CN113060013B - Electric automobile driving motor torque control system and control method and electric automobile - Google Patents

Electric automobile driving motor torque control system and control method and electric automobile Download PDF

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CN113060013B
CN113060013B CN202110402064.4A CN202110402064A CN113060013B CN 113060013 B CN113060013 B CN 113060013B CN 202110402064 A CN202110402064 A CN 202110402064A CN 113060013 B CN113060013 B CN 113060013B
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accelerator pedal
displacement
opening degree
driving motor
average value
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CN113060013A (en
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李晨
王晓彬
王波
魏涛
赵国朋
钱亚男
黄玉鹏
李超
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Zhongtong Bus Holding Co Ltd
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Zhongtong Bus Holding Co Ltd
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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
    • 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
    • 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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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a torque control system and a torque control method for a driving motor of an electric automobile and the electric automobile, which belong to the technical field of electric automobile control, and comprise a vehicle controller, wherein the vehicle controller is used for counting accelerator pedal state information in a time period in which the actual speed is not zero in a complete calculation period in real time according to the displacement of an accelerator pedal, selecting a corresponding analysis mode, acquiring the opening degree of the accelerator pedal, and searching a driving motor MAP table according to the rotating speed of the driving motor to acquire the required torque of the driving motor; and the motor controller is used for controlling the torque of the driving motor according to the required torque. On the basis of ensuring that the whole vehicle meets the intention of a driver, the invention reduces the torque fluctuation of the driving motor, enhances the driving comfort, improves the power performance, reduces the energy consumption of the whole vehicle and improves the cruising ability.

Description

Electric automobile driving motor torque control system and control method and electric automobile
Technical Field
The invention relates to the technical field of electric automobile control, in particular to a torque control system and a torque control method for a driving motor of an electric automobile and the electric automobile.
Background
A Vehicle Control Unit (VCU) of an electric Vehicle is an assembly controller of a power system of the electric Vehicle (such as a hybrid electric Vehicle and a pure electric Vehicle), and is responsible for coordinating the work of each component such as an engine, a driving motor, a gearbox, a power battery and the like, and has the effects of improving the power performance, the safety performance, the economy and the like of the Vehicle. The motor controller is a microcomputer controller of the driving motor of the electric automobile and consists of a microprocessor CPU, a memory ROM, a RAM, an input/output interface, an analog-to-digital converter, a shaping integrated circuit, a driving integrated circuit and the like.
The main electric equipment of the whole vehicle is a driving motor, and the driving motor is controlled by a vehicle controller according to the opening degree of an accelerator pedal and the current condition of the whole vehicle. The accelerator pedal opening is a signal that the driving intention of the driver is transmitted to the entire vehicle. When the torque of the driving motor of the existing electric automobile is controlled, the vehicle control unit receives a vehicle accelerator pedal signal, calculates the torque required by the driving motor according to the vehicle accelerator pedal signal, and receives an external torque requirement sent by the vehicle control unit to control the driving motor. However, the real-time accelerator pedal opening displacement is not considered in the acquisition of the accelerator pedal signal, so that the torque control fluctuation of the driving motor is large, the energy consumption of the electric automobile is high, the high cruising ability cannot be met, and the driving comfort level is poor.
Disclosure of Invention
The invention aims to provide an electric vehicle driving motor torque control system, a control method and an electric vehicle, which reduce the torque fluctuation of a driving motor, reduce the energy consumption of the whole vehicle and improve the driving range of the electric vehicle, so as to solve at least one technical problem in the background technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, the present invention provides a torque control system for a driving motor of an electric vehicle, including:
the whole vehicle controller is used for counting accelerator pedal state information in a time period in which the actual vehicle speed is not zero in a complete calculation period in real time according to the displacement of the accelerator pedal, selecting a corresponding analysis mode, obtaining the opening degree of the accelerator pedal, searching a driving motor MAP table according to the rotating speed of the driving motor, and obtaining the required torque of the driving motor;
and the motor controller is used for controlling the torque of the driving motor according to the required torque.
Preferably, the vehicle control unit is integrated with a computing unit, an analog-to-digital conversion unit, a statistical unit, an analysis unit and a search unit;
the calculating unit is used for calculating the current actual vehicle speed according to the rotating speed of the driving motor;
the analog-to-digital conversion unit is used for taking a digital quantity of 0-100 obtained by performing analog-to-digital conversion on an accelerator pedal opening analog signal acquired in real time as an accelerator pedal displacement;
the statistical unit is used for counting the accelerator pedal state information in the time period when the current actual vehicle speed is not zero in the complete calculation period in real time according to the accelerator pedal displacement;
the analysis unit is used for selecting a corresponding analysis mode according to the state information of the accelerator pedal to obtain the opening degree of the accelerator pedal;
and the searching unit is used for searching the MAP table of the driving motor by combining the analyzed opening degree of the accelerator pedal and the rotating speed of the driving motor, and acquiring the torque required by the driving motor.
Preferably, the accelerator pedal state information includes: the maximum value of the displacement of the accelerator pedal, the average value of the displacement of the accelerator pedal, the occupation ratio of the displacement of different accelerator pedals and the average value of the variation rate of the displacement of the accelerator pedal.
Preferably, the first and second liquid crystal materials are,
when the maximum value of the displacement of the accelerator pedal is more than 95, the average value of the displacement of the accelerator pedal is less than or equal to 9, the ratio of the displacement of the accelerator pedal is 50-100 is less than 1%, and the average value of the rate of change of the displacement of the accelerator pedal is more than 3/s, acquiring the opening information of the accelerator pedal by adopting a first analysis mode;
when the maximum value of the displacement of the accelerator pedal is larger than 50, the average value of the displacement of the accelerator pedal is smaller than 9, the ratio of the displacement of the accelerator pedal is 50-100 is smaller than 1%, and the average value of the rate of change of the displacement of the accelerator pedal is smaller than 2/s, acquiring the opening information of the accelerator pedal by adopting a second analysis mode;
when the maximum value of the displacement of the accelerator pedal is more than 50, the average value of the displacement of the accelerator pedal is less than 15, the ratio of the displacement of the accelerator pedal to the displacement of 50-100 is less than 1%, and the average value of the rate of change of the displacement of the accelerator pedal is more than 2.5/s, acquiring the opening information of the accelerator pedal by adopting a third analysis mode;
and when the maximum value of the displacement of the accelerator pedal is larger than 95, the average value of the displacement of the accelerator pedal is larger than 15, the ratio of the displacement of the accelerator pedal is 50-100 is larger than 15%, and the average value of the rate of change of the displacement of the accelerator pedal is larger than 4/s, acquiring the opening information of the accelerator pedal by adopting a fourth analysis mode.
Preferably, the first and second liquid crystal materials are,
the first analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a direct proportional relationIt appears as a straight line with a slope of 1. Assuming that the accelerator pedal opening is y and the accelerator pedal displacement is x, then yxX (0. ltoreq. x.ltoreq.100), and finally y is usedxAnd/100, converting the opening degree of the accelerator pedal into an opening degree value of 0-100%.
The second analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased from 0.5 to 1.2 within the range that the opening degree of the accelerator pedal is less than 30%, the slope is in a direct proportional relationship of 1.2 within the range that the opening degree of the accelerator pedal is more than 30% and less than 75%, and the slope is sequentially decreased to 0.5 within the range that the opening degree of the accelerator pedal is more than 75%, so that the curve is represented as an S-shaped curve. Let x be the accelerator pedal displacement, y be the accelerator pedal opening, and k be the slope, which can be calculated by using the following formula:
Figure GDA0003571907540000041
yx＝yx-1+kx-1,(0<x≤100)；
finally using y ═ yxAnd/100, converting the opening degree of the accelerator pedal into an opening degree value of 0-100%.
The third analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased from 0.4 to 1.3 within the range that the opening degree of the accelerator pedal is less than 30%, the slope is in a direct proportional relationship of 1.3 within the range that the opening degree of the accelerator pedal is more than 30% and less than 75%, and the slope is sequentially decreased to 0.4 within the range that the opening degree of the accelerator pedal is more than 75%, so that the curve is represented as an S-shaped curve. Let x be the accelerator pedal displacement, y be the accelerator pedal opening, and k be the slope, and can be calculated using the following formula.
Figure GDA0003571907540000042
yx＝yx-1+kx-1,(0<x≤100)；
Finally using y ═ yxAnd/100, converting the opening degree of the accelerator pedal into an opening degree value of 0-100%.
The fourth analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased from 0.3 to 1.5 within the range that the opening degree of the accelerator pedal is less than 30%, the slope is in a direct proportional relationship of 1.5 within the range that the opening degree of the accelerator pedal is more than 30% and less than 75%, and the slope is sequentially decreased to 0.3 within the range that the opening degree of the accelerator pedal is more than 75%, so that the curve is represented as an S-shaped curve. Let x be the accelerator pedal displacement, y be the accelerator pedal opening, and k be the slope, and can be calculated using the following formula.
Figure GDA0003571907540000051
yx＝yx-1+kx-1,(0<x≤100)；
Finally using y ═ yxAnd/100, converting the opening degree of the accelerator pedal into an opening degree value of 0-100%.
Preferably, the accelerator pedal opening degree analog signal is a voltage signal.
In a second aspect, the present invention provides a torque control method for a driving motor of an electric vehicle, including:
counting accelerator pedal state information in a time period in which the actual vehicle speed is not zero in a complete calculation period in real time according to the displacement of the accelerator pedal, selecting a corresponding analysis mode, obtaining the opening of the accelerator pedal, and searching a driving motor MAP table according to the rotating speed of a driving motor to obtain the required torque of the driving motor;
controlling the torque of the driving motor according to the required torque.
Preferably, the obtaining of the required torque of the drive motor includes:
calculating the current actual vehicle speed according to the rotating speed of the driving motor;
taking a digital quantity of 0-100 obtained by performing analog-to-digital conversion on an accelerator pedal opening degree analog signal acquired in real time as an accelerator pedal displacement;
counting the accelerator pedal state information in a time period when the current actual vehicle speed is not zero in a complete calculation period in real time according to the accelerator pedal displacement;
selecting a corresponding analysis mode according to the state information of the accelerator pedal to obtain the opening degree of the accelerator pedal;
and (4) searching a driving motor MAP table by combining the analyzed opening degree of the accelerator pedal and the rotating speed of the driving motor, and acquiring the torque required by the driving motor.
Preferably, the accelerator pedal opening degree analog signal is a voltage signal.
In a third aspect, the invention provides an electric vehicle comprising the electric vehicle driving motor torque control system as described above.
The invention has the beneficial effects that: on the basis of ensuring that the whole vehicle meets the intention of a driver, the torque fluctuation of a driving motor is reduced, the driving comfort is enhanced, the power performance is improved, the energy consumption of the whole vehicle is reduced, and the cruising ability is improved.
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
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a functional schematic block diagram of a torque control system of a driving motor of an electric vehicle according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for controlling torque of a driving motor of an electric vehicle according to an embodiment of the present invention.
Fig. 3 is a graph illustrating a first analysis method according to an embodiment of the present invention.
Fig. 4 is a graph illustrating a second analysis method according to an embodiment of the present invention.
Fig. 5 is a third analysis graph according to the embodiment of the present invention.
Fig. 6 is a graph illustrating a fourth analysis method according to an embodiment of the present invention.
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 reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by way of the drawings are illustrative only and are not to be construed as limiting the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., 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. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
For the purpose of facilitating an understanding of the present invention, the present invention will be further explained by way of specific embodiments with reference to the accompanying drawings, which are not intended to limit the present invention.
It should be understood by those skilled in the art that the drawings are merely schematic representations of embodiments and that the elements shown in the drawings are not necessarily required to practice the invention.
Example 1
As shown in fig. 1, embodiment 1 of the present invention provides an electric vehicle drive motor torque control system, including: the whole vehicle controller is used for counting accelerator pedal state information in a time period in which the actual vehicle speed is not zero in a complete calculation period in real time according to the displacement of the accelerator pedal, selecting a corresponding analysis mode, obtaining the opening degree of the accelerator pedal, searching a driving motor MAP table according to the rotating speed of the driving motor, and obtaining the required torque of the driving motor; and the motor controller is used for controlling the torque of the driving motor according to the required torque.
In this embodiment 1, the vehicle control unit is integrated with a computing unit, an analog-to-digital conversion unit, a statistical unit, an analysis unit, and a search unit.
The calculating unit is used for calculating the current actual vehicle speed according to the rotating speed of the driving motor;
the analog-to-digital conversion unit is used for taking a digital quantity of 0-100 obtained by performing analog-to-digital conversion on an accelerator pedal opening analog signal (voltage signal) acquired in real time as an accelerator pedal displacement;
the statistical unit is used for carrying out real-time statistics on the accelerator pedal state information in a time period when the current actual vehicle speed is not zero in a complete calculation period according to the accelerator pedal displacement;
the analysis unit is used for selecting a corresponding analysis mode according to the accelerator pedal state information to obtain the accelerator pedal opening;
and the searching unit is used for searching the MAP table of the driving motor by combining the analyzed opening degree of the accelerator pedal and the rotating speed of the driving motor, and acquiring the torque required by the driving motor.
In the present embodiment 1, the accelerator pedal state information includes: the maximum value of the displacement of the accelerator pedal, the average value of the displacement of the accelerator pedal, the occupation ratio of the displacement of different accelerator pedals and the average value of the variation rate of the displacement of the accelerator pedal.
The maximum value of the displacement of the accelerator pedal is the maximum value of the displacement of the accelerator pedal counted in the complete calculation period; the average value of the displacement of the accelerator pedal is an average value in the displacement of the accelerator pedal counted in a complete calculation period; the ratio of the displacement of the accelerator pedal is to select an interval of the displacement of the accelerator pedal and count the proportion of the displacement of the accelerator pedal in the current interval and the whole interval of the displacement; the accelerator pedal displacement change rate is the change amount of the accelerator pedal displacement in unit time.
In this embodiment 1, when the maximum value of the accelerator pedal displacement is greater than 95, the average value of the accelerator pedal displacement is less than or equal to 9, the ratio of the displacement of the accelerator pedal displacement is 50-100 is less than 1%, and the average value of the rate of change of the accelerator pedal displacement is greater than 3/s, the first analysis method is adopted to obtain the accelerator pedal opening degree information.
And when the maximum value of the displacement of the accelerator pedal is larger than 50, the average value of the displacement of the accelerator pedal is smaller than 9, the displacement ratio of the displacement of the accelerator pedal is 50-100 is smaller than 1%, and the average value of the rate of change of the displacement of the accelerator pedal is smaller than 2/s, acquiring the opening information of the accelerator pedal by adopting a second analysis mode.
And when the maximum value of the displacement of the accelerator pedal is more than 50, the average value of the displacement of the accelerator pedal is less than 15, the ratio of the displacement of the accelerator pedal to the displacement of 50-100 is less than 1%, and the average value of the rate of change of the displacement of the accelerator pedal is more than 2.5/s, acquiring the opening information of the accelerator pedal by adopting a third analysis mode.
And when the maximum value of the displacement of the accelerator pedal is larger than 95, the average value of the displacement of the accelerator pedal is larger than 15, the ratio of the displacement of the accelerator pedal is 50-100 is larger than 15%, and the average value of the rate of change of the displacement of the accelerator pedal is larger than 4/s, acquiring the opening information of the accelerator pedal by adopting a fourth analysis mode.
As shown in fig. 3, the first analysis method is: the accelerator pedal opening degree and the accelerator pedal displacement amount are in a direct proportional relationship, and appear as a straight line having a slope of 1. Assuming that the accelerator pedal opening is y and the accelerator pedal displacement is x, then yxX (0. ltoreq. x.ltoreq.100), and finally y is usedxAnd/100, converting the opening degree of the accelerator pedal into an opening degree value of 0-100%.
As shown in fig. 4, the second analysis method is: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased from 0.5 to 1.2 within the range that the opening degree of the accelerator pedal is less than 30%, the slope is in a direct proportional relationship of 1.2 within the range that the opening degree of the accelerator pedal is more than 30% and less than 75%, and the slope is sequentially decreased to 0.5 within the range that the opening degree of the accelerator pedal is more than 75%, so that the curve is represented as an S-shaped curve. Let x be the accelerator pedal displacement, y be the accelerator pedal opening, and k be the slope, which can be calculated by using the following formula:
Figure GDA0003571907540000111
yx＝yx-1+kx-1,(0<x≤100)；
finally using y ═ yxAnd/100, converting the opening degree of the accelerator pedal into an opening degree value of 0-100%.
As shown in fig. 5, the third analysis method is: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased from 0.4 to 1.3 within the range that the opening degree of the accelerator pedal is less than 30%, the slope is in a direct proportional relationship of 1.3 within the range that the opening degree of the accelerator pedal is more than 30% and less than 75%, and the slope is sequentially decreased to 0.4 within the range that the opening degree of the accelerator pedal is more than 75%, so that the curve is represented as an S-shaped curve. Let x be the accelerator pedal displacement, y be the accelerator pedal opening, and k be the slope, and can be calculated using the following formula.
Figure GDA0003571907540000112
yx＝yx-1+kx-1,(0<x≤100)；
Finally using y ═ yxAnd/100, converting the opening degree of the accelerator pedal into an opening degree value of 0-100%.
As shown in fig. 6, the fourth analysis method is: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased from 0.3 to 1.5 within the range that the opening degree of the accelerator pedal is less than 30%, the slope is in a direct proportional relationship of 1.5 within the range that the opening degree of the accelerator pedal is more than 30% and less than 75%, and the slope is sequentially decreased to 0.3 within the range that the opening degree of the accelerator pedal is more than 75%, so that the curve is represented as an S-shaped curve. Let x be the accelerator pedal displacement, y be the accelerator pedal opening, and k be the slope, and can be calculated using the following formula.
Figure GDA0003571907540000121
yx＝yx-1+kx-1,(0<x≤100)；
Finally using y ═ yxAnd/100, converting the opening degree of the accelerator pedal into an opening degree value of 0-100%.
As shown in fig. 2, in the present embodiment 1, a torque control method for a driving motor of an electric vehicle is implemented by using the above-mentioned system, and the method includes the following steps:
counting accelerator pedal state information in a time period in which the actual vehicle speed is not zero in a complete calculation period in real time according to the displacement of the accelerator pedal, selecting a corresponding analysis mode, obtaining the opening of the accelerator pedal, and searching a driving motor MAP table according to the rotating speed of a driving motor to obtain the required torque of the driving motor;
controlling the torque of the driving motor according to the required torque.
In the present embodiment 1, obtaining the required torque of the drive motor includes the steps of:
calculating the current actual vehicle speed according to the rotating speed of the driving motor;
taking a digital quantity of 0-100 obtained by performing analog-to-digital conversion on an accelerator pedal opening degree analog signal acquired in real time as an accelerator pedal displacement;
counting the accelerator pedal state information in a time period when the current actual vehicle speed is not zero in a complete calculation period in real time according to the accelerator pedal displacement;
selecting a corresponding analysis mode according to the accelerator pedal state information to obtain the opening degree of the accelerator pedal;
and (4) searching a driving motor MAP table by combining the analyzed opening degree of the accelerator pedal and the rotating speed of the driving motor, and acquiring the torque required by the driving motor.
And finally, sending the required torque to a motor controller, and controlling the torque of the driving motor by the motor controller according to the required torque to drive the vehicle to run.
Example 2
The embodiment 2 of the invention provides a torque control system of a driving motor of an electric automobile, which is based on an accelerator pedal opening self-adaptive analysis method, and aims at counting information such as accelerator pedal displacement information and vehicle speed in the driving process when the vehicle is driven by different drivers and different road conditions, and the whole vehicle controller automatically selects an accelerator pedal analysis mode according to the influence of the driving habits and road condition characteristics of the drivers on energy consumption, so that the aim of automatically reducing the energy consumption in the vehicle operation process is fulfilled.
In the embodiment 2, the implementation of the torque control by using the torque control system of the driving motor of the electric vehicle comprises the following steps: calculating the speed of the vehicle, calculating the displacement of the accelerator pedal, analyzing the opening of the accelerator pedal in a self-adaptive manner, and managing and distributing the torque of the driving motor.
The vehicle speed calculation method comprises the following specific steps:
the vehicle control unit calculates the actual running speed V of the current vehicle according to the radius r of the vehicle tire and the transmission ratio i of the main reducer by receiving a motor rotating speed signal n sent by the motor controller, and the calculation formula is as follows:
Figure GDA0003571907540000131
the specific steps of the calculation of the displacement of the accelerator pedal are as follows:
the whole vehicle controller is connected with the accelerator pedal, acquires a voltage analog quantity signal of the accelerator pedal, and sends out 0-100 digital quantity as the displacement of the accelerator pedal after analog-digital conversion. 0 indicates that the accelerator pedal is not depressed, 100 indicates that the accelerator pedal is depressed to the bottom, and the middle values are depressed to different depths.
In this embodiment 2, the adaptive analysis of the accelerator pedal specifically includes the following steps:
in the running process of the vehicle, the whole vehicle controller takes every 1 hour as a small calculation period, takes continuous 3 hours as a complete period, and counts the maximum displacement of the accelerator, the average displacement of the accelerator, the percentage ratio of the accelerator and the average value of the change rate of the accelerator in a time period when the vehicle speed is not equal to 0 in the period;
4 logic analysis tables of a first analysis mode, a second analysis mode, a third analysis mode and a fourth analysis mode are preset in the whole vehicle controller program. The vehicle control unit automatically selects different accelerator analysis modes according to the information such as the maximum displacement amount, the average displacement amount and the displacement change rate of the accelerator pedal, and obtains the opening degree of the accelerator pedal.
The torque management of the driving motor comprises the following specific steps:
the vehicle control unit carries out a required torque request by combining the current motor rotating speed, the analyzed accelerator pedal opening and the motor MAP curve, sends required torque information to the motor controller, and drives the vehicle to run by the motor controller.
Example 3
The embodiment 3 of the invention provides a torque control method for a drive motor of a pure electric bus, which comprises the following steps: the vehicle control unit calculates the current vehicle speed according to the motor rotating speed sent by the motor, calculates the displacement of the accelerator pedal according to the stepping depth of the accelerator pedal, counts the displacement information of the accelerator pedal, automatically switches the analysis mode of the accelerator pedal according to the formulated control strategy, and manages the torque of the driving motor according to the analyzed opening of the accelerator pedal.
Calculating the current vehicle speed, wherein the vehicle control unit calculates the actual running speed V of the current vehicle according to the motor speed n sent by the motor controller, the rolling radius r of the tire and the transmission ratio i of a main reducer according to the following formula:
Figure GDA0003571907540000151
calculating the displacement of the accelerator pedal: the whole vehicle controller collects an opening degree analog signal sent by an accelerator pedal, and sends 0-100% of digital quantity as the displacement of the accelerator pedal after analog-to-digital conversion of the whole vehicle controller. 0% is that the accelerator pedal is not pressed, 100% is that the accelerator pedal is pressed to the bottom, and the middle value is that the accelerator pedal is pressed to different depths. The opening degree analog signal is a voltage signal.
Counting the displacement information of the accelerator pedal: the vehicle controller counts displacement information of the accelerator pedal in real time in the driving process of the vehicle, takes every 1 hour as a small calculation period and takes continuous 3 hours as a complete period, and counts the maximum displacement of the accelerator pedal, the average displacement of the accelerator pedal, the ratio of different displacement of the accelerator pedal and the average value of the accelerator change rate in a time period when the vehicle speed is not equal to 0 in each period and stores the values.
The maximum displacement of the accelerator pedal is the maximum value of the statistical displacement of the accelerator pedal; the average displacement of the accelerator pedal is an average value in the statistical displacement of the accelerator pedal; the different displacement ratio of the accelerator pedal is that a displacement interval of the accelerator pedal is selected, and the proportion of the displacement of the accelerator pedal in the current interval and the displacement interval is counted; the accelerator change rate is the variable quantity of the displacement of the accelerator pedal in unit time.
In embodiment 3, during torque control, different accelerator pedal opening degree adaptive analyses are performed under different accelerator pedal state information: 4 analysis mode programs are preset in the vehicle control unit program, and the 4 analysis modes are shown as curves in fig. 3-6, wherein the horizontal axis in the graph is the displacement of the accelerator pedal, and the vertical axis is the analysis opening of the accelerator pedal. And selecting different analysis modes according to the counted information of the accelerator pedal displacement, and analyzing the accelerator pedal displacement into the corresponding accelerator pedal opening.
The method of adaptive analysis is as follows:
(1) when the maximum displacement of the accelerator is more than 95, the average displacement of the accelerator is less than or equal to 9, the ratio of 50-100 displacements of the accelerator is less than 1%, and the average value of the change rate of the accelerator is more than 3/s, maintaining the analysis mode 1;
(2) when the maximum displacement of the accelerator is larger than 50, the average displacement of the accelerator is smaller than 9, the ratio of the displacement of the accelerator is 50-100 is smaller than 1%, and the average value of the change rate of the accelerator is smaller than 2/s, automatically switching the analysis mode 2;
(3) when the maximum displacement of the accelerator is more than 50, the average displacement of the accelerator is less than 15, the ratio of 50-100 displacements of the accelerator is less than 1%, and the average value of the change rate of the accelerator is more than 2.5/s, automatically switching an analysis mode 3;
(4) when the maximum displacement of the accelerator is larger than 95, the average displacement of the accelerator is larger than 15, the ratio of the displacement of the accelerator is 50-100 is larger than 15%, and the average value of the change rate of the accelerator is larger than 4/s, the analysis mode 4 is automatically switched.
The opening degree of the accelerator pedal is the analyzed signal quantity of the accelerator pedal, and 0% of the opening degree is that the accelerator pedal is not stepped on and the corresponding displacement of the accelerator pedal is 0; 100% of the displacement is 100 when the accelerator pedal is completely pressed; the intermediate value is the corresponding analytic opening.
Torque management of the drive motor: the vehicle control unit finds a motor MAP table according to the adaptively analyzed opening degree of the accelerator pedal and the current rotating speed of the motor to obtain the required torque of the motor, sends the required torque to the motor controller, and controls the motor to drive the vehicle to run through the motor controller.
Example 4
Embodiment 4 of the present invention provides an electric vehicle, which includes the torque control system for the driving motor of the electric vehicle according to the above embodiment. The torque control method of the driving motor of the electric automobile is realized by utilizing the torque control system of the driving motor of the electric automobile, and the method comprises the following steps:
counting accelerator pedal state information in a time period in which the actual vehicle speed is not zero in a complete calculation period in real time according to the displacement of the accelerator pedal, selecting a corresponding analysis mode, obtaining the opening of the accelerator pedal, and searching a driving motor MAP table according to the rotating speed of a driving motor to obtain the required torque of the driving motor;
controlling the torque of the driving motor according to the required torque.
Acquiring the required torque of the drive motor includes:
calculating the current actual vehicle speed according to the rotating speed of the driving motor;
taking a digital quantity of 0-100 obtained by performing analog-to-digital conversion on an accelerator pedal opening degree analog signal acquired in real time as an accelerator pedal displacement;
counting the accelerator pedal state information in a time period when the current actual vehicle speed is not zero in a complete calculation period in real time according to the displacement of the accelerator pedal;
selecting a corresponding analysis mode according to the accelerator pedal state information to obtain the opening degree of the accelerator pedal;
and (4) searching a driving motor MAP table by combining the analyzed opening degree of the accelerator pedal and the rotating speed of the driving motor, and acquiring the torque required by the driving motor.
In summary, the torque control system and the control method for the driving motor of the electric vehicle according to the embodiments of the present invention calculate the vehicle driving speed according to the current rotation speed of the motor; after a driver steps on an accelerator pedal, the whole vehicle controller calculates the displacement of the accelerator pedal; counting the accelerator pedal displacement state information in the time period when the vehicle running speed is not 0, and performing adaptive accelerator pedal opening analysis; and the vehicle control unit manages and distributes the torque of the driving motor according to the analyzed opening degree of the accelerator pedal. The electric automobile using the torque control system can reduce the energy consumption of the whole automobile as far as possible, reduce the fluctuation of the driving torque, enhance the driving comfort and increase the driving range on the basis of meeting the power performance of the whole automobile on the basis of ensuring that the whole automobile meets the intention of a driver.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the embodiments of the present disclosure have been described with reference to the accompanying drawings, it is not intended to limit the scope of the disclosure, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive changes in the embodiments of the present disclosure.

Claims (7)

1. An electric vehicle drive motor torque control system, comprising:
the whole vehicle controller is used for counting accelerator pedal state information in a time period in which the actual vehicle speed is not zero in a complete calculation period in real time according to the displacement of the accelerator pedal, selecting a corresponding analysis mode, obtaining the opening degree of the accelerator pedal, searching a driving motor MAP table according to the rotating speed of the driving motor, and obtaining the required torque of the driving motor;
a motor controller for controlling a torque of the driving motor according to a required torque;
the accelerator pedal state information includes: maximum value of the displacement of the accelerator pedal, average value of the displacement of the accelerator pedal, ratio of different displacement of the accelerator pedal and average value of the variation rate of the displacement of the accelerator pedal;
when the maximum value of the displacement of the accelerator pedal is more than 95, the average value of the displacement of the accelerator pedal is less than or equal to 9, the ratio of the displacement of the accelerator pedal is 50-100 is less than 1%, and the average value of the rate of change of the displacement of the accelerator pedal is more than 3/s, acquiring the opening information of the accelerator pedal by adopting a first analysis mode;
when the maximum value of the displacement of the accelerator pedal is larger than 50, the average value of the displacement of the accelerator pedal is smaller than 9, the ratio of the displacement of the accelerator pedal is 50-100 is smaller than 1%, and the average value of the rate of change of the displacement of the accelerator pedal is smaller than 2/s, acquiring the opening information of the accelerator pedal by adopting a second analysis mode;
when the maximum value of the displacement of the accelerator pedal is more than 50, the average value of the displacement of the accelerator pedal is less than 15, the ratio of the displacement of the accelerator pedal to the displacement of 50-100 is less than 1%, and the average value of the rate of change of the displacement of the accelerator pedal is more than 2.5/s, acquiring the opening information of the accelerator pedal by adopting a third analysis mode;
when the maximum value of the displacement of the accelerator pedal is larger than 95, the average value of the displacement of the accelerator pedal is larger than 15, the ratio of the displacement of the accelerator pedal with the displacement of 50-100 is larger than 15%, and the average value of the rate of change of the displacement of the accelerator pedal is larger than 4/s, acquiring the opening information of the accelerator pedal by adopting a fourth analysis mode;
the first analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a direct proportional relation;
the second analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased to 1.2 from 0.5 within the range that the opening degree of the accelerator pedal is less than 30%, the slope is in a direct proportional relationship of 1.2 within the range that the opening degree of the accelerator pedal is more than 30% and less than 75%, and the slope is sequentially decreased to 0.5 within the range that the opening degree of the accelerator pedal is more than 75%;
the third analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased from 0.4 to 1.3 within the range that the opening degree of the accelerator pedal is less than 30%, the slope is in a direct proportional relationship of 1.3 within the range that the opening degree of the accelerator pedal is more than 30% and less than 75%, and the slope is sequentially decreased to 0.4 within the range that the opening degree of the accelerator pedal is more than 75%;
the fourth analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased from 0.3 to 1.5 within the range that the opening degree of the accelerator pedal is less than 30%, the slope is in a direct proportional relationship of 1.5 within the range that the opening degree of the accelerator pedal is more than 30% and less than 75%, and the slope is sequentially decreased to 0.3 within the range that the opening degree of the accelerator pedal is more than 75%.
2. The torque control system of the driving motor of the electric automobile according to claim 1, wherein the vehicle control unit is integrated with a calculation unit, an analog-to-digital conversion unit, a statistical unit, an analysis unit and a search unit;
the calculating unit is used for calculating the current actual vehicle speed according to the rotating speed of the driving motor;
the analog-to-digital conversion unit is used for taking a digital quantity of 0-100 obtained by performing analog-to-digital conversion on an accelerator pedal opening analog signal acquired in real time as an accelerator pedal displacement;
the statistical unit is used for carrying out real-time statistics on the accelerator pedal state information in a time period when the current actual vehicle speed is not zero in a complete calculation period according to the accelerator pedal displacement;
the analysis unit is used for selecting a corresponding analysis mode according to the accelerator pedal state information to obtain the accelerator pedal opening;
and the searching unit is used for searching the MAP table of the driving motor by combining the analyzed opening degree of the accelerator pedal and the rotating speed of the driving motor, and acquiring the torque required by the driving motor.
3. The electric vehicle drive motor torque control system of claim 2, wherein the accelerator pedal opening degree analog signal is a voltage signal.
4. A torque control method for a driving motor of an electric automobile is characterized by comprising the following steps:
counting accelerator pedal state information in a time period in which the actual vehicle speed is not zero in a complete calculation period in real time according to the displacement of the accelerator pedal, selecting a corresponding analysis mode, obtaining the opening of the accelerator pedal, and searching a driving motor MAP table according to the rotating speed of a driving motor to obtain the required torque of the driving motor;
controlling the torque of the driving motor according to the required torque;
the accelerator pedal state information includes: maximum value of the displacement of the accelerator pedal, average value of the displacement of the accelerator pedal, ratio of different displacement of the accelerator pedal and average value of the variation rate of the displacement of the accelerator pedal;
when the maximum value of the displacement of the accelerator pedal is more than 95, the average value of the displacement of the accelerator pedal is less than or equal to 9, the ratio of the displacement of the accelerator pedal is 50-100 is less than 1%, and the average value of the rate of change of the displacement of the accelerator pedal is more than 3/s, acquiring the opening information of the accelerator pedal by adopting a first analysis mode;
when the maximum value of the displacement of the accelerator pedal is larger than 50, the average value of the displacement of the accelerator pedal is smaller than 9, the ratio of the displacement of the accelerator pedal is 50-100 is smaller than 1%, and the average value of the rate of change of the displacement of the accelerator pedal is smaller than 2/s, acquiring the opening information of the accelerator pedal by adopting a second analysis mode;
when the maximum value of the displacement of the accelerator pedal is more than 50, the average value of the displacement of the accelerator pedal is less than 15, the ratio of the displacement of the accelerator pedal to the displacement of 50-100 is less than 1%, and the average value of the rate of change of the displacement of the accelerator pedal is more than 2.5/s, acquiring the opening information of the accelerator pedal by adopting a third analysis mode;
when the maximum value of the displacement of the accelerator pedal is larger than 95, the average value of the displacement of the accelerator pedal is larger than 15, the ratio of the displacement of the accelerator pedal with the displacement of 50-100 is larger than 15%, and the average value of the rate of change of the displacement of the accelerator pedal is larger than 4/s, acquiring the opening information of the accelerator pedal by adopting a fourth analysis mode;
the first analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a direct proportional relation;
the second analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased to 1.2 from 0.5 within the range that the opening degree of the accelerator pedal is less than 30%, the slope is in a direct proportional relationship of 1.2 within the range that the opening degree of the accelerator pedal is more than 30% and less than 75%, and the slope is sequentially decreased to 0.5 within the range that the opening degree of the accelerator pedal is more than 75%;
the third analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased from 0.4 to 1.3 within the range that the opening degree of the accelerator pedal is less than 30 percent, the slope is in a direct proportional relationship of 1.3 within the range that the opening degree of the accelerator pedal is more than 30 percent and less than 75 percent, and the slope is sequentially decreased to 0.4 within the range that the opening degree of the accelerator pedal is more than 75 percent;
the fourth analysis method is as follows: the opening degree of the accelerator pedal and the displacement of the accelerator pedal are in a nonlinear relationship, the slope is sequentially increased from 0.3 to 1.5 within the range that the opening degree of the accelerator pedal is less than 30%, the slope is in a direct proportional relationship of 1.5 within the range that the opening degree of the accelerator pedal is more than 30% and less than 75%, and the slope is sequentially decreased to 0.3 within the range that the opening degree of the accelerator pedal is more than 75%.
5. The electric vehicle driving motor torque control method according to claim 4, wherein obtaining the required torque of the driving motor includes:
calculating the current actual speed according to the rotating speed of the driving motor;
taking a digital quantity of 0-100 obtained by performing analog-to-digital conversion on an accelerator pedal opening degree analog signal acquired in real time as an accelerator pedal displacement;
counting the accelerator pedal state information in a time period when the current actual vehicle speed is not zero in a complete calculation period in real time according to the accelerator pedal displacement;
selecting a corresponding analysis mode according to the accelerator pedal state information to obtain the opening degree of the accelerator pedal;
and (4) searching a driving motor MAP table by combining the analyzed opening of the accelerator pedal and the rotating speed of the driving motor to obtain the torque required by the driving motor.
6. The method of claim 5, wherein the accelerator pedal opening degree analog signal is a voltage signal.
7. An electric vehicle characterized by comprising the electric vehicle drive motor torque control system according to any one of claims 1 to 3.
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