CN114834268A - Creep control method based on PI - Google Patents
Creep control method based on PI Download PDFInfo
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- CN114834268A CN114834268A CN202210630414.7A CN202210630414A CN114834268A CN 114834268 A CN114834268 A CN 114834268A CN 202210630414 A CN202210630414 A CN 202210630414A CN 114834268 A CN114834268 A CN 114834268A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000009193 crawling Effects 0.000 claims abstract description 31
- 230000003213 activating effect Effects 0.000 claims abstract description 12
- 230000006870 function Effects 0.000 claims description 23
- 239000012530 fluid Substances 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims description 2
- 230000036461 convulsion Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 claims 1
- 238000004364 calculation method Methods 0.000 description 3
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
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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
- B60L15/2063—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 creeping
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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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- 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
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/42—Control modes by adaptive correction
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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)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention discloses a creep control method based on PI, which comprises the following steps: detecting the current state of the vehicle, determining the driving intention of a driver, judging whether the vehicle meets a crawling condition or not and activating a crawling function; and calculating to obtain the initial creep torque of the vehicle after the vehicle activates the creep function according to the calibration map and the PI control. The invention judges whether the vehicle can be driven or not under the condition of meeting the crawling condition, if the vehicle can not be driven, the crawling torque is cancelled, and the function of protecting hardware is played; if the vehicle can be driven, the creeping function is started, the vehicle is started and climbed are separated, the basic map is adopted for calibration during starting, after a certain vehicle speed is reached, PI control is adopted, the starting smoothness and the function of creeping on a slope are guaranteed, and the driving performance is improved; the creep torque is corrected through the opening degree of the brake pedal and the torsion angle of the steering wheel, the control logic is simple, and the creep torque accords with the driving habit of a driver.
Description
Technical Field
The invention belongs to the field of vehicle control, and particularly relates to a crawling control method based on a PI (proportional integral).
Background
The automobile is generally driven at a low speed when the automobile is parked and stored in a garage and is tracked on a congested road, and the traditional automobile is generally realized by an automatic gearbox controller through a clutch, namely, some torque which is not controlled by software is applied to wheels by gearbox hardware, so that the automobile creeps at a low speed on a flat road.
The crawling function of the electric automobile is generally realized in a software control mode, a motor is used for generating required real-time creep torque, a driver is helped to control the automobile more easily in traffic jam, starting and on a slope, and the crawling assisting device plays an important role in the aspect of automobile driving assisting.
In the existing automobile creep control strategy, basic creep torque is set according to the speed and the gear on the flat ground and is adjusted according to external influence factors such as brake pressure, temperature and the like, on the slope, the basic creep torque is mostly preset by depending on a slope coefficient, then attenuation filtering is carried out according to resistance, and a motor is controlled by taking the torque output from a filter as required torque.
Disclosure of Invention
The invention aims to provide a crawling control method based on PI (proportional integral) which judges whether a vehicle can be driven or not under the condition of meeting a crawling condition, and cancels crawling torque to play a role in protecting hardware if the vehicle cannot be driven; if the vehicle can be driven, the creeping function is started, the vehicle is started and climbed are separated, the starting smoothness and the function of creeping on the slope are ensured, and the driving performance is improved; the creep torque is corrected through the opening degree of the brake pedal and the torsion angle of the steering wheel, the control logic is simple, and the creep torque accords with the driving habit of a driver.
In order to solve the technical problems, the technical scheme of the invention is as follows: a creep control method based on PI comprises the following steps:
detecting the current state of the vehicle, determining the driving intention of a driver, judging whether the vehicle meets a crawling condition or not and activating a crawling function;
and calculating to obtain the initial creep torque of the vehicle after the vehicle activates the creep function according to the calibration map and the PI control.
Further comprising the steps of:
when the vehicle turns, the initial creep torque is corrected according to the opening degree of a brake pedal, the brake hydraulic pressure and the torsion angle of a steering wheel, and the correction method comprises the following steps:
T＝T initial *K p *K θ
Wherein T is the corrected creep torque, T Initial For initial creep torque, K p For the calculated torque damping coefficient, K, based on the brake fluid pressure θ The torque adjusting coefficient is calculated according to the torsion angle of the steering wheel.
The method for calculating the torque attenuation coefficient according to the brake fluid pressure comprises the following steps:
in the formula, K is more than or equal to 0 p ≤1,p calibration Indicating a calibratable brake fluid pressure and p indicating the brake fluid pressure when the driver steps on the brake pedal.
The method for calculating the torque adjustment coefficient according to the torsion angle of the steering wheel comprises the following steps:
in the formula, theta calibration And theta calibration Are all steering angles, theta calibration2 And theta calibration Respectively, a second calibrated value of the steering angle and a first calibrated value of the steering angle, and theta calibration2 |>|θ calibration1 The real-time steering angle theta is defined, and the theta is a positive value when the vehicle turns left; when the vehicle turns right, theta is a negative value;
when theta min |≤|θ|≤|θ calibration1 I, meaning that the road camber is small at this time, no creep torque is adjusted, theta min The minimum value of the steering angle can be calibrated;
when theta calibration1 |≤|θ|≤|θ calibration2 I, the road curvature is moderate at the moment, and the creep torque is adjusted by applying the formula;
when theta calibration |≤|θ|≤|θ max I, the road bending degree is larger at the moment, and higher torque turning has certain danger, so the creep torque is assigned to be smaller preset fixed torque T calibration ，θ max Is the maximum value of the steering angle which can be calibrated.
Judging the current driving intention of the driver according to the position of the gear handle; when the gear is in the D gear or the R gear, the brake pedal, the accelerator pedal and the hand brake are released, and the vehicle speed is lower than the creep vehicle speed threshold v calibration And if so, judging that the vehicle meets the crawling condition.
When the crawling condition is met, if the vehicle speed v is within the preset time T calibration Is continuously at v 0 ＜v＜v 1 If the vehicle is level, judging that the vehicle cannot creep for starting and activating a creeping function; otherwise, activating the crawling function; wherein v is 0 Activating a first threshold for creep, v 1 Activating a second threshold for creep, v 1 ＜v calibration 。
The calculation method of the initial creep torque comprises the following steps:
T PI ＝k p ×Δv+k i ×Δv
T initial ＝max{C 1 ,min(C 2 ,T PI )}
In the formula, T PI For the current creep torque of the vehicle, k p Is a proportionality coefficient, k i As an integral coefficient, Δ v ═ v Target -v Practice of Is the difference between the target speed and the actual speed, C 1 Is the minimum value of torque, C 2 Is the maximum value.
To avoid starting up, a basic torque T is set Foundation Initial creep torque T when the vehicle is started Foundation 。
There is also provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method as claimed in any one of the above when executing the computer program.
There is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method according to any one of the preceding claims.
Compared with the prior art, the invention has the beneficial effects that:
the invention judges whether the vehicle can be driven or not under the condition of meeting the crawling condition, if the vehicle can not be driven, the crawling torque is cancelled, and the function of protecting hardware is played; if the vehicle can be driven, the creeping function is started, the vehicle is started and climbed are separated, the starting smoothness and the function of creeping on the slope are ensured, and the driving performance is improved; the creep torque is corrected through the opening degree of the brake pedal and the torsion angle of the steering wheel, the control logic is simple, and the creep torque accords with the driving habit of a driver.
Drawings
FIG. 1 is a schematic flow chart illustrating a creep condition determination according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a determination of a creep activation condition according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating a creep adjusting method during turning according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a creep control method based on PI, which comprises the following specific control steps:
(1) judging whether the crawling function of the vehicle is activated or not according to the current state of the vehicle and the intention of a driver;
(2) calculating a creep control method and an initial creep torque;
(3) and correcting the creep torque to obtain the final creep torque.
The method for judging whether the crawling function is activated comprises the following steps:
detecting the current state of the vehicle and the intention of a driver, operating the gear by the driver, sending the gear to the VCU through the CAN signal, judging the intention of the driver by the VCU according to the position of a gear handle, and when the vehicle is in a D gear or an R gear, releasing a brake pedal and an accelerator pedal, releasing a hand brake, and the vehicle speed is lower than v calibration (calibratable), the creep condition is satisfied, if v Vehicle speed At a period of time T calibration Is continuously in v 0 ＜v＜v 1 (wherein v is 0 And v 1 Can be calibrated), the vehicle can be judged to be incapable of normal crawling starting, crawling torque is reduced after a period of adjustable time, and the crawling function is cancelled; if the vehicle can be driven, the crawling function is normally activated, and a specific judgment method is shown in fig. 1 and fig. 2.
Creep control method and initial creep torque calculation
If the control is carried out according to the PI independently, the functions of flat ground starting and smoothness and creeping on a slope cannot be considered, because the invention presets the basic torque, after the vehicle starts smoothly, the PI control is intervened to ensure the stability of creeping, and the specific control method comprises the following steps:
in order to avoid relatively rush during starting, a smaller basic torque T is preset according to the vehicle speed and the gear during starting under the condition of meeting the crawling condition Foundation At the time of vehicle start, T Initial Is equal to T Foundation (ii) a In order to ensure the creeping function of the vehicle on the slope, after the vehicle is started smoothly and the vehicle speed reaches v (can be calibrated), PI control is started, and the creeping torque at the moment is T PI ＝k p ×Δv+k i ×Δv,T Initial ＝max{C 1 ,min(C 2 ,T PI )},
Wherein k is p Is a proportionality coefficient, k i As an integral coefficient, Δ v ═ v Target -v Practice of Is the difference between the target speed and the actual speed, C 1 Torque minimum for PI control, C 2 The maximum value of the PI control torque is obtained;
the strategy for switching the basic torque control to the PI control is to filter according to the current vehicle speed, the running period and the difference value of the two, and when the difference value of the two is less than T c When the (can be calibrated), the PI control starts to take effect;
thirdly, correcting the creep torque to obtain the final creep torque
Correcting the creep torque obtained in the second step according to the opening degree of the brake pedal or the brake fluid pressure and the torsion angle of the steering wheel
The corrected torque is: t ═ T Initial *K p *K θ
Wherein:
K p indicating a torque attenuation coefficient calculated from the brake hydraulic pressure,
0≤K p ≤1；
K θ indicating the torque adjustment coefficient calculated from the steering wheel twist angle.
The calculation process of the torque adjustment coefficient of the steering wheel torsion angle is as follows:
since the steering angle signal θ transmitted by the EPS sensor has directivity, in the present invention, it is specified that the steering angle signal θ indicates that the vehicle turns left when positive, indicates that the vehicle turns right when negative, and indicates that the vehicle is traveling on a straight road when the steering angle signal θ is 0.
Taking left turn as an example, the turning angle signal theta is positive, K θ The torque adjustment coefficient is divided into the following three cases;
when theta min |≤|θ|≤|θ calibration1 I, meaning that the road camber is small at this time, no creep torque is adjusted, theta min The minimum value of the steering angle can be calibrated;
when theta calibration1 |≤|θ|≤|θ calibration2 I, the road curvature is moderate at the moment, and the creep torque is adjusted by applying the formula;
when theta calibration2 |≤|θ|≤|θ max I, the road bending degree is larger at the moment, and higher torque turning has certain danger, so the creep torque is assigned to be smaller preset fixed torque T calibration ，θ max Is the maximum value of the steering angle which can be calibrated.
According to the above analysis, K θ The formula of (1) is as follows:
calculating creep torque according to formula 1, and sending the creep torque to the motor controller, so as to control the creep function of the vehicle during turning, and the implementation flow is shown in fig. 3.
Particularly, when a driver wants to take over the vehicle at a low speed and operate the vehicle according to the intention of the driver, the creeping function switch key can be used for realizing the opening and closing functions of creeping, and the requirements of the driver can be met more conveniently and quickly in turning or straight roads.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A creep control method based on PI is characterized by comprising the following steps:
detecting the current state of the vehicle, determining the driving intention of a driver, judging whether the vehicle meets a crawling condition or not and activating a crawling function;
and calculating to obtain the initial creep torque of the vehicle after activating the creep function according to the calibration map and the PI control.
2. The PI-based creep control method according to claim 1, further comprising the steps of:
when the vehicle turns, the initial creep torque is corrected according to the opening degree of a brake pedal, the brake hydraulic pressure and the torsion angle of a steering wheel, and the correction method comprises the following steps:
T＝T initial *K p *K θ
Wherein T is the corrected creep torque, T Initial For initial creep torque, K p For the calculated torque damping coefficient, K, based on the brake fluid pressure θ The torque adjusting coefficient is calculated according to the torsion angle of the steering wheel.
3. The PI-based creep control method according to claim 2, wherein the torque attenuation coefficient is calculated from the brake fluid pressure by:
in the formula, K is more than or equal to 0 p ≤1,p calibration Indicating a calibratable brake fluid pressure and p indicating the brake fluid pressure when the driver steps on the brake pedal.
4. The PI-based creep control method according to claim 2, wherein the method of calculating the torque adjustment coefficient according to the steering wheel torsion angle is as follows:
in the formula, theta calibration For a first calibrated value of steering angle, theta calibration2 Is a second calibrated value of steering angle, and calibration2 |>|θ calibration1 l, |; theta is a real-time steering angle, and when the vehicle is regulated to turn left, theta is a positive value; when the vehicle turns right, theta is a negative value;
when theta min |≤|θ|≤|θ calibration1 I, meaning that the road camber is small at this time, no creep torque is adjusted, theta min The minimum value of the steering angle can be calibrated;
when theta calibration1 |≤|θ|≤|θ calibration I, the road curvature is moderate at the moment, and the creep torque is adjusted by applying the formula;
when theta calibration2 |≤|θ|≤|θ max I, the road bending degree is larger at the moment, and higher torque turning has certain danger, so the creep torque is assigned to be smaller preset fixed torque T calibration ，θ max Is the maximum value of the steering angle which can be calibrated.
5. The PI-based crawling control method according to claim 1, wherein a current driving intention of a driver is judged according to a position of a gear handle; when the gear is in the D gear or the R gear, the brake pedal, the accelerator pedal and the hand brake are released, and the vehicle speed is lower than the creep vehicle speed threshold v calibration And if so, judging that the vehicle meets the crawling condition.
6. The PI-based crawling control method according to claim 5, wherein after a crawling condition is met, if a vehicle speed v is within a preset time T calibrstion Is continuously at v 0 ＜v＜v 1 If the vehicle is level, judging that the vehicle cannot creep for starting and activating a creeping function; otherwise, activating the crawling function; wherein v is 0 Activating a first threshold for creep, v 1 Activating a second threshold for creep, v 1 ＜v calibration 。
7. The PI-based creep control method according to claim 1, wherein the initial creep torque is calculated by:
T PI ＝k p ×Δv+k i ×Δv
T initial ＝max{C 1 ,min(C 2 ,T PI )}
In the formula, T PI For the current creep torque of the vehicle, k p Is a proportionality coefficient, k i As an integral coefficient, Δ v ═ v Target -v Practice of Is the difference between the target speed and the actual speed, C 1 Is the most torqueSmall value, C 2 Is the maximum value of the torque.
8. The PI-based creep control method as claimed in claim 1, wherein a base torque T is set to avoid jerk starting Foundation Initial creep torque T when the vehicle is started Foundation 。
9. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1-8 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210630414.7A CN114834268A (en) | 2022-06-06 | 2022-06-06 | Creep control method based on PI |
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| CN202210630414.7A CN114834268A (en) | 2022-06-06 | 2022-06-06 | Creep control method based on PI |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115339452A (en) * | 2022-10-19 | 2022-11-15 | 北京京深深向科技有限公司 | Crawling control method and device, electronic equipment and storage medium |
| CN115782616A (en) * | 2022-11-29 | 2023-03-14 | 成都赛力斯科技有限公司 | Method and device for controlling vehicle crawling, computer equipment and medium |
| CN117400916A (en) * | 2023-12-13 | 2024-01-16 | 博世汽车部件(苏州)有限公司 | Cooperative control method and system for vermicular function and LSA function |
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| CN112644294A (en) * | 2020-12-29 | 2021-04-13 | 东风汽车集团有限公司 | Judgment control method for creep activation of electric automobile |
| CN113246986A (en) * | 2021-06-24 | 2021-08-13 | 江铃汽车股份有限公司 | PI crawling control method of electric vehicle based on target acceleration |
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| JP2012090442A (en) * | 2010-10-20 | 2012-05-10 | Nissan Motor Co Ltd | Controller for electric vehicle |
| US20200377096A1 (en) * | 2019-05-28 | 2020-12-03 | Hyundai Motor Company | System and method for controlling creep running of vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115339452A (en) * | 2022-10-19 | 2022-11-15 | 北京京深深向科技有限公司 | Crawling control method and device, electronic equipment and storage medium |
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| CN117400916A (en) * | 2023-12-13 | 2024-01-16 | 博世汽车部件(苏州)有限公司 | Cooperative control method and system for vermicular function and LSA function |
| CN117400916B (en) * | 2023-12-13 | 2024-03-26 | 博世汽车部件(苏州)有限公司 | Cooperative control method and system for vermicular function and LSA function |
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