CN108725255A - Electric vehicle driving torque smoothness control method - Google Patents
Electric vehicle driving torque smoothness control method Download PDFInfo
- Publication number
- CN108725255A CN108725255A CN201710269016.6A CN201710269016A CN108725255A CN 108725255 A CN108725255 A CN 108725255A CN 201710269016 A CN201710269016 A CN 201710269016A CN 108725255 A CN108725255 A CN 108725255A
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Classifications
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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
-
- 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 present invention relates to a kind of electric vehicle driving torque smoothness control methods, belong to the technical field of electric vehicle.The control method of the present invention, includes the following steps：S1：Acquisition torque signal obtains torque value, and primary at interval of Δ t repeated acquisitions；S2：Difference processing is carried out to the torque value at interval and obtains change in torque slope K；S3：When the absolute value of change in torque slope | K | be greater than the set value | KS| when, control electric vehicle enters modification model；S4：Under modification model, calculates and obtain correcting change in torque slope KC, KC> 0, and the KCIt is less than | KS|, according to amendment change in torque slope KCWith current torque signal, calculates and correct torque, and control electric vehicle and travelled with the amendment torque.The smoothness control method of the present invention can effectively eliminate influence of the Spline smoothing to vehicle ride comfort of driving torque, avoid impact of the Spline smoothing due to driving torque to vehicle, improve vehicle ride performance.
Description
Technical field
The present invention relates to the technical fields of electric vehicle, it is more particularly related to which a kind of driving of electric vehicle is turned round
Square smoothness control method.
Background technology
Increasingly stringent, traditional vapour with the worsening shortages and various countries' environmental protective measure of the non-renewable resources such as petrochemical industry
Energy shortage and atmosphere polluting problem caused by vehicle is also of increasing concern.Electric vehicle has efficient, energy saving, terminal zero-emission
The features such as putting is the important channel for solving energy crisis and environmental pollution.But the limitation of electric vehicle system effectiveness driven, such as
What ensures the efficiently Proper Match between the frequent operation area of electric vehicle, and it is that solution is electronic to develop suitable control strategy
The wanted problems faced such as automobile efficiency, comfort.As depicted in figs. 1 and 2, in the prior art, electric vehicle is in Tipin
During (acceleration) and Tipout (deceleration), it often will appear the Spline smoothing of driving torque, and to vehicle assembly impact and tight
Comfort is reduced again.
Invention content
In order to solve above-mentioned technical problem in the prior art, the purpose of the present invention is to provide a kind of drivings of electric vehicle
Torque smoothness control method.
In order to solve to invent the technical problem and realize goal of the invention, present invention employs following technical schemes：
A kind of electric vehicle driving torque smoothness control method, it is characterised in that include the following steps：
S1：The torque signal of acquisition motor in electric automobile output obtains torque value Q, and at interval of Δ t repeated acquisitions one
Secondary torque signal；
S2：Difference processing is carried out to the torque value Q at interval and change in torque slope K is calculated；
S3：When the absolute value of change in torque slope | K | be greater than the set value | KS| when, it controls the electric vehicle and enters amendment
Pattern；
S4：Under modification model, calculates and obtain correcting change in torque slope KC, KC> 0, and the KCIt is less than | KS|,
And according to amendment change in torque slope KCWith current torque signal, calculates and correct torque, and control the electric vehicle with institute
It states and corrects torque traveling.
Wherein, when change in torque slope K be positive value and | K | be greater than the set value KSWhen, into acceleration modification model.
Wherein, when change in torque slope K be negative value and | K | be greater than the set value KSWhen, into deceleration modification model.
Wherein, accelerating modification model, if the torque value Q currently acquired is not more than QSWhen, it calculates and corrects torque equal to Q
+KCΔt, the K at this timeCFor steady state value；If the torque value Q currently acquired is more than QSWhen, it calculates and corrects torque equal to Q+KCΔ
T, at this time KCFor the function of Q, and Q is bigger, KCIt is smaller.
Wherein, it in deceleration modification model, calculates and corrects torque equal to Q-KCΔ t, the at this time KCFor steady state value.
Compared with the immediate prior art, electric vehicle driving torque smoothness control method of the invention has following
Advantageous effect：
The smoothness control method of the present invention can effectively eliminate shadow of the Spline smoothing to vehicle ride comfort of driving torque
It rings, avoids impact of the Spline smoothing due to driving torque to vehicle, improve vehicle ride performance.
Description of the drawings
Fig. 1 is that driving torque changes with time schematic diagram under electric vehicle acceleration pattern in the prior art.
Fig. 2 is that driving torque changes with time schematic diagram under electric vehicle deceleration mode in the prior art.
Fig. 3 is the front and back contrast schematic diagram of the driving torque smoothness control under electric vehicle acceleration pattern.
Fig. 4 is the front and back contrast schematic diagram of the driving torque smoothness control under electric vehicle deceleration mode.
Specific implementation mode
Below with reference to specific embodiment to electric vehicle driving torque smoothness control method of the present invention do into
The elaboration of one step, to make more complete and clear explanation to technical scheme of the present invention.
Specific implementation mode
In the present invention, the electric vehicle for example may include car, SUV, bus, bus, commercial vehicle, card
The motor vehicles of the diversified forms such as vehicle, offroad vehicle.
The electric vehicle driving torque smoothness control method of the present invention, includes the following steps：
S1：Torque value is obtained at interval of the torque signal for adopting the output of Δ t collection motor in electric automobile, such as respectively in T0-ΔtWith
T0(with T0For current time) it acquires the torque signal of motor in electric automobile output and the torsion at current time is obtained by analytical Calculation
Square value Q0And the torque value Q before the intervals Δ t0-Δt。
S2：To torque value Q, the Q at interval0-ΔtIt carries out difference processing and change in torque slope K is calculated, of course for meter
Calculate accurately really can average processing to the continuous multiple change in torque slope Ks being calculated, such as can carry out root mean square
Processing.In addition, the slope of change in torque slope K can be obtained by difference processing, in addition can also be stepped on by the acceleration of acquisition
The signals such as partitioned signal, brake pedal signal, gear carry out comprehensive anticipation.
S3：When the absolute value of change in torque slope | K | be greater than the set value | KS| when, it controls the electric vehicle and enters amendment
Pattern, the K of the settingSValue can require to be demarcated according to the ride comfort of vehicle, in Tipin (acceleration) and Tipout (deceleration)
It is somebody's turn to do in the process | KS| value can be identical, naturally it is also possible to be set to different values.
S4：Under modification model, calculates and obtain correcting change in torque slope KC, KC> 0, and the KCIt is less than | KS|,
And according to amendment change in torque slope KCWith current torque signal, calculates and correct torque, and control the electric vehicle with institute
It states and corrects torque traveling.
As shown in figure 3, when change in torque slope K be positive value and | K | when being greater than the set value Ks, into accelerate modification model.
Accelerating modification model, if the torque value Q currently acquired0No more than QSWhen, it calculates and corrects torque equal to Q0+KCΔ t, at this time
The KCFor steady state value；If the torque value Q currently acquired0More than QSWhen, it calculates and corrects torque equal to Q0+KCΔ t, at this time KCFor
The function of Q, and Q is bigger, KCSmaller, which for example can be that (wherein dotted line is without flat for the form of natural exponential function
The driving torque of hue control).As shown in figure 4, when change in torque slope K be negative value and | K | when being greater than the set value Ks, into subtracting
Fast modification model.In deceleration modification model, calculates and correct torque equal to Q-KCΔ t, the at this time KCFor steady state value (wherein dotted line
For the driving torque controlled without smoothness).
The electric vehicle driving torque smoothness control method of the present invention has taken into account the dynamic property and ride comfort of electric vehicle,
Impact of the Spline smoothing due to driving torque to vehicle is avoided, vehicle ride performance is improved.
For the ordinary skill in the art, specific embodiment is only exemplarily described the present invention,
Obviously the present invention specific implementation is not subject to the restrictions described above, as long as use the inventive concept and technical scheme of the present invention into
The improvement of capable various unsubstantialities, or it is not improved by the present invention design and technical solution directly apply to other occasions
, within protection scope of the present invention.
Claims (5)
1. a kind of electric vehicle driving torque smoothness control method, it is characterised in that include the following steps：
S1：The torque signal of acquisition motor in electric automobile output obtains torque value, and at interval of torque of Δ t repeated acquisitions
Signal；
S2：Difference processing is carried out to the torque value at interval and change in torque slope K is calculated；
S3：When the absolute value of change in torque slope | K | be greater than the set value | KS| when, it controls the electric vehicle and enters modification model；
S4：Under modification model, calculates and obtain correcting change in torque slope KC, KC> 0, and the KCIt is less than | KS|, and
According to amendment change in torque slope KCWith current torque signal, calculates and correct torque, and control the electric vehicle and repaiied with described
Positive-torque travels.
2. electric vehicle driving torque smoothness control method according to claim 1, it is characterised in that：Work as change in torque
Slope K be positive value and | K | when being greater than the set value Ks, into accelerate modification model.
3. electric vehicle driving torque smoothness control method according to claim 1, it is characterised in that：Work as change in torque
Slope K be negative value and | K | when being greater than the set value Ks, into deceleration modification model.
4. electric vehicle driving torque smoothness control method according to claim 2, it is characterised in that：Accelerating to correct
Pattern, if the torque value Q currently acquired is not more than QSWhen, it calculates and corrects torque equal to Q+KCΔ t, the at this time KCIt is constant
Value；If the torque value Q currently acquired is more than QSWhen, it calculates and corrects torque equal to Q+KCΔ t, at this time KCFor the function of Q, and Q
It is bigger, KCIt is smaller.
5. electric vehicle driving torque smoothness control method according to claim 3, it is characterised in that：It is corrected slowing down
Pattern calculates and corrects torque equal to Q-KCΔ t, the at this time KCFor steady state value.
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| CN201710269016.6A CN108725255A (en) | 2017-04-21 | 2017-04-21 | Electric vehicle driving torque smoothness control method |
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| CN201710269016.6A CN108725255A (en) | 2017-04-21 | 2017-04-21 | Electric vehicle driving torque smoothness control method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760686A (en) * | 2019-03-11 | 2019-05-17 | 汉腾汽车有限公司 | A kind of mixed electrical automobile change in torque control system |
| CN109808510A (en) * | 2019-02-26 | 2019-05-28 | 北京经纬恒润科技有限公司 | The control method and entire car controller of electric car output torque |
| CN109968997A (en) * | 2019-03-19 | 2019-07-05 | 中国第一汽车股份有限公司 | A kind of electric car driving torque cross 0 during torque control method |
| CN111942175A (en) * | 2020-08-12 | 2020-11-17 | 华人运通(江苏)技术有限公司 | Torque control method, torque control device, vehicle, electronic device, and storage medium |
| CN112208356A (en) * | 2020-10-16 | 2021-01-12 | 安徽江淮汽车集团股份有限公司 | Torque control method, device, storage medium and apparatus |
| CN113580957A (en) * | 2021-09-10 | 2021-11-02 | 宜宾凯翼汽车有限公司 | Mode switching torque control method for electric vehicle |
| CN114531071A (en) * | 2022-02-28 | 2022-05-24 | 三一电动车科技有限公司 | Motor control method, device, equipment, medium and vehicle |
| CN114655030A (en) * | 2021-04-20 | 2022-06-24 | 长城汽车股份有限公司 | Vehicle torque control method and device |
| CN114801773A (en) * | 2021-06-25 | 2022-07-29 | 长城汽车股份有限公司 | Vehicle torque filtering method and device, storage medium and vehicle |
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| CN104627024A (en) * | 2015-02-11 | 2015-05-20 | 北京蓝时科技股份有限公司 | Control method for improving driveability of full electric vehicle |
| CN106541854A (en) * | 2016-10-27 | 2017-03-29 | 同济大学 | A kind of electric automobile starting shake Active Control Method based on addition of waveforms |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109808510A (en) * | 2019-02-26 | 2019-05-28 | 北京经纬恒润科技有限公司 | The control method and entire car controller of electric car output torque |
| CN109808510B (en) * | 2019-02-26 | 2020-11-03 | 北京经纬恒润科技有限公司 | Control method for output torque of electric vehicle and vehicle control unit |
| CN109760686A (en) * | 2019-03-11 | 2019-05-17 | 汉腾汽车有限公司 | A kind of mixed electrical automobile change in torque control system |
| CN109968997A (en) * | 2019-03-19 | 2019-07-05 | 中国第一汽车股份有限公司 | A kind of electric car driving torque cross 0 during torque control method |
| CN111942175B (en) * | 2020-08-12 | 2022-04-22 | 华人运通(江苏)技术有限公司 | Torque control method, torque control device, vehicle, electronic device, and storage medium |
| CN111942175A (en) * | 2020-08-12 | 2020-11-17 | 华人运通(江苏)技术有限公司 | Torque control method, torque control device, vehicle, electronic device, and storage medium |
| CN112208356A (en) * | 2020-10-16 | 2021-01-12 | 安徽江淮汽车集团股份有限公司 | Torque control method, device, storage medium and apparatus |
| CN114655030A (en) * | 2021-04-20 | 2022-06-24 | 长城汽车股份有限公司 | Vehicle torque control method and device |
| CN114655030B (en) * | 2021-04-20 | 2024-10-11 | 长城汽车股份有限公司 | Control method and device for vehicle torque |
| CN114801773A (en) * | 2021-06-25 | 2022-07-29 | 长城汽车股份有限公司 | Vehicle torque filtering method and device, storage medium and vehicle |
| CN114801773B (en) * | 2021-06-25 | 2025-02-28 | 长城汽车股份有限公司 | Vehicle torque filtering method, device, storage medium and vehicle |
| CN113580957A (en) * | 2021-09-10 | 2021-11-02 | 宜宾凯翼汽车有限公司 | Mode switching torque control method for electric vehicle |
| CN114531071A (en) * | 2022-02-28 | 2022-05-24 | 三一电动车科技有限公司 | Motor control method, device, equipment, medium and vehicle |
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Application publication date: 20181102 |
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