Creeping speed control method for electric vehicle

Abstract

The invention discloses a creeping speed control method for an electric vehicle. The method aims at solving the problems that in the prior art, the calculation of the creeping target torque of electric vehicles is inaccurate, by additionally arranging slope sensors or acceleration sensors, the costs are increased, and the robustness is reduced; meanwhile, a dynamic coordination control method forthe creeping torque of the electric vehicle is proposed to ensure better running smoothness when the vehicle switches between a creeping mode and other running modes. The dynamic coordination controlmethod for the creeping torque of the electric vehicle comprises the following steps of 1, determination of a working mode, wherein a vehicle control unit selects the target working mode according todriver's operation and the state of the vehicle; 2, calculation of the creeping target torque, wherein the creeping target torque is calculated by means of a 'feedforward reference torque + feedback compensation torque + parameter estimation feedback correction' method; 3, dynamic coordination control over the creeping torque, wherein slope limiting and filtering processing are conducted on the target creeping target torque obtained in the step 2, the requirement for the creeping torque after coordination is output to a motor controller to control the torque output of a motor, and therefore creeping running of the vehicle is achieved.

Description

technical field [0001] The invention relates to a method for controlling the creeping speed of a vehicle, more precisely, the invention relates to a method for controlling the creeping speed of an electric vehicle. Background technique [0002] With its advantages of low pollution, low noise, energy saving, simple structure and maintenance, electric vehicles have become one of the important research directions of new energy vehicles. Compared with traditional vehicles, electric vehicles use the drive motor as the power source. The motor power directly drives the vehicle through a single-stage reduction device or a two-speed reduction device. The transmission system is generally not equipped with a clutch and a torque converter, and cannot slip through the clutch. Grinding, or torque converter control to maintain the low-speed driving state of the vehicle. However, based on the speed characteristics of electric vehicle drive motors, when the vehicle is starting or maintainin...

AI Technical Summary

Problems solved by technology

[0006] The present invention provides a creeping vehicle speed control method for an electric vehicle, which aims to solve the problem of inaccurate calculation of creeping driving reference torque and anti-slope torque in the prior art, increased cost and reduced robust

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