Non-linear model predictive control method for single pedal of pure electric vehicle

Abstract

The invention discloses a nonlinear model predictive control method for a single pedal of a pure electric vehicle. The nonlinear model predictive control method comprises the following steps: 1, acquiring the opening degree of the pedal; 2, establishing a single-pedal dynamics model by using the pedal opening and the pedal rotation angular velocity; 3, designing a sliding-mode observer to obtain a pedal torque acting on a pedal by a driver; 4, performing driving/braking driving mode recognition according to the pedal torque; 5, establishing a single-pedal control system model in combination with the whole vehicle state; and 6, constructing a nonlinear model predictive controller, and obtaining an optimal motor driving/braking torque by using a direct mapping relation between a pedal torque and a motor torque and by taking optimization of energy consumption, comfort and safety as targets so as to realize motor torque control. The integration degree of the driving function and the motor braking function in the single pedal mode is deepened, and the single pedal in the true sense is achieved. Meanwhile, the method can meet the dynamic property requirement of a driver, the driving safety and the energy utilization rate are improved, and the riding comfort is improved.

Description

technical field [0001] The invention relates to a non-linear model prediction control method for a single pedal of a pure electric vehicle, in particular to a motor demand torque that is directly calculated by the pedal torque of a single pedal operated by a driver, taking into account the dynamics, safety, The economical and comfortable one-pedal control method. Background technique [0002] The motor braking energy recovery function can improve the energy utilization of pure electric vehicles. The single-pedal function can reduce the number of times the driver switches between the accelerator pedal and the brake pedal, and make more full use of the motor braking function to recover braking energy. At present, some pure electric vehicles have been equipped with a single-pedal mode, but the existing single-pedal control technology only realizes the functional splicing of the accelerator pedal and the brake pedal, and does not combine the two driving modes of driving and bra...

AI Technical Summary

Problems solved by technology

At present, some pure electric vehicles have been equipped with a single-pedal mode, but the existing single-pedal control technology only realizes the splicing of the functions of the accelerator pedal and the brake pedal, and does not combine the two driving modes of driving and braking according to the driver's driving intention. Therefore, there is a lack of a real single-pedal control method, and due to the unsuitability of most drivers in terms of driving habits, the application of a single-pedal will lead to serious changes in vehicle longitudinal acceleration, poor driving safety and ride comfort

Images