Fuzzy self-adaption PID control based slope sliding preventing method and system and electric vehicle

Abstract

The invention provides a fuzzy self-adaption PID control based slope sliding preventing method and system and an electric vehicle, and relates to the field of electric vehicles. The method comprises the following steps: 1) determining whether a slope sliding preventing mode performing condition based on the electric vehicle running information; 2) performing a slope sliding preventing mode on thevehicle; treating motor rotating speed system error and system error change as fuzzy controller input variable; and outputting fine parameter adjusting values delta Kp and delta Ki of a rectifying PIDcontroller by a fuzzy algorithm; 3) calculating Kp and Ki in parameters of a rectifying PI adjuster based on the foundation PI parameters Kp0 and Ki0 and the fine adjusting values delta Kp and deltaKi; 4) calculating actual torque for a driving motor by the self-adaptive fuzzy PID algorithm; and 5) driving the motor based on the actual torque required by the motor, and controlling the rotating speed of a motor of the electric vehicle by obtained fuzzy self-adaption PID. According to the method, the motor torque is dynamically adjusted, so that the electric vehicle achieves the slope slidingpreventing function under different slope conditions.

Description

technical field [0001] The invention relates to the technical field of electric vehicles, in particular to a slope prevention method and system based on fuzzy adaptive PID control and an electric vehicle. Background technique [0002] With the continuous development of science and technology, the shortage of energy sources and the increasing environmental pollution, the development of the traditional automobile industry is facing huge challenges. New energy vehicles, especially pure electric vehicles, are developing rapidly, and vehicle functions are becoming more and more perfect. The hot spot of development has been widely used in people's daily life. [0003] Considering the cost of the pure electric vehicle, the vehicle itself is rarely equipped with a slope sensor. Therefore, because the slope cannot be accurately judged, when the vehicle starts on a slope, without using the handbrake, when the right foot leaves the brake pedal During the process of stepping on the acc...

AI Technical Summary

Problems solved by technology

[0006] However, in the existing technology, on the one hand, the cost of the inclination sensor is high, which is not conducive to the promotion and use in the production of electric vehicles; on the other hand, when the slope is large, the traditional PID adjustment control is difficult to adapt to the accurate control of the system when the slope changes. The anti-slope function cannot be effectively realized in time, so that the vehicle slips backwards, and the adaptability to different slope road conditions is poor, and the adjustment is inconvenient

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