Electric motorcycle whole vehicle control MAP calibration method

Abstract

The invention provides a whole-vehicle control MAP calibration method for an electric motorcycle. The method comprises the steps that the sliding feedback maximum torque is calculated according to the maximum torque of a driving motor; rotating handle parameters are set, and feedback torque MAP is determined according to the maximum sliding feedback torque; determining a steering handle acceleration MAP according to the steering handle parameters; and correcting the rotating handle MAP according to the riding mode and the setting requirement, and completing the calibration of the whole vehicle motion MAP. The calibration method of the whole vehicle motion MAP is simple and easy to implement, convenient and visual in parameter setting, capable of meeting subjective requirements of various motion modes, driving habits and the like, suitable for most motor models, short in calibration time, low in cost and high in efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of electric motorcycles, and in particular relates to a MAP calibration method for whole vehicle control of an electric motorcycle. Background Art

[0002] In order to seize the best opportunity to overtake on the curve of low-carbon motorcycles, fuel-powered light motorcycles have been replaced by light electric scooters and so-called electric bicycles, and various types of electric motorcycles with higher power have also been launched in China. Such as Qianjiang OAO, Qiulong Baofeng, Yadi FD9, CFMOTO AE8 and Papio Nova. In the development process of electric motorcycles, the MAP calibration between the vehicle control, that is, the acceleration and torque of the throttle, directly affects the driving experience of passengers, such as driving mode, acceleration performance, comfort, etc. At present, there is little research on this point for motorcycles in China. Most electric motorcycle manufacturers use the percentage of throttle opening multiplied by the maximum torque to obtain the corresponding throttle / torque relationship. Although this is simple, it cannot be matched, calibrated and optimized with the driving mode of the whole vehicle. Summary of the invention

[0003] In view of this, the present invention aims to overcome the shortcomings of the above-mentioned problems in the prior art and proposes a MAP calibration method for the whole vehicle control of an electric motorcycle to solve the problems of long calibration time, high cost and low efficiency in the prior art.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0005] A first aspect of the present invention provides a method for calibrating a MAP of an electric motorcycle, comprising the following steps:

[0006] Calculate the maximum torque of sliding feedback according to the maximum torque of the driving motor;

[0007] Set the throttle parameters and determine the feedback torque MAP based on the maximum torque of sliding feedback;

[0008] Determine the throttle acceleration MAP based on the throttle parameters;

[0009] Correct the handlebar MAP according to the riding mode and setting requirements to complete the calibration of the vehicle's motion MAP.

[0010] Furthermore, the calculation of the maximum torque of the sliding feedback according to the maximum torque of the driving motor includes:

[0011] The motor speed and peak torque are obtained according to the motor external characteristic curve, and the vehicle speed is calculated according to the motor speed;

[0012] The driving force is calculated based on the peak torque, and the vehicle speed is processed to obtain the vehicle speed, driving force, and torque at different points;

[0013] The maximum acceleration at different speeds is calculated based on the driving force;

[0014] The maximum sliding feedback torque is calculated based on the maximum acceleration.

[0015] Furthermore, the setting of the throttle parameters and the determination of the feedback torque MAP include:

[0016] Set the step parameters;

[0017] Calculate the feedback torque according to the idle stroke and the step of turning the handlebar;

[0018] According to the maximum torque of the motor and the throttle step parameters, determine the basic throttle acceleration MAP and correct the throttle acceleration MAP.

[0019] Furthermore, the modifying of the handlebar MAP according to the riding mode and the setting requirements includes:

[0020] Select a riding mode and a riding mode torque coefficient, and determine the relationship between the riding mode and the torque coefficient;

[0021] The entire curve is divided into two sections according to the maximum torque, and the adjustment coefficients before and after the maximum torque are determined to obtain the final MAP curve.

[0022] The second aspect of the present invention provides a MAP calibration device for an electric motorcycle, comprising:

[0023] A first determining device, used to calculate the maximum torque of the sliding feedback according to the maximum torque of the driving motor;

[0024] The second determining device is used to set the throttle parameters and determine the feedback torque MAP according to the maximum torque of the sliding feedback;

[0025] The third determining means is used to determine the throttle acceleration MAP according to the throttle parameter;

[0026] The calibration device is used to correct the handlebar MAP according to the riding mode and setting requirements, and complete the calibration of the vehicle's motion MAP.

[0027] A third aspect of the present invention provides an electronic device, comprising

[0028] at least one processor, and

[0029] at least one memory in communication with the processor, wherein:

[0030] The memory stores program instructions that can be executed by the processor, and the processor can execute the above method by calling the program instructions.

[0031] A fourth aspect of the present invention provides a non-volatile computer-readable storage medium, which, when the computer-executable instructions are executed by one or more processors, enables the processors to execute the above method.

[0032] Compared with the prior art, the electric motorcycle whole vehicle control MAP calibration method described in the present invention has the following advantages:

[0033] The calibration method of the vehicle motion MAP of the present invention is simple and easy, and the parameter setting is convenient and intuitive. It can meet subjective needs such as various motion modes and driving habits, and is applicable to most motor models. The calibration time is short, the cost is low, and the efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0035] Figure 1 A schematic flow chart of a method for calibrating MAP for whole vehicle control of an electric motorcycle according to the present invention;

[0036] Figure 2 Schematic diagram of three motion mode selections in an embodiment of the present invention;

[0037] Figure 3 This is a diagram showing the effect areas of KT1 and KT2 coefficients in MAP in an embodiment of the present invention;

[0038] Figure 4 Schematic diagram of the host computer software integrating the entire MAP generation method in the embodiment of the present invention. DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0042] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0043] Embodiment 1:

[0044] like Figure 1 As shown, the present invention provides a method for calibrating MAP of an electric motorcycle, comprising the following steps:

[0045] 1. Calculate the maximum torque of sliding feedback according to the maximum torque of the drive motor.

[0046] 1) Obtain the motor speed n according to the motor external characteristic curve x and peak torque T maxx , according to the motor speed n x Calculate the vehicle speed Vx, as shown below: Vx = 3.6*n x *pi*D / 60, where pi is the value of the circle (3.14) and D is the wheel diameter in km / h.

[0047] 2) According to the peak torque T maxx Find the driving force F maxx , F maxx＝ 2 * T maxx / D; The vehicle speed is processed sparsely, generally ten points are selected, and Table 1 is obtained.

[0048] Table 1

[0049]

[0050] 3) Calculate the maximum acceleration a at different speeds according to the formula max The specific formula is as follows:

[0051] a max =1 / m*(F maxx -F2-F1)

[0052] Among them, m is the mass of the vehicle, F2 is the air resistance, and the air resistance is the vehicle speed V, the vehicle's frontal area A f , air density ρ and the air resistance coefficient C of the vehicle shape characteristics D The air resistance can be expressed as

[0053] F2=0.5*ρ*C D *A f *V 2

[0054] F1 is the rolling resistance, and the expression of rolling resistance is F1 = f r *m*g, where f r is the rolling resistance coefficient, g=9.8N / kg.

[0055] 4) Calculate the maximum sliding feedback torque T according to the following formula REC , the formula is as follows

[0056] T REC =-(m*a max -F1-F2)*D / 2.

[0057] 2. Set parameters to determine the feedback torque MAP.

[0058] 1) Set the step parameter X x In principle, the calibration points at small acceleration handlebar opening and low vehicle speed should be as many as possible. In the speed area where driving is not frequent, fewer speed points should be used, such as high speed area or area with more stable torque. Generally, the handlebar opening is set at 5% intervals when it is below 20%, and it can be set at 10% intervals when it is above 20%. For example, Table 2.

[0059] Table 2

[0060]

[0061] 2) Calculate the feedback torque according to the idle stroke and the step of turning the handlebar: T RECX =TREC *Xx*K back , where K back The feedback coefficient is determined according to demand.

[0062] 3. Set parameters to determine the throttle acceleration MAP.

[0063] Calculate the acceleration MAP based on the throttle opening. If the throttle MAP is set to x, there will be x curves. Calculate T based on the following formula MAPx =T xmax *X x , where T xmax is the torque from the table in step 1.

[0064] 4. Modify the handlebar MAP according to riding mode and other requirements.

[0065] 1) Select the riding mode. There are three modes: economic mode, normal mode, and power mode. The corresponding curves of the three modes are as follows: Figure 2 As shown, curve 1 is the power mode, curve 2 is the general mode, curve 3 is the economic mode, and the value of the stationary mode torque load coefficient L is shown in Table 3.

[0066] Table 3

[0067]

[0068] Select a riding mode with a torque coefficient L to determine T MAPLX =T MAPx* L X .

[0069] 2) Set the adjustment coefficient K before and after the maximum torque T1 , K T2 .

[0070] According to the maximum torque, the entire curve is divided into two sections, such as Figure 3 As shown, the x-axis is the vehicle speed and the y-axis is the torque. Each line corresponds to a throttle opening. The parameter K can be adjusted according to the needs, such as comfort, unclear acceleration level, etc. T1 , K T2 Two parameter values. Then Tmap KL x=T MAPLX* K TX At this point, the entire vehicle motion MAP has been calibrated.

[0071] The calibration method of the vehicle control MAP of the present invention can not only set the idling handle opening to calibrate the brake energy feedback curve, but also calibrate the torque at different speeds and different acceleration handle openings according to the driving mode, comfort, and other special requirements, and this method does not limit the motor type. The present invention writes a host computer program based on this method, and after inputting the motor external characteristic curve and setting the parameters, the vehicle control MAP and MAP curve can be generated according to the requirements, which greatly improves the efficiency of calibration. The specific operation method is as follows Figure 4 As shown:

[0072] Set basic parameters such as vehicle mass, wheel diameter, frontal area, drag coefficient, etc., and then set the throttle and speed levels;

[0073] Click the "Import motor external characteristic data" button in step 1 of the operation panel to import the motor external characteristic curve;

[0074] Setting the torque coefficient will generate a graph of the relationship between the throttle opening and the torque coefficient on the sports mode curve, and modify the torque coefficient to fit into a smooth curve;

[0075] Set the maximum feedback factor parameter and maximum torque setting, as well as other adjustment parameters;

[0076] Click the "Torque MAP Calculation" button in step 2. After the MAP is generated, several curves will be drawn in the motion mode curve. You can further adjust the parameters as needed and regenerate the graph until you are satisfied.

[0077] Click the "Generate File" button in Step 3 to generate a .csv file and save it automatically in the root directory, completing the calibration.

[0078] Embodiment 2:

[0079] A MAP calibration device for whole vehicle control of an electric motorcycle, comprising:

[0080] A first determining device, used to calculate the maximum torque of the sliding feedback according to the maximum torque of the driving motor;

[0081] The second determining device is used to set the throttle parameters and determine the feedback torque MAP according to the maximum torque of the sliding feedback;

[0082] The third determining means is used to determine the throttle acceleration MAP according to the throttle parameter;

[0083] The calibration device is used to correct the handlebar MAP according to the riding mode and setting requirements, and complete the calibration of the vehicle's motion MAP.

[0084] Embodiment three:

[0085] An electronic device comprising

[0086] at least one processor, and

[0087] at least one memory in communication with the processor, wherein:

[0088] The memory stores program instructions that can be executed by the processor, and the processor can execute the above method by calling the program instructions.

[0089] Embodiment 4:

[0090] A non-volatile computer-readable storage medium, when the computer-executable instructions are executed by one or more processors, enables the processors to perform the above method.

[0091] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calibrating MAP of electric motorcycle vehicle control. Features: The steps include: Calculate the maximum torque of sliding feedback according to the maximum torque of the driving motor; Set the throttle parameters and determine the feedback torque MAP based on the maximum torque of sliding feedback; Determine the throttle acceleration MAP based on the throttle parameters; Correct the handlebar MAP according to the riding mode and setting requirements to complete the calibration of the vehicle's motion MAP.

2. A method for calibrating MAP of an electric motorcycle vehicle control according to claim 1, Features: Calculating the maximum moment of sliding feedback according to the maximum torque of the driving motor includes: The motor speed and peak torque are obtained according to the motor external characteristic curve, and the vehicle speed is calculated according to the motor speed; The driving force is calculated based on the peak torque, and the vehicle speed is processed to obtain the vehicle speed, driving force, and torque at different points; The maximum acceleration at different speeds is calculated based on the driving force; The maximum sliding feedback torque is calculated based on the maximum acceleration.

3. The electric motorcycle whole vehicle control MAP calibration method according to claim 1, Features: The setting of the throttle parameters and the determination of the feedback torque MAP include: Set the step parameters; Calculate the feedback torque according to the idle stroke and the step of turning the handlebar; According to the maximum torque of the motor and the throttle step parameters, determine the basic throttle acceleration MAP and correct the throttle acceleration MAP.

4. The electric motorcycle whole vehicle control MAP calibration method according to claim 1, Features: The modification of the handlebar MAP according to the riding mode and setting requirements includes: Select a riding mode and a riding mode torque coefficient, and determine the relationship between the riding mode and the torque coefficient; The entire curve is divided into two sections according to the maximum torque, and the adjustment coefficients before and after the maximum torque are determined to obtain the final MAP curve.

5. A MAP calibration device for electric motorcycle vehicle control, Features: include A first determining device, used to calculate the maximum torque of the sliding feedback according to the maximum torque of the driving motor; The second determining device is used to set the throttle parameters and determine the feedback torque MAP according to the maximum torque of the sliding feedback; The third determining means is used to determine the throttle acceleration MAP according to the throttle parameter; The calibration device is used to correct the handlebar MAP according to the riding mode and setting requirements, and complete the calibration of the vehicle's motion MAP.

6. An electronic device, Features: include at least one processor, and at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 4 by calling the program instructions.

7. A non-volatile computer-readable storage medium, when the computer-executable instructions are executed by one or more processors, causes the processors to perform the method according to any one of claims 1 to 4.

Images