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CN113370799A - Vehicle sliding control method, vehicle sliding control device and vehicle - Google Patents

Vehicle sliding control method, vehicle sliding control device and vehicle Download PDF

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Publication number
CN113370799A
CN113370799A CN202110623159.9A CN202110623159A CN113370799A CN 113370799 A CN113370799 A CN 113370799A CN 202110623159 A CN202110623159 A CN 202110623159A CN 113370799 A CN113370799 A CN 113370799A
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China
Prior art keywords
vehicle
driving motor
torque
rotating speed
controlling
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Pending
Application number
CN202110623159.9A
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Chinese (zh)
Inventor
张超
闵刚
李力华
蒋荣勋
代康伟
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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Publication date
Application filed by Beijing Electric Vehicle Co Ltd filed Critical Beijing Electric Vehicle Co Ltd
Priority to CN202110623159.9A priority Critical patent/CN113370799A/en
Publication of CN113370799A publication Critical patent/CN113370799A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/425—Temperature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/48—Drive Train control parameters related to transmissions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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

Abstract

The invention discloses a vehicle sliding control method, a vehicle sliding control device and a vehicle, wherein the vehicle sliding control method comprises the following steps: entering a vehicle sliding control mode, and acquiring a slope-parking preset torque of a driving motor; controlling the actual working torque of the driving motor according to the preset torque of the slope; acquiring an absolute value of the rotating speed of the driving motor; and if the absolute value of the rotating speed is greater than a first rotating speed threshold value, adjusting and controlling the actual working torque of the driving motor at 0 rotating speed, wherein the 0 rotating speed adjustment means that: the rotating speed of the driving motor is controlled to be close to 0 through the PI controller, and torque output is carried out. According to the vehicle sliding control method, the output torque of the driving motor is controlled according to the standing wave preset torque, so that initial hill parking is achieved quickly, the vehicle sliding distance in the parking process is reduced, if the vehicle is not parked in the initial hill parking process, the vehicle is parked through 0 rotating speed adjustment, the vehicle parking is guaranteed, and the stability in the parking process is improved.

Description

Vehicle sliding control method, vehicle sliding control device and vehicle
Technical Field
The invention relates to the field of vehicle manufacturing, in particular to a vehicle sliding control method, a vehicle sliding control device and a vehicle.
Background
In the related technology, a vehicle control unit is used for acquiring a rotor rotating speed signal of a driving motor and sending the acquired data to a motor controller, then the motor controller compares the acquired signal with a preset anti-slope-sliding rotating speed threshold value to judge whether to start an anti-slope-sliding function, and the driving motor outputs a certain torque to enable a vehicle to stop on a slope in time, so that the vehicle is prevented from sliding on the slope.
However, the conventional function for preventing the vehicle from sliding on the slope is under the working condition facing different slopes, so that the situation that the vehicle slides for a long time on the slope is caused, the vehicle sliding distance in the parking process is too large, the safety of the vehicle is damaged, and meanwhile, the situation that the stability of the vehicle sliding control process is poor due to the fact that the speed change of the vehicle is large is caused in the parking process.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a method for controlling a vehicle to roll, which can reduce a distance of a vehicle rolling down during parking and improve stability of the vehicle rolling control.
The vehicle slipping control method of the vehicle according to the embodiment of the invention comprises the following steps: entering a vehicle sliding control mode, and acquiring a slope-parking preset torque of a driving motor; controlling the actual working torque of the driving motor according to the preset torque of the slope; acquiring an absolute value of the rotating speed of the driving motor; and if the absolute value of the rotating speed is greater than a first rotating speed threshold value, adjusting and controlling the actual working torque of the driving motor at 0 rotating speed, wherein the 0 rotating speed adjustment means that: the rotating speed of the driving motor is controlled to be close to 0 through the PI controller, and torque output is carried out.
According to the vehicle sliding control method, the output torque of the driving motor is controlled according to the standing wave preset torque, so that initial hill parking is achieved quickly, the vehicle sliding distance in the parking process is reduced, if the vehicle is not parked in the initial hill parking process, the vehicle is parked through 0 rotating speed adjustment, the vehicle parking is guaranteed, and the stability in the parking process is improved.
The roll control method of a vehicle according to some embodiments of the present invention further includes: after the actual working torque of the driving motor is adjusted and controlled at the rotating speed of 0, obtaining the slope staying time; and if the hill-holding duration is larger than or equal to the first time threshold, controlling the actual working torque of the driving motor to linearly reduce the torque.
According to some embodiments of the present invention, the controlling of the actual operating torque of the driving motor to linearly decrease the torque comprises: and controlling the driving motor to reduce the torque according to a torque reduction threshold value according to a first time period.
The roll control method of a vehicle according to some embodiments of the present invention further includes: acquiring the temperature of the driving motor; and if the temperature of the driving motor is larger than or equal to the first threshold temperature, controlling the driving motor to output the torque at the current allowed maximum output torque.
The roll control method of a vehicle according to some embodiments of the present invention further includes: after controlling the driving motor to output torque at the currently allowed maximum output torque, sending standing wave overtime reminding; and controlling an ABS system and an ESP system to perform emergency braking, and controlling the actual working torque of the driving motor to be adjusted to 0.
The roll control method of a vehicle according to some embodiments of the present invention further includes: acquiring a motor controller enabling command, a vehicle control unit enabling command, a transmission gear signal, a driving motor rotating speed absolute value signal, a motor rotating speed signal in a forward gear and a motor rotating speed signal in a reverse gear; when the enabling command of the motor controller is 1, the enabling command of the whole vehicle controller is 1, the gear signal of the transmission is a non-neutral gear, the absolute value of the rotating speed of the driving motor is smaller than a second rotating speed threshold, and the rotating speed of the motor in a forward gear is smaller than a third rotating speed threshold; or when the enabling command of the motor controller is 1, the enabling command of the vehicle controller is 1, the gear signal of the transmission is a non-neutral gear, the absolute value of the rotating speed of the driving motor is smaller than a second rotating speed threshold value, and the rotating speed of the motor in the reverse gear is smaller than a fourth rotating speed threshold value, entering a vehicle sliding control mode, and acquiring the slope-parking preset torque of the driving motor; the third rotating speed threshold value is a negative value, and the fourth rotating speed threshold value is a positive value and corresponds to the rotating direction of the driving motor.
The roll control method of a vehicle according to some embodiments of the present invention further includes: acquiring a target torque output by the vehicle controller, a working torque output by the motor controller, an actual working torque of the driving motor and a PWM fault signal of the driving motor; and exiting the rolling control mode when the enabling command of the motor controller is 0, or the enabling command of the vehicle controller is 0, or the gear signal of the transmission is a neutral gear, or the absolute value of the rotating speed of the driving motor is greater than a second rotating speed threshold, or the target torque is greater than the working torque, or the actual working torque of the driving motor is zero, or the PWM fault exists in the driving motor, or the gear of the transmission is changed.
According to some embodiments of the present invention, the obtaining of the standing wave preset torque is obtained by the following formula: t ═ F · r/(i)g·ioη); wherein F is calculated according to the uphill trend of the vehicle, F is 0.3, the beta slope angle is obtained by the vehicle controller by collecting the tilt angle sensor, and F is Ff+Fi＝±mgfcosβ+mgsinβ，FfTo rolling resistance, FiWhen the vehicle has the tendency of ascending, F is the coefficient of rolling resistancefAnd FiThe directions are consistent, positive values are taken, and when the vehicle has a downhill trend, FfAnd FiIn the opposite direction, take a negative value, igTo the gear ratio of the reducer, ioIs the main reducer transmission ratio, eta is the mechanical efficiency of the transmission system, and r is the wheel static radius.
The invention further provides a vehicle sliding control device of the vehicle.
According to the embodiment of the invention, the sliding control device comprises: the acquisition module is used for acquiring a preset torque of the driving motor during slope stopping; and the execution module is used for adjusting and controlling the actual output torque of the driving motor according to the preset torque or 0 rotating speed of the hill-holding.
The invention further provides a vehicle.
A vehicle according to an embodiment of the present invention includes: the rolling control device according to any one of the above embodiments.
The vehicle and the roll control device have the same advantages compared with the prior art, and the detailed description is omitted.
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 flowchart of the operation of a coast control mode according to an embodiment of the present invention;
FIG. 2 is a flowchart of temperature control of a driving motor in a coaster control mode according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating the start of a coast control mode according to an embodiment of the present invention;
FIG. 4 is a flow chart illustrating the closing of the coast control mode according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a yo-yo control apparatus according to an embodiment of the present invention.
Reference numerals:
the rolling-down control device 100 is provided with a sliding-down device,
the device comprises an acquisition module 10 and an execution module 20.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A method of controlling a rolling of a vehicle according to an embodiment of the present invention will be described with reference to fig. 1 to 5, which can preferentially control a driving motor by a pre-set torque for parking a hill to achieve a rapid parking process, reduce a settling time required during parking of the vehicle, and reduce a rolling distance of the vehicle.
As shown in fig. 1, a method for controlling rolling of a vehicle by applying force according to the present invention includes:
entering a vehicle sliding control mode, and acquiring a slope-parking preset torque of a driving motor;
controlling the actual working torque of the driving motor according to the preset torque of the slope;
acquiring an absolute value of the rotating speed of the driving motor;
if the absolute value of the rotating speed is greater than the first rotating speed threshold value, adjusting and controlling the actual working torque of the driving motor at the rotating speed of 0; wherein 0 rotation speed adjustment means: the rotating speed of the driving motor is controlled to be close to 0 through the PI controller, and torque output is carried out.
When the vehicle runs on a slope road and needs to be parked on the slope (namely temporary parking on a wavelike road is needed), the vehicle is controlled to park on the slope according to the preset torque for parking on the slope. That is to say, the vehicle can be according to the predetermined moment of torsion of staying the slope that obtains and adjust driving motor for driving motor's actual working torque can be towards the direction effect of eliminating vehicle swift current car trend, and if the vehicle was in the operating mode of upslope, driving motor applyed ascending working torque to the vehicle, or when the vehicle was in the operating mode of downhill path, driving motor applyed ascending working torque to the vehicle. Therefore, the driving motor exerts reverse acting force on the vehicle, so that the acting force borne by the whole vehicle tends to be balanced, and the parking of the vehicle is preliminarily realized.
And then, obtaining the actual movement speed of the vehicle by obtaining the absolute value of the rotating speed of the motor. It can be understood that when the absolute value of the rotation speed of the driving motor is less than or equal to the first rotation speed threshold, the vehicle speed is zero or approaches to zero, the vehicle is integrally kept in a parking state without adjustment, and when the absolute value of the rotation speed is greater than the first rotation speed threshold, the vehicle cannot be completely parked under the action of the preset torque of a parking slope, and the vehicle still has a rolling phenomenon with a small amplitude, namely the vehicle does not achieve effective parking, the vehicle is controlled to perform 0 rotation speed regulation control, so that the rotation speed of the driving motor approaches to 0 and torque output is performed, and the vehicle is parked.
Specifically, the PI controller controls the operating torque of the drive motor to increase when the vehicle rolls down the grade and the absolute value of the rotational speed of the drive motor is greater than a first rotational speed threshold, and controls the operating torque of the drive motor to decrease when the vehicle moves up the grade and the absolute value of the rotational speed of the drive motor is greater than the first rotational speed threshold. From this for the whole atress of vehicle tends to balance, and driving motor's rotational speed approaches zero, and then the velocity of motion of vehicle approaches zero to realize the parking of vehicle, improve the security performance when the vehicle parks, in addition, can understand that 0 rotational speed control of this application is realized through transmission system.
The PI controller adopts an integral saturation prevention PI controller, the PI controller can quickly react on deviation through a proportional regulation function, a static error can be eliminated through an integral regulation function, and the control precision is improved.
It should be noted that the first rotation speed threshold value can be obtained by debugging according to the situation of the vehicle type, and the first rotation speed threshold value can be 20rpm, so as to avoid the vehicle sliding distance being too large due to too long vehicle parking time, reduce the vehicle sliding risk, and simultaneously avoid the vehicle from implementing 0 rotation speed regulation control on the gentle ground, and reduce the energy loss of the vehicle.
According to the vehicle sliding control method of the embodiment of the invention, when the vehicle needs to be temporarily parked on the ramp road section, the output torque of the driving motor can be preferentially controlled according to the standing wave preset torque, so that the initial ramp parking of the vehicle can be quickly realized, the vehicle sliding distance in the parking process can be reduced, the safety can be improved, and after the initial ramp parking is carried out according to the standing wave preset torque, if the vehicle parking cannot be completely realized, the actual working torque of the driving motor can be adjusted and controlled according to the rotating speed of 0, so that the vehicle parking can be effectively realized, meanwhile, the vehicle is prevented from shaking, and the use experience can be improved.
In some embodiments, as shown in fig. 1, the method for controlling a rolling car according to an embodiment of the present invention further includes:
after the actual working torque of the driving motor is adjusted and controlled at the rotating speed of 0, obtaining the slope-staying time;
and if the slope-staying time is more than or equal to the first time threshold, controlling the actual working torque of the driving motor to linearly decrease the torque.
That is, after the vehicle controls the driving motor through the 0 rotation speed adjustment, the rotation speed of the driving motor approaches to zero, the vehicle tends to be stationary, and the acting time of the 0 rotation speed adjustment can be determined by acquiring the hill-holding duration of the vehicle.
When the hill-holding duration of the vehicle reaches the first time threshold, the vehicle is kept still as a whole, and at the moment, the rotating speed of the driving motor is low (close to 0), so that a large amount of heat is generated. As shown in fig. 2, the driving motor is controlled to enter a torque reduction mode to linearly reduce the torque of the driving motor, reducing the heating efficiency of the driving motor.
It can be understood that the actual working torque of the driving motor is subjected to a linear torque reduction process to reduce the output torque of the driving motor, so that the heating value of the driving motor is reduced, and meanwhile, as the torque reduction of the driving motor continues, the vehicle hill-holding torque gradually decreases, and the vehicle tends to move, specifically, the vehicle is characterized in that the rotating speed of the driving motor changes, so that when the absolute value of the rotating speed of the driving motor is detected to be greater than the first rotating speed threshold value, the PI controller controls the driving motor to perform 0 rotating speed adjustment again. It should be noted that the first time threshold is calibrated according to the conditions of different vehicle types, and specifically, the first time threshold may be 2 s.
In some embodiments, controlling the actual operating torque of the drive motor to linearly reduce torque comprises: and controlling the driving motor to reduce the torque according to the torque reduction threshold value according to the first time period. That is to say, after the vehicle enters the torque reduction mode, every time a first time period passes, the actual torque of the driving motor is reduced by a torque reduction threshold value, so that the overall torque reduction process of the driving motor keeps linear, and the stability of the vehicle in the torque reduction process is improved. The first time period and the torque reduction threshold are set according to the specific situation of the vehicle type, specifically, the first time period can be 200ms, the torque reduction threshold is 1N, and the linear torque reduction amplitude is 1N/200 ms.
In some embodiments, as shown in fig. 2, the method for controlling a rolling car according to an embodiment of the present invention further includes:
acquiring the temperature of a driving motor;
and if the temperature of the driving motor is larger than or equal to the first threshold temperature, controlling the driving motor to output the torque at the currently allowed maximum output torque.
Wherein, in driving motor's working process, driving motor constantly generates heat, especially under the 0 rotational speed adjusting state of engine, and driving motor generates heat fast and leads to the temperature to rise fast, through the real-time temperature who obtains driving motor to monitor driving motor.
It should be noted that, as shown in fig. 2, when the real-time temperature of the driving motor is greater than the first threshold temperature, the driving motor is in an overheat state, and the driving motor is controlled to output with the currently allowed maximum output torque by determining the currently allowed maximum output torque, so as to ensure that the driving motor can provide a certain hill-holding torque, thereby avoiding the vehicle from rolling or reducing the rolling distance.
Furthermore, as shown in fig. 2, after the driving motor is controlled to output the torque with the currently allowed maximum output torque, a standing wave overtime prompt is sent;
and controlling the ABS system and the ESP system to perform emergency braking, and controlling the actual working torque of the driving motor to be adjusted to 0.
That is to say, when the real-time temperature of the driving motor exceeds the first threshold temperature, the vehicle calculates to obtain the currently allowed maximum output torque, so that the driving motor maintains the vehicle in the hill-holding state as far as possible, standing wave overtime reminding is performed on the driver through acousto-optic reminding, the driver is reminded of manual braking or active braking, the vehicle sliding control mode is removed, the output torque of the driving motor is zero, and rapid cooling is achieved.
Wherein, when the driver does not carry out the initiative braking to the vehicle all the time, and driving motor's rotational speed absolute value is greater than first rotational speed threshold value, vehicle control ABS system and ESP system carry out emergency braking to make the vehicle can realize stable parking, thereby adjust driving motor's actual working torque to 0, driving motor stops work completely, makes driving motor can rapid cooling, has improved the security of whole car.
In some embodiments, as shown in fig. 3, the method for controlling a rolling car according to an embodiment of the present invention further includes:
and acquiring a motor controller enabling command, a vehicle control unit enabling command, a transmission gear signal, a driving motor rotating speed absolute value signal, a motor rotating speed signal in a forward gear and a motor rotating speed signal in a reverse gear.
When the enabling command of the motor controller is 1, the enabling command of the whole vehicle controller is 1, the gear signal of the transmission is a non-neutral gear, the absolute value of the rotating speed of the driving motor is smaller than a second rotating speed threshold, and the rotating speed of the motor in a forward gear is smaller than a third rotating speed threshold;
or when the enabling command of the motor controller is 1, the enabling command of the vehicle control unit is 1, the gear signal of the transmission is a non-neutral gear, the absolute value of the rotating speed of the driving motor is smaller than the second rotating speed threshold, and the rotating speed of the motor in the reverse gear is smaller than the fourth rotating speed threshold, entering a vehicle sliding control mode, and acquiring the slope-parking preset torque of the driving motor.
The third rotation speed threshold is a negative value, the fourth rotation speed threshold is a positive value, the rotation direction of the driving motor corresponds to the fourth rotation speed threshold, and the absolute values of the third rotation speed threshold and the fourth rotation speed threshold can be both 20 rpm.
And when the vehicle runs on the slope road section, acquiring the signals in real time to judge whether temporary slope parking is needed or not.
Specifically, the determination process of the vehicle control unit may be: firstly, judging whether an enabling command of a motor controller is 1, if not, directly ending the judgment process of the vehicle sliding control mode; if the command is 1, continuously judging whether the enabling command of the vehicle control unit is 1, and if the enabling command of the vehicle control unit is not 1, ending the judging process of the vehicle sliding control mode; if the gear signal is a non-neutral gear, judging whether the gear signal of the transmission is a neutral gear, and if the gear signal of the transmission is a neutral gear, directly ending the judgment process of the vehicle sliding control mode; if the gear is not the neutral gear, continuously judging whether the absolute value of the rotating speed of the driving motor is smaller than a second rotating speed threshold, and if the absolute value of the rotating speed of the driving motor is larger than the second rotating speed threshold, finishing the judgment process of the rolling control mode; and if the gear signal is smaller than the second rotating speed threshold value, judging the gear signal of the driving motor.
It should be noted that the above-mentioned determination process is an optimal determination process, and in fact, the vehicle slipping control mode is entered only when all the requirements are met, and the corresponding multiple limiting conditions may be determined simultaneously or sequentially.
And if the rotating speed of the driving motor is less than the third rotating speed threshold value, the vehicle controller controls a vehicle sliding control mode which the vehicle enters. If the gear signal of the driving motor is not D, E or S, the driving motor is in a backward gear, the driving motor rotates forwards to judge whether the gear signal of the driving motor is R, and if the gear signal of the driving motor is not R, the judgment process of the sliding control mode is directly finished; if the gear is the R gear, the rotating speed of the driving motor is judged to be larger than a fourth rotating speed threshold value, and if the rotating speed of the driving motor is larger than the fourth rotating speed threshold value, the vehicle controller controls the vehicle to enter a vehicle sliding control mode.
The vehicle sliding control method has the advantages that the vehicle enters the sliding control mode under the condition that multiple conditions are met simultaneously through the arrangement, the possibility that the vehicle enters the sliding control mode by mistake under normal road conditions is reduced, the judgment accuracy of the sliding control mode is improved, and the driving experience of a driver is improved.
In some embodiments, as shown in fig. 4, the method for controlling a rolling car according to an embodiment of the present invention further includes:
acquiring a target torque output by the vehicle controller, a working torque output by the motor controller, an actual working torque of the driving motor and a PWM fault signal of the driving motor;
and exiting the rolling control mode when the enabling command of the motor controller is 0, or the enabling command of the vehicle controller is 0, or the gear signal of the transmission is a neutral gear, or the absolute value of the rotating speed of the driving motor is greater than a second rotating speed threshold value, or the target torque is greater than the working torque, or the actual working torque of the driving motor is zero, or the PWM fault exists in the driving motor, or the gear of the transmission is changed.
That is, after the vehicle enters the rolling control mode, the vehicle is further detected to obtain a target torque output by the vehicle controller, a working torque output by the motor controller, an actual working torque of the driving motor, and a PWM fault signal of the driving motor, and the vehicle controller may analyze the obtained information one by one to determine whether the vehicle exits the rolling control mode.
Specifically, the process of judging whether to release the vehicle sliding control mode of the vehicle control unit may be: firstly, judging whether an enabling command of a motor controller is 0, and if so, directly exiting a vehicle sliding control mode; if not, continuously judging whether the enabling command of the vehicle controller is 0, and if the enabling command of the vehicle controller is 0, exiting the vehicle sliding control mode; if not, judging whether the gear signal of the transmission is a neutral gear, and if so, exiting the vehicle sliding control mode; if the gear is not a neutral gear, continuously judging whether the absolute value of the rotating speed of the driving motor is greater than a second rotating speed threshold, and if the absolute value of the rotating speed of the driving motor is greater than the second rotating speed threshold, exiting the vehicle sliding control mode; and if the speed is less than the second rotating speed threshold value, judging by combining the uphill and downhill working conditions of the vehicle and the gear signal of the driving motor.
And if the driving motor is in a backward gear, judging whether a gear signal of the driving motor is D, E or S, and if so, controlling the vehicle to exit the vehicle sliding control mode. And if the driving motor is in a forward gear, judging whether a gear signal of the driving motor is R, and if so, controlling the vehicle to exit the vehicle sliding control mode. And simultaneously, when the target torque is larger than the working torque, or the actual working torque of the driving motor is zero, or the driving motor has PWM (pulse width modulation) fault, or the gear of the transmission is changed, controlling the vehicle to exit the rolling control mode.
It can be understood that the vehicle exits the vehicle sliding control mode under the condition that the single condition is met, the reaction speed of the vehicle exiting the vehicle sliding control mode is increased, and the driving experience of a driver is improved.
It should be noted that when the vehicle exits the roll-away control mode, the motor hill-holding enable command is converted into 0, the vehicle is controlled to exit from 0 rotation speed adjustment, and the first time threshold, the first time period and the speed loop integral are cleared. The plurality of conditions in the judgment process of exiting the rolling control mode are in an OR relationship, the rolling control mode exits when one condition is met, and the judgment process of the plurality of corresponding conditions can have a sequence or can be synchronously judged.
In some embodiments, obtaining the standing wave predetermined torque is obtained by the following formula: t ═ F · r/(i)g·io·η)。
Wherein F is calculated according to the uphill trend of the vehicle, F is 0.3, the beta slope angle is obtained by the vehicle controller by collecting the tilt angle sensor, and F is Ff+Fi＝±mgfcosβ+mgsinβ，FfTo rolling resistance, FiWhen the vehicle has the tendency of ascending, F is the coefficient of rolling resistancefAnd FiThe directions are consistent, positive values are taken, and when the vehicle has a downhill trend, FfAnd FiIn the opposite direction, take a negative value, igTo the gear ratio of the reducer, ioIs the main reducer transmission ratio, eta is the mechanical efficiency of the transmission system, and r is the wheel static radius.
Through the arrangement, the vehicle control unit can calculate the proper standing wave preset torque according to different working conditions of the vehicle, the actual working torque of the driving motor is adjusted in a targeted mode according to the standing wave preset torque, the actual working torque of the driving motor is consistent with the required torque of the vehicle for maintaining stable parking, and before the vehicle enters 0 rotating speed adjusting and controlling, the vehicle sliding speed of the vehicle is effectively reduced, so that the sliding distance of the vehicle in the parking process is reduced, and the stability of vehicle sliding control is improved.
The invention also provides a sliding control device 100.
As shown in fig. 5, the rolling control apparatus 100 according to the embodiment of the present invention includes: an acquisition module 10 and an execution module 20.
The obtaining module 10 is configured to obtain a hill-holding preset torque of the driving motor, and the executing module 20 is configured to adjust and control an actual output torque of the driving motor according to the hill-holding preset torque or 0 rotating speed.
That is, the obtaining module 10 is used for obtaining the preset parking torque after the vehicle enters the rolling control mode, and the executing module 20 may include: the system comprises a motor controller and other control units and a driving motor and other execution elements, wherein the motor controller sends an instruction corresponding to a preset parking torque, the driving motor controls the actual working torque of the driving motor in real time according to a control instruction sent by the motor controller so as to realize primary hill-holding, and then an acquisition module 10 acquires corresponding information such as threshold time according to the control method so as to perform 0 rotating speed regulation control and realize stable hill-holding of the vehicle. It should be noted that the obtaining module 10 continuously monitors when the vehicle enters the rolling control mode, so as to enable the vehicle to react in time when the vehicle meets the condition of exiting the rolling control mode or when the vehicle enters an overheat state.
According to the vehicle sliding control device 100, when a vehicle needs to temporarily stop on a slope road section, vehicle information is obtained through the obtaining module 10 to obtain the slope-parking preset torque of the driving motor, the execution module 20 can control the driving motor to output the torque according to the standing wave preset torque to quickly achieve initial slope parking of the vehicle, the vehicle sliding distance in the parking process is reduced, safety is improved, if the vehicle is not parked on the initial slope, the driving motor is adjusted according to 0 rotating speed through the execution module 20, the slope sliding situation of the vehicle is effectively eliminated, meanwhile, vehicle shaking is avoided, and use experience is improved.
The invention also provides a vehicle.
A vehicle according to an embodiment of the present invention includes: the yo-yo control apparatus 100 of any of the above embodiments. When the vehicle needs to temporarily stop on a ramp road section, the vehicle information is acquired through the acquisition module 10, the torque is preset in order to obtain the slope stopping of the driving motor, the execution module 20 can preset the torque according to standing waves to control the output torque of the driving motor, the initial slope stopping of the vehicle is quickly realized, the vehicle sliding distance in the parking process is reduced, the safety is improved, if the vehicle parking is not realized after the initial slope stopping, the driving motor is adjusted according to the rotating speed regulation of 0 through the execution module 20, the slope sliding condition of the vehicle is effectively eliminated, meanwhile, the vehicle is prevented from shaking, the use experience is improved, the performance of the whole vehicle is improved, and the satisfaction degree of passengers to the vehicle is improved.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features.
In the description of the present invention, "a plurality" means two or more.
In the description of the present invention, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features being in contact with each other not directly but through another feature therebetween.
In the description of the invention, "above", "over" and "above" a first feature in a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
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. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
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 (10)

1. A method of controlling a rolling of a vehicle, comprising:
entering a vehicle sliding control mode, and acquiring a slope-parking preset torque of a driving motor;
controlling the actual working torque of the driving motor according to the preset torque of the slope;
acquiring an absolute value of the rotating speed of the driving motor;
adjusting and controlling the actual working torque of the driving motor at a rotation speed of 0 if the absolute value of the rotation speed is larger than a first rotation speed threshold value, wherein
The 0 rotating speed regulation means that: the rotating speed of the driving motor is controlled to be close to 0 through the PI controller, and torque output is carried out.
2. The method for controlling rolling of a vehicle according to claim 1, further comprising:
after the actual working torque of the driving motor is adjusted and controlled at the rotating speed of 0, obtaining the slope staying time;
and if the hill-holding duration is larger than or equal to the first time threshold, controlling the actual working torque of the driving motor to linearly reduce the torque.
3. The method for controlling a yo-yo of a vehicle according to claim 2, wherein the controlling of the actual operating torque of the drive motor to linearly lower the torque comprises:
and controlling the driving motor to reduce the torque according to a torque reduction threshold value according to a first time period.
4. The method of controlling rolling of a vehicle according to claim 3, further comprising:
acquiring the temperature of the driving motor;
and if the temperature of the driving motor is larger than or equal to the first threshold temperature, controlling the driving motor to output the torque at the current allowed maximum output torque.
5. The method of controlling rolling of a vehicle according to claim 4, further comprising:
after controlling the driving motor to output torque at the currently allowed maximum output torque, sending standing wave overtime reminding;
and controlling an ABS system and an ESP system to perform emergency braking, and controlling the actual working torque of the driving motor to be adjusted to 0.
6. The method for controlling rolling of a vehicle according to claim 1, further comprising:
acquiring a motor controller enabling command, a vehicle control unit enabling command, a transmission gear signal, a driving motor rotating speed absolute value signal, a motor rotating speed signal in a forward gear and a motor rotating speed signal in a reverse gear;
when the enabling command of the motor controller is 1, the enabling command of the whole vehicle controller is 1, the gear signal of the transmission is a non-neutral gear, the absolute value of the rotating speed of the driving motor is smaller than a second rotating speed threshold, and the rotating speed of the motor in a forward gear is smaller than a third rotating speed threshold; or
When the enabling command of the motor controller is 1, the enabling command of the vehicle controller is 1, the gear signal of the transmission is a non-neutral gear, the absolute value of the rotating speed of the driving motor is smaller than a second rotating speed threshold, and the rotating speed of the motor in the reverse gear is smaller than a fourth rotating speed threshold, entering a vehicle sliding control mode, and acquiring a preset torque for the driving motor during slope parking; wherein
The third rotating speed threshold value is a negative value, and the fourth rotating speed threshold value is a positive value and corresponds to the rotating direction of the driving motor.
7. The method of controlling rolling of a vehicle according to claim 6, further comprising:
acquiring a target torque output by the vehicle controller, a working torque output by the motor controller, an actual working torque of the driving motor and a PWM fault signal of the driving motor;
and exiting the rolling control mode when the enabling command of the motor controller is 0, or the enabling command of the vehicle controller is 0, or the gear signal of the transmission is a neutral gear, or the absolute value of the rotating speed of the driving motor is greater than a second rotating speed threshold, or the target torque is greater than the working torque, or the actual working torque of the driving motor is zero, or the PWM fault exists in the driving motor, or the gear of the transmission is changed.
8. The method for controlling rolling of a vehicle according to any one of claims 1 to 7, wherein the obtaining of the standing wave preset torque is obtained by the following equation:
T＝F·r/(ig·ioη); wherein
F is calculated according to the uphill trend of the vehicle, F is 0.3, the beta slope angle is obtained by a vehicle controller collecting a tilt angle sensor, and F is Ff+Fi＝±mgfcosβ+mgsinβ，FfTo rolling resistance, FiWhen the vehicle has the tendency of ascending, F is the coefficient of rolling resistancefAnd FiThe directions are consistent, positive values are taken, and when the vehicle has a downhill trend, FfAnd FiIn the opposite direction, take a negative value, igTo the gear ratio of the reducer, ioIs the main reducer transmission ratio, eta is the mechanical efficiency of the transmission system, and r is the wheel static radius.
9. A roll-away control device (100) for a vehicle, comprising:
the acquisition module (10) is used for acquiring a slope-stopping preset torque of the driving motor;
and the execution module (20) is used for adjusting and controlling the actual output torque of the driving motor according to the hill-holding preset torque or the 0 rotating speed.
10. A vehicle, characterized by comprising: the yo-yo control apparatus (100) of claim 9.
CN202110623159.9A 2021-06-04 2021-06-04 Vehicle sliding control method, vehicle sliding control device and vehicle Pending CN113370799A (en)

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