CN111703414B - Method for controlling an all-terrain vehicle - Google Patents
Method for controlling an all-terrain vehicle Download PDFInfo
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- CN111703414B CN111703414B CN202010669589.XA CN202010669589A CN111703414B CN 111703414 B CN111703414 B CN 111703414B CN 202010669589 A CN202010669589 A CN 202010669589A CN 111703414 B CN111703414 B CN 111703414B
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
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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
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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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
- 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
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- 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
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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
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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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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- 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
- B60W2710/083—Torque
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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
- B60W2710/086—Power
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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
- Y02T10/62—Hybrid vehicles
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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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The invention discloses a method for controlling an all-terrain vehicle and the all-terrain vehicle, wherein the method for controlling the all-terrain vehicle comprises the steps of obtaining a rotating speed value of an engine and an SOC value of a power battery; and controlling the running mode of the motor according to the rotating speed value of the engine and the SOC value of the power battery, wherein the running mode comprises at least one of a driving mode, a power generation mode and a field weakening mode. The method can realize reasonable control of the power generation and the driving of the all-terrain vehicle so as to meet the requirement of the normal running of the all-terrain vehicle.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a method for controlling an all-terrain vehicle.
Background
In the related art, the all-terrain vehicle uses a fuel engine as power, a Transmission and the engine are integrated into a whole or a split type, the Transmission comprises a CVT (Continuously Variable Transmission) and a reduction gear Transmission, and the power output of the engine is transmitted to a gearbox through a V-shaped belt by the CVT and is output after being reduced by the gears. However, because the power source is a gasoline engine and the transmission efficiency of the CVT structure is low, the defect of insufficient power exists under certain specific working conditions, and the conditions of insufficient combustion of mixed gas, low heat efficiency, high fuel consumption and high content of harmful gas can be generated.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. To this end, it is an object of the invention to propose a method of controlling an all-terrain vehicle which allows a rational control of the power generation and driving of the all-terrain vehicle to meet the normal driving requirements of the all-terrain vehicle.
In order to solve the above problem, an embodiment of the first aspect of the present invention provides a method for controlling an all-terrain vehicle, including obtaining a rotation speed value of an engine and an SOC value of a power battery; and controlling the running mode of the motor according to the rotating speed value of the engine and the SOC value of the power battery, wherein the running mode comprises at least one of a driving mode, a power generation mode and a field weakening mode.
According to the method for controlling the all-terrain vehicle, the running mode of the motor is controlled according to the rotating speed value of the engine and the SOC value of the power battery, the driving and the power generation of the all-terrain vehicle are reasonably controlled, the all-terrain vehicle is controlled, and compared with a mode of only adopting fuel oil to provide power, the method for controlling the all-terrain vehicle can reduce the emission of harmful gases by controlling the running mode of the motor according to the rotating speed value of the engine and the SOC value of the power battery.
In some embodiments, controlling the operation mode of the motor according to the rotation speed value of the engine and the SOC value of the power battery includes: and determining that the SOC value is smaller than a first SOC threshold value and the rotating speed value is smaller than or equal to a first idle speed threshold value, and controlling the motor to enter the field weakening mode.
In some embodiments, controlling the operation mode of the motor according to the rotation speed value of the engine and the SOC value of the power battery further comprises: and determining that the SOC value is smaller than the first SOC threshold value and the rotating speed value is larger than the first idle speed threshold value, and controlling the motor to enter the power generation mode, wherein the motor does not respond to a driving command.
In some embodiments, controlling the operation mode of the motor according to the rotation speed value of the engine and the SOC value of the power battery includes: determining that the SOC value is larger than the first SOC threshold value and smaller than or equal to a second SOC threshold value, determining that the rotating speed value of the engine is smaller than or equal to a second idling threshold value, and controlling the motor to enter the driving mode, wherein the second idling threshold value is equal to or larger than the first idling threshold value.
In some embodiments, controlling the operation mode of the electric machine according to the rotation speed value of the engine and the SOC value of the power battery further comprises: and determining that the SOC value is larger than the first SOC threshold value and smaller than or equal to a second SOC threshold value, determining that the rotating speed value of the engine is larger than the second idle speed threshold value, and controlling the motor to enter the power generation mode.
In some embodiments, controlling the operation mode of the motor according to the rotation speed value of the engine and the SOC value of the power battery comprises: and determining that the SOC value is greater than a second SOC threshold value, controlling the motor to only respond to a driving command, and entering a driving mode according to the driving command.
In some embodiments, the method further comprises: acquiring accelerator pedal detection data; and determining that the depth of the accelerator pedal is increased according to the detected data of the accelerator pedal, and adjusting the running torque of the engine, the power generation power of the motor and the running torque of the motor according to the SOC value and the running mode of the motor.
In some embodiments, adjusting the engine operating torque and the motor generated power, the motor operating torque based on the SOC value and the operating mode of the motor comprises: the SOC value is smaller than or equal to a second SOC threshold value, wherein the motor is in the power generation mode, the running torque of the engine is controlled to be increased, and the power generation power of the motor is controlled to be reduced, or the motor is in the driving mode, the running torque of the engine is controlled to be increased, and the running torque of the motor is controlled to be increased; or the SOC value is larger than a second SOC threshold value, the motor is in the driving mode, and the running torque of the engine is controlled to be increased and the running torque of the motor is controlled to be increased.
In some embodiments, the method further comprises: responding to the brake signal, and acquiring vehicle speed information; and if the SOC value is smaller than a third SOC threshold value and the vehicle speed value is larger than the vehicle speed threshold value according to the vehicle speed information, an energy recovery enabling signal is sent.
In some embodiments, before obtaining the engine speed value and the power battery SOC value, the method further comprises: acquiring operating parameters of the engine; judging the state of the engine according to the operating parameters; the engine is in a running state, the rotating speed value of the engine is obtained, or the engine breaks down, and fault alarming is carried out.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of controlling an all-terrain vehicle according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a SOC segment according to one embodiment of the present invention;
FIG. 3 is a flow chart of a method of controlling an all-terrain vehicle according to another embodiment of the invention;
fig. 4 is a block diagram of an all-terrain vehicle according to one embodiment of the present invention.
Reference numerals:
an all-terrain vehicle 1; an engine 2; a motor 3; a vehicle control unit 4; an electronic control unit 5; a micro control unit 6.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
The following describes a method for controlling an all-terrain vehicle according to an embodiment of the first aspect of the invention, which method enables a reasonable control of the power generation and driving of the all-terrain vehicle to meet the normal driving of the all-terrain vehicle, with reference to the attached drawings.
In an embodiment, the all-terrain vehicle of an embodiment of the invention comprises a hybrid all-terrain vehicle. Hybrid generally refers to a gasoline-electric hybrid, i.e., a mixture of fuel (gasoline, diesel, etc.) and electrical energy. The all-terrain vehicle is a vehicle designed aiming at hostile terrain environments and regions, theoretically refers to a vehicle capable of driving on any terrain, and is characterized by low grounding pressure, strong trafficability, capability of freely walking on terrains difficult to maneuver, and capability of easily passing through hostile terrains such as hills, jungles, beaches, deserts and snowfields. The hybrid all-terrain vehicle at least comprises an all-terrain vehicle frame, a motor, an engine, a power battery and a vehicle control unit. The vehicle control unit is used for monitoring the running state of the whole vehicle, the engine and the motor can be used for driving, the engine can also be used for driving the motor to generate electricity, and the power battery is used for storing electric energy.
Fig. 1 is a flowchart illustrating a method for controlling an all-terrain vehicle according to an embodiment of the invention, and as shown in fig. 1, the method for controlling an all-terrain vehicle according to an embodiment of the invention at least comprises steps S1-S2.
And step S1, acquiring the rotating speed value of the engine and the SOC (State of charge) value of the power battery.
The method of the embodiment of the invention controls the running mode of the motor by taking the rotating speed value of the engine and the SOC value of the power battery as reference objects, thereby realizing the control of the all-terrain vehicle.
In an embodiment, the vehicle control unit may detect a state of the engine, such as whether the engine is started or not or whether the engine is out of order, and further acquire a rotation speed value of the engine when the engine is in an operating state, and detect a state parameter of the power battery to acquire an SOC value of the power battery.
And step S2, controlling the running mode of the motor according to the rotating speed value of the engine and the SOC value of the power battery, wherein the running mode comprises at least one of a driving mode, a power generation mode and a field weakening mode.
In the embodiment, the motor has the functions of generating power and starting, and the method of the embodiment of the invention controls the running mode of the motor according to the acquired rotating speed value of the engine and the SOC value of the power battery, thereby realizing the control of the all-terrain vehicle to meet the normal running of the all-terrain vehicle. Wherein the operation mode of the motor includes at least one of a driving mode, a power generation mode and a field weakening mode.
In the embodiment, when the motor is in a power generation mode, the motor has the function of a generator, and the engine drives the motor to generate power; when the motor is in a field weakening mode, the motor has the function of starting the engine; when the motor is in a driving mode, the motor is a driving motor, namely, the motor participates in the driving of the all-terrain vehicle.
In an embodiment, the running mode of the motor can be determined by setting a rotating speed threshold value of the engine and dividing a stage range of the SOC value of the power battery, and the motor is controlled to execute the corresponding running mode, so that the power generation control of the all-terrain vehicle is realized. Meanwhile, the method of the embodiment of the invention controls the running mode of the motor according to the rotating speed value of the engine and the SOC value of the power battery so as to provide driving force for the all-terrain vehicle, namely, the all-terrain vehicle is driven by electric energy, so that the emission of harmful gases of the all-terrain vehicle can be reduced.
According to the method for controlling the all-terrain vehicle, the operation mode of the motor is controlled according to the rotating speed value of the engine and the SOC value of the power battery, the driving and the power generation of the all-terrain vehicle are reasonably controlled, the all-terrain vehicle is controlled to meet the normal driving of the all-terrain vehicle, and compared with a mode of only adopting fuel oil to provide power, the method for controlling the all-terrain vehicle can reduce the emission of harmful gas by controlling the operation mode of the motor according to the rotating speed value of the engine and the SOC value of the power battery.
The following is a specific description of the operation mode of the motor controlled according to the rotation speed value of the engine and the SOC value of the power battery in the embodiment of the present invention. Wherein, the SOC value of the power battery is used for measuring the value of the residual energy of the power battery, the range is 0-100%, and 100% represents the full charge of the battery.
In the embodiment, the invention can control the running mode of the motor according to different SOC ranges and rotating speed value ranges in consideration of fuel economy and use safety of the power battery. Specifically, the SOC value of the power battery and the range of the rotating speed value of the engine are judged by the vehicle control unit, when the SOC value is smaller than a first SOC threshold value and the rotating speed value is smaller than or equal to a first idling threshold value, the engine is in an idling state at the moment and does not provide driving force for the whole vehicle, and in order to prevent the power battery from continuously consuming power, the motor is controlled to enter a weak magnetic mode so as to wait for starting the engine and be convenient for controlling the normal driving of the all-terrain vehicle, wherein the motor does not respond to a driving instruction; or when the SOC value is smaller than the first SOC threshold value and the rotating speed value is larger than the first idling threshold value, controlling the motor to enter a power generation mode, and enabling the engine to drive the motor to supply power to the power battery so as to control the driving and power generation of the all-terrain vehicle, wherein the motor does not respond to a driving instruction; or when the SOC value is determined to be greater than the first SOC threshold value and less than or equal to the second SOC threshold value and the rotating speed value of the engine is determined to be less than or equal to the second idle speed threshold value, the SOC value of the power battery is in a normal working range at the moment, the driving requirement of the all-terrain vehicle can be met, the motor is controlled to enter a driving mode to control the driving and power generation of the all-terrain vehicle, namely the power battery provides electric energy, and the motor is controlled to drive the all-terrain vehicle, wherein the second idle speed threshold value is equal to or greater than the first idle speed threshold value; or when the SOC value is determined to be larger than the first SOC threshold value and smaller than or equal to the second SOC threshold value and the rotating speed value of the engine is determined to be larger than the second idling threshold value, the motor is controlled to enter a power generation mode, the engine drives the motor to supply power to the power battery, the electric energy of the power battery is increased, the dynamic property of the all-terrain vehicle is improved, and the driving requirement of the all-terrain vehicle is met, wherein the motor responds to a driving instruction; when the SOC value is determined to be larger than the second SOC threshold value, the SOC value of the power battery is higher, the driving force of the all-terrain vehicle can be met, and therefore the motor is controlled to only respond to the driving instruction and enter a driving mode according to the driving instruction. Therefore, in the embodiment of the invention, by setting different SOC value ranges, frequent charging and discharging of the power battery when the SOC value of the power battery is too high or too low can be avoided, so that the use safety and the service life of the power battery are improved, and by setting the range of the rotating speed value of the engine, the motor can be prevented from being continuously driven by the engine, so that the oil saving rate is increased, and the emission content of harmful gases is reduced.
For example, as shown in fig. 2, a schematic diagram of the SOC value of the power battery in a segment is shown, where the SOC value is set to be in a range of 0% -a% -B% -100%, that is, the first SOC threshold is a%, the second SOC threshold is B%, and the first idle threshold is set to be equal to the second idle threshold, which are both 2500rpm, so that if the SOC value is lower than a%, the motor does not participate in driving, when the engine speed value is less than 2500rpm, the motor enters a weak magnetic mode, and when the engine speed value is greater than 2500rpm, the motor enters a power generation mode; if the SOC value is higher than A% and lower than B%, the motor participates in driving, when the rotating speed value of the engine is lower than 2500rpm, the motor enters a driving mode, and when the rotating speed value of the engine is higher than 2500rpm, the motor enters a power generation mode; and if the SOC value is higher than B%, the motor only enters a driving mode and cannot enter a power generation mode.
In an embodiment, the method further includes obtaining accelerator pedal detection data, adjusting engine operation torque, motor power generation power and motor operation torque according to an SOC value and an operation mode of the motor after determining that the accelerator pedal depth is increased according to the accelerator pedal detection data, and specifically, when the SOC value is less than or equal to a second SOC threshold value, controlling the engine operation torque to be increased and controlling the motor power generation power to be decreased if the motor is in the power generation mode, that is, the motor has a function of a generator, controlling the engine to drive the motor to generate power, so that by increasing the output torque of the engine, the power of the engine can be improved, the output torque of the engine can be controlled to drive the motor to generate power and can drive the all-terrain vehicle to travel together with the motor to increase the power of the all-terrain vehicle, and the motor responds to a driving command and by decreasing the motor power generation power, the power generation power of the motor to the power battery is reduced, so that the driving power of the motor to the all-terrain vehicle is increased to meet the requirement of the driving road condition of the all-terrain vehicle, or if the motor is in a driving mode, the running torque of the engine is controlled to be increased and the running torque of the motor is controlled to be increased to increase the driving force of the all-terrain vehicle and meet the requirement of the driving road condition of the all-terrain vehicle; or when the SOC value is larger than the second SOC threshold value and the motor is in the driving mode, controlling the running torque of the engine to be increased and controlling the running torque of the motor to be increased so as to increase the driving force of the all-terrain vehicle and meet the requirement of the driving road condition of the all-terrain vehicle.
In an embodiment, the method of the present invention further comprises, in response to the braking signal, obtaining vehicle speed information; and if the SOC value is smaller than the third SOC threshold value and the vehicle speed value is larger than the vehicle speed threshold value according to the vehicle speed information, sending an energy recovery enabling signal.
In the embodiment, when the all-terrain vehicle slides or brakes, the motor outputs negative torque to generate electricity and charge the power battery, and the process of converting kinetic energy into electric energy is called energy recovery. Specifically, when the all-terrain vehicle is in a braking state, whether energy recovery is carried out or not is judged according to vehicle speed information and an SOC value of the power battery, when the SOC value is smaller than a third threshold value and the vehicle speed is larger than a vehicle speed threshold value, an energy recovery enabling signal is sent, the energy recovery enabling signal can be understood as a trigger signal for energy recovery, namely, an energy recovery function is started, a motor is controlled to carry out energy recovery, and recovered electric energy can be provided for the power battery to be used for continuously driving the all-terrain vehicle. For example, when the all-terrain vehicle is in a running state, the vehicle control unit detects whether a brake signal exists, judges whether energy recovery is performed according to vehicle speed information and an SOC value of the power battery when the brake signal is determined to be effective, determines that the SOC value is smaller than a third threshold value and the vehicle speed is larger than a vehicle speed threshold value at the vehicle control unit, sends an energy recovery enabling signal to the micro control unit, and the micro control unit performs energy recovery according to the SOC state, if the vehicle control unit judges whether the SOC value is smaller than 90% and the vehicle speed is larger than 15km/h, sends an energy recovery signal to the micro control unit if the SOC value is larger than the third threshold value and the vehicle speed is larger than the vehicle speed threshold value, and otherwise does not perform energy recovery. The braking energy recovery method comprises the steps of judging braking energy recovery torque according to braking and vehicle speed, wherein the larger the braking torque is, the higher the energy recovery is. And the energy recovery signal consists of a pedal switch signal and a pedal analog value.
In the embodiment, before acquiring the rotating speed value of the engine and the SOC value of the power battery, the method of the embodiment of the invention further comprises the steps of acquiring the operating parameters of the engine, judging the state of the engine according to the operating parameters, and acquiring the rotating speed value of the engine when the engine is in the operating state or giving a fault alarm when the engine is in fault.
The method for controlling an all-terrain vehicle according to an embodiment of the present invention is illustrated in fig. 3, and the detailed process includes steps S3-S24, specifically, as follows, wherein, as shown in fig. 2, the SOC values are divided into ranges of 0% -a% -B% -100%, that is, the first SOC threshold value is a%, the second SOC threshold value is B%, and the first idle speed threshold value is set equal to the second idle speed threshold value, which are both 2500 rpm.
Step S3, start the ATV, execute step S4.
In step S4, the VCU (Vehicle control unit) determines whether the engine is in the running state.
And step S5, the engine breaks down, reports errors and stops starting.
In step S6, it is determined whether the SOC value is greater than 0% and less than a%, and if so, step S10 is performed.
In step S7, it is determined whether the SOC value is greater than a% and less than B%, and if so, step S15 is performed.
In step S8, it is determined whether the SOC value is greater than B% and less than 100%, and if so, step S19 is executed.
In step S9, it is determined whether there is a brake signal, and if so, step S22 is executed.
And 10, judging whether the engine rotating speed is less than 2500rpm, if so, executing step S11, and if not, executing step S12.
In step S11, the motor enters a free mode, i.e., a field weakening mode, and an ECU (Electronic Control Unit) drives alone.
In step S12, the MCU (Microcontroller Unit) enters a power generation mode, i.e., the motor executes the power generation mode.
In step S13, it is determined whether the accelerator pedal is increased, and if yes, step S14 is executed.
In step S14, the ECU output torque is increased and the MCU decreases the generated power.
And step S15, judging whether the engine speed is less than 2500rpm, if so, executing step S16, otherwise, executing step S12.
And step S16, the motor enters a driving mode to increase the dynamic property.
In step S17, it is determined whether the accelerator pedal is increased, and if so, step S18 is executed.
In step S18, the ECU output torque is increased, and the MCU output torque is increased.
In step S19, the motor enters a drive mode.
In step S20, it is determined whether the accelerator pedal is increased, and if so, step S21 is executed.
In step S21, the ECU output torque is increased, and the MCU output torque is increased.
And step S22, judging whether the SOC value is less than 90 and the vehicle speed is greater than 15km/h, if so, executing step S24, and if not, executing step S23.
And step S23, energy recovery.
In step S24, energy recovery is not started.
In summary, according to the method for controlling an all-terrain vehicle of the embodiment of the invention, the operation mode of the motor is controlled through the rotation speed value of the engine and the SOC value of the power battery, the driving and power generation of the all-terrain vehicle are reasonably controlled, and the control of the all-terrain vehicle is realized to meet the normal operation of the all-terrain vehicle.
Fig. 4 is a block diagram of an all-terrain vehicle according to an embodiment of the present invention, and as shown in fig. 4, an all-terrain vehicle 1 according to an embodiment of the present invention includes an engine 2, a motor 3, a vehicle control unit 4, an electronic control unit 5, and a micro control unit 6.
Specifically, the vehicle controller 4 is used for monitoring the vehicle running state of the all-terrain vehicle; the electronic control unit 5 is used for monitoring and controlling the working condition information of the engine 2; the micro control unit 6 is used for monitoring and controlling the working condition information of the motor 3. The vehicle controller 4, the electronic control unit 5 and the micro control unit 6 are in communication through a vehicle CAN bus and are used for executing the method for controlling the all-terrain vehicle provided by the embodiment, controlling the running mode of the motor according to the rotating speed value of the engine and the SOC value of the power battery, and reasonably controlling the driving and power generation of the all-terrain vehicle.
According to the all-terrain vehicle 1 provided by the embodiment of the invention, the vehicle controller 4, the electronic control unit 5 and the micro control unit 6 are used for communicating through the vehicle CAN bus, and the method for controlling the all-terrain vehicle provided by the embodiment is adopted, so that the all-terrain vehicle CAN be controlled to meet the normal operation of the all-terrain vehicle.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A method of controlling an all terrain vehicle, comprising:
acquiring a rotating speed value of an engine and an SOC value of a power battery;
controlling an operation mode of a motor according to a rotation speed value of the engine and an SOC value of the power battery, wherein the operation mode comprises at least one of a driving mode, a power generation mode and a field weakening mode;
the motor is controlled to enter the flux weakening mode when the SOC value is determined to be smaller than a first SOC threshold value and the rotating speed value is smaller than or equal to a first idling threshold value, and the motor is controlled to enter the power generation mode when the SOC value is determined to be smaller than the first SOC threshold value and the rotating speed value is larger than the first idling threshold value, wherein the motor does not respond to a driving command;
determining that the SOC value is larger than a second SOC threshold value, controlling the motor to only respond to a driving instruction, and entering a driving mode according to the driving instruction;
determining that the SOC value is larger than the first SOC threshold and smaller than or equal to a second SOC threshold, if the rotating speed value of the engine is smaller than or equal to a second idling threshold, controlling the motor to enter the driving mode, and if the rotating speed value of the engine is larger than the second idling threshold, controlling the motor to enter the power generation mode, wherein the second idling threshold is equal to or larger than the first idling threshold.
2. The method of controlling an all-terrain vehicle of claim 1, characterized in that the method further comprises:
acquiring accelerator pedal detection data;
and determining that the depth of the accelerator pedal is increased according to the detected data of the accelerator pedal, and adjusting the running torque of the engine, the power generation power of the motor and the running torque of the motor according to the SOC value and the running mode of the motor.
3. The method of controlling an all-terrain vehicle of claim 2, characterized in that adjusting engine operating torque and motor generated power, motor operating torque based on the SOC value and the operating mode of the motor comprises:
the SOC value is smaller than or equal to a second SOC threshold value, wherein the motor is in the power generation mode, the running torque of the engine is controlled to be increased, and the power generation power of the motor is controlled to be reduced, or the motor is in the driving mode, the running torque of the engine is controlled to be increased, and the running torque of the motor is controlled to be increased;
or the SOC value is larger than a second SOC threshold value, the motor is in the driving mode, the running torque of the engine is controlled to be increased, and the running torque of the motor is controlled to be increased.
4. The method of controlling an all-terrain vehicle of claim 1, characterized in that the method further comprises:
responding to the brake signal, and acquiring vehicle speed information;
and if the SOC value is smaller than a third SOC threshold value and the vehicle speed value is larger than the vehicle speed threshold value according to the vehicle speed information, an energy recovery enabling signal is sent.
5. The method of controlling an all-terrain vehicle of claim 1, characterized in that, prior to obtaining the engine speed value and the power battery SOC value, the method further comprises:
acquiring operating parameters of the engine;
judging the state of the engine according to the operation parameters;
the engine is in a running state, the rotating speed value of the engine is obtained, or the engine breaks down, and fault alarming is carried out.
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| CN111703414B (en) * | 2020-03-27 | 2022-09-30 | 九号智能(常州)科技有限公司 | Method for controlling an all-terrain vehicle |
| WO2025069514A1 (en) * | 2023-09-26 | 2025-04-03 | 株式会社日立建機ティエラ | Electric construction machine |
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| WO2021190457A1 (en) | 2021-09-30 |
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