The invention belongs to the technical field of vehicles, and provides a vehicle and a vehicle hill-holding control system and method. The electromagnetic torque of the motor is obtained through a torque estimator; a speed observer acquires the estimated rotating speed of the motor according to the electromagnetic torque and the load torque at the previous moment, and the electromagnetic torque and the load torque at the previous moment are fed back to a load observer; the load observer obtains the load torque of the vehicle at the current moment according to the actual rotating speed and theestimated rotating speed of the motor; the load torque at the current moment is fed forward to a speed loop circuit; therefore, the speed loop circuit can control the running state of the motor according to the target rotating speed, the actual rotating speed and the load torque at the current moment. Therefore, torque compensation is achieved, the adjusting time of proportional integral is shortened, the backward sliding distance of hill holding is reduced, and the problem that according to an existing vehicle hill-holding control method, due to the fact that the backward sliding distance andthe overshoot distance are large, the hill holding requirement is hard to meet is solved.
本申请属于车辆技术领域,提供了一种车辆、车辆驻坡控制系统与方法。在本申请中,通过扭矩估算器获取电机的电磁转矩,速度观测器根据电磁转矩和前一时刻的负载转矩获取电机的电机估算转速,并反馈给负载观测器,进而负载观测器根据实际转速和电机估算转速获取车辆当前时刻的负载转矩,并将当前时刻的负载转矩前馈至速度环电路,以便于速度环电路根据目标转速、实际转速以及当前时刻的负载转矩对电机运行状态进行控制,以此实现扭矩补偿,进而减少比例积分的调节时间、减小驻坡的后溜距离,从而解决现有的车辆驻坡控制方法存在的因后溜距离和超调距离大,难以满足驻坡需求的问题。
Vehicle and vehicle hill-holding control method and system
一种车辆、车辆驻坡控制方法与系统
2020-05-01
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern |
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