Electric drive anti-slip protection control method based on whole vehicle TCS working condition

A technology of protection control and electric drive, which is applied in the direction of control drive, electric vehicle, electric energy management, etc. It can solve the problems of unable to control effective protection of electric drive system, unable to meet the demand torque adjustment accuracy, unable to meet the torque fast response, etc., to achieve timely Effective torque response effect, easy hardware cost, effect of ensuring driving comfort

Pending Publication Date: 2022-04-12

HEFEI JUYI POWER SYST CO LTD

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Problems solved by technology

[0005] 1. When the vehicle slips, the torque adjustment time is too long, which cannot meet the fast response of the torque;

[0006] 2. In the case of inaccurate estimation of the ground adhesio...

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Method used

As shown in Figure 1, the electric drive anti-skid protection control method based on the vehicle TCS working condition of the present invention, the parts that it adopts include vehicle data acquisition module, TCS function enabling module, electric drive skidding limit torque control module, slipping torque limit sign clearing module; the vehicle data acquisition module mainly collects signals such as vehicle speed and rotating speed through the CAN bus in real time and feeds them back to the TCS function enabling module; the TCS enabling module determines whether the current working condition is TCS function intervention i...

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Abstract

The invention discloses an electric drive anti-slip protection control method based on a whole vehicle TCS working condition, and the method comprises the steps: a whole vehicle data collection module collects the speed and rotating speed data information of a whole vehicle, and transmits the information to a TCS function enabling module and an electric drive slip torque limiting control module through a CAN bus; the TCS function enabling module judges whether a current working condition needs TCS function intervention or not according to the whole vehicle data information; and the electric drive slip torque limiting control module judges whether the electric drive system intervenes in torque limiting adjustment or not according to the TCS enable signal, and when the TCS function is enabled, the torque limiting protection strategy of the electric drive system intervenes in torque adjustment. The torque is actively adjusted through electric driving in cooperation with the TCS working condition, the driving comfort under the slipping working condition is guaranteed, the torque can be rapidly and effectively adjusted according to the actual slipping working condition, the electric driving system is protected in time, and the phenomenon that due to the too large rotating speed change rate, the electric driving system overflows is prevented.

Application Domain

Speed controllerElectric energy management

Technology Topic

Electric driveData acquisition module +3

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Examples

Experimental program(1)

Example Embodiment

[0037] Such as figure 1 As shown, the electric drive anti-slip protection control method of the entire vehicle TCS operating condition is included, including the components of the vehicle including the vehicle data acquisition module, the TCS function enable module, the electric drive slip-torsion control module, the sliding limit torque mark Clear module; the vehicle data acquisition module mainly collects the speed, speed and other signals to the TCS function enable module by the CAN bus, and the TCS enable module determines whether the current working condition needs TCS function intervention after data processing, and Output its functional validity marker; the electric drive system sliding limit twigmatism block is restricted to the torque according to the TCS, and the restricted torque is output in time and determines the restricted torque by the restricted sign bit; The slide limit twisted sign bit cleaning module is mainly cleared according to the current motor speed change rate, ensuring smoothness of the output torque of the electric drive. Such as figure 2 The schematic block diagram of the electric drive anti-slip protection control method of the present invention is shown.

[0038] The electric drive anti-slip protection method of the present invention based on the vehicle TCS operating condition includes the following steps.

[0039] S1, the vehicle data acquisition module, collecting the vehicle data information, including the vehicle speed, the whole vehicle four-wheel speed, the vehicle motor speed and other related data, and passed through the CAN bus to its TCS function enable module, electric drive slip Torque control module;

[0040] Specifically, the vehicle data acquisition module is mainly monitoring the vehicle data, and the collected data is monitored and filtered, and the final data is passed to the TCS control module, the electric drive system limit module, etc. support.

[0041] S2, TCS function enable module, determine whether the current working condition is required to intervene according to the vehicle data information, and output its functional validity flag;

[0042] Specifically, the TCS function enable module passes the front and rear wheel speed difference and the left and right wheel speed deviation and the left and right wheel speed deviations and the left and right wheel speed deviation are determined after the threshold, it is determined that the TCS function is valid after determining whether the front and rear wheel speed deviation and the left and right wheel speed deviation exceeds the threshold. Invalid, the TCS enable signal is sent to the electric drive system under the VCU.

[0043] S3, electric drive slip-torsion control module, determine whether the electric drive system is intervened in the signal according to the TCS enable signal, when the TCS function enables the electric drive system torsion protection strategy to intervene and torque adjustment;

[0044] Specifically, step S3 intermediate electric drive system torsion protection strategy is intervention and torque adjustment, such as image 3 As shown, including the steps:

[0045] S301, the electric drive slip limit twisted module uses the motor speed information feedback from the vehicle data acquisition module to calculate the change in motor speed change. (Indicating the rate of change in motor speed in a certain period of time):

[0046]

[0047] S302, judging the speed change rate of the motor Whether it is greater than ± 0.3, if it is not limited to the instruction torque; if it is, it is further determined to change the speed change rate. Whether it is greater than setting a high value HIGLIMIT, and whether the command torque and feedback torque deviation are greater than 15, if the rotational speed change rate is high, the rotational speed change rate limits the flag bit value 1, and the current actual execution torque is limited:

[0048] Torque_Act = Torque_cmd · Coratio;

[0049] Where TORQUE_ACT is the current actual execution torque; Torque_cmd is the current instruction torque; Cordtio is a torsion coefficient;

[0050] S303, the further condition in the S302 is determined whether the rotational speed change rate is greater than setting a low value lowlimit, and if it is greater than the lowlimit, it will further determine whether the current slip flag is zero, if the current slip flag is zero, the torque instruction is not limited. Otherwise, S304 is executed;

[0051] S304, the slip flag bit in the S303 is further compared to the zero condition. Further comparison is further compared to the current torque command size, and if the current time torque command is greater than the last torque instruction, it is further determined whether the timer timer T is less than or equal to TLIMT, If the TORQUE_ACT maintains the torque at the last minute, the slip flag is maintained at 1, otherwise the torque_act value is the current torque command; if the torque command is smaller than the last torque command, the TORQUE_ACT value is the current torque command;

[0052] S305, the speed change rate of the S303 is greater than the set low value lowlimit, and it is further determined whether the slip flag bit is zero. If the TORQUE_ACT executes the instruction torque; otherwise the torque size of the current time is larger, if the current torque is greater than the previous The torque size of the moment is maintained at the last torque, the slip flag is maintained at 1, otherwise the Torque_Act value is the current torque command; if the current time torque command is smaller than the last torque command, the TORQUE_ACT value is the current torque command.

[0053] S4, the sliding limit torque mark clear module, determines whether it is necessary to clear the slip limit twisted flag, further feedback to the electric drive slip-torsion control module.

[0054] In step S4, it is judged whether or not the slip limit twisted flag is needed. Figure 4 As shown, including the steps:

[0055] S401, determined whether the speed change rate is 1 flag bit higlimit_flg is 1, if it is established, the slip flag bit value 1, otherwise it will determine whether the current slip flag is performed for S402;

[0056] S402, determining whether the current sloppy flag is 1, if the judgment command torque and feedback torque deviation are set, if the deviation value is less than the parameter cal_trq_dif, the slip flag bit is cleared; otherwise the slip flag bit value 1.

[0057] The above embodiments are intended to illustrate the technical idea and characteristics of the present invention, and an object thereof is to make those skilled in the art to understand the contents of the present invention and are not intended to limit the scope of protection of the present invention. The modification of the spiritual substance of the main technical solution according to the present invention should be covered within the scope of the invention.

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Electric drive anti-slip protection control method based on whole vehicle TCS working condition

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