CN105253243B - A kind of intelligent climb control system, electric vehicle and its method - Google Patents
A kind of intelligent climb control system, electric vehicle and its method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000009194 climbing Effects 0.000 claims abstract description 131
- 238000007405 data analysis Methods 0.000 claims abstract description 14
- 238000011897 real-time detection Methods 0.000 claims description 18
- 230000007812 deficiency Effects 0.000 claims description 12
- 230000007423 decrease Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 6
- 230000001186 cumulative effect Effects 0.000 claims description 2
- 230000001149 cognitive effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 3
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The present invention relates to a kind of intelligence climbing control system, electric vehicle and its method, technical characteristics to be: intelligence climbing control system includes vehicle data acquisition unit, data analysis unit, climbing judging unit and motor control unit；Intelligence climbing electric vehicle is equipped with intelligence climbing control system；Climbing control method includes: to judge whether vehicle line current reaches initial cut-off current and handle voltage is greater than effective peak；When vehicle line current reaches initial cut-off current and handle voltage is greater than effective peak, into climbing cognitive phase；If torque of climbing is insufficient, enter presetting Ramp program；When meeting Ramp program exit criteria, restore initial program.The present invention can intelligent recognition climb road conditions, electric vehicle can be made not only can reliably to travel in level road, but can in climbing, power is sufficient, effectively improve the service performance of electric bicycle, better meet the demand of users.
Description
Technical field
The present invention relates to vehicle technology field, it is a kind of intelligence climbing control system, it is a kind of intelligence climbing control method and
A kind of electric vehicle.
Background technique
Traditional electric car control model is relatively simple, according to different road conditions in cut-off current adaptive output current.Due to
Cut-off current is unique and immutable, so when electric vehicle climb very steep slopes, the torque that can cause to climb because of cut-off current limitation is insufficient, power without
Method is promoted, and revolving speed decline, efficiency reduces.If cut-off current is arranged sufficiently large to meet climbing demand, then it can make breakaway starting current
Excessive, level road allows loading capacity to increase, and when heavier loads, output electric current maintains larger current value for a long time, leads to motor
Fever is serious, battery performance overdraw accelerated ageing.
In order to make electric vehicle in level road and climbing Shi Douyou preferable states, Normal practice is setting third gear cut-off current, corresponding
Three power saving, economy, climbing gears, carry out state switching by stacked switch.With power saving shelves when level road, cut-off current setting compared with
It is small；Hill gear when climbing, cut-off current setting are larger.Sandstone dirt road middle-grade, cut-off current are moderate.Usual user likes in power
Powerful hill gear is ridden, seldom can be with road conditions manual switching gear, and more some users are practical to gear purposes concept obfuscation
Property is poor.
Horizon sensor is installed there are also some producers, on electric vehicle for judging whether vehicle is in climbing state.When
When receiving climbing signal, cut-off current automatic lifting, torque increases.But this method mounting condition is harsh, higher cost, leads to
It is poor with property.
In conclusion how intelligent recognition climbing section and fast lifting torque are problems in the urgent need to address at present.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide it is a kind of intelligence climbing control system, electric vehicle and
Its method solves the problems, such as electric motor intelligent identification climbing section and fast lifting torque.
The concrete scheme that the present invention solves technical problem is as follows:
It is a kind of intelligence climbing control system, including vehicle data acquisition unit, data analysis unit, climbing judging unit and
Motor control unit, in which:
Vehicle data acquisition unit: for acquiring the handle voltage in electric vehicle driving process, vehicle line current, electricity in real time
Machine revolving speed and climbing time；
Data analysis unit: need are judged whether according to the handle voltage of vehicle data acquisition unit acquisition and vehicle line current
Carry out climbing judgement；
Climbing judging unit: for continuing to judge currently to turn round when data analysis unit determines that carrying out climbing judges
Whether square meets climbing demand；
Motor control unit: for cutting Ramp program, improving when judging unit of climbing judges to climb torque deficiency
Electric vehicle cut-off current, until climbing ending current is down to initial cut-off current automatically.
Moreover, the vehicle data acquisition unit includes:
Handle voltage detecting subelement: the handle voltage for real-time detection electric vehicle；
Current detecting subelement: the vehicle line current for real-time detection electric vehicle；
Motor speed detection sub-unit: the revolving speed for driving motor described in real-time detection；
Time records subelement: after entering Ramp program, for the accumulative climbing time.
Moreover, the handle voltage detecting subelement in data analysis unit for judge handle voltage whether be greater than or
Equal to highest effective voltage；The handle voltage of real-time detection electric vehicle and judgement turn after motor control unit enters Ramp program
Whether voltage is greater than or equal to highest effective voltage.
Moreover, the current detecting subelement is in initial program for judging whether vehicle line current reaches initial current limliting
Value, after motor control unit enters Ramp program, the vehicle line current of real-time detection electric vehicle, and judge that vehicle line current is
It is no to be less than initial cut-off current or reach two grades of cut-off currents.
Moreover, the motor speed detection sub-unit is when judging unit of climbing judges torque deficiency, setting target is fast
Angle value compares this target velocity and default climbing minimum speed, when target velocity is lower than preset rotation speed, resetting target speed
Degree is preset rotation speed.
Moreover, whether the time record subelement real-time detection accumulative climbing time reaches preset time, when climbing
Between reach preset time after, exit Ramp program.
Moreover, the motor control unit does closed-loop control after entering Ramp program with target velocity.
A kind of intelligence climbing electric vehicle, including intelligence climbing control system.
A kind of control method of intelligence climbing electric vehicle, comprising the following steps:
The vehicle data of step 1, in real time acquisition electric vehicle analyze and determine whether vehicle line current reaches initial by data
Cut-off current and handle voltage are greater than effective peak；
Step 2, when vehicle line current reaches initial cut-off current and handle voltage and is greater than effective peak, know into climbing
The other stage continues to judge whether current torque meets climbing demand；
Step 3, if climbing torque is insufficient, revolving speed decline into presetting Ramp program, and starts timing；
Step 4, when meeting Ramp program exit criteria, restore initial program, cut-off current is become into initial cut-off current.
Moreover, the step 4 Ramp program exit criteria is to meet one of following condition: (1) practical handle voltage is less than
Handle voltage highest virtual value；(2) actual current is lower than initial cut-off current；(3) climbing accumulated time reaches preset time.
The advantages and positive effects of the present invention are:
This climbing control system is capable of the enforcement information of real-time detection electric vehicle, analyzes intelligent recognition climbing road by data
Condition, it is interim to promote vehicle power when electric vehicle climbs torque deficiency, so that electric vehicle not only can reliably be travelled in level road, but also
Can in climbing, power is sufficient, all processes are adjusted without artificial, have starting current it is small, it is energy-efficient, without installation limitation,
The advantages that easy to use, effectively improves the service performance of electric bicycle, better meets the demand of users.
Detailed description of the invention
Fig. 1 is intelligence climbing control system block diagram of the invention；
Fig. 2 is intelligence climbing control method flow chart of the invention；
Fig. 3 is the program flow diagram of specific embodiment.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing.It should be noted that for the ease of fully understanding
The present invention, be described below in elaborate many details, still, protection scope of the present invention is not by following public specific
The limitation of embodiment.
According to an embodiment of the invention, Fig. 1 shows the block diagram of intelligence climbing control system.
As shown in Figure 1, intelligence climbing control system includes:
(1) vehicle data acquisition unit: for acquired in real time in electric vehicle driving process handle voltage, vehicle line current,
The vehicles data such as motor speed and climbing time, using this running data as subsequent data analysis, road conditions judgement and motor control
Important evidence.
(2) data analysis unit: for analyzing handle voltage and vehicle line current in vehicle data, judge whether to need
Carry out climbing judgement.
(3) climb judging unit: for continuing to judge currently when data analysis unit determines that carrying out climbing judge
Whether torque meets climbing demand.
(4) motor control unit: for cutting Ramp program, mentioning when judging unit of climbing judges to climb torque deficiency
High electric vehicle cut-off current, motor control unit will do closed-loop control after entering Ramp program with target velocity；If climbing is sentenced
Order member judging result is that torque can satisfy climbing demand, and electric vehicle will maintain original program.
By acquiring vehicle data in real time, data are analyzed, the judging result of each unit is compared, thus intelligent recognition climbing road
Condition, the electronic vehicle travelling state of adjust automatically, makes vehicle driving information be consistent with current road conditions, can make level road riding safety can
Power is sufficient when leaning on, and can guarantee climbing.
The vehicle data acquisition unit includes:
1. handle voltage detecting subelement: the handle voltage for real-time detection electric vehicle.It is used in data analysis unit
In judging whether handle voltage is greater than or equal to highest effective voltage.The real-time detection after motor control unit enters Ramp program
The handle voltage of electric vehicle simultaneously judges whether handle voltage is greater than or equal to highest effective voltage.
2. current detecting subelement: the vehicle line current for real-time detection electric vehicle.For judging in initial program
Whether vehicle line current reaches initial cut-off current, after motor control unit enters Ramp program, real-time detection electric vehicle it is whole
Fare electric current, and judge whether vehicle line current is less than initial cut-off current or reaches two grades of cut-off currents,
3. motor speed detection sub-unit: the revolving speed for driving motor described in real-time detection.In climbing judging unit
Judge whether revolving speed declines, revolving speed decline can judge torque deficiency, cut Ramp program.It is recorded in motor control unit
Revolving speed starts the velocity amplitude fallen, this speed is set as target velocity, and compare with default climbing minimum speed n, works as target
When speed is lower than preset rotation speed, resetting target velocity is default climbing minimum speed n.
4. the time records subelement: after entering Ramp program, for the accumulative climbing time.When the time of climbing reaching default
Between after, exit Ramp program.
It should be noted that the key point of data analysis is before electric vehicle does not enter Ramp program promotion power:
Only handle voltage just will do it subsequent climb more than or equal to highest effective voltage and when vehicle line current reaches initial cut-off current
Slope identification.When only meeting one of condition, electric vehicle not will do it climbing judgement.
Because if handle voltage is less than highest effective voltage, then illustrate that handle is not screwed to bottom, user is subjective to be not required to
It reinforces.On the other hand, even if handle is screwed to bottom, electric current does not reach cut-off current but, illustrates that vehicle torque still has room for promotion,
At this time without entering Ramp program.
Only simultaneously when meeting above-mentioned two condition, just illustrate to be in torque demand by vehicle that larger (electric current has reached current limliting
Value) and user still in reinforcing (handle is screwed to bottom) state.Carry out torque judgement again at this time.
Judging unit climb to judge that torque condition, significance are: if initial cut-off current can expire when climbing
Foot climbing torque demand, then do not open two grades of cut-off currents.That is, even if handle is on earth, electric current also reaches initial cut-off current,
If revolving speed is still increasing at this time, the torque for illustrating that initial cut-off current provides can satisfy climbing demand, then will not enter climbing
Program；Otherwise, when climbing torque is insufficient, revolving speed decline can enter Ramp program.
Climbing determination method of the invention can be very good that the electric vehicle starting stage is avoided to enter by mistake through Ramp program.Due to electricity
Motor-car torque demand in starting is larger, and electric current moment can reach cut-off current, and usual handle can also go to bottom, at this time whole vehicle state
It is similar to climbing state, only it is distinguish by motor speed situation.When starting, revolving speed can be getting faster；When climb very steep slopes, turn
It is fast then can decline.
Electric vehicle driving road-condition is judged jointly by a variety of conditions, improves the accuracy of intelligent recognition climbing.
According to an embodiment of the invention, Fig. 2 shows the control methods of intelligent climbing electric vehicle, comprising the following steps:
Step 1, the vehicle data for acquiring the electric vehicle in real time analyze and determine whether vehicle is in high current by data
Power supply and user need Afterburning condition, i.e., electric current reaches initial cut-off current and handle voltage is greater than effective peak.
Step 2, when electric current reaches initial cut-off current and handle voltage and is greater than effective peak, identify rank into climbing
Section, continues to judge whether current torque meets climbing demand, i.e., whether revolving speed declines.
Step 3, if climbing torque is insufficient, revolving speed decline, program enters climbing setting, starts simultaneously at timing.
Step 4, when meeting Ramp program exit criteria, restore initial program setting, i.e., cut-off current becomes initial current limliting
Value.
In this step, Ramp program exit criteria is: when meeting following either condition, Ramp program terminates, and restores
Initial cut-off current: (1) practical handle voltage is less than handle voltage highest virtual value；(2) actual current is lower than initial cut-off current；
(3) climbing accumulated time reaches preset time.
Intelligence climbing electrombile control method of the invention is to climb electric vehicle controlling software design by intelligence to realize
, Fig. 3 gives the flow chart of the control software.I in the figure1Indicate initial cut-off current, I2Indicate second gear cut-off current, V0It indicates
Last time circulation motor revolving speed, ViIndicate that this circulation motor revolving speed, a indicate that handle highest effective voltage, n indicate minimum turn of climbing
Speed, T indicate entry into the Ramp program cumulative time.This program flow diagram is write in strict accordance with control method shown in Fig. 2, electronic
After being realized in vehicle controller with program code, can intelligent recognition climb road conditions, adjust automatically cut-off current.
The working principle of the invention is: setting distinct program, basic parameter are as follows: when level road to two kinds of road conditions of level road and climbing
Corresponding smaller initial cut-off current；When climbing and torque deficiency, into larger two grades of cut-off currents.Its effect are as follows: can both guarantee
Step electric current is smaller, limits load capacity when level road, and can guarantee that power when climbing is sufficient.Specific as follows: electric vehicle is each
When starting, electric current would generally reach cut-off current, started to walk at this time with smaller initial cut-off current, can reduce instantaneous discharge to the wound of battery
Evil.And when electric vehicle level road is ridden, and load capacity exceeds standard bearing capacity, electric current will be limited by initial cut-off current, make motor
Revolving speed decline, user feel vehicle inability, that is, know overload, unreasonable vehicle so can be voluntarily avoided, to guarantee electric appliance
Part is functional；On the other hand when electric vehicle climbing, due to gravity, vehicle overcomes resistance acting to increase, torque demand
Become larger, at this time this program will carry out automatically data analyze and determine torque condition, when climb torque deficiency when controller switch rapidly
To Ramp program promoting cut-off current, larger power is obtained, guarantees that user rides experience.
Above two program switching is automatically performed by control system of intelligently climbing, by acquiring travelling data, analysis in real time
Data judge whether to need to enter Ramp program further according to analysis result.The present invention both can limit electric current, level road in starting
Load-carrying is limited when driving, and can satisfy torque demand of the electric vehicle in climbing, really realizes electric vehicle under different road conditions
Driving status optimizes, and operational mode is intelligent.
Electric vehicle specific work process in the present invention using intelligence climbing control system is as follows:
[climbing identification condition] controller for electric vehicle enters the precondition of climbing identification: handle voltage reaches effective highest
Value, while electric current reaches initial cut-off current.When handle voltage be lower than effective peak, illustrate that electric vehicle performance and power still mention
Between lift-off；When current value be lower than initial cut-off current, illustrate that light load, torque can satisfy demand.
After [judgement of Ramp program] enters climbing recognizer, acquisition rotary speed information is compared.When revolving speed promoted or
When constant, it is judged as that electric vehicle is accelerating or driving at a constant speed, torque can satisfy driving demand, and cut-off current maintains initial value not
Become；When revolving speed decline, it is judged as that electric vehicle is being climbed, torque is insufficient, enters two grades of cut-off currents at this time.
The present invention judges torque demand by rotary speed information, only promotes power when climbing torque deficiency.Work as electric vehicle
It creeps gentle clivia, when initial cut-off current can meet torque demand, this program will not enter Ramp program, really realize that electric current is defeated
It optimizes out.And horizon sensor then can increase cut-off current when having perceived climbing gradient, promote power, this way
Cannot can judge automatically current torque get over gentle slope, increase vehicle energy loss.
After [climbing protective program] is in order to avoid open two grades of cut-off currents, user accelerates to ride during climbing, causes
It is excessive to export electric current, causes motor and cell performance decay, the present invention is provided with protective program.Specifically: turn when record climbing
The velocity amplitude that speed is begun to decline maintains this speed to climb.This way for crossing slope with constant speed (constant speed) can be to avoid user
Accelerated slope, and inhibited climbing torque to cross victory, electric current is avoided excessively to export.I.e. electric current is automatically maintained at the torque that is just met for climbing and needs
It asks numerically, reduces energy loss.
[restriction of climbing minimum speed] starts to walk when electric vehicle bottom of slope, when initial velocity is smaller, even if judging torque deficiency, by
It is limited in above-mentioned protective program, electric vehicle still will be maintained at smaller speed and cross slope, influence user's driving experience.So for this
Constant speed is worth lesser situation, and the present invention increases minimum Ramp Rate restrictive condition when setting constant speed value, i.e., when constant speed value is small
When threshold value n, electric vehicle will carry out constant speed climbing with minimum speed n, may insure that Ramp Rate will not be very low in this way, ensure that
The driving of user is experienced.
After [climbing time limit] enters Ramp program, in order to avoid electric vehicle because climbing overlong time causes battery and motor damage
Bad, the present invention limits the climbing time.Whether detection climbing electric current reaches two grades of cut-off currents, when climbing electric current is less than two
Shelves cut-off current, presetting the climbing time is five minutes；When electric current of climbing persistently maintains two grades of cut-off currents, preset time is two points
Clock.After reaching preset time, Ramp program is automatically exited from, cut-off current is smoothly dropped back to initial cut-off current by the larger value.
After [exiting Ramp program setting] climbing, vehicle torque reduces, current value decline, when electric current is lower than initial limit
When flow valuve, Ramp program is automatically exited from, returns to initial current limliting state of value.Wave is generated when setting can be to avoid program switching in this way
It is dynamic, make user's running speed without drop, really realizes the seamless connection of revolving speed, the intelligent conversion of operating mode.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore packet of the present invention
Include and be not limited to embodiment described in specific embodiment, it is all by those skilled in the art according to the technique and scheme of the present invention
The other embodiments obtained, also belong to the scope of protection of the invention.
Claims (6)
1. a kind of intelligence climbing control system, it is characterised in that: including vehicle data acquisition unit, data analysis unit, climbing
Judging unit and motor control unit, in which:
Vehicle data acquisition unit: turn for acquiring the handle voltage in electric vehicle driving process, vehicle line current, motor in real time
Speed and climbing time；
Data analysis unit: according to the handle voltage of vehicle data acquisition unit acquisition and vehicle line current judge whether to need into
Row climbing judgement；
Climbing judging unit: for continuing to judge that current torque is when data analysis unit determines that carrying out climbing judges
It is no to meet climbing demand；
Motor control unit: for cutting Ramp program, improving electronic when judging unit of climbing judges to climb torque deficiency
Vehicle cut-off current, until climbing ending current is down to initial cut-off current automatically；
Handle voltage detecting subelement: the handle voltage for real-time detection electric vehicle；
Current detecting subelement: the vehicle line current for real-time detection electric vehicle；
Motor speed detection sub-unit: the revolving speed for real-time detection driving motor；
Time records subelement: after entering Ramp program, for the accumulative climbing time；
The motor speed detection sub-unit sets target speed value, by this when judging unit of climbing judges torque deficiency
Target velocity is compared with default climbing minimum speed, and when target velocity is lower than preset rotation speed, resetting target velocity is default
Revolving speed；
Whether the time record subelement real-time detection accumulative climbing time reaches preset time, reaches default when the climbing time
After time, Ramp program is exited；
Handle voltage carries out subsequent climbing and knows more than or equal to highest effective voltage and when vehicle line current reaches initial cut-off current
Not.
2. a kind of intelligence climbing control system according to claim 1, it is characterised in that: handle voltage detecting is single
Member is in data analysis unit for judging whether handle voltage is greater than or equal to highest effective voltage；Motor control unit into
Enter the handle voltage of real-time detection electric vehicle after Ramp program and judges whether handle voltage is greater than or equal to highest effective voltage.
3. a kind of intelligence climbing control system according to claim 1, it is characterised in that: the current detecting subelement exists
For judging whether vehicle line current reaches initial cut-off current in initial program, after motor control unit enters Ramp program,
The vehicle line current of real-time detection electric vehicle, and judge whether vehicle line current is less than initial cut-off current or reaches two grades of current limlitings
Value.
4. it is according to claim 1 it is a kind of intelligence climbing control system, it is characterised in that: the motor control unit into
Enter and closed-loop control is done with target velocity after Ramp program.
5. a kind of intelligence climbing electric vehicle, it is characterised in that: including the described in any item intelligence climbing controls of such as Claims 1-4
System processed.
6. a kind of control method of intelligence climbing electric vehicle as claimed in claim 5, it is characterised in that the following steps are included:
The vehicle data of step 1, in real time acquisition electric vehicle analyze and determine whether vehicle line current reaches initial current limliting by data
It is worth and handle voltage is greater than effective peak；
Step 2, when vehicle line current reaches initial cut-off current and handle voltage and is greater than effective peak, identify rank into climbing
Section, continues to judge whether current torque meets climbing demand；
Step 3, if climbing torque is insufficient, revolving speed decline into presetting Ramp program, and starts timing；
Step 4, when meeting Ramp program exit criteria, restore initial program, cut-off current is become into initial cut-off current；
The step 4 Ramp program exit criteria is to meet one of following condition: (1) practical handle voltage is less than handle voltage most
High virtual value；(2) actual current is lower than initial cut-off current；(3) the climbing cumulative time reaches preset time.
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| CN106945570A (en) * | 2017-04-06 | 2017-07-14 | 深圳市瀚路新能源汽车有限公司 | Slope auxiliary control method and device |
| CN107560870B (en) * | 2017-08-04 | 2020-01-14 | 南京越博电驱动系统有限公司 | Simulated climbing test method for electric automobile |
| CN108382267B (en) * | 2018-01-15 | 2020-03-17 | 江苏爱玛车业科技有限公司 | Motor output control method of electric vehicle |
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| CN112824131A (en) * | 2019-11-20 | 2021-05-21 | 九号智能(常州)科技有限公司 | Method and device for driving electric vehicle, storage medium, and electronic device |
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| CN110925414B (en) * | 2019-12-31 | 2021-04-16 | 潍柴动力股份有限公司 | Ramp-based shift control method and device |
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| CN114261467B (en) * | 2021-12-20 | 2023-06-09 | 天津爱玛车业科技有限公司 | Intelligent power adjusting method and system for electric vehicle |
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