Vehicle motor drive control method and vehicle

Abstract

The invention belongs to the technical field of vehicle control, and particularly relates to a vehicle motor drive control method and a vehicle. The control method comprises the steps that vehicle electronic signals are collected, and a corresponding working mode is entered according to the vehicle electronic signals; in the corresponding working mode, calculating a demand output value in the mode; limiting and controlling the change rate of the required output value; and in combination with the energy management limitation and the fault state, judging whether output is allowed or not, if so, sending an output value to a motor controller, and if not, resetting the output value. The invention is used for solving the problems of improper output torque and overhigh energy consumption. According to different working modes of the vehicle, different required output values can be output, then torque requirements of different working conditions are met, the problem that energy consumption is too high is solved, energy management limitation and fault state limitation are combined, the situation that torque is too fast or too slow can be avoided, and output is conducted in the proper speed and range.

Description

Technical Field

[0001] This invention belongs to the field of vehicle control technology, specifically relating to a vehicle motor drive control method and a vehicle. Background Technology

[0002] In an environment that promotes energy conservation and emission reduction, the traditional engine-driven transmission scheme for off-road dump trucks has been gradually replaced by new energy electric motors driving the transmission. The ensuing issues are how to efficiently utilize electric motors and how to maximize energy utilization.

[0003] Currently, in the field of new energy off-road dump trucks, the mainstream solutions are mainly of the following two types: one is a dual permanent magnet motor (front and rear) driving a multi-speed gearbox, and the other is a parallel four-motor system that integrates the torque of the four motors into one to drive the multi-speed gearbox. However, the current solutions cannot integrate driving demands, such as signals from the accelerator pedal, gear position, and brake pedal, as well as vehicle condition and fault status energy control, to calculate the output torque. This results in the motor controller not being able to output the most suitable driving torque, leading to excessive energy consumption and affecting driving comfort and safety. Summary of the Invention

[0004] To address the shortcomings of existing technologies, a vehicle motor drive control method and a vehicle are provided to solve the problems of unsuitable output torque and excessive energy consumption.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A vehicle motor drive control method, comprising the following steps: Collect vehicle electronic signals and enter the corresponding working mode based on the vehicle electronic signals; Calculate the required output value for the corresponding working mode; Limit and control the rate of change of the required output value; Based on energy management limits and fault status, determine whether output is allowed. If so, send the output value to the motor controller; otherwise, clear the output value.

[0006] Compared with existing technologies, the above technical solutions have the following beneficial effects: By adjusting the vehicle's operating mode, different output values ​​can be achieved to meet the torque requirements of different operating conditions, reducing the problem of excessive energy consumption. Combined with energy management limitations and fault condition limitations, torque can be prevented from being too fast or too slow, and output can be performed at an appropriate rate and range.

[0007] Based on the above technical solutions, the embodiments of this application can be further described as follows: In one embodiment, entering the corresponding operating mode based on the vehicle's electronic signals includes: Enter initial state mode to read the status of vehicle electronic signals in real time; Based on the status of each vehicle's electronic signals, determine whether it meets the requirements to enter the corresponding working mode; Based on the status of each vehicle's electronic signals, determine whether it is necessary to switch to another operating mode or exit to the initial state mode; The operating modes include: forward drive mode, forward braking mode, reverse drive mode, reverse braking mode, and power take-off mode. Vehicle electronic signals include: gear position signal, power take-off signal, high voltage signal; throttle signal, rotation signal, and vehicle speed signal.

[0008] In one embodiment, determining whether the conditions for entering the corresponding operating mode are met based on the status of each vehicle's electronic signals includes: If the power take-off signal is 1, the speed signal is 0, and the gear signal is neutral, then the power take-off mode is entered. If the power take-off signal and braking signal are 0, the throttle signal and high pressure signal are 1, and the gear signal is forward, then the forward drive mode is entered. If the power take-off signal and braking signal are 0, the throttle signal and high pressure signal are 1, and the gear signal is reverse gear, then the reverse drive mode is entered. If the power take-off signal and throttle signal are 0, the brake signal and high pressure signal are 1, and the gear signal is forward, then the forward braking mode is entered. If the power take-off signal and throttle signal are 0, the brake signal and high voltage signal are 1, and the gear signal is reverse gear, then the reverse braking mode is entered.

[0009] In one embodiment, determining whether the conditions for switching to another operating mode or exiting the initial state mode are met based on the state of each vehicle's electronic signals includes: When in forward drive mode, reverse drive mode, forward braking mode, or reverse braking mode, if the power take-off signal is 1, the vehicle speed signal is 0, or the gear signal is neutral, then exit to the initial state mode. When in power take-off mode, if the power take-off signal is 0, then exit to the initial state mode.

[0010] In one embodiment, determining whether the conditions for switching to another operating mode or exiting the initial state mode are met based on the state of each vehicle's electronic signals further includes: When in forward drive mode or reverse drive mode, if the brake signal is 1 and the throttle signal is 0, then it will enter forward braking mode and reverse braking mode respectively. When in forward braking mode or reverse braking mode, if the throttle signal is 1 and the brake signal is 0, then the vehicle will enter forward drive mode and reverse drive mode respectively.

[0011] In one embodiment, the calculation of the required output value is as follows: the maximum torque at the corresponding vehicle speed is calculated based on the collected vehicle electronic signal values; Calculate the actual torque at the corresponding vehicle speed based on actual operating conditions; Compare the maximum torque with the actual torque. If the actual torque does not exceed the maximum torque, then the components meet the operating requirements. If the conditions are met, calibrate according to the actual torque and measure the loss of electrical power and actual power; The requested torque is calculated based on the electric power and actual power loss, and compared with the maximum torque. The torque output value at different vehicle speeds is calibrated as the required output value to establish a torque map corresponding to different vehicle speeds.

[0012] In one embodiment, the limiting control of the rate of change of the demand output value specifically includes: When the speed is 0-1000, the torque output value is output according to the maximum allowable rate of increase; When the speed is 1000-2000, the output is 2 / 3 of the maximum allowable rate of increase. When the speed is greater than 2000, the output will be 1 / 3 of the maximum allowable rate of increase.

[0013] In one embodiment, the energy management limitations include: The power consumption of the auxiliary equipment and the power output of the generator were calculated separately. The motor drive power was then calculated as the battery's allowable output power + the generator's output power - the auxiliary machine's power consumption.

[0014] In one embodiment, the fault state is determined by whether output is allowed. If so, the output value is sent to the motor controller; otherwise, the output value is cleared. Specifically: Determine the severity level of the fault. If the fault status is level 1, the output value will be limited to 25% and then sent to the motor controller for output control. If the fault status is level 2, the output value will be limited to 50% and then sent to the motor controller for output control. If the fault status is level 3, then the output value is cleared.

[0015] This embodiment also includes a vehicle that includes the vehicle motor drive control method described above. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart of the present invention.

[0018] Figure 2 This is a schematic diagram of the torque control process in this invention.

[0019] Figure 3 This is a schematic diagram illustrating the working mode determination and switching in this invention. Detailed Implementation

[0020] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention. It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0021] In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0022] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly defined.

[0023] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] Example 1 like Figure 1 , 2 As shown, the vehicle motor drive control method provided by the present invention includes the following steps: S1. Collect vehicle electronic signals and enter the corresponding working mode according to the vehicle electronic signals; before collecting vehicle electronic signals, wait for the whole vehicle to be powered on.

[0025] The driver's intentions are determined by combining the collected vehicle electronic signals, and different operating modes are entered according to the different signals collected to meet driving needs. Specifically, entering the corresponding operating mode based on vehicle electronic signals includes: Enter initial state mode to read the status of vehicle electronic signals in real time; Based on the status of each vehicle's electronic signals, determine whether it meets the requirements to enter the corresponding working mode; Based on the status of each vehicle's electronic signals, determine whether it is necessary to switch to another operating mode or exit to the initial state mode.

[0026] The operating modes include: forward drive mode, forward braking mode, reverse drive mode, reverse braking mode, and power take-off mode. The power take-off mode is distinguished from the other modes, which are classified as driving modes, while the power take-off mode is for the vehicle to enter a lifting state.

[0027] Vehicle electronic signals include: gear position signal, power take-off signal, high voltage signal; throttle signal, rotation signal, vehicle speed signal, etc. The current state of the vehicle is determined by collecting various electronic signals.

[0028] like Figure 3 As shown, the specific judgment process is as follows: First, determine whether to enter the power take-off mode: if the power take-off signal is 1 and the speed signal is 0, and the gear signal is neutral, then enter the power take-off mode. When the power take-off signal is 1, it means that the power take-off gear in the gearbox has been engaged. When the speed signal is 0, it means that the motor speed is 0 and the gear is in neutral. After that, other driving states can only be entered when the power take-off signal is always in the off state. Specifically: if the power take-off signal and brake signal are 0, the throttle signal and high pressure signal are 1, and the gear signal is forward gear, then the forward drive mode will be entered when all the electronic signals meet the above requirements. Similarly, if the power take-off signal and braking signal are 0, the throttle signal and high pressure signal are 1, and the gear signal is reverse gear, then the reverse drive mode will be entered after all the above signals are satisfied. If the power take-off signal and throttle signal are 0, the brake signal and high pressure signal are 1, and the gear signal is forward gear, then the forward braking mode will be entered after all the above signals are satisfied. If the power take-off signal and throttle signal are 0, the brake signal and high voltage signal are 1, and the gear signal is reverse gear, then the vehicle will enter the reverse braking mode after all the above signals are satisfied. The above entry into each state is the vehicle entering from the initial state. By observing the differences in various electronic signals, the current mode that the vehicle needs to enter can be quickly determined.

[0029] When it is necessary to exit from any previously entered state, the exit conditions need to be determined. Specifically, based on the status of each vehicle's electronic signals, it is determined whether the conditions for switching to another operating mode or exiting to the initial state mode are met. When in forward drive mode, reverse drive mode, forward braking mode, or reverse braking mode, since all of the above states are driving states, if the power take-off signal is 1, or the vehicle speed signal is 0, or the gear signal is neutral, and one of the above conditions is met, the vehicle can exit to the initial state mode. At this time, the vehicle temporarily stops driving or prepares to enter the power take-off state. Whether it enters the power take-off state depends on whether the conditions for entering the power take-off state are met again. When in power take-off mode, if the power take-off signal is 0, the power take-off of the transmission is not engaged or disengaged, and the system will exit to the initial state mode.

[0030] To facilitate smooth vehicle transitions between different states without having to return to the initial state and then re-enter each state, the step of determining whether switching to another operating mode or exiting the initial state mode is met based on the status of each vehicle's electronic signals further includes: When in forward drive mode or reverse drive mode, if the brake signal is 1 and the throttle signal is 0, then it will enter forward braking mode and reverse braking mode respectively. When in forward braking mode or reverse braking mode, if the throttle signal is 1 and the brake signal is 0, then the vehicle will enter forward drive mode and reverse drive mode respectively. When the vehicle is in any of the driving states, you can determine whether it has entered the corresponding reverse braking or reverse driving state, or the forward driving or forward braking state, by pressing the accelerator or the brake pedal.

[0031] S2. Under the corresponding working mode, calculate the required output value for that mode; Specifically, this embodiment achieves torque control output by establishing a torque map, and the calculation of the required output value is as follows: The maximum torque at the corresponding vehicle speed is calculated based on the collected vehicle electronic signal values. First, the output shaft speed is calculated based on the relationship between vehicle speed and output shaft speed. Then, the motor speed is calculated by dividing the output shaft speed by the gearbox speed ratio. The specific formula is as follows: V = 3.14 × d × 0.06 × R / TR1 × TR2; Where d is the tire rolling diameter, R is the rotational speed, TR1 is the gear ratio of the transmission, and TR2 is the rear axle speed ratio; Then, the maximum torque at the corresponding vehicle speed V is calculated using the formula for engine speed and torque. The formula is as follows: N = P * 9550 / R; Where P is power and 9550 is a calculation constant; Thus, through the above calculations and considering the bearing capacity of the motor's rear axle, the maximum capacity of the motor, i.e., the maximum torque, can be calculated.

[0032] Secondly, calculate the actual torque at the corresponding vehicle speed based on the actual working conditions. The formula for calculating the actual torque is as follows: N=[(M*sinα+M*cosα*0.02)*r] / (TR1*TR2); Where M is the vehicle weight, α is the climbing angle, r is the tire rolling radius, TR1 is the gear ratio of the transmission, and TR2 is the rear axle speed ratio; The actual torque of the vehicle at the corresponding speed is calculated based on factors such as the slope and load under market operating conditions.

[0033] Compare the maximum torque with the actual torque. If the actual torque does not exceed the maximum torque, then the components meet the operating requirements. Under the condition that the requirements are met, the motor is calibrated according to the actual torque, and the power loss of the electric power and the actual power are measured. The purpose of comparing the maximum torque and the actual torque is to protect the components, match the power, and prevent the motor, gearbox, drive shaft and rear axle from being damaged by excessive torque. It is used to determine whether the motor meets the design requirements of the vehicle. The actual power loss can be obtained through motor feedback. For example, if the initial torque is set to 0, the torque fed back by the motor can be obtained through the CAN bus message. Assuming the battery discharge power is 10kW and the actual motor power is 9kW, the power loss is 1kW. This is how negative feedback regulation is achieved.

[0034] The requested torque is calculated based on the electric power and actual power loss, and compared with the maximum torque. The torque output value at different vehicle speeds is calibrated as the required output value to establish a torque map corresponding to different vehicle speeds. Specifically, the torque loss is obtained based on the actual power loss, and the actual torque is calculated to obtain the value of the requested torque, specifically: torque request = actual torque + torque loss. Then, this value is compared with the maximum torque. At this time, the torque request value should be less than the maximum torque. In this way, the torque output value at the corresponding vehicle speed is calibrated and a torque map is formed. This makes it convenient to quickly read and calibrate the torque output after reaching the corresponding vehicle speed, thereby reducing energy loss.

[0035] S3. Limit and control the rate of change of the required output value; to prevent the driver from driving aggressively, limit the rate of torque increase to improve driving stability.

[0036] Specifically, limiting and controlling the rate of change of the demand output value includes: When the speed is 0-1000, the torque output value is output according to the maximum allowable rate of increase; When the speed is 1000-2000, the output is 2 / 3 of the maximum allowable rate of increase. When the speed is greater than 2000, the output will be 2 / 3 of the maximum allowable rate of increase.

[0037] S4. Based on energy management limits and fault status, determine whether output is allowed. If yes, send the output value to the motor controller; otherwise, clear the output value.

[0038] By adjusting the vehicle's operating mode, different output values ​​can be achieved to meet the torque requirements of different operating conditions, reducing the problem of excessive energy consumption. Combined with energy management limitations and fault condition limitations, torque can be prevented from being too fast or too slow, and output can be performed at an appropriate rate and range.

[0039] The energy management limitations include: The allowable output power of the battery, the power consumption of the auxiliary equipment, and the power generation of the generator were calculated separately. Among them, the battery's allowable output power is determined by the battery's characteristics, the auxiliary machine's power consumption is equal to the current auxiliary machine circuit voltage * current, and the generator's power generation is equal to the current generator bus voltage * current. The required battery's allowable output power, auxiliary machine's power consumption, and generator's power generation are calculated in this way. The motor drive power is then calculated as the battery's allowed output power + the generator's output power - the auxiliary machine's power consumption. The maximum allowed motor drive power is calculated in this way. If it is within the energy management limit, that is, the output power is within the maximum motor drive power, then the motor is allowed to drive, and the output value is sent to the motor controller. Otherwise, the output value is cleared.

[0040] Similarly, after energy management limitations, fault diagnosis is performed to determine the current vehicle status and whether output drive is permitted. Specifically, the fault status determines whether output is permitted. If so, the output value is sent to the motor controller; otherwise, the output value is cleared. Determine the fault status level; If the fault status is level 1, the output value will be limited to 25% and then sent to the motor controller for output control. If the fault status is level 2, the output value will be limited to 50% and then sent to the motor controller for output control. If the fault status is level 3, then the output value is cleared.

[0041] The fault status level can be associated with the fault status level on the vehicle. By adding fault judgment, it can protect the safety of the driver and the safety of the whole vehicle, thereby improving driving safety.

[0042] Example 2 This embodiment also includes a vehicle, which includes the vehicle motor drive control method as described in Embodiment 1 above.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle motor drive control method, characterized in that, Includes the following steps: Collect vehicle electronic signals and enter the corresponding working mode based on the vehicle electronic signals; Calculate the required output value for the corresponding working mode; Limit and control the rate of change of the required output value; Based on energy management limits and fault status, determine whether output is allowed. If so, send the output value to the motor controller; otherwise, clear the output value.

2. The vehicle motor drive control method according to claim 1, characterized in that, The step of entering the corresponding working mode based on vehicle electronic signals includes: Enter initial state mode to read the status of vehicle electronic signals in real time; Based on the status of each vehicle's electronic signals, determine whether it meets the requirements to enter the corresponding working mode; Based on the status of each vehicle's electronic signals, determine whether it is necessary to switch to another operating mode or exit to the initial state mode; The operating modes include: forward drive mode, forward braking mode, reverse drive mode, reverse braking mode, and power take-off mode. Vehicle electronic signals include: gear position signal, power take-off signal, high voltage signal; throttle signal, rotation signal, and vehicle speed signal.

3. The vehicle motor drive control method according to claim 1, characterized in that, The step of determining whether the conditions for entering the corresponding working mode are met based on the status of each vehicle's electronic signals includes: If the power take-off signal is 1, the speed signal is 0, and the gear signal is neutral, then the power take-off mode is entered. If the power take-off signal and braking signal are 0, the throttle signal and high pressure signal are 1, and the gear signal is forward, then the forward drive mode is entered. If the power take-off signal and braking signal are 0, the throttle signal and high pressure signal are 1, and the gear signal is reverse gear, then the reverse drive mode is entered. If the power take-off signal and throttle signal are 0, the brake signal and high pressure signal are 1, and the gear signal is forward, then the forward braking mode is entered. If the power take-off signal and throttle signal are 0, the brake signal and high voltage signal are 1, and the gear signal is reverse gear, then the reverse braking mode is entered.

4. The vehicle motor drive control method according to claim 1, characterized in that, The step of determining whether to switch to another operating mode or exit to the initial state mode based on the status of each vehicle's electronic signals includes: When in forward drive mode, reverse drive mode, forward braking mode, or reverse braking mode, if the power take-off signal is 1, the vehicle speed signal is 0, or the gear signal is neutral, then exit to the initial state mode. When in power take-off mode, if the power take-off signal is 0, then exit to the initial state mode.

5. The vehicle motor drive control method according to claim 1, characterized in that, The step of determining whether to switch to another operating mode or exit to the initial state mode based on the status of each vehicle's electronic signals also includes: When in forward drive mode or reverse drive mode, if the brake signal is 1 and the throttle signal is 0, then it will enter forward braking mode and reverse braking mode respectively. When in forward braking mode or reverse braking mode, if the throttle signal is 1 and the brake signal is 0, then the vehicle will enter forward drive mode and reverse drive mode respectively.

6. The vehicle motor drive control method according to claim 1, characterized in that, The calculation of the required output value is as follows: The maximum torque at the corresponding vehicle speed is calculated based on the collected vehicle electronic signal values. Calculate the actual torque at the corresponding vehicle speed based on actual operating conditions; Compare the maximum torque with the actual torque. If the actual torque does not exceed the maximum torque, then the components meet the operating requirements. If the conditions are met, calibrate according to the actual torque and measure the loss of electrical power and actual power; The requested torque is calculated based on the electric power and actual power loss, and compared with the maximum torque. The torque output value at different vehicle speeds is calibrated as the required output value to establish a torque map corresponding to different vehicle speeds.

7. The vehicle motor drive control method according to claim 1, characterized in that, The specific measures to limit and control the rate of change of the demand output value include: When the speed is 0-1000, the torque output value is output according to the maximum allowable rate of increase; When the speed is 1000-2000, the output is 2 / 3 of the maximum allowable rate of increase. When the speed is greater than 2000, the output will be 1 / 3 of the maximum allowable rate of increase.

8. The vehicle motor drive control method according to claim 1, characterized in that, The energy management limitations include: The power consumption of the auxiliary equipment and the power output of the generator were calculated separately. The motor drive power was then calculated as the battery's allowable output power + the generator's output power - the auxiliary machine's power consumption.

9. The vehicle motor drive control method according to claim 1, characterized in that, The fault status is used to determine whether output is allowed. If so, the output value is sent to the motor controller; otherwise, the output value is cleared. Specifically: Determine the severity level of the fault. If the fault status is level 1, the output value will be limited to 25% and then sent to the motor controller for output control. If the fault status is level 2, the output value will be limited to 50% and then sent to the motor controller for output control. If the fault status is level 3, then the output value is cleared.

10. A vehicle, characterized in that, This includes the vehicle motor drive control method as described in any one of claims 1-9.

Images