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WO2011120323A1 - Système et procédé de commande pour véhicule électrique possédant une boîte de vitesses de deuxième vitesse - Google Patents

Système et procédé de commande pour véhicule électrique possédant une boîte de vitesses de deuxième vitesse Download PDF

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Publication number
WO2011120323A1
WO2011120323A1 PCT/CN2010/080543 CN2010080543W WO2011120323A1 WO 2011120323 A1 WO2011120323 A1 WO 2011120323A1 CN 2010080543 W CN2010080543 W CN 2010080543W WO 2011120323 A1 WO2011120323 A1 WO 2011120323A1
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WO
WIPO (PCT)
Prior art keywords
electric vehicle
motor
mode
output torque
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2010/080543
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English (en)
Chinese (zh)
Inventor
罗晓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhu Power Technology Research Co Ltd
Chery Automobile Co Ltd
Original Assignee
Wuhu Power Technology Research Co Ltd
Chery Automobile Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuhu Power Technology Research Co Ltd, Chery Automobile Co Ltd filed Critical Wuhu Power Technology Research Co Ltd
Publication of WO2011120323A1 publication Critical patent/WO2011120323A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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

Definitions

  • the present invention relates to the field of motor control for electrically driven vehicles, and more particularly to an electric vehicle control method and system based on a two-speed gearbox.
  • the existing two-speed electric drive vehicle using a sine wave permanent magnet synchronous motor has a vehicle controller that can control the operation of the entire vehicle, but the existing vehicle controller cannot satisfy the two-speed gearbox.
  • the electric motor drives the motor to smoothly control the motor when shifting.
  • the embodiment of the present invention proposes an electric vehicle control method and system based on a two-speed gearbox.
  • the technical solution is as follows:
  • the embodiment of the invention provides a method for controlling an electric vehicle based on a two-speed gearbox, comprising:
  • the operating mode of the electric vehicle is determined, and a control command is issued to control the electric vehicle to switch between the preset operating modes.
  • the working mode includes:
  • an inverter for controlling a motor of the electric vehicle is normally operated, and controlling an output torque of the motor to be 0; and acquiring an operating speed of the electric vehicle, when the running speed is greater than a preset threshold, Controlling a winding of the motor to generate a field weakening current;
  • Speed mode when the electric vehicle is shifting, or the electric vehicle's gearbox is set in the forward gear and the electronic throttle is 0
  • the electric vehicle is operated in the speed mode; according to the gear position of the gearbox and the current vehicle speed of the vehicle, the output speed of the motor is adjusted to achieve smooth switching of the gear position;
  • a forward drive mode configured to output a forward drive torque when the electric vehicle is traveling forward; and determine, according to the received motor output torque command, whether the motor output torque corresponding to the motor output torque command is greater than a maximum motor Output torque; if yes, control the motor to output the maximum forward output torque; otherwise, control the motor to output the corresponding forward output torque; and obtain the running speed of the electric vehicle, when the running speed is greater than the preset threshold, the motor Perform weak magnetic control;
  • a reverse driving mode configured to output a reverse driving torque when the electric vehicle runs in the reverse direction; and determine, according to the received motor output torque command, whether the motor output torque corresponding to the motor output torque command is greater than a maximum of the motor Output torque; if yes, control the motor to output the maximum reverse output torque; otherwise, control the motor to output the corresponding reverse output torque; and obtain the running speed of the electric vehicle, when the running speed is greater than the preset threshold, the motor Perform weak magnetic control;
  • a regenerative braking mode configured to provide a driving torque opposite to the current output torque when the electric vehicle brakes; and determine, according to the received motor output torque command, whether the motor output torque corresponding to the motor output torque command is greater than The maximum output torque of the motor; if yes, the motor outputs the maximum reverse output torque; if not, the motor is controlled to output a corresponding reverse output torque; and the operating speed of the electric vehicle is obtained, when the running speed is greater than a preset threshold , the field weakening control of the motor.
  • the working mode further includes:
  • a prohibition mode when the electric vehicle is initially powered on, disconnecting the output power of the power output portion of the electric vehicle; detecting the electric vehicle, and releasing the locking of the hardware when detecting that the hardware working state is normal .
  • the working mode further includes:
  • Failure mode when the electric vehicle detects the hardware and finds that the hardware is faulty, issues a fault prompt message, and disconnects the output power of the power output portion of the electric vehicle; when receiving the fault elimination information, exits the fault mode .
  • the controlling the switching of the electric vehicle between the preset operating modes comprises: when the electric vehicle is normally powered on, the electric vehicle is operated in a prohibited manner according to a user control instruction of the vehicle controller. In mode; in the disable mode, if the hardware detection fails, switch to the fault mode; and after the fault is removed, the system resets and returns to the disable mode; if the hardware detection has no fault, according to the user control command of the vehicle controller, Switch between speed mode, forward drive mode, reverse drive mode, and regenerative braking mode.
  • the embodiment of the invention also provides an electric vehicle control system based on a two-speed gearbox, comprising:
  • a working mode module configured to control the electric vehicle to work in a preset working mode, and according to a control instruction Switch between the preset working modes
  • control module configured to determine an operating mode of the electric vehicle according to the received user control instruction, and issue a control command to control the working mode module to switch the electric vehicle between preset working modes.
  • the working mode module includes:
  • a zero torque mode unit configured to control an inverter of the motor of the electric vehicle to operate normally, and control an output torque of the motor to be 0; and obtain an operating speed of the electric vehicle, when the running speed is greater than a preset threshold Controlling a winding of the motor to generate a field weakening current;
  • a speed mode unit configured to operate the electric vehicle in a speed mode when the electric vehicle shifts gears, or when the electric vehicle's gearbox is disposed in the forward gear and the electronic throttle is at a starting state of 0;
  • the gear position and the current vehicle speed of the vehicle adjust the output speed of the motor to achieve smooth switching of the gear position;
  • a forward drive mode unit configured to output a forward drive torque when the electric vehicle is traveling forward; and determine, according to the received motor output torque command, whether the motor output torque corresponding to the motor output torque command is greater than a motor Maximum output torque; if yes, control the motor to output the maximum forward output torque; otherwise, control the motor to output the corresponding positive output torque; and obtain the running speed of the electric vehicle, when the running speed is greater than the preset threshold,
  • the motor performs weak field control;
  • a reverse driving mode unit configured to output a reverse driving torque when the electric vehicle runs in the reverse direction; and determine, according to the received motor output torque command, whether the motor output torque corresponding to the motor output torque command is greater than a motor Maximum output torque; if yes, control the motor to output the maximum reverse output torque; otherwise, control the motor to output the corresponding reverse output torque; and obtain the running speed of the electric vehicle, when the running speed is greater than the preset threshold,
  • the motor performs weak field control;
  • a regenerative braking mode unit configured to provide a driving torque opposite to the current output torque when the electric vehicle brakes; and determine, according to the received motor output torque command, whether the motor output torque corresponding to the motor output torque command is Greater than the maximum output torque of the motor; if yes, the motor outputs the maximum reverse output torque; if not, the motor is controlled to output a corresponding reverse output torque; and the operating speed of the electric vehicle is obtained, when the running speed is greater than a preset threshold When the motor is weakened and magnetically controlled.
  • the working mode module further includes:
  • the mode unit is disabled, when the electric vehicle is initially powered on, the electric vehicle is operated in a prohibition mode; the output power of the power output portion of the electric vehicle is disconnected; and the electric vehicle is detected, when detected When the hardware is working normally, the hardware is unlocked.
  • the working mode module further includes:
  • a failure mode unit when the electric vehicle detects the hardware and finds that the hardware is faulty, the electric vehicle is caused Working in the fault mode unit; issuing a fault prompt message, and disconnecting the output power of the power output portion of the electric vehicle; when receiving the fault elimination information, exiting the fault mode.
  • the working mode module further includes:
  • a mode switching unit configured to control switching of an operation mode of the electric vehicle; when the electric vehicle is normally powered on, the electric vehicle is operated in the prohibition mode according to a user control instruction of the vehicle controller; in the prohibition mode, If the hardware detection fails, switch to the failure mode; and after the fault is removed, the system resets and returns to the inhibit mode; if the hardware detection has no fault, according to the user control command of the vehicle controller, in the speed mode, the forward drive mode Switch between reverse drive mode and regenerative brake mode.
  • the present invention provides a method and system for controlling an electric vehicle based on a two-speed gearbox, and the system of the embodiment of the present invention includes an operating mode module and a control module.
  • the method of an embodiment comprises: determining a mode of operation of the electric vehicle when a user control command is received, and issuing a control command to control the electric vehicle to switch between pre-set operating modes.
  • the embodiment of the present invention can provide stable and reliable drive control through the preset electric vehicle working mode to control the working mode and output torque of the motor according to the control command of the vehicle controller of the electric vehicle.
  • FIG. 1 is a schematic structural view of a third embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a fourth embodiment of the present invention.
  • FIG. 3 is a flow chart showing the switching in the second and fourth embodiments of the present invention. detailed description
  • the first embodiment of the present invention provides an electric vehicle control method based on a two-speed gearbox, including:
  • the operating mode of the electric vehicle is determined, and a control command is issued to control the electric vehicle to switch between the preset operating modes.
  • the embodiment of the present invention switches between the various working modes according to the control command through a preset working mode.
  • This may be such that the electric vehicle is controlled to operate in a preset operating mode and is preset in accordance with a control command. Switch between working modes. In this way, it is possible to provide stable and reliable drive control through the preset electric vehicle working mode to control the working mode and output torque of the motor according to the control command of the vehicle controller of the electric vehicle.
  • a second embodiment of the present invention provides an electric vehicle control method based on a two-speed gearbox, including:
  • the working modes include:
  • a prohibition mode when the electric vehicle is initially powered on, disconnecting the output power of the power output portion of the electric vehicle; detecting the electric vehicle, and releasing the locking of the hardware when detecting that the hardware working state is normal ;
  • Failure mode when the electric vehicle detects the hardware and finds that the hardware is faulty, issues a fault prompt message, and disconnects the output power of the power output portion of the electric vehicle; when receiving the fault elimination information, exits the fault mode a zero torque mode for operating the electric vehicle in a zero torque mode; controlling an inverter of the electric motor of the electric vehicle to operate normally, and controlling an output torque of the electric motor to be 0; and acquiring the electric vehicle Running speed, when the running speed is greater than a preset threshold, controlling a winding of the motor to generate a weak magnetic current;
  • a speed mode when the electric vehicle is shifting, or when the transmission of the electric vehicle is set in the forward gear and the electronic throttle is in the starting state of 0, the electric vehicle is operated in the speed mode; Position and the current vehicle speed of the vehicle, adjust the output speed of the motor to achieve smooth switching of the gear position;
  • a forward drive mode configured to operate the electric vehicle in a forward drive mode when the electric vehicle is traveling forward; and determine a motor output torque corresponding to the motor output torque command according to the received motor output torque command Is it greater than the maximum output torque of the motor; if yes, the motor outputs the maximum forward output torque; otherwise, the motor is controlled to output a corresponding positive output torque; and the operating speed of the electric vehicle is obtained, when the running speed is greater than the preset At the threshold, the motor is subjected to field weakening control;
  • a reverse driving mode configured to operate the electric vehicle in a reverse driving mode when the electric vehicle is traveling in reverse; and determine a motor output torque corresponding to the motor output torque command according to the received motor output torque command Whether it is greater than the maximum output torque of the motor; if yes, the motor outputs the maximum reverse output torque; otherwise, the control motor outputs the corresponding reverse output torque; and obtains the running speed of the electric vehicle, when the running speed is greater than the preset At the threshold, the motor is subjected to field weakening control;
  • a regenerative braking mode configured to: when the electric vehicle brakes, operate the electric vehicle in a regenerative braking mode; and determine, according to the received motor output torque command, whether the motor output torque corresponding to the motor output torque command is Greater than the maximum output torque of the motor; if yes, control the motor to output the maximum reverse output torque; otherwise, control the motor output phase The reverse output torque should be; and the running speed of the electric vehicle is obtained, and when the running speed is greater than the preset threshold, the motor is subjected to field weakening control.
  • the controlling the electric vehicle to switch between the preset working modes comprises: when the electric vehicle is normally powered on, the electric vehicle is operated in the prohibition mode according to the user control instruction of the vehicle controller; in the prohibition mode If the hardware detection fails, switch to the failure mode; after the fault is removed, the system resets and returns to the prohibition mode; if the hardware detection has no fault, according to the user control command of the vehicle controller, in the speed mode, the forward drive Switch between mode, reverse drive mode, and regenerative braking mode.
  • the foregoing switching between preset operating modes can be as shown in FIG.
  • the vehicle controller sends a user control command to the motor's control module to inform the current electric vehicle's operating mode.
  • the control module of the motor completes the switching between the operating modes according to the user control command.
  • step a As shown in Fig. 3 is performed.
  • step a the application in the motor controller is normally flashed; all outputs of the motor controller have been set to a safe state; the motor controller has completed all 10 drive initializations; the motor controller has completed all CAN drive initialization; The motor controller has completed calibration of the DC bus current sensor and phase current sensor. If there is a hardware failure, go to step m and go to the failure mode; and return to the inhibit mode after the fault is removed. If there is no fault, go to step b and enter zero torque mode.
  • step b the vehicle controller has enabled the motor controller; overcurrent, overtemperature, module fault and resolver position faults have been cleared; the vehicle controller requests zero torque mode.
  • step k can be entered into the speed mode according to the user control command of the vehicle controller, or step c can be entered into the forward drive mode, or step d can be entered into the reverse drive mode, or step e can be entered.
  • Regenerative braking mode At the same time, the forward drive mode can be switched to the reverse drive mode by step f; the reverse drive mode can be switched to the regenerative brake mode by step g, and the forward drive mode can also be switched to the regenerative brake mode by step h.
  • the switching process of the foregoing step f, step g, and step h is a prior art, and details are not described herein again.
  • step j When the electric vehicle is parked, the electric vehicle is first operated in the prohibition mode by step j. Then power off by step i.
  • the third embodiment of the present invention provides an electric vehicle control system based on a two-speed gearbox, and its structure is as shown in FIG. 1, which includes:
  • the working mode module 1 is configured to control the electric vehicle to work in a preset working mode, and according to the control instruction Switch between the preset working modes;
  • the control module 2 is configured to determine an operating mode of the electric vehicle according to the received user control instruction, and issue a control command to control the working mode module to switch the electric vehicle between preset working modes.
  • the embodiment of the present invention switches between the various working modes according to the control command through a preset working mode. This can be done to control the electric vehicle to operate in a pre-set operating mode and to switch between the pre-set operating modes in accordance with control commands. In this way, it is possible to provide stable and reliable drive control through the preset electric vehicle working mode to control the working mode and output torque of the electric motor according to the control command of the electric vehicle's vehicle controller.
  • the fourth embodiment of the present invention provides an electric vehicle control system based on a two-speed gearbox, and its structure is as shown in FIG. 2, including:
  • the working mode module 1 is configured to control the electric vehicle to operate in a preset working mode, and switch between the preset working modes according to the control instruction;
  • the control module 2 is configured to determine an operating mode of the electric vehicle according to the received user control instruction, and issue a control command to control the working mode module to switch the electric vehicle between preset working modes.
  • the working mode module 1 includes:
  • the prohibition mode unit 11 is configured to: when the electric vehicle is initially powered on, disconnect the output power of the power output unit of the electric vehicle; and detect the electric vehicle, and when it detects that the hardware working state is normal, release The blocking of the hardware.
  • a fault mode unit 12 configured to detect hardware of the electric vehicle; when the hardware fails, issue a fault prompt message, and disconnect the output power of the power output portion of the electric vehicle; when receiving the fault elimination information , exit the failure mode;
  • a zero torque mode unit 13 for operating the electric vehicle in a zero torque mode; controlling an inverter of the electric motor of the electric vehicle to operate normally, and controlling an output torque of the electric motor to be 0; and acquiring the electric vehicle Running speed, when the running speed is greater than a preset threshold, controlling a winding of the motor to generate a weak magnetic current;
  • the speed mode unit 14 is configured to: when the electric vehicle shifts gears, or when the gearbox of the electric vehicle is set in the forward gear and the electronic throttle is in the starting state of 0, the electric vehicle operates in the speed mode; The gear position, adjusting the output torque of the motor;
  • a forward drive mode unit 15 configured to operate the electric vehicle in a forward drive mode when the electric vehicle is traveling forward; and determine a motor corresponding to the motor output torque command according to the received motor output torque command Whether the output torque is greater than the maximum output torque of the motor; if yes, controlling the maximum output torque of the motor output; otherwise, controlling the motor to output a corresponding forward output torque; and obtaining the running speed of the electric vehicle, when the running speed is greater than Preset threshold When the motor is weakly controlled;
  • a reverse drive mode unit 16 configured to operate the electric vehicle in a reverse drive mode when the electric vehicle is traveling in reverse; and determine a motor corresponding to the motor output torque command according to the received motor output torque command Whether the output torque is greater than the maximum output torque of the motor; if yes, controlling the motor to output the maximum reverse output torque; otherwise, controlling the motor to output the corresponding reverse output torque; and obtaining the running speed of the electric vehicle, when the running speed is greater than When the threshold is preset, the motor is subjected to field weakening control;
  • a regenerative braking mode unit 17 configured to: when the electric vehicle brakes, operate the electric vehicle in a regenerative braking mode; and determine a motor output corresponding to the motor output torque command according to the received motor output torque command Whether the torque is greater than the maximum output torque of the motor; if yes, controlling the motor to output the maximum reverse output torque; otherwise, controlling the motor to output the corresponding reverse output torque; and obtaining the running speed of the electric vehicle, when the running speed is greater than the pre- When the threshold is set, the motor is subjected to field weakening control.
  • control module 2 includes:
  • the mode switching unit 21 is configured to control the switching of the working mode of the electric vehicle; when the electric vehicle is normally powered on, the electric vehicle is operated in the prohibition mode according to the user control instruction of the vehicle controller; in the prohibition mode If the hardware detection fails, switch to the failure mode; after the fault is removed, the system resets and returns to the prohibition mode; if the hardware detection has no fault, according to the user control command of the vehicle controller, in the speed mode, the forward drive Switch between mode, reverse drive mode, and regenerative braking mode.
  • step a As shown in Fig. 3 is performed.
  • step a the application in the motor controller is normally flashed; all outputs of the motor controller have been set to a safe state; the motor controller has completed all 10 drive initializations; the motor controller has completed all CAN drive initialization; The motor controller has completed calibration of the DC bus current sensor and phase current sensor. If there is a hardware failure, go to step m and go to the failure mode; and return to the inhibit mode after the fault is removed. If there is no fault, go to step b and enter zero torque mode.
  • step b the vehicle controller has enabled the motor controller; overcurrent, overtemperature, module fault and resolver position faults have been cleared; the vehicle controller requests zero torque mode.
  • step k can be entered into the speed mode according to the user control command of the vehicle controller, or step c can be entered into the forward drive mode, or step d can be entered into the reverse drive mode, or step e can be entered.
  • Regenerative braking mode At the same time, the forward drive mode can be switched to the reverse drive mode by step f; the regenerative brake mode can be switched to the reverse drive mode by step g, and the forward drive mode can also be switched to the regenerative brake mode by step h.
  • the switching process of the foregoing step f, step g, and step h is a prior art, and details are not described herein again.
  • step j When the electric vehicle is parked, the electric vehicle is first operated in the prohibition mode by step j. Then proceed through step i Power off.
  • All or part of the technical solutions provided by the above embodiments may be implemented by software programming, and the software program is stored in a readable storage medium such as a hard disk, an optical disk or a floppy disk in a computer.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention porte sur un système et un procédé pour véhicule électrique possédant une boîte de vitesses de deuxième vitesse. Elle appartient au domaine de la commande du moteur du véhicule électrique. Le système comprend un module de mode de travail (1) et un module de commande (2). Le procédé comprend ce qui suit : lorsque le système reçoit une directive de commande de l'utilisateur, il détermine le mode de travail du véhicule électrique et envoie un ordre de commande pour basculer sur le mode de travail prédéfini. L'invention permet d'assurer une commande de la propulsion stable et fiable par les modes de travail prédéfinis du véhicule électrique de manière à commander le mode de travail et le couple de sortie du moteur en accord avec l'ordre de commande d'une unité de commande du véhicule.
PCT/CN2010/080543 2010-03-30 2010-12-30 Système et procédé de commande pour véhicule électrique possédant une boîte de vitesses de deuxième vitesse Ceased WO2011120323A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201010142164.X 2010-03-30
CN201010142164XA CN101780776B (zh) 2010-03-30 2010-03-30 一种基于两档变速箱的电动车控制方法和系统

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WO2011120323A1 true WO2011120323A1 (fr) 2011-10-06

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CN103723142B (zh) * 2012-10-15 2016-05-04 北汽福田汽车股份有限公司 纯电动汽车的启动控制方法及电动汽车
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CN105667337A (zh) * 2016-03-10 2016-06-15 北京新能源汽车股份有限公司 电动汽车及其动力系统、控制方法
CN106427983B (zh) * 2016-11-01 2018-07-13 重庆市科诚电机制造有限公司 一种二级变速电动三轮车速度控制方法
CN108749645B (zh) * 2018-04-21 2020-11-03 浙江合众新能源汽车有限公司 电动车辆在空挡滑行时的控制保护方法
CN110886838B (zh) * 2019-11-29 2021-06-25 湖南海博瑞德电智控制技术有限公司 基于两挡amt电动车换挡方法
CN111645535A (zh) * 2020-05-29 2020-09-11 奇瑞商用车（安徽）有限公司 一种电动汽车驱动电机控制模式转换方法
CN112644295A (zh) * 2020-12-31 2021-04-13 大运汽车股份有限公司 一种新能源商用车扭矩仲裁控制方法及控制系统
CN116572753B (zh) * 2023-04-27 2025-08-29 奇瑞商用车（安徽）有限公司 一种电动汽车电机模式转换及扭矩限制方法

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