The invention provides an electric vehicle creeping control method and system, in a creeping starting stage, a motor is controlled to enter a torque mode, the target torque of the motor is controlled in a closed-loop mode, the basic torque is determined according to the state of a vehicle by considering the influence of factors such as electronic parking braking force, motor anti-slip torque, gradient and load, and the creeping starting state of the vehicle is determined. Normal starting and stability of the vehicle in different states are guaranteed, and the torque is adjusted through fuzzy PID closed loop, so that the vehicle gradually accelerates to tend to creep the target vehicle speed. And after the vehicle speed enters the crawling target vehicle speed interval, the motor is controlled to enter the rotating speed mode, the motor controller directly controls the motor to be stabilized at the target rotating speed, control is more direct and efficient, and stable operation of the vehicle is guaranteed. By means of the control method, it is guaranteed that stable control over crawling starting of the vehicle can be achieved under different working conditions such as no-load, full-load and parking, and frequent fluctuation of the vehicle at the crawling target vehicle speed is prevented.
本发明提供一种电动车辆蠕行控制方法及系统,在蠕行起步阶段,控制电机进入转矩模式,闭环控制电机目标转矩,根据车辆所处状态,考虑电子驻车制动力、电机防溜坡扭矩、坡度、载重等因素影响,确定基础转矩,保证车辆在不同状态下正常起步且平稳,通过模糊PID闭环调节转矩,使车辆逐渐加速趋于蠕行目标车速。待车辆速度进入蠕行目标车速区间后,控制电机进入转速模式,由电机控制器来直接控制电机稳定在目标转速,控制更为直接高效,保证车辆稳定运行。通过本控制方法,保证车辆在空载、满载、驻车等不同工况下,均能实现蠕行起步的平稳控制,并防止车辆在蠕行目标车速处频繁波动。
Electric vehicle crawling control method and system
一种电动车辆蠕行控制方法及系统
2023-11-17
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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