CN-122008897-A - Wheel side driving starting control method, driving controller and vehicle

CN122008897ACN 122008897 ACN122008897 ACN 122008897ACN-122008897-A

Abstract

The application provides a starting control method of wheel drive, a drive controller and a vehicle, according to the method, starting conditions such as a handle signal, a parking signal, a gradient, a required rotating speed, an actual rotating speed, a preliminary delay time and the like are comprehensively considered, so that the starting state of the vehicle can be accurately judged. If the starting conditions do not completely meet the above gain clearing conditions, the speed ring control is selected or switched to the torque control according to working conditions, so that stable starting and safe running of the vehicle can be realized under different scenes, torque abrupt change caused by proportional-integral accumulation in the PI controller is avoided, the purpose of improving starting stability is realized, the technical effects of improving starting stability and driving safety of the vehicle are achieved, and the technical problem of vehicle head swing caused by torque abrupt change during starting of the vehicle is solved.

Inventors

LI HUIMIN
YUE DAJUN
AI CONG
ZHOU XIANGJIN

Assignees

潍柴动力股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260128

Claims (10)

1. A wheel-side-drive start control method, characterized by comprising: acquiring starting conditions of a vehicle, wherein the starting conditions at least comprise a handle signal, a parking signal, a gradient, a required rotating speed, an actual rotating speed and a preliminary delay time; when the starting conditions all meet the control gain conditions of the rotating speed ring, the control gain of the proportional-integral controller in the rotating speed ring is cleared, so that the output torque of the motor is cleared; and when the starting condition does not meet any one of the clear rotating speed ring control gain conditions, performing rotating speed ring control on the motor or switching to torque control.
2. The wheel-side-drive start control method according to claim 1, wherein the clear rotation speed loop control gain condition includes that the handle signal satisfies a preset state, the parking signal is not enabled, the gradient is equal to or less than a preset gradient value, the required rotation speed is zero, an absolute value of the actual rotation speed is less than a preset rotation speed value, and the preliminary delay time is greater than a preset clear torque time.
3. The wheel-side-drive start control method according to claim 2, wherein when the start conditions all satisfy a clear rotation speed ring control gain condition, clearing the control gain of the proportional-integral controller in the rotation speed ring to clear the output torque of the motor, comprising: When the handle signal meets the preset state, the parking signal is not enabled, the gradient is smaller than or equal to the preset gradient value, the required rotating speed is zero, the absolute value of the actual rotating speed is smaller than the preset rotating speed value, the preliminary delay time is larger than the preset torque clearing time, the control gain of the proportional-integral controller in the rotating speed ring is cleared, and therefore the output torque of the motor is cleared.
4. The wheel-side-drive start control method according to claim 2, wherein when the start condition does not satisfy any one of the clear rotation speed ring control gain conditions, performing rotation speed ring control on the motor includes: When the handle signal does not meet the preset state, or the gradient is larger than the preset gradient value, or the required rotating speed is not zero, or the absolute value of the actual rotating speed is larger than or equal to the preset rotating speed value, or the preliminary delay time is smaller than or equal to the preset torque clearing time, the rotating speed ring control is carried out on the motor, and the torque is output.
5. The wheel-side-drive start control method according to claim 2, wherein when the start condition does not satisfy any one of the clear rotation speed ring control gain conditions, torque control is performed on the motor, comprising: And when the handle signal meets the preset state and the parking signal is enabled, controlling the torque of the motor and determining that the output torque is zero.
6. The wheel-side-drive start control method according to claim 2, wherein the start condition further includes a load of the whole vehicle, the method further comprising: Acquiring the load of the whole vehicle; If the load of the whole vehicle is smaller than or equal to a first load value, determining that the final torque clearing threshold time is the preset torque clearing time; If the load of the whole vehicle is larger than the first load value and smaller than or equal to the second load value, determining that the final torque clearing threshold time is the sum of the preset torque clearing time and the first compensation time, wherein the first compensation time is obtained through calculation of a first compensation coefficient; If the load of the whole vehicle is greater than the second load value, determining that the final torque clearing threshold time is the sum of the preset torque clearing time and second compensation time, wherein the second compensation time is obtained by calculating a second compensation coefficient, and the second compensation coefficient is greater than the first compensation coefficient.
7. The wheel-side-drive start control method according to claim 3, wherein when the gradient is equal to or smaller than the preset gradient value, the step of clearing the control gain of the proportional-integral controller in the rotation speed ring to clear the output torque of the motor includes: When the gradient is smaller than a first set gradient value, the control gain of the proportional-integral controller in the rotating speed ring is completely cleared; And when the gradient is larger than or equal to the first set gradient value and smaller than the second set gradient value, the control gain of the proportional-integral controller in the rotating speed ring is partially cleared.
8. The wheel-side-drive start control method according to claim 2, wherein the start condition further includes road surface roughness, the method further comprising: acquiring the road surface roughness; When the road surface roughness is smaller than the first friction coefficient, prohibiting the control gain of a proportional-integral controller in the rotating speed ring from being cleared, and controlling the creep of the vehicle; when the road surface roughness is larger than or equal to the first friction coefficient and smaller than the second friction coefficient, increasing the torque compensation time to adjust the final torque threshold time; and when the road surface roughness is greater than or equal to the second friction coefficient, carrying out standardized elimination on the control gain of the proportional-integral controller in the rotating speed ring.
9. A drive controller, characterized in that the drive controller is adapted to perform a start control method of a wheel drive according to any one of the preceding claims 1-8.
10. A vehicle is characterized in that, the vehicle comprising the drive controller of claim 9.

Description

Wheel side driving starting control method, driving controller and vehicle Technical Field The application relates to the technical field of vehicle control, in particular to a starting control method for wheel drive, a driving controller and a vehicle. Background Heavy new energy vehicles typically have a high overall vehicle mass, which makes them subject to special power control demands during driving and stopping. To meet these needs, many heavy new energy vehicles employ multi-controller multi-motor wheel drive systems. The system realizes accurate power control of each wheel by installing an independent motor and a controller near each wheel, thereby improving the driving efficiency and the flexibility of the vehicle. However, such systems may encounter several technical challenges during parking and launch. For example, when the vehicle needs to be parked, in order to ensure that the vehicle can stably maintain a stationary state, the motor needs to output a certain torque to overcome the friction between the wheels and the ground. Because of the heavy weight of the vehicle, the rotating speed loop integration link of the motor can not be cleared when the vehicle is parked, which means that the motor can still latch certain torque when the vehicle is parked. When the vehicle starts again, the torque latched by the motors at the two sides can have a difference, so that the moment torque at the two sides has a larger difference, and the problem of head swing when the vehicle starts is caused. Disclosure of Invention In view of the above, the application provides a wheel-side-driven starting control method, a driving controller and a vehicle, which realize the purposes of avoiding torque abrupt change caused by proportional-integral accumulation and improving starting stability, and achieve the technical effects of improving the starting stability and driving safety of the vehicle, thereby solving the technical problem of vehicle swinging caused by torque abrupt change during starting of the vehicle. In order to achieve the above purpose, the application provides a technical scheme that starting conditions of a vehicle are obtained, wherein the starting conditions at least comprise a handle signal, a parking signal, a gradient, a required rotating speed, an actual rotating speed and a preliminary delay time, when the starting conditions all meet a clear rotating speed loop control gain condition, the control gain of a proportional-integral controller in a rotating speed loop is cleared to clear the output torque of a motor, and when the starting conditions do not meet any one of the clear rotating speed loop control gain conditions, the rotating speed loop control is carried out on the motor, or the torque control is switched to. In one embodiment of the application, the clear rotation speed loop control gain condition comprises that a handle signal meets a preset state, a parking signal is not enabled, the gradient is smaller than or equal to a preset gradient value, the required rotation speed is zero, the absolute value of the actual rotation speed is smaller than the preset rotation speed value, and the preliminary delay time is longer than the preset clear torsion time. In one embodiment of the application, when starting conditions all meet the control gain condition of the rotating speed clearing ring, the control gain of the proportional-integral controller in the rotating speed ring is cleared to clear the output torque of the motor, and when the handle signal meets the preset state and the parking signal is not enabled and the gradient is smaller than or equal to the preset gradient value, the required rotating speed is zero and the absolute value of the actual rotating speed is smaller than the preset rotating speed value, the preliminary delay time is larger than the preset torque clearing time, the control gain of the proportional-integral controller in the rotating speed ring is cleared to clear the output torque of the motor. In one embodiment of the application, when the starting condition does not meet any one of the clear rotating speed ring control gain conditions, the rotating speed ring control is performed on the motor, including when the handle signal does not meet a preset state, or the gradient is larger than a preset gradient value, or the required rotating speed is not zero, or the absolute value of the actual rotating speed is larger than or equal to a preset rotating speed value, or the preliminary delay time is smaller than or equal to a preset clear torsion time, the rotating speed ring control is performed on the motor, and the torque is output. In one embodiment of the application, when the starting condition does not meet any one of the clear rotation speed ring control gain conditions, the torque control is performed on the motor, wherein the torque control is performed on the motor and the output torque is determined to be zero when the handle signal meets the preset s