A zero -speed control method of a throttle single -pedal parking motor

Abstract

The invention relates to a zero-speed control method for a parking motor with a single accelerator pedal, which comprises the following steps: obtaining an ideal speed-acceleration curve; obtaining a real acceleration; judging the relationship between the real acceleration and the ideal speed-acceleration curve, Above the curve, the motor controller gives the compensation torque in the negative direction. If the real acceleration is below the ideal speed-acceleration curve, the motor controller gives the compensation torque in the positive direction; the proportional torque is obtained; the compensation torque and the proportional torque are added to obtain Control torque; the motor controller uses the control torque for accelerator single-pedal stop control of the motor. Compared with the prior art, the use of gradient signals with poor accuracy and delay can be avoided, and the influence of the deviation between the preset vehicle mass and the actual no-load or full-load mass deviation on the compensation torque calculation can be avoided; it can creep slowly. Or start smoothly without slipping back.

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 means that the driver releases the accelerator, and the drive motor outputs negative torque for braking and recovery capability. When the vehicle speed is lower than a certain value, the vehicle speed is controlled at zero speed by the drive motor, thereby functionally replacing the role of the brake; this process Need to quickly and smoothly reduce the speed to 0. [0003] Under normal circumstances, when the vehicle is driving on a stable road, 0 speed control (0 speed control) is performed. 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 apparently reverses the speed and doesn't match t...

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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