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CN-121989708-A - Anti-slip control method and system for electric two-wheeled vehicle

CN121989708ACN 121989708 ACN121989708 ACN 121989708ACN-121989708-A

Abstract

The invention discloses a method and a system for controlling an electric two-wheel vehicle to prevent sliding, and relates to the field of electric two-wheel vehicle control, wherein in a ramp parking mode, when detecting that the current accelerator opening is greater than a preset accelerator opening threshold value, a layered torque control logic is executed; and if the request torque corresponding to the current accelerator opening is not less than the real-time hill-holding torque, controlling the motor output torque to smoothly transit from the real-time hill-holding torque to the request torque, and realizing the noninductive starting of the vehicle without sliding and running. The method can avoid sudden torque release and jogging caused by the emergency fueling door of the driver, and greatly improves smoothness and controllability of hill start.

Inventors

  • LIU ZHENWEI

Assignees

  • 无锡九通电子技术有限公司

Dates

Publication Date
20260508
Application Date
20260325

Claims (10)

  1. 1. An anti-slip control method for an electric two-wheeled vehicle is characterized by being realized based on a motor controller of the electric two-wheeled vehicle, and comprises the following steps of: Detecting the vehicle state of the electric two-wheeled vehicle, entering a hill parking mode when the vehicle meets the conditions of effective braking, zero vehicle speed and zero accelerator opening on a hill, and dynamically calculating and outputting real-time hill-holding torque through a position closed loop; Executing a layered torque control logic when the current accelerator opening is detected to be larger than a preset accelerator opening threshold value: If the duration of the current accelerator opening exceeds the preset duration and the request torque corresponding to the current accelerator opening is smaller than the real-time hill-holding torque, the output torque of the motor is controlled to be gently adjusted downwards from the real-time hill-holding torque to the request torque corresponding to the current accelerator opening in a slope control mode, and meanwhile a vehicle sliding risk prompt is triggered; and if the request torque corresponding to the current accelerator opening is not less than the real-time hill-holding torque, controlling the motor output torque to smoothly transition from the real-time hill-holding torque to the request torque corresponding to the current accelerator opening, so as to realize smooth starting of the vehicle.
  2. 2. The anti-slip control method of the electric two-wheeled vehicle according to claim 1, wherein in the process that the real-time hill-holding torque is gently adjusted downwards in a slope control mode, the motor controller calculates the torque down-adjustment quantity delta t_current in each control period, and the motor output torque is gradually updated through the delta t_current on the basis of the real-time hill-holding torque until the request torque corresponding to the current accelerator opening is reached; If the request torque corresponding to the accelerator opening is increased in the down-regulating process, the motor controller tracks and regulates the output torque in real time by taking the increased request torque as a target; and if the accelerator opening falls back below the preset accelerator opening threshold value in the downward adjustment process, the motor controller immediately stops the torque downward adjustment process, controls the vehicle to reenter the hill-hold mode and outputs the real-time hill-hold torque.
  3. 3. The anti-slip control method of an electric two-wheeled vehicle according to claim 2, wherein calculating the torque down-regulation amount Δt_current of the present cycle includes: calculating a basic down-regulating step length based on the request torque corresponding to the current accelerator opening and the motor output torque of the last control period; Obtaining a comprehensive dynamic adjustment coefficient by utilizing the throttle sensitivity coefficient and the torque difference coefficient; multiplying the basic down-regulating step length by the comprehensive dynamic regulating coefficient to obtain the current period torque down-regulating quantity delta T_current; the torque difference coefficient is a negative value when the request torque corresponding to the current accelerator opening is smaller than the real-time hill-holding torque so as to slow down the initial torque down-regulating speed.
  4. 4. The anti-slip control method of an electric two-wheeled vehicle according to claim 3, wherein the accelerator sensitivity coefficient k_throttle is expressed as: The torque difference coefficient k_diff is expressed as: wherein, gamma and lambda are constants determined by a calibration flow, Is the change rate of the throttle opening, T_hold is the real-time hill-holding torque, and T_rep is the request torque corresponding to the current throttle opening.
  5. 5. The electric two-wheeled vehicle anti-slip control method of claim 1, wherein the layered torque control logic further comprises: When the accumulated parking time of the vehicle reaches the maximum allowable parking time, the motor controller applies a periodic torque instruction with fixed amplitude alternating positive and negative to the motor and superimposes the torque instruction on the real-time parking torque, so that the driving wheel generates slight front-back vibration to realize tactile feedback reminding, and meanwhile, parking overtime visual reminding is realized through an instrument; If the motor controller still does not receive an accelerator or brake operation instruction after the haptic feedback reminding is finished, controlling the real-time hill-holding torque to be slowly released to zero; The maximum allowable slope residence time is a fixed value, or is dynamically adjusted according to the motor temperature and the controller temperature acquired in real time.
  6. 6. The method for controlling the electric two-wheeled vehicle to prevent sliding according to claim 5, wherein the dynamically adjusting the maximum allowable time length of parking according to the motor temperature and the controller temperature acquired in real time comprises: Determining the value of a temperature influence coefficient alpha according to the motor temperature and the controller temperature acquired in real time; and the dynamically updated maximum allowable slope residence time length T_max is adjusted by taking the calibrated basic slope residence time length t_base as a reference through the temperature influence coefficient alpha, and the higher the temperature is, the shorter the T_max is, so that the overheat of the system is prevented.
  7. 7. The method for controlling the anti-slip slope of the electric two-wheeled vehicle according to claim 6, wherein the determining the value of the temperature influence coefficient alpha according to the motor temperature and the controller temperature acquired in real time comprises: Comparing the motor temperature and the controller temperature acquired in real time with a motor starting temperature threshold T_m0 and a motor upper limit temperature threshold T_m1, and a controller starting temperature threshold T_c0 and a controller upper limit temperature threshold T_c1 respectively; If the current motor and controller temperatures are lower than T_m0 and T_c0, alpha is 0, and at the moment, T_max is equal to t_base; If the current motor and controller temperature reaches or exceeds T_m1 and T_c1, alpha is 1, and T_max is the product of t_base and the scaling factor.
  8. 8. The anti-slip control method of the electric two-wheeled vehicle according to claim 5, wherein the frequency of the torque command with periodic and fixed amplitude alternating positive and negative is 2-5Hz, the amplitude is 5% -10% of rated torque of the motor of the electric two-wheeled vehicle, and the torque command waveform is sine wave, square wave or triangular wave.
  9. 9. The anti-slip control method of an electric two-wheeled vehicle according to claim 1, wherein dynamically calculating the real-time hill holding torque by a position closed loop comprises: The motor controller acquires a motor rotor reference position and a real-time rotor position at the moment of triggering parking through a Hall sensor, and calculates an angle offset between the motor rotor reference position and the real-time rotor position; substituting the angle offset into a preset position PI controller for dynamic calculation to obtain real-time hill-holding torque; when the angle offset is increased, the real-time parking torque is adjusted up in real time, and when the angle offset is reduced, the real-time parking torque is adjusted down in real time, so that the vehicle is stably parked; The preset parameters of the position PI controller comprise basic torque, a proportional coefficient and an integral coefficient.
  10. 10. The anti-slip control system of the electric two-wheeled vehicle is characterized by comprising a motor controller, a Hall sensor, an accelerator detection module, a brake detection module, a vehicle speed detection module and an instrument display module; The Hall sensor, the accelerator detection module, the brake detection module and the vehicle speed detection module are electrically connected with the motor controller, and respectively transmit rotor position, accelerator opening, brake state and vehicle speed signals to the motor controller; the instrument display module is electrically connected with the motor controller and is used for executing visual prompt of the sliding risk and overtime parking; the motor controller is configured to perform the electric two-wheeled vehicle anti-slip control method according to any one of claims 1 to 9.

Description

Anti-slip control method and system for electric two-wheeled vehicle Technical Field The invention relates to the field of control of electric two-wheeled vehicles, in particular to a method and a system for controlling the electric two-wheeled vehicle to prevent sliding, which are particularly suitable for a hill-hold and start control scene of the electric two-wheeled vehicle. Background The electric two-wheel vehicle has the characteristics of convenience, flexibility and energy conservation, becomes one of main traffic tools for daily short-distance travel, has parking and starting operation experience and safety in a ramp scene, and is an important optimization direction of vehicle control technology. When the current electric two-wheel vehicle is parked on a slope, a driver needs to continuously pinch a brake to offset the sliding force of the vehicle and prevent the vehicle from sliding backwards, the operation mode not only increases the operation burden of the driver and keeps the brake action for a long time, so that the operation fatigue is easy to be caused, but also has the potential safety hazard of sliding due to insufficient braking force, and in the hill start stage, the balance between the power output and the sliding force is easy to be broken in the process of switching the driver from releasing the brake to operating the accelerator, the vehicle is easy to generate a backward sliding phenomenon, and the problem is particularly obvious under the road condition with larger gradient. In order to improve the above problem, various hill-hold (HAH) control schemes have been developed in the prior art, in which an attempt is made to implement automatic assistance of hill-hold and start by motor torque control, the core control logic of such schemes is mainly divided into two types, one is to set a fixed parking hold torque threshold, only when the request torque generated by the driver operating the accelerator is greater than the fixed threshold, the system is allowed to exit the parking mode and respond to the start action, and the other is to directly respond to the accelerator torque, and the motor output torque is adjusted in real time as the accelerator opening changes. On the one hand, because the operation proficiency of a driver is different and deviation is easy to occur to subjective judgment of the slope gradient, a smaller accelerator opening is always given first when an accelerator is operated, at the moment, the request torque of the driver is smaller than a parking holding torque threshold value preset by a system, the system cannot trigger starting action, a vehicle is extremely easy to slip, the driver usually consciously increases the accelerator opening after finding the slip, the motor torque is suddenly released, the vehicle is obviously jogged, starting smoothness is seriously influenced and even secondary safety risks are caused, on the other hand, the torque release logic of the conventional scheme is too single, torque output is controlled only through a mode of fixed threshold value judgment or direct response, accurate identification and layered torque transition control of the starting intention of the driver are lacked, and smooth switching of the motor torque is not realized on the premise of ensuring the safety of the vehicle not to slip, and the safety and smoothness experience of the difficult to start are not considered. Disclosure of Invention The inventor provides an anti-slip control method and an anti-slip control system for an electric two-wheel vehicle aiming at the problems and the technical requirements, and the scheme can be used for more intelligently understanding the intention of a driver, providing multi-stage feedback and ensuring the safety of hill start. The technical scheme of the invention is as follows: In a first aspect, the application provides a control method for preventing an electric two-wheeled vehicle from sliding on a slope, which is realized based on a motor controller of the electric two-wheeled vehicle and comprises the following steps: Detecting the vehicle state of the electric two-wheeled vehicle, entering a hill parking mode when the vehicle meets the conditions of effective braking, zero vehicle speed and zero accelerator opening on a hill, and dynamically calculating and outputting real-time hill-holding torque through a position closed loop; Executing a layered torque control logic when the current accelerator opening is detected to be larger than a preset accelerator opening threshold value: If the duration of the current accelerator opening exceeds the preset duration and the request torque corresponding to the current accelerator opening is smaller than the real-time parking torque, the output torque of the motor is controlled to be gradually reduced from the real-time parking torque to the request torque corresponding to the current accelerator opening in a slope control mode, and meanwhile, the prompt of the vehicle