims (9)
1. An electric automobile anti-slide control method comprises the following steps:
judging whether the state of the electric automobile needs to enter an anti-slope-sliding mode or not according to the opening degree of an accelerator pedal, the gear of an automobile gear shifting lever and a Hall signal;
when entering the anti-slope-slipping mode, calculating a given forward torque according to the slope slipping distance of the electric automobile and a proportionality coefficient K, and controlling a motor of the electric automobile to output the given forward torque, wherein the slope slipping distance of the electric automobile is determined according to the number of sectors passed by the motor in the reverse rotation, the given forward torque is in direct proportion to the number of sectors passed by the motor in the reverse rotation, and the proportionality coefficient is K.
2. The method for controlling the electric vehicle to prevent the electric vehicle from sliding down the slope according to claim 1, wherein: and when the opening degree of an accelerator pedal is smaller than a preset value, the gear of an automobile gear shifting lever is in a D gear, and the motor is confirmed to rotate reversely according to the Hall signal, confirming that the electric automobile needs to enter an anti-slope sliding mode.
3. The electric vehicle hill-drop prevention control method according to claim 2, characterized in that: the given forward torque is proportional to the number of sectors through which the motor reverses direction.
4. The method for controlling the electric vehicle to prevent the electric vehicle from sliding down the slope according to claim 1, wherein: when the electric automobile is in the anti-slope-slipping mode, the given forward torque output by the motor is gradually increased.
5. The electric vehicle landslide prevention control method according to any one of claims 1-4, wherein: the method further comprises the following steps:
and when the state of the electric automobile meets the preset condition, controlling the electric automobile to exit the anti-slope-slipping mode.
6. The method for controlling an electric vehicle to prevent a slope from slipping as set forth in claim 5, wherein: the preset condition at least comprises one of the following conditions:
the electric automobile is in the anti-slope-sliding mode for more than preset time;
the gear of the electric automobile is switched from a D gear to an R gear or an N gear;
the opening degree of an accelerator pedal reaches a preset value;
the motor reverse rotation exceeds a predetermined maximum number of sectors passed by the motor reverse rotation;
and the preset maximum sector number passed by the motor in the reverse rotation is obtained by calculating according to the transmission ratio of the electric automobile.
7. An electric automobile prevents swift current slope control system includes:
the judging module is used for judging whether the state of the electric automobile needs to enter an anti-slope-sliding mode or not according to the opening degree of an accelerator pedal, the gear of an automobile gear shifting lever and a Hall signal; and
and the anti-slope-sliding action module is used for calculating a given forward torque and controlling a motor of the electric automobile to output the given forward torque according to the slope sliding distance of the electric automobile and a proportionality coefficient K when the electric automobile enters an anti-slope-sliding mode, wherein the slope sliding distance of the electric automobile is determined according to the number of sectors passed by the motor in the reverse rotation, the given forward torque is in direct proportion to the number of sectors passed by the motor in the reverse rotation, and the proportionality coefficient is K.
8. The electric vehicle landslide prevention control system according to claim 7, further comprising a quit landslide prevention module for controlling the electric vehicle to quit the landslide prevention mode when a state of the electric vehicle satisfies a preset condition; the preset condition at least comprises one of the following conditions:
the electric automobile is in the anti-slope-sliding mode for more than preset time;
the gear of the electric automobile is switched from a D gear to an R gear or an N gear;
the opening degree of an accelerator pedal reaches a set value;
the motor reverse rotation exceeds a predetermined maximum number of sectors passed by the motor reverse rotation;
and the preset maximum sector number passed by the motor in the reverse rotation is obtained by calculating according to the transmission ratio of the electric automobile.
9. The electric vehicle anti-creep control system as claimed in claim 7, wherein the given forward torque is proportional to the number of sectors through which the motor rotates in reverse.
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| CN201611264976.5A CN108275153B (en) | 2016-12-30 | 2016-12-30 | Method and system for controlling electric automobile to slide down slope |
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| CN201611264976.5A CN108275153B (en) | 2016-12-30 | 2016-12-30 | Method and system for controlling electric automobile to slide down slope |
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| CN108275153B true CN108275153B (en) | 2020-05-15 |
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| CN109878501A (en) * | 2019-03-11 | 2019-06-14 | 汉腾汽车有限公司 | A kind of control system that electric vehicle ramp is anti-slip |
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| CN112356682B (en) * | 2020-09-23 | 2022-03-11 | 南京信息工程大学 | Ramp creep control method of switched reluctance motor of electric automobile |
| CN112810612B (en) * | 2021-01-07 | 2023-06-20 | 东风柳州汽车有限公司 | Automobile accelerator acceleration control method, device, equipment and storage medium |
| CN112776808B (en) * | 2021-01-07 | 2023-06-20 | 东风柳州汽车有限公司 | Automobile starting anti-skid control method, device, equipment and storage medium |
| CN114114994A (en) * | 2021-11-03 | 2022-03-01 | 广东国邦清洁设备有限公司 | A sliding slope detection device, detection method and sliding slope prevention system thereof |
| CN115805819B (en) * | 2022-11-30 | 2025-03-25 | 东风华神汽车有限公司 | Method, device, equipment and medium for preventing motor from stalling when preventing vehicle from sliding downhill |
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