CN105730281A - Hill start control method and system of electric learner-driven vehicle and electric learner-driven vehicle - Google Patents
Hill start control method and system of electric learner-driven vehicle and electric learner-driven vehicle Download PDFInfo
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- CN105730281A CN105730281A CN201610089674.2A CN201610089674A CN105730281A CN 105730281 A CN105730281 A CN 105730281A CN 201610089674 A CN201610089674 A CN 201610089674A CN 105730281 A CN105730281 A CN 105730281A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000008569 process Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 12
- 238000004886 process control Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 10
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 2
- 235000011613 Pinus brutia Nutrition 0.000 description 2
- 241000018646 Pinus brutia Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- B60L15/2072—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 for drive off
- B60L15/2081—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 for drive off for drive off on a slope
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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
- B60L2240/421—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
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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)
Abstract
The invention provides a hill start control method and a hill start control system of an electric learner-driven vehicle and the electric learner-driven vehicle, wherein the electric learner-driven vehicle comprises a driving motor, and the hill start control method comprises the following steps: detecting a clutch state; if the clutch is stepped on, controlling the driving motor to enter a rotating speed control mode in the gear shifting process; determining a target rotating speed and a target torque of the driving motor according to the gear signal and the opening degree of the accelerator pedal; and controlling the driving motor according to the target rotating speed and the target torque until gear shifting is completed and the clutch is released. The method can realize the consistency of the hill-start effect and the feeling of the electric learner-driven vehicle and the traditional gasoline vehicle, and can keep the heat balance of the internal parts thereof and avoid damaging the clutch.
Description
Technical field
The present invention relates to field of automobile, particularly to the hill start control method of a kind of electric instruction car, system and electric instruction car.
Background technology
Due to learner-driven vehicle use particularity, whole-control system for ease of to coach vehicle carry out reasonable, effectively control, the driving cycle of vehicle need to be divided.Whole-control system is by gathering the information such as accelerator pedal signal, shift signal, GES, complete vehicle fault signal, car load operating condition is divided into startup, idling, gearshift, load, zero moment of torsion, energy regenerating, limping, the operating mode such as flame-out, calculates as demand torque and moment of torsion output controls to provide foundation.Hill start process is as one of the special operation condition of electric instruction car, driving procedure can be frequently encountered by, but current electric instruction car needs the extra cost of increase and parts could realize the hill start effect consistent with conventional gasoline car and impression, and, when carrying out hill start, the mode of large throttle high pulling torque generally can be taked to play slope, so can cause clutch overheat, thus damaging the parts of vehicle.
Summary of the invention
It is contemplated that one of technical problem solved at least to a certain extent in above-mentioned correlation technique.
For this, it is an object of the present invention to propose the hill start control method of a kind of electric instruction car, the method is capable of the concordance of electric instruction car and conventional gasoline car hill start effect with impression, and can keep the thermal balance of its inner components, it is to avoid infringement clutch.
Further object is that the hill start proposing a kind of electric instruction car controls system.
Another object of the present invention is in that to propose a kind of electric instruction car.
To achieve these goals, the embodiment of first aspect present invention proposes the hill start control method of a kind of electric instruction car, and described electric instruction car includes drive motor, and described hill start control method includes: detection clutch state；If described clutch is operated, then in shift process, control described drive motor and enter rotating speed control mode；Rotating speed of target and the target torque of described drive motor is determined according to shift signal and gas pedal aperture；And according to described rotating speed of target and described target torque, described drive motor is controlled, until shift gears and described clutch is released.
The hill start control method of electric instruction car according to embodiments of the present invention, when clutch is operated, then control described drive motor when gearshift and enter rotating speed control mode, and determine rotating speed of target and the target torque of drive motor according to shift signal and gas pedal aperture, and according to rotating speed of target and target torque, drive motor is controlled until having shifted gears and clutch is released.Therefore, the method is not when increasing extra cost and parts, it is possible to realize the concordance of electric instruction car and conventional gasoline car hill start effect and impression, and can keep the thermal balance of its inner components, without compromising on clutch.
It addition, the hill start control method of electric instruction car according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, described rotating speed of target increases with the increase of described gas pedal aperture.
In some instances, described rotating speed of target is lower than 2000rmp.
In some instances, described target torque is the peak torque allowing described drive electrode to export under described rotating speed of target.
In some instances, under described rotating speed control mode, the initial target rotating speed of described drive motor is idling speed.
The embodiment of second aspect present invention also proposed the hill start of a kind of electric instruction car and controls system, and described electric instruction car includes drive motor, and described hill start controls system and includes: detection module, described detection module is used for detecting clutch state；And control module, described control module is connected with described detection module, for when described clutch is operated, shift process controls described drive motor and enters rotating speed control mode, and rotating speed of target and the target torque of described drive motor is determined according to shift signal and gas pedal aperture, and according to described rotating speed of target and described target torque, described drive motor is controlled, until shift gears and described clutch is released.
The hill start of electric instruction car according to embodiments of the present invention controls system, when clutch is operated, then control described drive motor when gearshift and enter rotating speed control mode, and determine rotating speed of target and the target torque of drive motor according to shift signal and gas pedal aperture, and according to rotating speed of target and target torque, drive motor is controlled until having shifted gears and clutch is released.Therefore, this system is not when increasing extra cost and parts, it is possible to realize the concordance of electric instruction car and conventional gasoline car hill start effect and impression, and can keep the thermal balance of its inner components, without compromising on clutch.
It addition, the hill start of electric instruction car according to the above embodiment of the present invention controls system can also have following additional technical characteristic:
In some instances, described rotating speed of target increases with the increase of described gas pedal aperture.
In some instances, described rotating speed of target is lower than 2000rmp.
In some instances, described target torque is the peak torque allowing described drive electrode to export under described rotating speed of target.
In some instances, under rotating speed control mode, the initial target rotating speed of described drive motor is idling speed.
The embodiment of third aspect present invention also proposed a kind of electric instruction car, and the hill start including the electric instruction car described in the above embodiment of the present invention controls system.
Electric instruction car according to embodiments of the present invention, when clutch is operated, then control described drive motor when gearshift and enter rotating speed control mode, and determine rotating speed of target and the target torque of drive motor according to shift signal and gas pedal aperture, and according to rotating speed of target and target torque, drive motor is controlled until having shifted gears and clutch is released.Therefore, when not increasing extra cost and parts, this electric instruction car is capable of and the concordance of conventional gasoline car hill start effect Yu impression, and can keep the thermal balance of its inner components, without compromising on clutch.
The additional aspect of the present invention and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by the practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of the present invention and advantage are from conjunction with will be apparent from easy to understand the accompanying drawings below description to embodiment, wherein:
Fig. 1 is the flow chart of the hill start control method of electric instruction car according to an embodiment of the invention；
Fig. 2 is Motor torque and motor speed change schematic diagram in hill start process according to an embodiment of the invention；And
Fig. 3 is the structured flowchart of the hill start control system of electric instruction car according to an embodiment of the invention.
Detailed description of the invention
Being described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of same or like function from start to finish.The embodiment described below with reference to accompanying drawing is illustrative of, and is only used for explaining the present invention, and is not considered as limiting the invention.
Below in conjunction with accompanying drawing, the hill start control method of electric instruction car according to embodiments of the present invention, system and electric instruction car are described.
Fig. 1 is the flow chart of the hill start control method of electric instruction car according to an embodiment of the invention.Wherein, electric instruction car such as includes drive motor.As it is shown in figure 1, this hill start control method includes:
Step S1: detection clutch state.Wherein, clutch state such as includes clutch and is operated and is not operated two states with clutch.
Step S2: if clutch is operated, then in shift process, controls drive motor and enters rotating speed control mode.Wherein, clutch is operated the condition being vehicle entrance gearshift operating mode.
Specifically, hill start operating mode includes stepping on clutch, gearshift and pine clutch three step operation, and when car load is shifted gears, it is necessary to pedal of stepping on the throttle, now, motor control model is rotating speed pattern.
Step S3: determine rotating speed of target and the target torque of drive motor according to shift signal and gas pedal aperture.Wherein, target torque is such as the peak torque allowing drive motor output under rotating speed of target, and this peak torque such as includes the maximum electric torque and the maximum generation moment of torsion that allow drive motor output under rotating speed of target.In concrete example, rotating speed of target increases with the increase of gas pedal aperture, and rotating speed of target is such as lower than 2000rmp.
Step S4: drive motor is controlled according to rotating speed of target and target torque, until having shifted gears and clutch is released.Wherein, the released vehicle that is of clutch exits the condition of gearshift operating mode.
Shown in Fig. 2, under rotating speed control mode, the initial target rotating speed of drive motor is idling speed.Specifically, car load initially enters idling operation after starting, and now drive motor rotating speed is idling speed.Drive motor receives entire car controller rotating speed command, to be maintained by motor speed near initial target rotating speed (idling speed).After stepping on clutch, car load enters gearshift operating mode, in gearshift operating mode, keep the certain aperture of gas pedal, drive motor keeps rotating speed control mode, receives the rotating speed command that entire car controller sends, to obtain the max. output torque and maximum generation moment of torsion allowed under rotating speed of target and this rotating speed of target.After unclamping clutch, entire car controller exits gearshift operating mode, is switched to other operating mode.
To sum up, the hill start control method of electric instruction car according to embodiments of the present invention, when clutch is operated, then control described drive motor when gearshift and enter rotating speed control mode, and determine rotating speed of target and the target torque of drive motor according to shift signal and gas pedal aperture, and according to rotating speed of target and target torque, drive motor is controlled until having shifted gears and clutch is released.Therefore, the method is not when increasing extra cost and parts, it is possible to realize the concordance of electric instruction car and conventional gasoline car hill start effect and impression, and can keep the thermal balance of its inner components, without compromising on clutch.
Further embodiment of the present invention additionally provides the hill start of a kind of electric instruction car and controls system.
Fig. 3 is the structured flowchart of the hill start control system of electric instruction car according to an embodiment of the invention.Include as it is shown on figure 3, this hill start controls system 100: detection module 110 and control module 120.
Wherein, detection module 110 is used for detecting clutch state.Wherein, clutch state such as includes clutch and is operated and is not operated two states with clutch.
Control module 120 to be connected with detection module 110, for when clutch is operated, shift process controls drive motor and enters rotating speed control mode, and rotating speed of target and the target torque of drive motor is determined according to shift signal and gas pedal aperture, and according to rotating speed of target and target torque, drive motor is controlled, until shift gears and clutch is released.
Specifically, hill start operating mode includes stepping on clutch, gearshift and pine clutch three step operation, and when car load is shifted gears, it is necessary to pedal of stepping on the throttle, now, motor control model is rotating speed pattern.Wherein, clutch is operated the condition being vehicle entrance gearshift operating mode；The released vehicle that is of clutch exits the condition of gearshift operating mode.
Wherein, target torque is such as the peak torque allowing drive motor output under rotating speed of target, and this peak torque such as includes the maximum electric torque and the maximum generation moment of torsion that allow drive motor output under rotating speed of target.In concrete example, rotating speed of target increases with the increase of gas pedal aperture, and rotating speed of target is such as lower than 2000rmp.
Further, under rotating speed control mode, the initial target rotating speed of drive motor is idling speed.Specifically, car load initially enters idling operation after starting, and now drive motor rotating speed is idling speed.Drive motor receives entire car controller rotating speed command, to be maintained by motor speed near initial target rotating speed (idling speed).After stepping on clutch, car load enters gearshift operating mode, in gearshift operating mode, keep the certain aperture of gas pedal, drive motor keeps rotating speed command pattern, receives the rotating speed command that entire car controller sends, to obtain the max. output torque and maximum generation moment of torsion allowed under rotating speed of target and this rotating speed of target.After unclamping clutch, entire car controller exits gearshift operating mode, is switched to other operating mode.
To sum up, the hill start of electric instruction car according to embodiments of the present invention controls system, when clutch is operated, then control described drive motor when gearshift and enter rotating speed control mode, and determine rotating speed of target and the target torque of drive motor according to shift signal and gas pedal aperture, and according to rotating speed of target and target torque, drive motor is controlled until having shifted gears and clutch is released.Therefore, this system is not when increasing extra cost and parts, it is possible to realize the concordance of electric instruction car and conventional gasoline car hill start effect and impression, and can keep the thermal balance of its inner components, without compromising on clutch.
Further embodiment of the present invention also proposed a kind of electric instruction car, and this electric instruction car such as includes the hill start of electric instruction car described in conjunction with Figure 3 in the above embodiment of the present invention and controls system.
Electric instruction car according to embodiments of the present invention, when clutch is operated, then control described drive motor when gearshift and enter rotating speed control mode, and determine rotating speed of target and the target torque of drive motor according to shift signal and gas pedal aperture, and according to rotating speed of target and target torque, drive motor is controlled until having shifted gears and clutch is released.Therefore, when not increasing extra cost and parts, this electric instruction car is capable of and the concordance of conventional gasoline car hill start effect Yu impression, and can keep the thermal balance of its inner components, without compromising on clutch.
It addition, other of electric instruction car according to embodiments of the present invention is constituted and effect is all known for the ordinary skill in the art, in order to reduce redundancy, do not repeat.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axially ", " radially ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not considered as limiting the invention.
Additionally, term " first ", " second " are only for descriptive purposes, and it is not intended that indicate or imply relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, for instance two, three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or integral；Can be mechanically connected, it is also possible to be electrical connection；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be connection or the interaction relationship of two elements of two element internals, unless otherwise clear and definite restriction.For the ordinary skill in the art, it is possible to understand above-mentioned term concrete meaning in the present invention as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second feature.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment or the example of the present invention.In this manual, the schematic representation of above-mentioned term is necessarily directed to identical embodiment or example.And, the specific features of description, structure, material or feature can combine in one or more embodiments in office or example in an appropriate manner.Additionally, when not conflicting, the feature of the different embodiments described in this specification or example and different embodiment or example can be carried out combining and combining by those skilled in the art.
Although above it has been shown and described that embodiments of the invention, it is understandable that, above-described embodiment is illustrative of, it is impossible to be interpreted as limitation of the present invention, and above-described embodiment can be changed, revises, replace and modification by those of ordinary skill in the art within the scope of the invention.
Claims (11)
1. the hill start control method of an electric instruction car, it is characterised in that described electric instruction car includes drive motor, and described hill start control method includes:
Detection clutch state；
If described clutch is operated, then in shift process, control described drive motor and enter rotating speed control mode；
Rotating speed of target and the target torque of described drive motor is determined according to shift signal and gas pedal aperture；And
According to described rotating speed of target and described target torque, described drive motor is controlled, until having shifted gears and described clutch is released.
2. the hill start control method of electric instruction car according to claim 1, it is characterised in that described rotating speed of target increases with the increase of described gas pedal aperture.
3. the hill start control method of electric instruction car according to claim 2, it is characterised in that described rotating speed of target is lower than 2000rmp.
4. the hill start control method of electric instruction car according to claim 1, it is characterised in that described target torque is the peak torque allowing described drive electrode to export under described rotating speed of target.
5. the hill start control method of electric instruction car according to claim 1, it is characterised in that under described rotating speed control mode, the initial target rotating speed of described drive motor is idling speed.
6. the hill start of an electric instruction car controls system, it is characterised in that described electric instruction car includes drive motor, and described hill start controls system and includes:
Detection module, described detection module is used for detecting clutch state；And
Control module, described control module is connected with described detection module, for when described clutch is operated, shift process controls described drive motor and enters rotating speed control mode, and rotating speed of target and the target torque of described drive motor is determined according to shift signal and gas pedal aperture, and according to described rotating speed of target and described target torque, described drive motor is controlled, until shift gears and described clutch is released.
7. the hill start of electric instruction car according to claim 6 controls system, it is characterised in that described rotating speed of target increases with the increase of described gas pedal aperture.
8. the hill start of electric instruction car according to claim 7 controls system, it is characterised in that described rotating speed of target is lower than 2000rmp.
9. the hill start of electric instruction car according to claim 6 controls system, it is characterised in that described target torque is the peak torque allowing described drive electrode to export under described rotating speed of target.
10. the hill start of electric instruction car according to claim 6 controls system, it is characterised in that under rotating speed control mode, the initial target rotating speed of described drive motor is idling speed.
11. an electric instruction car, it is characterised in that the hill start including the electric instruction car as described in any one of claim 6-10 controls system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610089674.2A CN105730281A (en) | 2016-02-17 | 2016-02-17 | Hill start control method and system of electric learner-driven vehicle and electric learner-driven vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610089674.2A CN105730281A (en) | 2016-02-17 | 2016-02-17 | Hill start control method and system of electric learner-driven vehicle and electric learner-driven vehicle |
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| CN105730281A true CN105730281A (en) | 2016-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610089674.2A Pending CN105730281A (en) | 2016-02-17 | 2016-02-17 | Hill start control method and system of electric learner-driven vehicle and electric learner-driven vehicle |
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| CN107387597A (en) * | 2017-06-23 | 2017-11-24 | 东风特汽（十堰）专用车有限公司 | A kind of electric instruction car electric-controlled mechanical clutch and starting control method |
| CN107415773A (en) * | 2017-07-28 | 2017-12-01 | 北京新能源汽车股份有限公司 | Motor working state control method and device and automobile |
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| CN107387597A (en) * | 2017-06-23 | 2017-11-24 | 东风特汽（十堰）专用车有限公司 | A kind of electric instruction car electric-controlled mechanical clutch and starting control method |
| CN107415773A (en) * | 2017-07-28 | 2017-12-01 | 北京新能源汽车股份有限公司 | Motor working state control method and device and automobile |
| CN107415773B (en) * | 2017-07-28 | 2019-07-30 | 北京新能源汽车股份有限公司 | Motor working state control method and device and automobile |
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Application publication date: 20160706 |
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