Technical Field
The present invention relates to the field of the electric automobile, in particular to an electric vehicle automatic gear-shift control method and apparatus thereof.
Background Art
Electric vehicle as a new energy car is gradually attention to, now generally adopted of the electric automobile permanent magnet synchronous or asynchronous AC power motor is used for driving, and the fuel oil is adopted for automobile gear box, to the driving in manual shifting speed-change to meet the driving demands, although permanent magnet brushless wheel hub motor gear box does not need to be widely used in electric bicycle, but permanent-magnet brushless wheel hub motor used in an electric automobile has problems, permanent magnet brushless wheel hub motor is directly in the vehicle on the wheel hub, the main problem is the limited size of the vehicle wheel hub, not be able to improve the power of the motor, two-wheeler light weight only needs a brushless wheel hub motor, the vehicle needs to be four brushless wheel hub motor, needs four the controller respectively controls four brushless wheel hub motor, also need a total controller to coordinate this acts four control of the controller, so as to control the complicated, and control precision is not high.
Therefore, a need for automatic gear-shift control method for an electric automobile, can effectively solve the problems existing in the traditional technology, but also make the simple control, the control precision is high.
Content of the invention
In view of this, the purpose of this invention is to provide an automatic gear-shift control method for an electric automobile, which can effectively avoid permanent magnet brushless wheel hub motor power limit, the power of the electric automobile, and can simplify the structure of the variable speed mechanism, reduce the cost, of the driver and also to simplify the operation of the vehicle during driving, increase driving safety, and the control is simple in structure, high control precision.
The invention provides a method for automatic gear shift control of the electric vehicle, comprising the following steps:
A. Obtaining an initial state signal of the electric vehicle, according to the state of the electric vehicle motor vehicle the implementation of signal control forward, backward running action;
B. When the electric vehicle implementation of the forward running operation, obtaining electric vehicle forward status signal and is compared with a set signal, controlling electric vehicle according to the result of the comparison performed between the high-speed gear by the switching action of the low-speed gear.
Furthermore, in the step of the initial state signal A comprises an ignition the successful signal, forward backward signal, brake signal, accelerator pedal signal and the depth of the motor position signal.
Furthermore, the progress of the steps in B in accordance with the status signal includes 50mS time interval acquisition of the accelerator pedal a depth signal, vehicle speed signal and the phase current signal of the motor.
Furthermore, the steps comprising the steps of in B C: electric vehicle enters into a high-speed gear by a low-speed gear; C including the steps:
C1. When the accelerator pedal is greater than or equal to the depth of accelerator pedal fully depressed depth of the 90% and the phase current is greater than or equal to limit current I0 of the 90% time, a current vehicle speed V is less than the shift discriminating vehicle speed V1, will not shift;
Or: when the accelerator pedal is equal to the depth of the fully depress the accelerator pedal or the depth of the phase current is equal to the limited current IO, a current vehicle speed is less than the shift discriminating vehicle speed V1, will not shift;
C2. The current time of the accelerator pedal is depressed fully depress the accelerator pedal is less than the depth of the depth of the 90% and the motor phase current is less than the limiting current of I0 the 90% time, and the current vehicle speed has reached a shift discriminating the vehicle speed V1 is, by the low-speed gear is switched to the high-speed gear;
Current vehicle speed V is equal to or greater than the shift discriminating vehicle speed V1 the rear, no matter whether the accelerator signal is zero at that time, motor controller does not receive the accelerator pedal a depth signal, the motor controller of the feedback current at I1 the vehicle speed drop, when the vehicle speed V is equal to or less than the shift discriminating the vehicle speed V2 is, completed by a low-speed gear is switched to the high-speed gear;
C3. When the electric vehicle by a low-speed gear to the high-speed gear, the accelerator pedal signal in the effective state, at this moment a variable accelerating current I2 so that the vehicle speed is improved; when the acceleration current I2 to reach the shift discriminating the vehicle speed or the vehicle speed is V1, and the depth of the accelerator pedal does not change, the current I2 is maintained; when the accelerator when the change in the depth, speed of the electric vehicle by the accelerator control.
Furthermore, also included in the steps step D B: electric vehicle by a high-speed gear into the low speed gear, step D including:
D1. When the accelerator pedal is greater than or equal to the depth of accelerator pedal fully depressed depth of the 80% and the phase current is greater than or equal to limit current I0 of the 80% time, and the present speed shift discriminating the vehicle speed V is larger than V1, will not shift;
D2. When the of the accelerator pedal fully depress the accelerator pedal is less than the depth of the depth of the 80% and greater than or equal to the accelerator pedal is fully depressed the depth of the the 50%, phase current is less than the limit current I0 of the 80% and greater than or equal to limit current I0 of the 50% time, one or both of the larger, current vehicle speed V by the shifting discriminating the vehicle speed is V1 drops to the shifting determination vehicle speed V2 at the time, by the high-speed gear is switched to the low-speed gear, and when the vehicle speed V by the shifting discriminating the vehicle speed is V1 drops to the shifting determination vehicle speed V2 when the depth of the accelerator pedal regardless of whether there are any changes, the depth of the accelerator pedal signal failure;
D3. When the electric vehicle is the high-speed gear into low gear, the accelerator pedal signal in the effective state, at this moment a variable accelerating current I2 so that the vehicle speed is improved; when the acceleration current I2 to reach the shift discriminating the vehicle speed or the vehicle speed is V2, and the depth of the accelerator pedal does not change, and keep the electric current I2 is not variable; the change in the depth of the accelerator, the speed of the electric vehicle by the accelerator control.
Furthermore, also included in the stated steps C step C4:
When the accelerator pedal is depressed the depth is 0 time, or phase current of the motor to 0 time, or when the energy feedback produced reverse current , will not shift;
When the accelerator pedal is depressed the depth, speed and in phase current of the motor, wherein the second amount is changed, it is not shifting.
Furthermore, also included in the stated steps D step D4: when the accelerator pedal is depressed the depth is 0, or motor for phase current of 0, or when the energy feedback generating sends the electric current , as long as the current vehicle speed V is less than the shift discriminating vehicle speed V4 time, the gear shifting.
Therefore, the invention provides an electric vehicle automatic gear shifting control device, include a motor controller, three-phase power motor, brake pedal, accelerator pedal sensor, forward backward gear shifter, shift actuator, gear positions, the ignition switch and the three-phase power motor is used for detecting the position of rotation of the electric motor and the position sensor;
The signal output end of the brake pedal with the motor controller is connected with the input end of the brake signal, the output of the accelerator pedal with the motor controller is connected with the input end of the accelerator signal, the power output end of the motor a motor controller with three-phase motor respectively corresponding three the input power line is connected, the signal input end of the said shift driver of the motor control is connected with the output end corresponding to the controller, a signal output end of the backward gearshift forward backward signal to the motor controller is connected to the input end, the output end of the gear shifting command of the driver is connected with the input end of the gear positions order, the signal output end of the ignition switch and the gear shifting of the driver is connected with the input end of the ignition signal, the position sensor and the output end of the motor controller is connected with the input end of the position sensor signal.
The beneficial effect of the invention: the invention of the automatic gear-shift control method for an electric automobile, the electric automobile can effectively solve the problem in manual shifting operation of the deficiency of the existing, and to effectively prevent power limitation of the hub motor, the power of the electric automobile, and can simplify the structure of the variable speed mechanism, reduce the cost, of the driver and also to simplify the operation of the vehicle during driving, increase driving safety, and the control is simple in construction, accurate control.
Description of drawings
The embodiment of Figure and with the further description of this invention:
Figure 1 is a schematic diagram of the process of the invention.
Figure 2 is a schematic diagram of steps C process of the invention.
Figure 3 is a schematic diagram of steps D process of the invention.
Figure 4 is the principle diagram of the invention of the automatic control device for gear shifting of the electric vehicle.
Mode of execution
Figure 1 is the principle diagram, as shown in Figure of a schematic diagram of the process of this invention, Figure 2 the steps of the invention process C a schematic diagram, Figure 3 the step of the invention process D a schematic diagram, Figure 4 the shift of the electric vehicle of the present invention shown in the automatic control device, wherein the signal for the depth of the accelerator pedal that S, said SO maximum depth signal.
The invention provides a method for automatic gear shift control of the electric vehicle, comprising the following steps:
A. Obtaining an initial state signal of the electric vehicle, according to the state of the electric vehicle motor vehicle the implementation of signal control forward, backward running action; electric automobile the implementation of reverse: the power main switch is turned on, after successful ignition key switch (that is, after the ignition the successful signal), manual gear shift mechanism on the reverse gear position, and provide the effective signal, brake cancellation (gives a brake signal), step on the accelerator pedal (that is, provide the accelerator signal); electric automobile implementation of advance movement, : the power main switch is turned on, after successful ignition key switch (that is, after the ignition the successful signal), the manual gear shift mechanism on the forward position, and provide the effective signal, brake cancellation (gives a brake signal), step on the accelerator pedal (that is, provide the accelerator signal)
B. When the electric vehicle implementation of the forward running operation, obtaining electric vehicle forward status signal and is compared with a set signal, controlling electric vehicle according to the result of the comparison performed between the high-speed gear and a low-speed gear by the switching action of;
The stated step A the initial status signal includes in ignition the successful signal, forward backward signal, brake signal, accelerator pedal signal and the depth of the motor position signal, wherein the ignition success signal issued by the ignition coil, forward backward signal issued by the forward backward selector, depth signal of the accelerator pedal the driver tread the accelerator pedal after the issued by the accelerator, when obtaining the ignition the successful signal, forward backward signal, accelerator pedal signal and the depth of the motor position signal, and according to the above-mentioned signal to confirm whether the implementation of an electric automobile backward, forward movement; a brake signal is effective, on the one hand a motor controller closes the accelerator pedal a depth signal, and according to the motor position signal to calculate the current vehicle speed V, and a step backward, forward independent, on the other hand, the motor controller according to the current vehicle speed V feedback starting energy, the energy feedback and under the action of the mechanical brake for, quick stop of the vehicle; the depth of the accelerator pedal of the throttle signal and the vehicle is the same as signal, control speed; motor position signal reflect the current to the specific position of the rotation of the electric motor, also can reflect vehicle speed.
The progress of the steps in B in accordance with the status signal includes 50MS time interval acquisition of the accelerator pedal a depth signal, vehicle speed signal and the phase current signal of the motor, motor speed signal can be converted according to the position sensor. ,
In this embodiment, the steps comprising the steps of in B C: electric vehicle enters into a high-speed gear by a low-speed gear; C including the steps:
C1. When the accelerator pedal is greater than or equal to the depth of accelerator pedal fully depressed depth of the 90% and the phase current is greater than or equal to limit current I0 of the 90% time, a current vehicle speed V is less than the shift discriminating vehicle speed V1, will not shift, wherein the depth of the accelerator pedal by the driver is pedaling the accelerator pedal stroke, limit current of the motor for electric automobile IO the maximum driving current, as the determined value; and shift discriminating the vehicle speed V1 is the set point;
Or: when the accelerator pedal is equal to the depth of the fully depress the accelerator pedal or the depth of the phase current is equal to the limited current IO, a current vehicle speed is less than the shift discriminating vehicle speed V1, is not shifting, at step C1 under the condition, then the current electric vehicle is in load, climbing or under the state of insufficient power, so does not perform the gear shifting action;
C2. The current time of the accelerator pedal is depressed fully depress the accelerator pedal is less than the depth of the depth of the 90% and the motor phase current is less than the limiting current of I0 the 90% time, and the current vehicle speed has reached a shift discriminating the vehicle speed V1 is, by the low-speed gear is switched to the high-speed gear;
Current vehicle speed V is equal to or greater than the shift discriminating vehicle speed V1 the rear, no matter whether the accelerator signal is zero at that time, motor controller does not receive the accelerator pedal a depth signal, the motor controller of the feedback current at I1 the vehicle speed drop, when the vehicle speed V is equal to or less than the shift discriminating the vehicle speed V2 is, completed by a low-speed gear is switched to the high-speed gear; wherein the shift discriminating the vehicle speed V2 is the set point, and V1 > V2, feedback counter-current I1 is a change value , and when the 0 to a set value changes in between, but eventually after 50-100mS, for stably forming a fixed value feedback anti-can be; wherein the feedback current is accelerator signal is 0, the, motor to enter into the power generating state, the motor controller can transform kinetic energy at the moment the electric energy of the anti-back to the battery pack, the feedback current is called reverse current , relative power supply current is concerned, is opposite to the direction of the current, the speed of the feedback current here, in order to quickly shift.
C3. When the electric vehicle by a low-speed gear to the high-speed gear, the accelerator pedal signal in the effective state, at this moment a variable accelerating current I2 so that the vehicle speed is improved; when the acceleration current I2 to reach the shift discriminating the vehicle speed or the vehicle speed is V1, and the depth of the accelerator pedal does not change, the current I2 is maintained; when the accelerator when the change in the depth, speed of the electric vehicle by the accelerator control, wherein the accelerating current I2 is 0 to a set value of a current changing between, and after 50-100mS rear, accelerating current I2 reaches the set value.
In this embodiment, is also included in the steps step D B: electric vehicle by a high-speed gear into the low speed gear, step D including:
D1. When the accelerator pedal is greater than or equal to the depth of accelerator pedal fully depressed depth of the 80% and the phase current is greater than or equal to limit current I0 of the 80% time, and the present speed shift discriminating the vehicle speed V is larger than V1, will not shift;
D2. When the of the accelerator pedal fully depress the accelerator pedal is less than the depth of the depth of the 80% and greater than or equal to the accelerator pedal is fully depressed the depth of the the 50%, phase current is less than the limit current I0 of the 80% and greater than or equal to limit current I0 of the 50% time, one or both of the larger, current vehicle speed V by the shifting discriminating the vehicle speed is V1 drops to the shifting determination vehicle speed V2 at the time, by the high-speed gear is switched to the low-speed gear, and when the vehicle speed V by the shifting discriminating the vehicle speed is V1 drops to the shifting determination vehicle speed V4 of the accelerator pedal regardless of whether there is a change in depth, the depth of the accelerator pedal signal failure, wherein the gear-shifting judging speed V1 and V2 is the set point, and V2 < V1;
D3. When the electric vehicle is the high-speed gear into low gear, the accelerator pedal signal in the effective state, at this moment a variable accelerating current I2 so that the vehicle speed is improved; because the shift with a delay, for example on a slope, this will be after the completion of the gear shifting speed than V2 more low, so a variable accelerating current I2 as soon as possible the V to V2; when the acceleration current I2 to reach the shift discriminating the vehicle speed or the vehicle speed is V2, and the depth of the accelerator pedal does not change, and keep the electric current I2 is not variable; the change in the depth of the accelerator, the speed of the electric vehicle by the accelerator control.
In this embodiment, is also included in the stated steps C step C4:
When the accelerator pedal is depressed the depth is 0 time, or phase current of the motor to 0 time, or when the energy feedback produced reverse current , will not shift;
When the accelerator pedal is depressed the depth, speed and in phase current of the motor, wherein the second amount is changed, it is not shifting, in case of downhill, speed V will increase, and the accelerator is depressed depth may not change, the phase current of the motor will be reduced I, the changes in the second amount.
In this embodiment, is also included in the stated steps D step D4: when the accelerator pedal is depressed the depth is 0, or motor for phase current of 0, or when the energy feedback generating sends the electric current , as long as the current vehicle speed V is less than the shift discriminating vehicle speed V4 time, the gear shifting.
Therefore, the invention provides an electric vehicle automatic gear shifting control device, include a motor controller, three-phase power motor, brake pedal, accelerator pedal sensor, forward backward gear shifter, shift actuator, gear positions, the ignition switch and the three-phase power motor is used for detecting the position of rotation of the electric motor and the position sensor, wherein the position of the electric motor sensor to detect the motor rotation signal, and can be converted into the vehicle speed signal;
The signal output end of the brake pedal with the motor controller is connected with the input end of the brake signal, the output of the accelerator pedal with the motor controller is connected with the input end of the accelerator signal, the power output end of the motor a motor controller with three-phase motor respectively corresponding three the input power line is connected, the signal input end of the said shift driver of the motor control is connected with the output end corresponding to the controller, a signal output end of the backward gearshift forward backward signal to the motor controller is connected to the input end, the output end of the gear shifting command of the driver is connected with the input end of the gear positions order, the signal output end of the ignition switch and the gear shifting of the driver is connected with the input end of the ignition signal, the position sensor and the output end of the motor controller is connected with the input end of the position sensor signal, the motor controller to obtain ignition successful signal, forward backward signal, brake signal, and a depth signal of the accelerator pedal position signal of the motor, three-phase power motor phase current signal, when the electric vehicle is in the start-up of the initial state, the electric vehicle according to the above-mentioned signal to confirm the implementation of backward or forward movement, and the motor controller output control command through a shift driver, and implementation of backward or forward movement; when the electric vehicle is in forward form state, motor controller according to the vehicle speed signal, accelerator pedal signal and the depth of the phase current of the motor according to the above-mentioned method is judged and to shift the driving driver output gear shift control command, and drive gear positions gear shifting action.
Finally note that, the above-mentioned embodiment in order to illustrate the technical scheme of the invention and non-limiting, although with reference to the preferred embodiments of a detailed explanation of the invention, the ordinary technical personnel in this field should be understood, the technical scheme of this invention for equivalent modification or replacement, and can not be separated from the technical scheme of the invention the purpose and scope of, its should be covered in this invention, the scope of the claim.
Electric vehicle automatic gear shift control method and device thereof
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