CN106314197B - The control method of the adaptive throttle system of load-carrying - Google Patents
The control method of the adaptive throttle system of load-carrying Download PDFInfo
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- CN106314197B CN106314197B CN201610759332.7A CN201610759332A CN106314197B CN 106314197 B CN106314197 B CN 106314197B CN 201610759332 A CN201610759332 A CN 201610759332A CN 106314197 B CN106314197 B CN 106314197B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/26—Vehicle weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The present invention relates to a kind of control methods of the adaptive throttle system of load-carrying, solve the deficiencies in the prior art, and technical solution is：Suitable for electric vehicle or mixed electrical automobile, it is characterised in that：The accelerator open degree table of comparisons is established for automobile total weight and/or accelerator open degree compares formula, obtain current automobile total weight, the accelerator open degree table of comparisons is inquired according to current automobile total weight or accelerator open degree control formula obtains current responsive corrections value, is responded according to the practical aperture of throttle and responsive corrections value setting throttle.It is that Y-axis decomposes current offset vector by X-axis automotive ordinate axis of automobile horizontal axis in the present invention, the tire power-division ratios of each wheel are corrected according to current offset resolution of vectors value, the each tire of automobile is according to power-division ratios with standard electric output power, then it is multiplied by responsive corrections value to be exported as final automobile electric output power, then re-executes step 2.
Description
Technical field
The present invention relates to a kind of control method of throttle system, more particularly to the control of a kind of adaptive throttle system of load-carrying
Method.
Background technology
The aperture of general automotive throttle control air throttle achievees the purpose that control car speed, but now electric vehicle or
Mixed electrical automobile starts to show up prominently on the market as emerging vehicle, and the control method of traditional automotive throttle is no longer applicable in, electricity
Although the automotive throttle of electrical automobile or mixed electrical automobile is to be called throttle but his output power that mainly to control motor comes
Achieve the purpose that control output, under normal circumstances, is to become output numerical value to detect accelerator open degree conversion, then sends out driving life
It enables so that motor output corresponding power.
Chinese patent literature was once disclosed a kind of induction type throttle sensor of electric vehicle（Its application No. is：
CN201110068981.X, publication date September in 2012 19 days）.Induction type throttle sensor includes matrix, slide bar, magnet, Hall
Element and terminal plate.Rectangle sliding slot is provided on matrix, slide bar can move back and forth in sliding slot, and slide bar surface is provided with rectangular channel, slot
Both ends be equipped with magnet, moved together with slide bar, there is threaded hole in one end of slide bar, be used for connect with foot pedal slide block mechanism, suddenly
You are fixed on terminal plate element, are located between two blocks of magnet, and the electromotive force that Hall element generates passes through the electric wire on terminal plate
It draws, is connected on electric vehicle motor controller.But in the prior art, there are accelerator open degrees and automobile engine output power
It is unique corresponding, once therefore carload change, trample throttle amplitude it is identical when, automobile engine output power is constant, automobile
It is final response but changed, although this is the problem of always existing for a long time, for driver, drive
It sails experience and has also suffered from certain influence.
Invention content
It is unique it is an object of the invention to solve above-mentioned prior art accelerator open degree and automobile engine output power
It is corresponding, once therefore carload change, trample throttle amplitude it is identical when, automobile engine output power is constant, and automobile is most
Response is but changed eventually, although this is the problem of always existing for a long time, for driver, drives body
The problem of having also suffered from certain influence is tested, a kind of control method of the adaptive throttle system of load-carrying is provided.
The technical solution adopted by the present invention to solve the technical problems is：A kind of controlling party of the adaptive throttle system of load-carrying
Method is suitable for electric vehicle or mixed electrical automobile, includes the following steps：
Step 1：Standard configuration parameter and preset accelerator open degree automobile electric output power through-beam Series are read, automobile is obtained
Demarcate gravimetric value；
Step 2：Obtain current real-time bus total weight；
Step 3：If current real-time bus total weight is less than or equal to the automobile and demarcates gravimetric value, step 4 is executed, otherwise
Execute step 5；
Step 4：Automobile calculates standard electric output power according to real-time accelerator open degree, and each tire of automobile is according to power point
Proportioning is exported with standard electric output power, then repeats step 2；
Step 5：The numeric ratio that automobile demarcates gravimetric value and current real-time bus total weight according to automobile obtains responsive corrections
Value, automobile calculate standard electric output power according to real-time accelerator open degree, and the power-division ratios of each tire of automobile are standard
Parameter is configured, current real-time bus total weight and position of centre of gravity is calculated in the weight meter carried by wheel, extracts weight in real time
The offset vector of heart position and preset position of centre of gravity obtains current offset arrow if offset vector is kept in the given time
Amount is used as calculated value, is that Y-axis decomposes current offset vector by X-axis automotive ordinate axis of automobile horizontal axis, according to current offset vector point
Solution value corrects the tire power-division ratios of each wheel, each tire of automobile according to power-division ratios with standard electric output power,
Then it is multiplied by responsive corrections value to be exported as final automobile electric output power, then re-executes step 2.
Accelerator open degree control formula can just write modification, including initial setting weight by user in conjunction with actual conditions in the present invention
The setting of amount, the introducing of temperature parameter, windage can be set in real time.Used in the present invention accelerator open degree table of comparisons or
The mode of formula is compareed to correspond to current automobile total weight, is solved when the load-carrying difference of automobile, throttle response can become
The problem of change；The throttle response that vehicle is set according to live load information is reached, throttle response can be under different load-carryings
It remains unchanged or similar effect.Different calculating sides can be corresponded to according to the different driving modes that user is arranged simultaneously
Method, such as calculated using the accelerator open degree table of comparisons when fast speed is run, and used when slower speed per hour
The mode of formula is compareed to correspond to current automobile total weight.
Preferably, in the step 2, an automobile is just carried out at interval of a predetermined time T after automobile starting
Condition detection, detection data include vehicle speed measurement VtIt is output to horse with what the electric drive power superposition by each drive motor obtained
The total electric drive power P reachedt, headstock tailstock longitudinal direction line and horizontal plane pitching angle ThetatWith for predetermined value electricity it is defeated
Go out work(to mechanical work transfer efficiency C；Automobile obtains current vehicle weight according to total electric drive power and variation speed reckoning；
If the pitch angle of vehicle is zero, the real-time vehicle quality between t moment and t+1 moment is M（t+t+1）/2According to following formula
It is calculated：
M（t+t+1）/2= 2×P（t+t+1）/2×T×C/(Vt+1 2-Vt 2)。
If the pitch angle of vehicle is not zero, the real-time vehicle quality between t moment and t+1 moment is M（t+t+1）/2According to following calculation
Formula is calculated：
M（t+t+1）/2= 2×P（t+t+1）/2×T× C/(Vt+1 2-Vt 2)×(1-Sin(Theta（t+t+1）/2))。
In the step 1, automobile demarcates gravimetric value, among being just input into control system when vehicle dispatches from the factory, standard
Car weight is modified by wireless cloud push.
Preferably, in the step 1, automobile demarcates standard body weight values+curb weight value that gravimetric value is driver
+ preset fuel tank carrying fuel weight value.In this way, being relatively conventional state, can be counted as general average value
It calculates.
Preferably, in the tire power-division ratios of all wheels at least 95% for distribution definite value, the tire work(of all wheels
Most 5% be distribution regulated value in rate distribution ratio, and regulated value is distributed in default setting and is carried out according to the allocation proportion of distribution definite value
Distribution is only adjusted distribution when being allocated according to the tire power-division ratios of each wheel of current offset resolution of vectors value amendment
Value is allocated.When frictional force is too small, have when the induction of automobile starting speed and acceleration is with new tire larger
Difference, therefore power output is increased when friction is small for automobile tire, improves the stress of automobile tire, can will
Car steering impression is maintained at a suitable range.
Preferably, X-axis and Y-axis are fixing axle, in current offset vector, X-axis of the component in X-axis accounts in X-axis for calculating
Than, the calculating Y-axis accounting of component in Y-axis in Y-axis in current offset vector,
It is equal to towards the sum of real-time distribution regulated value of the front and back wheel of position of centre of gravity side in vehicle right and left both sides：
（X-axis accounting+0.5）× distribution regulated value；
It is not equal to towards the sum of real-time distribution regulated value of position of centre of gravity side front and back wheel in vehicle right and left both sides：
Distribute regulated value-（X-axis accounting+0.5）× distribution regulated value；
It is equal to towards the sum of real-time distribution regulated value of the left and right wheels of position of centre of gravity side in automobile front and rear sides：
（Y-axis accounting+0.5）× distribution regulated value；
It is not equal to towards the sum of real-time distribution regulated value of position of centre of gravity side left and right wheels in automobile front and rear sides：
Distribute regulated value-（Y-axis accounting+0.5）× distribution regulated value）；
The realtime power distribution ratio of each wheel of automobile be equal in real time distribution regulated value with distribute definite value and.The present invention
In this way, mainly preventing excessive power distribution, causes excessive or too small power to be distributed, influence whether vehicle in this way
Whole stability, although in addition to this can also can once be turned or be braked to there is compensation in counterweight,
Large effect is understood to vehicle safety and maneuverability.The present invention provides certain compensation, and the variation of center of gravity can be carried out
Compensation, while larger distribution definite value ensure that safety and the maneuverability of automobile entirety.
Preferably, the accelerator open degree table of comparisons includes several current weight setting values, each current weight setting
Value is corresponding there are one responsive corrections value, and the quantity of the current weight setting value is set manually, if current weight is located at two
Between a current weight setting value, then according to current weight, ratio calculates current weight pair between two current weight setting values
The responsive corrections value answered.
Preferably, in executing the step 5, the acceleration transducer in automobile obtains current acceleration changing value
As acceleration value of feedback, preset acceleration change standard value will accelerate to feed back as standard value is accelerated in standard configuration parameter
Value is compared with standard value is accelerated, and is reduced if accelerating value of feedback to be more than acceleration standard value when calculating responsive corrections value next time
Responsive corrections value；Responsive corrections value is reduced when calculating responsive corrections value next time if accelerating value of feedback to be less than acceleration standard value.
Preferably, corresponding in the acceleration standard value, there are one standard response times, accelerate if value of feedback is accelerated to be equal to
Standard value, and accelerate the feedback response time of value of feedback to be less than standard response time and then used when calculating responsive corrections value next time
Dynamic response correction value first reduces the responsive corrections value being calculated and is restored to the response being calculated after a given time and repaiies
Positive value.
Preferably, the given time be 1 second, reduce current responsive corrections value amplitude be equal to the feedback response time with
The a quarter of the ratio of standard response time.
Substantial effect of the invention is：It uses the accelerator open degree table of comparisons in the present invention or compares the mode of formula to come pair
Should before automobile total weight, solve when the load-carrying difference of automobile, the problem of throttle response can change；Basis is reached
Live load information responds the throttle of vehicle is arranged, and throttle response can be remained unchanged under different load-carryings or similar effect
Fruit.
Specific implementation mode
Below by specific embodiment, technical scheme of the present invention will be further explained in detail.
Embodiment 1：
A kind of control method of the adaptive throttle system of load-carrying is suitable for electric vehicle or mixed electrical automobile, total for automobile
Weight establishes the accelerator open degree table of comparisons and/or accelerator open degree control formula, obtains current automobile total weight,
The accelerator open degree table of comparisons is inquired according to current automobile total weight or accelerator open degree control formula obtains current response
Correction value is responded according to the practical aperture of throttle and responsive corrections value setting throttle.
Include the following steps：
Step 1：Standard configuration parameter and preset accelerator open degree automobile electric output power through-beam Series are read, automobile is obtained
Demarcate gravimetric value；
Step 2：Obtain current real-time bus total weight；
Step 3：If current real-time bus total weight is less than or equal to the automobile and demarcates gravimetric value, step 4 is executed, otherwise
Execute step 5；
Step 4：Automobile calculates standard electric output power according to real-time accelerator open degree, and each tire of automobile is according to power point
Proportioning is exported with standard electric output power, then repeats step 2；
Step 5：The numeric ratio that automobile demarcates gravimetric value and current real-time bus total weight according to automobile obtains responsive corrections
Value, automobile calculate standard electric output power according to real-time accelerator open degree, and each tire of automobile is according to power-division ratios with standard electric
Then output power is multiplied by responsive corrections value and is exported as final automobile electric output power, then re-executes step 2.
In the step 2, current real-time bus total weight is calculated in the weight meter carried by wheel.
In the step 2, a condition of the vehicle detection is just carried out at interval of a predetermined time T after automobile starting,
Detection data includes vehicle speed measurement VtIt is output to the total of motor with what the electric drive power superposition by each drive motor obtained
Electric drive power Pt, headstock tailstock longitudinal direction line and horizontal plane pitching angle ThetatWith the electricity output work(for predetermined value to machine
The transfer efficiency C of tool work(；Automobile obtains current vehicle weight according to total electric drive power and variation speed reckoning.
If the pitch angle of vehicle is zero, the real-time vehicle quality between t moment and t+1 moment is M（t+t+1）/2According to following formula
It is calculated：
M（t+t+1）/2= 2×P（t+t+1）/2×T×C/(Vt+1 2-Vt 2)。
If the pitch angle of vehicle is not zero, the real-time vehicle quality between t moment and t+1 moment is M（t+t+1）/2According to following calculation
Formula is calculated：
M（t+t+1）/2= 2×P（t+t+1）/2×T× C/(Vt+1 2-Vt 2)×(1-Sin(Theta（t+t+1）/2))。
In the step 1, automobile demarcates gravimetric value, among being just input into control system when vehicle dispatches from the factory, standard
Car weight is modified by wireless cloud push.
In the step 1, automobile demarcates standard body weight values+curb weight value+default fuel tank that gravimetric value is driver
Carry fuel weight value.
The rubbing surface of automobile tire is shot, gray processing processing is carried out successively and except distortion is handled, concrete mode is：Foundation rubs
Wipe the power table of comparisons, in the frictional force table of comparisons model of each automobile tire and Query Value it is corresponding there are one friction force values, for the first time
The rubbing surface of automobile tire is shot, after carrying out gray processing processing and being handled except distortion, if recording on current automobile tire rubbing surface
The color distortion value of dry point is as difference a reference value, after automobile starting, shoots the rubbing surface of automobile tire, carries out gray processing
After handling and being handled except distortion, the color distortion value of several points on current automobile tire rubbing surface is recorded as comparison in difference
Value inquires the frictional force table of comparisons as Query Value according to the reduced value of comparison in difference value and difference a reference value, obtains current automobile
The friction force value of the rubbing surface of tire.
The friction coefficient average value that current automobile tire is determined according to the decorative pattern depth of the rubbing surface of automobile tire, to automobile
The friction coefficient average value of tire is segmented, and there are one friction coefficient for the friction coefficient average value correspondence of every section of automobile tire
Correction value, in step 5, if automobile is the threshold value that cornering operation and friction coefficient average value are less than setting, automobile according to
Be multiplied by after standard electric output power after friction coefficient correction value multiplied by using responsive corrections value as final automobile electric output power into
Row output, then repeats step 2.
The accelerator open degree table of comparisons includes several current weight setting values, and each current weight setting value is corresponding with
The quantity of one responsive corrections value, the current weight setting value is set manually, if current weight is located at two current weights
Between setting value, then according to current weight, the corresponding response of ratio calculating current weight is repaiied between two current weight setting values
Positive value.
Such as current weight is T2, needs to obtain responsive corrections value X2, and weight T1 is had recorded in the accelerator open degree table of comparisons
Corresponding responsive corrections value X1 and weight T3 corresponds to responsive corrections value X3, if T1<T2<T3, then X2=(T2/ (T1+T3)) ×
（X1+X3）.
In executing the step 5, it is anti-as accelerating that the acceleration transducer in automobile obtains current acceleration changing value
Feedback value, preset acceleration change standard value will accelerate value of feedback and accelerate to mark as standard value is accelerated in standard configuration parameter
Quasi- value is compared, and responsive corrections are reduced when calculating responsive corrections value next time if accelerating value of feedback to be more than acceleration standard value
Value；Responsive corrections value is reduced when calculating responsive corrections value next time if accelerating value of feedback to be less than acceleration standard value.The acceleration
Corresponding in standard value there are one standard response times, if accelerating value of feedback to be equal to accelerates standard value, and accelerate the feedback of value of feedback
Response time is less than standard response time and then uses dynamic response correction value when calculating responsive corrections value next time, i.e., first reduces meter
The responsive corrections value obtained is restored to the responsive corrections value being calculated after a given time.The given time is 1 second, drop
The amplitude of low current responsive corrections value is equal to a quarter of the ratio of feedback response time and standard response time.
The power-division ratios of each tire of automobile are standard configuration parameter, and the weight meter carried by wheel calculates
Go out current real-time bus total weight and position of centre of gravity, extracts the offset vector of real time barycentre position and preset position of centre of gravity, if
Offset vector is kept in the given time, then obtains current offset vector as calculated value, using automobile horizontal axis as X-axis automotive ordinate axis
Current offset vector is decomposed for Y-axis, the tire power-division ratios of each wheel are corrected according to current offset resolution of vectors value.
98% is to distribute definite value in the tire power-division ratios of all wheels, 2% in the tire power-division ratios of all wheels
To distribute regulated value, regulated value is distributed in default setting and is allocated according to the allocation proportion of distribution definite value, according to current inclined
Only distribution regulated value is allocated when the tire power-division ratios of the shifting each wheel of resolution of vectors value amendment are allocated.
The power-division ratios of each tire of automobile are standard configuration parameter, and the weight meter carried by wheel calculates
Go out current real-time bus total weight and position of centre of gravity, extracts the offset vector of real time barycentre position and preset position of centre of gravity, if
Offset vector is kept in the given time, then obtains current offset vector as calculated value, using automobile horizontal axis as X-axis, automobile is vertical
Axis is that Y-axis decomposes current offset vector, and the tire power-division ratios of each wheel are corrected according to current offset resolution of vectors value.
X-axis and Y-axis are fixing axle, and the calculating X-axis accounting of component in X-axis in X-axis in current offset vector calculates and exists
The current offset vector Y-axis accounting of component in Y-axis in Y-axis,
It is equal to towards the sum of real-time distribution regulated value of the front and back wheel of position of centre of gravity side in vehicle right and left both sides：
（X-axis accounting+0.5）× distribution regulated value；
It is not equal to towards the sum of real-time distribution regulated value of position of centre of gravity side front and back wheel in vehicle right and left both sides：
Distribute regulated value-（X-axis accounting+0.5）× distribution regulated value；
It is equal to towards the sum of real-time distribution regulated value of the left and right wheels of position of centre of gravity side in automobile front and rear sides：
（Y-axis accounting+0.5）× distribution regulated value；
It is not equal to towards the sum of real-time distribution regulated value of position of centre of gravity side left and right wheels in automobile front and rear sides：
Distribute regulated value-（Y-axis accounting+0.5）× distribution regulated value）；
The realtime power distribution ratio of each wheel of automobile be equal in real time distribution regulated value with distribute definite value and.
Concrete example is as follows：Member point is that the center of X-axis and Y-axis is set in the center of automobile, before left front, right, left back
It is recorded as LA, LB, LC and LD with four tires behind the right side, it is assumed that become the right front portion that center of gravity is located at automobile totality after load-carrying, subtract sky
Especially by being calculated after the offset having when load itself, the X position of position of centre of gravity is at the 50% of X-axis forward direction, and center of gravity
The Y location of position is at the 50% of Y-axis forward direction, then it is known that X-axis accounting is 0.5/2=0.25, and Y-axis accounting is also 0.5/
2=0.25, distribution regulated value is 2（%）, then LA+LB=1.5, LC+LD=0.5, LB+LD=1.5, LA+LC=0.5 and, center of gravity position
In automobile totality right front portion so the obtained distribution regulated value in left back portion is 0, can obtain accordingly, distribute the distribution of regulated value
Scheme is：LA：0.5, LB：1, LC：0, LD：0.5.
It is set in step 1 and tramples limit velocity, if when trampling throttle, throttle movement speed, which is more than, tramples the limit
Speed then stops to each tire output power, and send out control signal to automobile ECU.
The accelerator open degree table of comparisons is used in the present invention or compares the mode of formula to correspond to current automobile total weight, is solved
When the load-carrying difference of automobile, the problem of throttle response can change；Reach and vehicle is arranged according to live load information
Throttle response, throttle response can remain unchanged or similar effect under different load-carryings.It can basis when use
Demand voluntarily adjusts the scope of application of the accelerator open degree table of comparisons, such as in fine motion range and limit range maximum close to aperture
Responsive corrections value is obtained in the form of the accelerator open degree table of comparisons, and it is public using control when accelerator open degree reaches intermediate range
The mode of formula obtains responsive corrections value, the purpose that does so primarily to improve usage experience and the safety of user,
For example, obtaining sound in the form of the accelerator open degree table of comparisons in heavy weight limit range maximum close to aperture
Correction value is answered, the maximum value for improving responsive corrections value can be limited, it is therefore prevented that the case where exporting at full capacity for a long time, while more may be used
Windage etc. is original to ignore increasing for factor to offset, and reaches higher accuracy, meet throttle response it is constant in the case of protect
Demonstrate,proved safety, two ways must be used by not limited in certain the application, in fact only with the accelerator open degree table of comparisons or
All it is feasible only with accelerator open degree control formula, for example, also being had using the accelerator open degree table of comparisons by correction is repeated several times
More comfortable driving experience may be obtained so that accelerator open degree changes more close with regular gasoline vehicle.In the present invention, throttle
Aperture, which compares formula, to be that initial unloaded output is turned round according to existing T1 by being deduced on the basis of T1/W1=T2/ (W1+W2)
Square, W1 are empty-weight, and T2 is real-time output torque, and W2 is loading capacity, the simplest accelerator open degree control that the present invention uses
Formula：Responsive corrections value=real-time weight/initial setting weight.Certainly, accelerator open degree control formula can be by user in the present invention
Modification is just write in conjunction with actual conditions, includes the setting of initial setting weight, and the introducing of temperature parameter, windage can carry out in real time
Setting.
Embodiment 2：
The present embodiment is substantially the same manner as Example 1, and the automobile in embodiment 2 is arranged below gas pedal there are one L-shaped
Air hose, is equipped with piston rod in L-shaped air hose, and the upper end of the air hose is towards gas pedal, the upper end of the piston rod
It is fixedly connected with the gas pedal lower surface, the lower end of the L-shaped air hose is opened up there are two venthole, two ventholes
The sum of aperture is less than the diameter of the upper end of air hose, and Safety Redundancy solenoid valve is equipped on one of them described venthole, described
Safety Redundancy solenoid valve is connect with automobile ECU, and in step 1, there are adjusting ranges for the limit velocity of trampling of setting, trample
Limit velocity size in adjusting range is related to the proportional example of aperture of Safety Redundancy solenoid valve, Safety Redundancy solenoid valve
It tramples limit velocity according to setting and is transformed to corresponding aperture.In the present invention, L-shaped air hose is increased, in this way, one
Denier throttle and brake are got wrong, can prevent the generation of mistake when being brought to a halt from hardware aspect by the resistance of air,
Meanwhile set foot when rational electromagnetism valve opening can ensure to trample throttle feels to be to maintain consistent, can reach
It is consistent with feel to control safety.
In step 1, if throttle movement speed, which is more than, tramples limit velocity, stop to each tire output power, and
After sending out control signal to automobile ECU, Safety Redundancy solenoid valve completely closes, when automobile ECU detects that automobile stops transporting completely
After dynamic, Safety Redundancy solenoid valve reopens completely.
Embodiment 3：
The present embodiment is substantially the same manner as Example 1, the difference is that：The power of two tires of the vehicle front point
Proportioning is standard configuration parameter, and current real-time bus total weight and position of centre of gravity is calculated in the weight meter carried by wheel,
The offset vector of extraction real time barycentre position and preset position of centre of gravity obtains if offset vector is kept in the given time
Current offset vector is that Y-axis decomposes current offset vector as calculated value, by X-axis automotive ordinate axis of automobile horizontal axis, according to current X
Axle offset resolution of vectors value direct proportion corrects the tire power-division ratios of two wheels of front-wheel.The tire power distribution of all wheels
94% is to distribute definite value than in, and 6% is distribution regulated value in the tire power-division ratios of all wheels, and tune is distributed in default setting
Section value is allocated according to the allocation proportion of distribution definite value, and the tire work(of each wheel is corrected according to current offset resolution of vectors value
Only distribution regulated value is allocated when rate distribution ratio is allocated.If in automobile turning, according to current X-axis offset vector point
Solution value inverse proportion corrects the tire power-division ratios of two wheels of trailing wheel.
Embodiment 4：
It is substantially the same manner as Example 1, the difference is that：In step 5, if accelerator open degree in setting range, obtains
Current throttle tramples speed, is trampled if speed is greater than the set value if throttle and obtains responsive corrections by the way of compareing formula
Value, responsive corrections are obtained if throttle tramples speed less than or equal to setting value by the way of compareing the accelerator open degree table of comparisons
Value.
Embodiment 5：
It is substantially the same manner as Example 1, the difference is that：Recorded vehicle sets the accelerator open degree data of quantity, calculates oil
Door aperture average value, chooses all data meters less than calculation of throttle aperture average value 80% in the accelerator open degree data of record
Average value is calculated as fine motion value range, is chosen in the accelerator open degree data of record all higher than calculation of throttle aperture average value
80% data calculate average value as limit range value, when accelerator open degree value is less than or equal to fine motion value range or works as accelerator open degree
Value obtains responsive corrections value more than or equal to limit range value by the way of the accelerator open degree table of comparisons, when accelerator open degree value is more than
Fine motion value range and when accelerator open degree value obtains responsive corrections value less than limit range value by the way of compareing formula.
Above-mentioned embodiment is only a preferred solution of the present invention, not the present invention is made in any form
Limitation, on the premise of not exceeding the technical scheme recorded in the claims also other variations and modifications.
Claims (7)
1. a kind of control method of the adaptive throttle system of load-carrying is suitable for electric vehicle or mixed electrical automobile, it is characterised in that：Vapour
Vehicle is arranged below gas pedal there are one L-shaped air hose, and piston rod, the upper end of the air hose are equipped in L-shaped air hose
Towards gas pedal, the upper end of the piston rod is fixedly connected with the gas pedal lower surface, the lower end of the L-shaped air hose
It opens up there are two venthole, the sum of aperture of two ventholes is less than the diameter of the upper end of air hose, one of them described ventilation
Safety Redundancy solenoid valve is equipped on hole, the Safety Redundancy solenoid valve is connect with automobile ECU,
Include the following steps：
Step 1：Standard configuration parameter and preset accelerator open degree automobile electric output power through-beam Series are read, automobile calibration is obtained
Gravimetric value；There are adjusting ranges for the limit velocity of trampling of setting, trample limit velocity size and peace in adjusting range
The proportional example of the aperture of full redundancy solenoid valve is related, and Safety Redundancy solenoid valve tramples limit velocity and is transformed to correspond to according to setting
Aperture；If throttle movement speed, which is more than, tramples limit velocity, stop to each tire output power, and is sent out to automobile ECU
Go out after controlling signal, Safety Redundancy solenoid valve completely closes, and after automobile ECU detects automobile complete stop motion, safety is superfluous
Remaining solenoid valve reopens completely；
Step 2：Obtain current real-time bus total weight；
Step 3：If current real-time bus total weight is less than or equal to the automobile and demarcates gravimetric value, step 4 is executed, is otherwise executed
Step 5；
Step 4：Automobile calculates standard electric output power according to real-time accelerator open degree, and each tire of automobile is according to power-division ratios
It is exported with standard electric output power, then repeats step 2；
Step 5：The numeric ratio that automobile demarcates gravimetric value and current real-time bus total weight according to automobile obtains responsive corrections value,
Automobile calculates standard electric output power according to real-time accelerator open degree, and the power-division ratios of each tire of automobile are standard configuration
Current real-time bus total weight and position of centre of gravity, extraction real time barycentre position is calculated in parameter, the weight meter carried by wheel
The offset vector with preset position of centre of gravity is set, if offset vector is kept in the given time, obtains current offset vector work
It is that Y-axis decomposes current offset vector by X-axis automotive ordinate axis of automobile horizontal axis, according to current offset resolution of vectors value for calculated value
Correct the tire power-division ratios of each wheel, each tire of automobile according to power-division ratios with standard electric output power, then
It is multiplied by responsive corrections value to be exported as final automobile electric output power, then re-executes step 2；
In executing the step 5, the acceleration transducer in automobile obtains current acceleration changing value and is fed back as acceleration
It is worth, preset acceleration change standard value will accelerate value of feedback and acceleration standard as standard value is accelerated in standard configuration parameter
Value is compared, and responsive corrections value is reduced when calculating responsive corrections value next time if accelerating value of feedback to be more than acceleration standard value；
Responsive corrections value is reduced when calculating responsive corrections value next time if accelerating value of feedback to be less than acceleration standard value；
Corresponding in the acceleration standard value there are one standard response times, if accelerating value of feedback to be equal to accelerates standard value, and accelerate
The feedback response time of value of feedback is less than standard response time and then uses dynamic response amendment when calculating responsive corrections value next time
Value, i.e., first reduce the responsive corrections value being calculated and be restored to the responsive corrections value being calculated after a given time.
2. the control method of the adaptive throttle system of load-carrying according to claim 1, it is characterised in that：
In the step 2, a condition of the vehicle detection, detection are just carried out at interval of a predetermined time T after automobile starting
Data include vehicle speed measurement VtIt is driven with the total electricity for being output to motor that the electric drive power superposition by each drive motor obtains
Dynamic power Pt, headstock tailstock longitudinal direction line and horizontal plane pitching angle ThetatWith the electricity output work(for predetermined value to mechanical work
Transfer efficiency C；Automobile obtains current vehicle weight according to total electric drive power and variation speed reckoning；
If the pitch angle of vehicle is zero, the real-time vehicle quality between t moment and t+1 moment is M（t+t+1）/2It is carried out according to following formula
It calculates：
M（t+t+1）/2= 2×P（t+t+1）/2×T×C/(Vt+1 2-Vt 2)。
If the pitch angle of vehicle is not zero, the real-time vehicle quality between t moment and t+1 moment is M（t+t+1）/2According to following formula into
Row calculates：
M（t+t+1）/2= 2×P（t+t+1）/2×T× C/(Vt+1 2-Vt 2)×(1-Sin(Theta（t+t+1）/2))。
In the step 1, automobile demarcates gravimetric value, among being just input into control system when vehicle dispatches from the factory, standard car weight
It is modified by wireless cloud push.
3. the control method of the adaptive throttle system of load-carrying according to claim 1, it is characterised in that：
In the step 1, automobile is demarcated standard body weight values+curb weight value+default fuel tank that gravimetric value is driver and is carried
Fuel weight value.
4. the control method of the adaptive throttle system of load-carrying according to claim 1, it is characterised in that：The wheel of all wheels
At least 95% is to distribute definite value in tire power-division ratios, and most 5% be distribution regulated value in the tire power-division ratios of all wheels,
Regulated value is distributed in default setting to be allocated according to the allocation proportion of distribution definite value, is repaiied according to current offset resolution of vectors value
Only distribution regulated value is allocated when the tire power-division ratios of just each wheel are allocated.
5. the control method of the adaptive throttle system of load-carrying according to claim 4, it is characterised in that：X-axis and Y-axis are solid
Dead axle, the calculating X-axis accounting of component in X-axis in X-axis in current offset vector are calculated in current offset vector in Y-axis
Y-axis accounting of the component in Y-axis,
It is equal to towards the sum of real-time distribution regulated value of the front and back wheel of position of centre of gravity side in vehicle right and left both sides：
（X-axis accounting+0.5）× distribution regulated value；
It is not equal to towards the sum of real-time distribution regulated value of position of centre of gravity side front and back wheel in vehicle right and left both sides：
Distribute regulated value-（X-axis accounting+0.5）× distribution regulated value；
It is equal to towards the sum of real-time distribution regulated value of the left and right wheels of position of centre of gravity side in automobile front and rear sides：
（Y-axis accounting+0.5）× distribution regulated value；
It is not equal to towards the sum of real-time distribution regulated value of position of centre of gravity side left and right wheels in automobile front and rear sides：
Distribute regulated value-（Y-axis accounting+0.5）× distribution regulated value）；
The realtime power distribution ratio of each wheel of automobile be equal in real time distribution regulated value with distribute definite value and.
6. the control method of the adaptive throttle system of load-carrying according to claim 1, it is characterised in that：
The accelerator open degree table of comparisons includes several current weight setting values, there are one each current weight setting value is corresponding
The quantity of responsive corrections value, the current weight setting value is set manually, if current weight is located at two current weights and sets
Between value, then according to current weight, ratio calculates the corresponding responsive corrections of current weight between two current weight setting values
Value.
7. the control method of the adaptive throttle system of load-carrying according to claim 1, it is characterised in that：The given time
It is 1 second, reduces a quarter of the amplitude equal to feedback response time and the ratio of standard response time of current responsive corrections value.
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| CN101171414A (en) * | 2005-05-12 | 2008-04-30 | 罗伯特·博世有限公司 | Method and device for controlling a drive unit of a vehicle |
| KR20090065299A (en) * | 2007-12-17 | 2009-06-22 | 현대자동차주식회사 | Driving pattern learning logic by measuring vehicle acceleration |
| CN104806363A (en) * | 2015-03-31 | 2015-07-29 | 小米科技有限责任公司 | Accelerator response method and accelerator response device |
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