Zero-rotating-speed control method for accelerator single-pedal parking motor

Abstract

The invention relates to a zero-rotating-speed control method for an accelerator single-pedal parking motor. The zero-rotating-speed control method comprises the following steps: acquiring a speed-acceleration ideal curve; obtaining a real acceleration; judging a relationship between the real acceleration and the speed-acceleration ideal curve, if the real acceleration is located above the speed-acceleration ideal curve, giving compensation torque in a negative direction by a motor controller, and if the real acceleration is located below the speed-acceleration ideal curve, giving compensationtorque in a positive direction by the motor controller; obtaining a proportional torque; adding the compensation torque and the proportional torque to obtain a control torque; and performing accelerator single-pedal parking control on the motor by the motor controller through using the control torque. Compared with the prior art, the method has the advantages that a gradient signal which is poorin use precision and has time delay can be avoided; meanwhile, the influence of the deviation between the preset whole vehicle mass and the actual no-load or full-load mass on compensation torque calculation is also avoided; slow creeping or stable starting can be achieved, and backward sliding is avoided.

Description

technical field [0001] The invention relates to the field of accelerator single-pedal parking control, in particular to a zero-speed control method of an accelerator single-pedal parking motor. Background technique [0002] The single-pedal parking condition is that the driver releases the accelerator, and the driving motor outputs negative torque to brake and recover the capacity. When the vehicle speed is lower than a certain value, the driving motor controls the vehicle speed at zero speed, thereby functionally replacing the role of the brake; this process It is necessary to reduce the vehicle speed to 0 quickly and smoothly. [0003] Under normal circumstances, when the vehicle is driving on a smooth road, it is controlled at 0 speed (0 vehicle speed control). The traditional control method can use PID control. A good PID control curve will have 2 waves, which meets the conditions of fast response and small vibration. But the PID control obviously reverses the speed of ...

AI Technical Summary

Problems solved by technology

Under such working conditions, using the traditional PID control, the increase of the integral term Ki parameter will inevitably lead to overshoot, that is, the speed reverses.

Another method is to use the hydraulic brake to intervene. If the detection motor control cannot effectively stop the slope when the slope is large, there is a sliding slope phenomenon. At this time, the hydraulic brake intervenes to assist the vehicle to stop on the slope. The disadvantage of this method is that it will exit When standing on a slope, it cannot start slowly and crawl. It will behave differently when the vehicle is fully loaded and unloaded. If the parameter calibration is not appropriate, the slope will slide or the acceleration will be large.

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