CN101803170B - An electromagnetic continuously variable transmission device and its control method - Google Patents
An electromagnetic continuously variable transmission device and its control method Download PDFInfo
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- CN101803170B CN101803170B CN2007801007129A CN200780100712A CN101803170B CN 101803170 B CN101803170 B CN 101803170B CN 2007801007129 A CN2007801007129 A CN 2007801007129A CN 200780100712 A CN200780100712 A CN 200780100712A CN 101803170 B CN101803170 B CN 101803170B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K51/00—Dynamo-electric gears, i.e. dynamo-electric means for transmitting mechanical power from a driving shaft to a driven shaft and comprising structurally interrelated motor and generator parts
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/18—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays
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- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/50—Structural details of electrical machines
- B60L2220/58—Structural details of electrical machines with more than three phases
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- 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
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- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
An electromagnetic continuously variable transmission device and its control method. The device includes a first motor and a second motor. The second motor includes armature windings. Each phase armature winding is made up of two or more windings, which are insulated from each other. The device also includes a switch array (19) for controlling the serial-parallel switching of windings of each phase armature winding and the triangle-star switching among three phase armature windings. The device further includes a subsection controller (18), a vehicle gearshift control unit (17) and a second moment servo driver (16).
Description
Technical field
The present invention relates to a kind of continuously variable transmission of automobile variable speed technical field, relate in particular to a kind of electromagnetic continuously variable transmission device.The invention still further relates to a kind of shifting control method of electromagnetic continuously variable transmission device.Electromagnetic continuously variable transmission device of the present invention and control method thereof are applicable to oil and electricity hybrid vehicle.
Technical background
For making automobile have better economic property and dynamic property, all disposed transmission and gear from fuel engines to motor racing mechanism, purpose is rotating speed and the moment of torsion that matees engine through the adjustment of gearratio.From the angle of economy, the rotating speed of expectation fuel engines-moment of torsion coupling is approached the optimum efficiency operation curve; From the angle of dynamic property, expectation can let automobile obtain better accelerating performance and bigger velocity interval through the adjusting of no-load voltage ratio.Common speed changer is that device and buncher (CVT) are dialled in step speed change.
Step change transmission commonly used has 4-5 speed stage, is divided into hand shift, fluid drive and three kinds of modes of semi-automatic transmission.Three kinds of modes all can only be carried out constant speed and compared transmission; Can't realize continuous adjusting; When load torque because situation such as windage, load-carrying, road conditions, environment and wearing and tearing when changing, under the different rotating speeds of different shelves, put on the engine shaft moment of torsion seldom can with the optimum efficiency operation curve require consistent.
Buncher can be accomplished in several ways, as changing initiatively wheels, the band of the driven wheels radius of clean-up, chain transmission; Change the frictional drive of the contact radius between rotating element; The hydraulic drive of the change hydraulic motor discharge capacity of forming by hydraulic pump and hydraulic motor and hydraulic torque converter etc.Buncher can be adjusted to engine working point on the optimum efficiency operation curve when steady operation well, but the limitation below also existing: 1. mechanical structure is than complicated thereby its manufacturing cost height; 2. the inertia of mechanical structure and hydraulic system is big thereby governing speed is slow; When engine throttle or the dynamic change of external loading moment of torsion; Particularly road conditions frequent variations, throttle frequently change, busy shift the time; Buncher can not be adjusted no-load voltage ratio quickly and accurately, and the probability that fuel engines is operated in the optimum efficiency operation curve is still very low; 3. generally all are lower than speed-changing gear box in CVT transmission efficiency and useful life.These shortcomings all have influence on applying of CVT.
Apply on July 22nd, 1997 and in October in 1999 disclosed Hitachi, Ltd on the 26th European patent application EP 0820894A2 a kind of hybrid power scheme of stepless transmission is disclosed; It adopts main motor and an auxiliary motor; Under the control of frequency converter and control unit separately, can realize stepless transmission control.But the scheme that this patent application is adopted; Can only the working point of engine be adjusted to the operation area of a relatively economical; Known theory is: in the economic zone that this patent application is addressed, also have an optimal economic travel line; On the rotary speed-torque match point that this travel line characterizes, fuel oil is converted into the most effective of mechanical energy.This patent application adjustment engine working point realizes that fuel-economizing still has room for improvement.This patent application is when the stepless pinion ratio of adjustment; Attempt wide region ground adjustment rotating speed of motor and torque output; But this output can only be in the nominal maximum (top) speed and torque range of motor; And limited by the maximum output voltage of frequency converter and maximum output current, if reach better power performance, can only expanded motor and the capacity of frequency converter.
On the speed change bending moment control problem of PHEV, the problem that needs to solve still exists: in order to realize good economic performance, require driving mechanism can let engine operation on the optimal economic operation curve; In order to realize good dynamic characteristics, require driving mechanism can export very big driving torque in short-term; In order to realize good speed characteristics, require driving mechanism that broad speed regulation scope can be arranged; In order to realize good cornering ability, require the driving mechanism speed governing level and smooth, simple to operate.
Summary of the invention
The objective of the invention is to design a kind of electromagnetic continuously variable transmission device; Under the control of corresponding control method; This continuously variable transmission can be realized in the following function one, a plurality of or whole: 1. can let engine operation on the optimal economic operation curve, realize good economic performance; 2. can export very big driving torque in short-term, realize good dynamic characteristics; 3. broad speed or torque adjustment scope are arranged, realize good speed characteristics; 4. speed governing is level and smooth, simple to operate, has good cornering ability.
Electromagnetic continuously variable transmission device of the present invention comprises the tandem type electric machine assembly that comprises first motor and second motor; Wherein first motor comprises the first rotor and second rotor of electromagnetic coupled each other; Second motor comprises the stator and the third trochanter of electromagnetic coupled each other; The axle of the first rotor is the power shaft of this tandem type electric machine assembly; The axle of second rotor is coaxial and as the output shaft of this tandem type electric machine assembly with third trochanter, and spool directly being connected with the output shaft of engine of the first rotor, output shaft connects with load.Wherein said second motor comprises armature winding; The coiling mode of this armature winding is: every phase winding is made up of two groups or more winding of mutually insulated; When the external switch array is connected in parallel two groups or more winding in every phase winding respectively, corresponding to the top gear of second motor; When the external switch array is connected in series two groups or more winding in every phase winding respectively, corresponding to the low or first gear of second motor.And when every phase winding was connected by serial or parallel connection, three phase windings can connect into star or triangle mode respectively.Said electromagnetic continuously variable transmission device also comprises: switch arrays, these switch arrays are one group of switch of controlling the second motor windings connected mode, are used to change series and parallel and star, three corner connection methods of second motor windings; Segmentation controller is used for the connected mode of coming the console switch array according to the rotating speed and the predetermined segmentation control rate value of output shaft; The automobile gear control unit that is used for the Control of Automobile gear; And the second moment servo-driver, be used for second motor being carried out the moment of torsion SERVO CONTROL according to the signal that automobile gear control unit and segmentation controller provide.
According to further improvement of the present invention, said electromagnetic continuously variable transmission device also can comprise: the first moment servo-driver is used for controlling the moment of torsion that imposes on engine through the electromagnetic torque between first, second rotor of controlling said first motor; Engine economical operation main control unit; Be used for determining the torque setting size of the first moment servo-driver according to engine speed that detects in real time and the engine optimal economic operation curve that prestores; So that first electric system applies the torque loads of mating with current rotating speed to engine, do not run on the optimal economic travel line to have the independent control in direct correlation ground engine with the PHEV running status; Busbar voltage monitoring and PID control unit are used for the voltage according to dc bus, and see the torque setting signal through automobile gear control unit off to the second moment servo-driver; Gas pedal, it increases on traditional throttle pedal structure has transducer, is used to provide the accelerator pedal angle signal.This automobile gear control unit comprises driving switch and speed change main control unit; Driving switch is provided with according to several grades the conventional car steering custom of comprising parking, reversing, neutral gear, advance and climb; The state of driving switch is sent into the speed change main control unit; Output signal according to accelerator pedal angle and busbar voltage monitoring and PID control unit; Gear control unit control engine economical operation main control unit, the first moment servo-driver, the second moment servo-driver and segmentation control unit, and then the output of control dynamical system.
According to an aspect of the present invention; Said electromagnetic continuously variable transmission device also comprises control unit of engine; It receives accelerator pedal signal and the function according to the operation of this accelerator pedal signal control engine except possessing; Also increasing has interface, is used to receive the signal that automobile gear control unit is sent here, and the control engine runs on idling or stop state.
According to another aspect of the present invention, first motor comprises armature winding, and the first moment servo-driver is realized being electrically connected through the slip ring and first motor windings that is installed on this first armature winding place axle.The first speed/positional transducer is installed on the first rotor axle of first motor, is used for the first rotor absolute position signal being provided and engine rotational speed signal being provided to engine economical operation main control unit to the first moment servo-driver.On the second motor third trochanter axle second speed/position transducer is installed, is used for providing second, third rotor to belong to the absolute position signal of axle jointly and the output shaft tach signal being provided to segmentation controller to first, second moment servo-driver.The first moment servo-driver links to each other through dc bus with the second moment servo-driver and is connected to energy-storage units and busbar voltage detection and PID control unit.First, second motor is respectively three-phase or multi-phase permanent synchronous machine, brshless DC motor or the brush direct current machine is arranged.Second rotor of output shaft axle can be connected to differential mechanism through output gear.
The control method of electromagnetic continuously variable transmission device of the present invention is:
The first step: above-mentioned electromagnetic continuously variable transmission device is installed to engine;
Second step: when selecting parking or neutral gear; First, second moment servo-driver of automobile gear control unit control is closed operation; The interaction moment of torsion of the first rotor is zero in first motor; The moment of torsion that the stator of second motor imposes on second rotor equals zero, and realizes engine and outer load isolation; Simultaneously, automobile gear control unit is sent out signal or the stall signal that runs on idling to control unit of engine, and engine runs on idling or directly stall.Perhaps; When selecting reverse gear, automobile gear control unit notice engine economical operation main control unit is set the moment of the first moment servo-driver and is adjusted into zero, simultaneously; The segmentation control unit becomes motor windings entirely through switch arrays and is connected in series; And automobile gear control unit receives the angle signal of sending here from gas pedal upper angle transducer, and it is changed to the moment setting signal of the second moment servo-driver, controls second motor output reverse-drive moment.Perhaps; When selecting drive shift, automobile gear control unit sends to gear signal unit such as the second moment servo-driver, engine economical operation main control unit, segmentation controller, at this moment; When the driver steps on the throttle pedal, control unit of engine will be controlled engine running.Engine economical operation main control unit is according to the engine speed of the first speed/positional sensor measurement; According to the engine optimal economic operation curve that prestores; Control first motor through the first moment servo-driver engine is applied torque loads, thereby make engine operation under most economical state.When the first moment servo-driver was controlled first motor engine is applied torque loads, first motor was directly sent to output shaft with onesize moment of torsion and is driven automobilism.Meanwhile, first motor will be converted into power delivery to dc bus from the unnecessary kinetic energy of engine.Like this, because the injection of energy, busbar voltage will be raised.After busbar voltage monitoring and PID control unit detect this voltage and promote; Its inner PID control unit will be set exporting second moment servo-driver output corresponding torque, and the second moment servo-driver is controlled second motor and the common driving torque that drives motor racing of externally exporting of first motor.When the driver steps on the throttle acceleration; Engine will be exported more kinetic energy; First motor is except penetrating into portion of energy the load-side; To have more multipotency and be converted into electric energy and deliver to the bus unit, busbar voltage monitoring and PID control unit will improve the second motor-driven moment of torsion and can make automobile quicken through improving the rising that the second motor-driven moment of torsion is stabilized busbar voltage.When speed arrived the rotating speed of driver's expectation, the driver kept this throttle, and automobile gets into the stable speed operation; When speed surpasses the rotating speed of expectation; The driver unclamps throttle; Make alternator speed reduce, first motor penetrates into the corresponding reduction of energy of load, and the electric energy that gets into bus will decrease; Busbar voltage monitoring and PID control unit will be controlled second motor and reduce externally driving energy, thus fall-back.When the second motor third trochanter velocity of rotation reaches predetermined value, the real-time control switch array of segmentation controller meeting, the connection in series-parallel form of adjustment armature winding.When automobilism during in low speed, winding connects with the series connection form, and when needing high pulling torque, driver output maximum current guarantees good power performance.When automobilism during in high speed, winding connects with parallel form, and in the time of need running up, driver output current vector change frequency improves, and guarantees good speed ability.Because the switch speed of winding is very fast, generally be no more than 0.2 second switching time, thereby can realize the insentience switching, and the adjusting continuous variable of motor torque has so just guaranteed good speed regulation performance simultaneously.Perhaps, when selecting hill gear, segmentation controller control switch array; Armature winding is adjusted into the series connection form, makes and export peak torque under second motor unit's drive current, under this state; Except that the winding type of attachment, the situation of other control methods when selecting drive shift is identical.
According to an aspect of the control method of electromagnetic continuously variable transmission device of the present invention, when automobilism when low speed needs high pulling torque to drive, winding connects with series connection, star form; When automobilism during in the little moment of torsion of high speed, winding connects with parallel connection, triangular form.
Another aspect according to the control method of electromagnetic continuously variable transmission device of the present invention; The frequent switching of switch arrays appears in order to be unlikely near actual measurement speed is positioned at predetermined switching point, to change; When above-mentioned switching, add Schmidt's control; Need be raised to above certain value of predetermined speed when being raising speed and just implement the winding switching; Need drop to during reduction of speed that certain value just switches back below the predetermined speed, the window size of Schmidt's characteristic confirms according to actual conditions, chooses guaranteeing switching point sensitivity and prevent that switch arrays from frequently compromising between the switching.
Another aspect according to the control method of electromagnetic continuously variable transmission device of the present invention; For saltus step does not take place the second motor output torque before and after guarantee switching, need before and after change action corresponding change busbar voltage monitoring and PID control unit to the moment preset proportion of the second moment servo-driver.
Another aspect according to the control method of electromagnetic continuously variable transmission device of the present invention; Also can adopt the scheme control reversing of speed closed loop; The accelerator pedal angle signal is the back-up speed setting signal during reversing, in the safe speed scope, accurately to control back-up speed.
The present invention realized making engine and load isolation, according to engine speed by optimum efficiency curve requirement coupling moment of torsion, become the function of moment of torsion.
Further advantage of the present invention has: 1. adopt Electric Machine Control and winding switching mode to replace complicated mechanical speed change gear, designs simplification.2. under the constant situation of the total design capacity of motor and servo-driver, realize broad speed regulation and torque range, realize good speed characteristics and acceleration characteristic; And it is continuously, smoothly adjustable.3. because of adopting servomotor to carry out adjustment moment of torsion and rotating speed, regulating the speed to reach Millisecond, makes the dynamic response of car load more quick; 4. can let engine operation on the optimal economic operation curve, make the fuel oil chemical energy efficiently transfer kinetic energy to, improve the transmission efficiency of kinetic energy, realize good economic performance; 5. can export very big driving torque in short-term, realize good dynamic characteristics; 6. full-automatic regulation is simple to operate, has good cornering ability.7. can realize engine and outer load isolation, replace clutch.
Description of drawings
Fig. 1 is the structural representation of electromagnetic continuously variable transmission device of the present invention.
Fig. 2 is the petrol engine and the former mechanical variable speed device external characteristic curve parameter of 1.8 liter capacities.
Fig. 3 is the sketch map of general three phase electric machine winding.
Fig. 4 is the sketch map of second motor windings of electromagnetic continuously variable transmission device of the present invention.
Fig. 5 is the sketch map of series connection Y-connection mode of second motor windings of electromagnetic continuously variable transmission device of the present invention.
Fig. 6 is the sketch map of serial triangle connected mode of second motor windings of electromagnetic continuously variable transmission device of the present invention.
Fig. 7 is the sketch map of parallel in planetary connected mode of second motor windings of electromagnetic continuously variable transmission device of the present invention.
Fig. 8 is the sketch map of parallelly connected triangle connected mode of second motor windings of electromagnetic continuously variable transmission device of the present invention.
Fig. 9 is the diagrammatic view in principle block diagram that busbar voltage detects and the PID control unit is controlled.
The diagrammatic view in principle block diagram of speed closed-loop control when Figure 10 is reversing.
Embodiment
Electromagnetic continuously variable transmission device example structure sketch map of the present invention such as Fig. 1, the petrol engine 3 of one 1.8 liter capacity receive control unit of engine 1 control, and gas pedal 2 connects control unit of engine 1 and automobile gear control unit 17.Engine 3 output shafts directly are connected with the first motor the first rotor 6 of tandem type electric machine assembly, on the output shaft the first speed/positional transducer 5 are installed also simultaneously.First motor is a three-phase permanent magnet synchronous motor that first, second rotor can rotate; The installed inside of its first rotor 6 is useful on the permanent magnetism magnetic pole of setting up motor-field; Three phase windings of first motor are installed on its second rotor 7, and winding is electrically connected through the coaxial mounted three-phase slip-ring 8 and the first moment servo-driver 10.The axle of second rotor 7 of first motor is through output gear 9 and outside differential mechanism 20 mechanical connections, the third trochanter 12 coaxial installations of second rotor 7 and second motor simultaneously.Second motor is a three-phase permanent magnet synchronous motor; The second motor third trochanter 12 is equipped with the permanent magnetism magnetic pole of setting up motor-field; On the second motor third trochanter axle second speed/position transducer 15 is installed; Second motor stator 11 is fixed on the support, and the armature winding of motor is installed on it, and winding is connected to the second moment servo-driver 16 through switch arrays 19.Automobile gear control unit 17 is through segmentation control unit 18 control switch arrays 19.The first moment servo-driver 10 links to each other through dc bus with the second moment servo-driver 16 and is connected to dc bus and energy-storage units 13 and busbar voltage and detects and PID control unit 14.Engine economical operation main control unit 4 internal memories contain the optimal economic operation curve of engine, and it links to each other with the first speed/positional transducer 5, the first moment servo-driver 10, automobile gear control unit 17.
The petrol engine 3 of this device embodiment 1.8 liter capacities and former mechanical variable speed device external characteristic curve parameter are seen Fig. 2.Wherein, 1. represent former mechanical one grade of equivalent external characteristic curve (no-load voltage ratio: 4.526); 2. represent former mechanical second gear equivalence external characteristic curve (no-load voltage ratio: 2.696); 3. represent former mechanical third gear equivalence external characteristic curve (no-load voltage ratio: 1.778); 4. represent former mechanical fourth gear equivalence external characteristic curve (no-load voltage ratio: 1.293); 5. represent former mechanical five grades of equivalent external characteristic curve (no-load voltage ratios: 1.000).Its Central Plains base ratio is 2.8445.This device also can be designed to match with the engine of other discharge capacities, other kind.
This installs first motor is three-phase permanent magnet synchronous motor, and motor adopts dual-rotor structure.This motor also can be installed on permanent magnetism magnetic pole on second rotor 7, and armature winding is installed on the first rotor 6, simultaneously three-phase slip-ring 8 is installed on the first rotor axle.First motor of this device also can adopt brshless DC motor, and structure is same as described above.
This installs second motor is three-phase permanent magnet synchronous motor; The coiling mode of its armature winding sees that Fig. 3 is to Fig. 8; Every phase winding among Fig. 4 wherein is made up of two groups of windings of mutually insulated; When the external switch array respectively is connected (title be connected in parallel) with W1 ', W2 with W2 ' with V2 ', W1 with V1 ', V2 with U2 ', V1 with U1 ', U2 with U1; Motor is a top gear, and when the external switch array respectively was connected (title be connected in series) with V1 ', W2 with W1 ' with U1 ', V2 with U2, motor was a low or first gear.To shown in Figure 8, the method for attachment of winding has the series connection Y-connection like Fig. 5; Serial triangle connects; Parallel in planetary connects; The parallel connection triangle connects.This installs second motor windings also can be designed to three groups or four groups of windings and the complicated relatively more series parallel structure of more groups.This device also can be simplified series parallel structure in implementing, to reduce gear quantity and switching controls difficulty.This installs second motor also can adopt brshless DC motor, and structure is same as described above.
The base ratio of this device from the motor to the driving wheel is 3, also can select other speed reducing ratio for use according to the relation of motor maximum speed, max. speed.
This device switch arrays 19 are one group of switch of controlling the second motor windings series parallel structure; Segmentation control unit 18 is that conventional second motor velocity signal of sending here according to second speed/position transducer 15 comes control switch array 19, thus to the winding series parallel structure switch so that second machine operation at different speed/moment gear.
Detection of this device busbar voltage and PID control unit 14 control principle block diagrams are as shown in Figure 9, and its control also can not adopted the PID control method, like the additive method that adopts " table tennis " control method, prefabricated form control method or control automatically.
The first moment servo-driver receives from the moment setting signal of engine economical operation main control unit and from first, second rotor relative position signal of first motor of first, second speed/positional sensor; Then control the current phasor of the first armature winding with the servo mode of moment, realize that moment of torsion to the first rotor applies and through the first rotor engine applied load torque; The torque setting signal that the acceptance of the second moment servo-driver passes over from automobile gear control unit; The second motor third trochanter position signalling according to winding series/parallel state and second speed/position transducer from the segmentation control unit detect drives the external output torque of the second motor third trochanter.
Computer unit in the engine economical operation main control unit has the optimal economic operation curve of engine; The gear signal that engine rotational speed signal that it is sent here according to the first speed/positional transducer and automobile gear control unit are sent here, the moment set point of the first moment servo-driver is sent in decision.
Dc bus and energy-storage units are monitored with first, second moment servo-driver and busbar voltage and the PID control unit is connected, and mainly are used for storing unnecessary electric energy or carry electric energy stored to bus where necessary.
Busbar voltage monitoring and PID control unit determine the size of the second moment servo-driver moment set point according to the monitoring result of busbar voltage; And signal is delivered to the second moment servo-driver through automobile gear control unit, control the second motor output torque then.
The gear signal that second motor third trochanter tach signal that speed/moment segmentation control unit reception second speed/position transducer transmits and automobile gear control unit transmit; The control switch array with the series-parallel system that changes second motor windings to realize the more speed/torque adjusting of wide region; Simultaneously; Speed/moment segmentation controller is sent to the series/parallel state of second motor windings to the second moment servo-driver, makes the second moment servo-driver cooperate the series/parallel state of second motor windings to realize more level and smooth torque adjusting so that the driver implements speed of a motor vehicle control better.
Switch arrays are one group of switches that link to each other with second motor windings, and it accepts the control of segmentation control unit, are used to switch the winding series parallel structure.
Automobile gear control unit is whole electromagnetic continuously variable transmission device control maincenter, includes driving switch and speed change main control unit and forms.Driving switch is provided with according to the car steering custom of routine, divides parking, reversing, neutral gear, advances, climbs several grades, and the state of driving switch is sent into the speed change main control unit.The gear control unit is controlled engine economical operation main control unit, the control first and second moment servo-drivers, segmentation control unit according to accelerator pedal angle and busbar voltage, and then the output of control dynamical system.
The gas pedal of this device need increase the pedal angular transducer in traditional mechanism, the angle signal of gas pedal is delivered to automobile gear control unit and control unit of engine.
The control method of electromagnetic continuously variable transmission device of the present invention is:
The first step: engine is installed above-mentioned electromagnetic continuously variable transmission device;
Second step: when selecting parking or neutral gear; The automobile gear control unit 17 control first moment servo-drivers 10 and the second moment servo-driver 16 are closed operation; The interaction moment of torsion of the first motor the first rotor 6 and second rotor 7 is zero; The moment of torsion that the stator 11 of second motor imposes on second rotor 12 equals zero, and realizes engine and outer load isolation; Simultaneously, signal or stall signal that automobile gear control unit 17 goes to run on idling for 1 of control unit of engine, control engine 3 runs on idling or directly stall.
The 3rd step: when selecting reverse gear; Automobile gear control unit 17 notice engine economical operation main control units 4 are set the moment of the first moment servo-driver 10 and are adjusted into zero; Simultaneously; Segmentation control unit 18 becomes second motor windings entirely through switch arrays 19 and is connected in series the series connection Y-connection that method of attachment is as shown in Figure 5; The busbar voltage that sees also Fig. 9 detects and PID control unit control principle block diagram; When reverse gear; Be cut off from the moment setting signal that busbar voltage detects and PID control unit 14 is sent into the second moment servo-driver 16 through automobile gear control unit 17; Automobile gear control unit 17 receives the angle signal of sending here from gas pedal 2 upper angle transducers; It is carried out ratio handle the moment setting signal of back, control second motor output reverse-drive moment as the second moment servo-driver 16.Suppose that servo-driver output maximum current is constant; And the motor output torque is 1 during with parallelly connected triangle method of attachment, and moment of torsion is 3.464 during the series connection Y-connection, and promptly reverse gear realizes 3.464 times moment of torsion no-load voltage ratio; And when above-mentioned variation, the motor feels hot, and state is constant.Consider that driver generally can leave the overcurrent capability in short-term more than 1.5 times, make so again moment of torsion in short-term excursion expand as about 5 times.Second motor is switched to the large torque low speed motor under the reversing state, guarantees the power and the safety of reversing.
Control the speed of a motor vehicle in order to move backward better; Can also adopt the scheme of back-up speed closed loop; See Figure 10; The accelerator pedal angle signal is the back-up speed setting signal during reversing, and the output shaft speed signal that rate setting signal and speed/positional transducer 15 measure asks poor, passes through after the PID computing torque setting as the second moment servo-driver 16 again.Suitable substance P ID parameter can make back-up speed accurately control in the safe speed scope.Speed closed loop control also can adopt other automatic control technology to realize.
The 4th step: when selecting drive shift; Automobile gear control unit 17 sends to the second moment servo-driver 16, engine economical operation main control unit 4, segmentation control unit 18 with gear signal; At this moment; When the driver steps on the throttle pedal 2, control unit of engine 1 will be controlled engine 3 runnings.The engine speed that engine economical operation main control unit 4 is measured according to the first speed/positional transducer 5; According to the engine optimal economic operation curve that prestores; Try to achieve the moment values of corresponding present engine rotating speed on this curve, apply corresponding moment setting signal to the first moment servo-driver 10.The first moment servo-driver 10 is carried current phasor through three-phase slip-ring 8 to the first armature winding according to this setting signal and according to first, second rotor relative position signal of first motor that the first speed/positional transducer 5 and second speed/position transducer 15 are tried to achieve; Make first motor apply torque loads, thereby make engine operation under most economical state through 6 pairs of engines of its first rotor.When 6 pairs of engines of the first motor the first rotor applied torque loads, second rotor 7 was directly sent to output shaft with onesize moment of torsion and is driven automobilism.Meanwhile; First motor is under the driving of the first moment servo-driver 10; To can mode be converted into power delivery to dc bus through pump from the part kinetic energy of engine, or will change mechanical energy from the electric energy of dc bus into and be superimposed upon and drive automobilism on the output shaft.Like this, because the injection of electric flux or take, busbar voltage will be raised or reduce.Busbar voltage like Fig. 9 detects and PID control unit control principle block diagram; After busbar voltage monitoring and PID control unit 14 detect busbar voltage; Actual measurement voltage and the busbar voltage set-point that is provided with are in advance asked poor; Carry out again sending into automobile gear control unit 17 after the PID computing; Signal is directly sent into the second moment servo-driver, 16, the second moment servo-drivers 16 through normally closed switch wherein and is set the current phasor that the second motor third trochanter position signalling that records with second speed/position transducer 15 is controlled second motor according to this, makes the second motor third trochanter 12 export driving torque to output shaft.Because the second motor third trochanter 12 is coaxial connections with first motor, second rotor 7, then under this state, the common externally output of two motors drives the driving torque of motor racing.
When the driver steps on the throttle acceleration; Engine 3 is with raising speed; Engine economical operation main control unit 4 is applied corresponding moment setting signal by same method to the first moment servo-driver 10 according to the current rotating speed of engine; The first moment servo-driver 10 is carried current phasor by same method to the first armature winding according to this setting signal, makes first motor apply torque loads through 6 pairs of engines of its first rotor, thereby engine still is operated under the most economical state.Because of engine 3 with raising speed; First motor is except penetrating into portion of energy the load-side; To have more multipotency is converted into electric energy and delivers to dc bus and energy-storage units 13; Busbar voltage monitoring and PID control unit 14 will improve the second motor-driven moment of torsion through the PID computing; Make and the rising that the more electric energy of automobile raising speed consumption are stabilized DC bus-bar voltage can make engine output kinetic energy, first motor directly be issued to new energy balance in the higher speed of a motor vehicle like this through energy, first electric power generation, the second motor electricity consumption.When the rotating speed of speed excess drive person expectation; The driver unclamps throttle, makes engine speed reduce, and the electric energy that gets into bus will decrease; Busbar voltage monitoring and PID control unit 14 will be controlled second motor and reduce externally driving energy, thereby realize speed stabilizing or fall-back.
When car load actual motion state is in output shaft promptly second rotor speed is higher than the first rotor; First motor and the first moment servo-driver need be taken electric energy from dc bus and be converted into kinetic energy and add on the output shaft; This can cause busbar voltage to reduce; Busbar voltage monitoring and PID control unit 14 will reduce by the second motor-driven moment of torsion through the PID computing this moment; Even let second motor output reactive torque get into the generator state, and the kinetic energy on the output shaft is transformed back into electric energy again, stabilize the decline of busbar voltage.This moment, the driving torque that output shaft is sent to load descended because second motor is exported reactive torque, and the speed of car finally falls after rise, thereby fall-back is realized the busbar voltage balance, or forced the driver to open the throttle to promote engine output realization speed stabilizing.
When the second motor third trochanter, 12 velocities of rotation reach segmentation control predetermined value, the real-time control switch array 19 of segmentation controller 18 meetings, the connection in series-parallel form of adjustment armature winding, specific as follows:
To shown in Figure 8, the method for attachment of present embodiment second motor windings has like Fig. 5: the series connection Y-connection; Serial triangle connects; Parallel in planetary connects; The parallel connection triangle connects.Suppose that servo-driver output maximum current is constant, and the motor output torque is 1 during with parallelly connected triangle method of attachment, moment of torsion was 1.732 when then parallel in planetary connected; Moment of torsion was 2 when serial triangle connected; Moment of torsion is 3.464 during the series connection Y-connection, promptly adopts connection in series-parallel to switch, and has realized maximum 3.464 times change in torque; And when above-mentioned variation, the motor feels hot, and state is constant.Consider that driver generally can leave the overcurrent capability in short-term more than 1.5 times, make so again moment of torsion in short-term excursion expand as about 5 times.And one grade to five grades mechanical no-load voltage ratio of 1.8 liters of engines of embodiment is merely 4.526 times.When segmentation controller 18 control switch arrays 19 carry out the switching of armature winding connected mode; For guaranteeing that saltus step does not take place to switch the front and back second motor output torque; Need the moment preset proportion of corresponding change busbar voltage monitoring and 14 pairs second moment servo-drivers 16 of PID control unit before and after change action, such as, connect when switching to the series connection Y-connection from serial triangle; The output current that driver output is onesize; Before the second motor output torque can increase to and switch 1.732 times, therefore uncomfortable for the driving of avoiding the moment sudden change to cause, must switch instantaneous 1/1.732 before switching that the moment set point is become.
Servo-driver output ceiling voltage is changeless, and the adjustment of any speed all can not make the back-emf of motor break through the restriction of maximum output voltage.The motor maximum no-load speed is 1 when supposing with series connection Y-connection method; Maximum no-load speed was about 1.732 when then serial triangle connected; Maximum no-load speed was about 2 when parallel in planetary connected; Maximum no-load speed was about 3.464 when the parallel connection triangle connected, and promptly adopted connection in series-parallel to switch, and had realized the highest speed regulation that is about 3.464 times.On this basis, control method of the present invention is also introduced the weak magnetic speed-up technology, and the raising speed scope is enlarged about 1.4 times again, makes speed regulation expanded range to 4.8 times, surpasses 4.526 times of one grade to five grades mechanical no-load voltage ratios of 1.8 liters of engines of embodiment.
Above-mentioned Fig. 5 is tabulated to the highest zero load of winding construction under the bus rated voltage shown in Figure 8 is specially fast; With this predetermined value as the switching winding; When the second motor third trochanter, 12 velocities of rotation reach predetermined value; The real-time control switch array 19 of segmentation controller 18 meetings, the connection in series-parallel form of adjustment armature winding.
The frequent switching of switch arrays appears in order to be unlikely near actual measurement speed is positioned at predetermined switching point, to change; Should when above-mentioned switching, add Schmidt's control; Need be raised to above certain value of predetermined speed when being raising speed and just implement the winding switching, need drop to following certain value of predetermined speed during reduction of speed and just switch back.The window size of Schmidt's characteristic confirms according to actual conditions, guaranteeing that switching point sensitivity chooses with preventing to compromise between the frequent switching of switch arrays.
According to foregoing description, when automobilism during in low speed, winding connects with the series connection form, and the same electric current of driver output can obtain bigger moment of torsion.When needing high pulling torque, driver output maximum current guarantees that hybrid electric vehicle has good power acceleration performance.When automobilism during in high speed, winding connects with parallel form, in the time of need running up; Driver output current vector alternative frequency improves; Under the constant prerequisite of maximum output voltage, can improve motor speed, guarantee that hybrid electric vehicle has good speed ability.Because the switch speed of winding is generally less than 0.2 second, thereby can realize the insentience switching, the adjusting continuous variable of motor torque has so just guaranteed good speed regulation performance and ride comfort simultaneously.Each phase winding of present embodiment second motor is 2 groups, also can be made up of more a plurality of windings, can realize wideer moment of torsion and speed no-load voltage ratio according to same control method.
The 5th step: when selecting hill gear, segmentation controller 18 control switch arrays 19 are adjusted into the series connection Y-connection with armature winding; Make that output torque is maximum under second motor unit's drive current; Under this state, except that the winding type of attachment, other control methods are identical with the 4th step.
Claims (16)
1. electromagnetic continuously variable transmission device; Comprise: the tandem type electric machine assembly that comprises first motor and second motor; Wherein first motor comprises the first rotor and second rotor of electromagnetic coupled each other, and second motor comprises the stator and the third trochanter of electromagnetic coupled each other, and the axle of the first rotor is the power shaft of this tandem type electric machine assembly; The axle of second rotor is coaxial and as the output shaft of this tandem type electric machine assembly with third trochanter; The axle of the first rotor directly is connected with the output shaft of engine, and output shaft connects with load, it is characterized by:
Said second motor comprises armature winding; The coiling mode of this armature winding is: every phase winding is made up of two groups or more winding of mutually insulated; When the external switch array is connected in parallel two groups or more winding in every phase winding respectively, corresponding to the top gear of second motor; When the external switch array was connected in series two groups or more winding in every phase winding respectively, corresponding to the low or first gear of second motor, and when every phase winding was connected by serial or parallel connection, three phase windings can connect into star or triangle mode respectively;
Said electromagnetic continuously variable transmission device also comprises: switch arrays, these switch arrays are one group of switch of controlling the second motor windings connected mode, are used to change series and parallel and star, three corner connection methods of second motor windings; Segmentation controller is used for the connected mode of coming the console switch array according to the rotating speed and the predetermined segmentation control rate value of output shaft; The automobile gear control unit that is used for the Control of Automobile gear; The second moment servo-driver is used for according to the signal that automobile gear control unit and segmentation controller provide second motor being carried out the moment of torsion SERVO CONTROL; And the first moment servo-driver; Be used for controlling the moment of torsion that imposes on engine through the electromagnetic torque between first, second rotor of controlling said first motor; Wherein first motor comprises armature winding, and the first moment servo-driver is realized being electrically connected through the slip ring and first motor windings that is installed on this first armature winding place axle.
2. electromagnetic continuously variable transmission device according to claim 1 is characterized by:
Said electromagnetic continuously variable transmission device also comprises engine economical operation main control unit; Be used for determining the torque setting size of the first moment servo-driver according to engine speed that detects in real time and the engine optimal economic operation curve that prestores; So that first electric system applies the torque loads of mating with current rotating speed to engine, do not run on the optimal economic travel line to have the independent control in direct correlation ground engine with the PHEV running status.
3. electromagnetic continuously variable transmission device according to claim 2 is characterized by:
Said electromagnetic continuously variable transmission device also comprises busbar voltage monitoring and PID control unit, is used for the voltage according to dc bus, and sees the torque setting signal through automobile gear control unit off to the second moment servo-driver.
4. electromagnetic continuously variable transmission device according to claim 3 is characterized by:
Said electromagnetic continuously variable transmission device also comprises gas pedal, and it increases on traditional throttle pedal structure has transducer, is used to provide the accelerator pedal angle signal.
5. electromagnetic continuously variable transmission device according to claim 4 is characterized by:
This automobile gear control unit comprises driving switch and speed change main control unit; Driving switch is provided with according to several grades the conventional car steering custom of comprising parking, reversing, neutral gear, advance and climb; The state of driving switch is sent into the speed change main control unit; Output signal according to accelerator pedal angle and busbar voltage monitoring and PID control unit; Gear control unit control engine economical operation main control unit, the first moment servo-driver, the second moment servo-driver and segmentation control unit, and then the output of control dynamical system.
6. electromagnetic continuously variable transmission device according to claim 5 is characterized by:
Said electromagnetic continuously variable transmission device also comprises control unit of engine; It receives accelerator pedal signal and the function according to the operation of this accelerator pedal signal control engine except possessing; Also increase interface is arranged; Be used to receive the signal that automobile gear control unit is sent here, the control engine runs on idling or stop state.
7. electromagnetic continuously variable transmission device according to claim 2 is characterized by:
The first speed/positional transducer is installed on the first rotor axle of first motor, is used for the first rotor absolute position signal being provided and engine rotational speed signal being provided to engine economical operation main control unit to the first moment servo-driver.
8. electromagnetic continuously variable transmission device according to claim 1 is characterized by:
On the second motor third trochanter axle second speed/position transducer is installed, is used for providing second, third rotor to belong to the absolute position signal of axle jointly and the output shaft tach signal being provided to segmentation controller to first, second moment servo-driver.
9. electromagnetic continuously variable transmission device according to claim 3 is characterized by:
The first moment servo-driver links to each other through dc bus with the second moment servo-driver and is connected to energy-storage units and busbar voltage detection and PID control unit.
10. electromagnetic continuously variable transmission device according to claim 1 is characterized by:
First, second motor is respectively three-phase or multi-phase permanent synchronous machine, brshless DC motor or the brush direct current machine is arranged.
11. electromagnetic continuously variable transmission device according to claim 1 is characterized by:
Second rotor of output shaft axle is connected to differential mechanism through output gear.
12. the control method of above-mentioned each electromagnetic continuously variable transmission device, it may further comprise the steps:
The first step: above-mentioned electromagnetic continuously variable transmission device is installed to engine; And
Second step:
When selecting parking or neutral gear; Automobile gear control unit controls the first moment servo-driver and the second moment servo-driver is closed operation; First, second Motor torque equals zero; Simultaneously, automobile gear control unit sends signal or the stall signal that goes to run on idling to control unit of engine, and the control engine runs on idling or directly stall; Perhaps
When selecting reverse gear; Automobile gear control unit notice engine economical operation main control unit is set the moment of the first moment servo-driver and is adjusted into zero; Simultaneously; The segmentation control unit becomes the series connection Y-connection through switch arrays with second motor windings, and second motor is switched to the large torque low speed motor, and automobile gear control unit is controlled second motor according to accelerator pedal angle through the second moment servo-driver and carried out reverse-drive; Perhaps
When selecting drive shift, automobile gear control unit sends to the second moment servo-driver, engine economical operation main control unit, segmentation control unit with gear signal, at this moment; When the driver steps on the throttle pedal; Engine economical operation main control unit, is controlled first motor through the first moment servo-driver and is applied corresponding moment to engine according to the engine optimal economic operation curve that prestores according to engine speed; First motor is also directly sent to output shaft with onesize moment of torsion simultaneously and is driven automobilism; Meanwhile, first motor will can mode be converted into power delivery to dc bus through pump from the part kinetic energy of engine under the driving of the first moment servo-driver; Or will change mechanical energy from the electric energy of dc bus into and be superimposed upon and drive automobilism on the output shaft; Like this, because the injection of electric flux or take, busbar voltage will be raised or reduce; Then, busbar voltage detection and PID control unit are controlled second motor output driving torque according to busbar voltage through the automobile gear control unit and the second moment servo-driver; Perhaps
When the second motor third trochanter velocity of rotation reaches segmentation control predetermined value; Segmentation controller can real-time control switch array, and the connection in series-parallel form of adjustment armature winding is during series connection Y-connection, serial triangle connect, parallel in planetary connects and parallelly connected triangle is connected one or more; Perhaps
When selecting hill gear, segmentation controller control switch array is adjusted into the series connection Y-connection with armature winding, and automobile gear control unit sends to the second moment servo-driver, engine economical operation main control unit, segmentation control unit with gear signal; At this moment, when the driver stepped on the throttle pedal, engine economical operation main control unit was according to engine speed; According to the engine optimal economic operation curve that prestores; Control first motor through the first moment servo-driver and apply corresponding moment to engine, first motor is also directly sent to output shaft with onesize moment of torsion simultaneously and is driven automobilism, meanwhile; First motor is under the driving of the first moment servo-driver; To can mode be converted into power delivery to dc bus through pump from the part kinetic energy of engine, or will change mechanical energy from the electric energy of dc bus into and be superimposed upon and drive automobilism on the output shaft, like this; Because the injection of electric flux or take; Busbar voltage will be raised or reduce, and then, busbar voltage detects and the PID control unit is controlled second motor output driving torque according to busbar voltage through the automobile gear control unit and the second moment servo-driver.
13. the control method of electromagnetic continuously variable transmission device according to claim 12 is characterized by:
When automobilism when low speed needs high pulling torque to drive, winding connects with series connection, star form; When automobilism during in the little moment of torsion of high speed, winding connects with parallel connection, triangular form.
14. the control method of electromagnetic continuously variable transmission device according to claim 12 is characterized by:
The frequent switching of switch arrays appears in order to be unlikely near actual measurement speed is positioned at predetermined switching point, to change; When above-mentioned switching, add Schmidt's control; Need be raised to above certain value of predetermined speed when being raising speed and just implement the winding switching; Need drop to during reduction of speed that certain value just switches back below the predetermined speed, the window size of Schmidt's characteristic confirms according to actual conditions, chooses guaranteeing switching point sensitivity and prevent that switch arrays from frequently compromising between the switching.
15. the control method of electromagnetic continuously variable transmission device according to claim 14 is characterized by:
For saltus step does not take place the second motor output torque before and after guarantee switching, need before and after change action corresponding change busbar voltage monitoring and PID control unit to the moment preset proportion of the second moment servo-driver.
16. the control method of electromagnetic continuously variable transmission device according to claim 12 is characterized by:
Also can adopt the scheme control reversing of speed closed loop, the accelerator pedal angle signal is the back-up speed setting signal during reversing, in the safe speed scope, accurately to control back-up speed.
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| PCT/CN2007/002760 WO2009036597A1 (en) | 2007-09-19 | 2007-09-19 | An electromagnetic continuously variable transmission device and its control method |
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| CN112290852A (en) * | 2020-02-21 | 2021-01-29 | 北京六十六号互动科技有限公司 | Method and device for switching winding wiring state of motor and motor control system |
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| WO2009036597A1 (en) | 2009-03-26 |
| CN101803170A (en) | 2010-08-11 |
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