CN102336192A - Control method for stabilizing torque fluctuation of automobile by using phase regulator - Google Patents
Control method for stabilizing torque fluctuation of automobile by using phase regulator Download PDFInfo
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- CN102336192A CN102336192A CN2011101868747A CN201110186874A CN102336192A CN 102336192 A CN102336192 A CN 102336192A CN 2011101868747 A CN2011101868747 A CN 2011101868747A CN 201110186874 A CN201110186874 A CN 201110186874A CN 102336192 A CN102336192 A CN 102336192A
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Abstract
The invention discloses a control method for stabilizing the torque fluctuation of an automobile by using a phase regulator. The control method comprises the following steps of: establishing an enabling condition judgement module, a feedback controller, the phase regular and a dead zone link; when an enabling condition output by the enabling condition judgement module is true, outputting one compensation torque on a driving motor; obtaining the compensation torque by processing an actual motor rotation speed signal output by the driving motor through the feedback controller, the phase regular and the dead zone link in turn; otherwise, enabling the compensation torque output on the driving motor to be zero. Therefore, the compensation torque output by the feedback controller is necessary to be adjusted through the phase regular, so that the communication delay between the compensation torque calculated in a complete automobile controller and a torque execution device (such as a motor controller and the driving motor) is eliminated; and then the steady filter is carried out through the dead zone link, so that the normal acceleration or deceleration requirements of a driver cannot be reduced after feedback control.
Description
Technical field
The present invention relates to anti-the tremble control method of a kind of raising by motor-driven whole vehicle driver comfort; Especially a kind of control method that adopts phase regulator to stabilize the vehicle torsional moment fluctuation, the torque feedback control method through the band phase regulator suppresses or alleviates vehicle shake and the vibration that motor causes under brish acceleration, anxious pine braking and the specific rotation speeds interval when vehicle low speed.
Background technology
Drive motor is as one of hybrid power and pure electric vehicle important power resources; Often there is the fluctuation of output torque owing to reasons such as design, manufacturing and controls; Not only influence motor performance, cause vibration; And can cause the vibration of car load dynamic assembly, the vibration of automobile acts directly on the human body, and the traveling comfort of automobile is produced directly influence.
Evidence is by in the motor-driven vehicular drive process, and vehicle is shaken obviously under following three kinds of operating modes, and chaufeur and passenger feel significant discomfort:
(1) for pursuing acceleration capability; Unexpected anxious step on the accelerator when vehicle start or low speed, this moment, the torque demand to motor can rise rapidly, followed the fluctuation and the vibration of motor speed; Can not feel obviously that vehicle is shaken and vibration if having suitable Motor torque control method, chaufeur.
(2) under the low speed of a motor vehicle operating mode, when chaufeur was stepped on brake pedal suddenly for anxious the deceleration, the rapid decline of motor demand torque also can bring the sensation of vehicle shake and vibration to chaufeur.
(3) each automobile is after making, assembling completion, and the resonance frequency of power system just has been fixed up, and motor-driven vehicle is worked as motor speed and reached rotating speed interval (Vmin; Vmax) in, the oscillation frequency of rotating speed is near the resonance frequency of power system, thus the initiation vibration of vehicle; In this patent, call the critical electric machine rotating speed to this rotating speed.In general the speed of a motor vehicle is on the low side under this rotating speed, so chaufeur can be felt tangible Vehicular vibration.
For operating mode (1) and (2), can shake reduced through reducing torque gradient, but the driving intention of chaufeur will be lagged behind, thereby reduce the dynamic property (accelerating mode) of vehicle or increase stopping distance (damped condition) thereby the potential danger of bringing.Damping and rigidity that operating mode (1), (2) and (3) also can suspend through the rational Match power system; Make the cooresponding speed of a motor vehicle of resonance frequency bring up to the high speed district; Thereby alleviate the uncomfortable sensation of chaufeur; But so can bring the increase of cost of development, and the solution of other Vehicular vibration noise problems is brought negative effect.
For above operating mode, if utilize the tach signal of electric system to do controlled reset, the damping through control increase vehicle driveline can weaken the degree of cyclic irregularity and the shake of vehicle.Yet in the practical application often because there is time lag in the torque responsive of drive motor; The torque request instruction of adding the upper strata possibly be in entire car controller, calculate and actual moment of torsion to carry out be in electric machine controller and motor, to accomplish, have the beidirectional communication delay between the two.These factors make moment of torsion output not catch up with the torque command of expectation, thus simple controlled reset out of reach effect and also can make the unstable reverse side effect that produces of system sometimes, and this is particularly evident when the degree of cyclic irregularity frequency surpasses 10HZ.
In the automobile dynamic system field existing torque control technology especially the driving technology all be aimed at conventional engines, be that the anti-control method of trembling of the vehicle of propulsion source rarely has and mentions with the electrical motor.
Summary of the invention
The present invention is directed to the deficiency of prior art; A kind of control method that adopts phase regulator to stabilize the vehicle torsional moment fluctuation is provided, and it suppresses or alleviates vehicle shake and the vibration that motor causes through the torque feedback control method of being with phase regulator under brish acceleration, anxious pine braking and the specific rotation speeds interval when vehicle low speed.
For realizing above technical purpose, the present invention will take following technical scheme:
One kind of car using a phase regulator to stabilize fluctuations in torque control method, based on enabling condition determining module, the feedback controller, phase regulator and dead links established; when the enable condition determining module output enable conditions are satisfied, the drive motor output torque of a compensation, which compensate by driving the motor output torque of the actual motor speed signal passes through the feedback controller, phase regulators, and dead links obtained after processing; contrary, the compensation of the drive motor output torque is 0; wherein: The enabling condition determining module includes the following three conditions is determined: A, acute and step on the accelerator pedal; B, acute and loose brake pedal; C, the motor speed is critical speed; when the enable condition judging module according to the accelerator pedal position, brake pedal position, the motor speed and the gear is determined that the vehicle is currently in the A, B, C one of the three conditions, the condition is established to; wherein: said determining module enabling conditions include the following three circumstances determination: A, slam the accelerator pedal; B, anxious loose brake pedal; C, the motor speed is critical speed; when the enable condition determining module determines that the vehicle is currently in the A, B, C three kinds of working conditions moment, the enable condition is satisfied; said feedback controller for the drive motor output signal of the actual motor speed differential negative feedback, the actual motor speed signal of the first differential algorithm to obtain the actual speed change amount; then the actual multiplied by an adjustable rotation speed variation of the negative gain part K, yields a corrected torque feedback controller output; said phase adjuster for compensation of the feedback controller output torque phase adjustment, the transfer function G (s) as follows:?
, and
;
where: s is the Laplace operator;
is pi
; w for the vehicle in the case without feedback control exists through the critical speed speed fluctuation frequency;
is monotone adjustable parameters; said dead District links, to filter out the drive motor output speed variation corresponding to the part of the steady-state torque compensation; their calibrated by determining the compensation torque value when the input torque compensation dead link compensation torque is less than the absolute value of the calibration value, death District link output value is 0; otherwise dead link output is equal to the phase regulator output.
According to above technical scheme, can realize following beneficial effect:
The present invention adopts and to enable the condition judgment module and carry out vehicle working condition and judge, carries out torque compensation when vehicle being in brish acceleration, anxious pine braking and the interval following three kinds of operating modes of specific rotation speeds arbitrary operating mode.Simultaneously, the present invention needs the phase place adjustment through phase regulator through the compensation torque of feedback controller output, to eliminate the compensation torque calculated in the entire car controller and the communication delay between the moment of torsion executive device (like electric machine controller and drive motor); In addition; Through the adjusted compensation torque of phase regulator phase place; Also needing to carry out stable state through the dead band link filters; Make and do not weaken that chaufeur is normal to quicken or the deceleration demand behind the controlled reset to have only promptly that compensate control just works when the degree of cyclic irregularity frequency is high, and stable rotating speed increases or reduces unaffected.
Description of drawings
Fig. 1 is for being with phase-adjusted speed feedback control method control flow chart;
Fig. 2 is the phase regulator control chart.
The specific embodiment
Accompanying drawing discloses the structural representation of preferred embodiment involved in the present invention without limitation.Below will combine accompanying drawing that technical scheme of the present invention at length is described.
As depicted in figs. 1 and 2, employing phase regulator of the present invention is stabilized the control method of vehicle torsional moment fluctuation, sets up based on enabling condition judgment module, feedback controller, phase regulator and dead band link; When the condition that enables that enables the output of condition judgment module is set up; To compensation torque of drive motor output, this compensation torque obtains after the processing through feedback controller, phase regulator and dead band link through the real electrical machinery tach signal of drive motor output successively; Otherwise, be 0 to the compensation torque of drive motor output; Otherwise the output compensation torque is 0; Wherein: the described condition judgment module that enables comprises following three kinds of situation is judged: A, anxious stepping on accelerator pedal; B, anxious loose brake pedal; C, motor speed are in the critical speed district; When enabling the condition judgment module when determining that vehicle is current to be in one of above-mentioned A, B, three kinds of operating modes of C, the condition that enables is set up; Described feedback controller is used for the real electrical machinery tach signal of drive motor output is carried out the differential inverse feedback, and it carries out differential algorithm with the real electrical machinery tach signal earlier and obtains the actual speed variable quantity; Again this actual speed variable quantity multiply by an adjustable negative gain link K, can obtain the compensation torque of feedback controller output; Described phase regulator; Be used for the compensation torque of feedback controller output is carried out phase adjusted; Its transfer function G (s) is as follows:
, and
;
wherein: s is a Laplace operator;
is circular constant
; W is the degree of cyclic irregularity frequency that vehicle exists during through the critical speed district under not with the controlled reset situation;
is dull adjustable parameter; Described dead band link is used to filter out the cooresponding torque compensation of stable state part of drive motor output speed variable quantity; It is through confirming the calibration value of compensation torque, and when the absolute value of the compensation torque of input dead band link during less than the compensation torque calibration value, the output valve of dead band link is 0; Otherwise the output of dead band link equals the output of phase regulator.
Saidly enable the decision process that the condition judgment module enables condition and be specially:
At first, enable preset accelerator pedal position recruitment higher limit A in the condition judgment module
0, brake pedal position reduction higher limit B
0, motor critical speed lower limit V
Min,The value of reaching the standard grade V
MaxAnd the condition that enables is set up time length t
1, t
2Wherein: accelerator pedal position recruitment higher limit A
0, brake pedal position reduction higher limit B
0, motor critical speed lower limit V
Min,The value of reaching the standard grade V
MaxAnd the condition that enables is set up time length t
1, t
2All can set according to the actual requirements, generally can confirm, can certainly rule of thumb set through experiment;
Then, a), receive accelerator pedal position recruitment A greater than preset accelerator pedal position recruitment higher limit A when enabling the condition judgment module
0, then determining current vehicle and be in anxious stepping on accelerator pedal operating mode for advancing or retreating retaining as if current, the output enable condition is set up, and the condition that the enables establishment time of this kind operating mode surpasses the preset condition that enables and sets up lasting duration t
1After, enabling condition judgment module output enable condition is false; B), when enabling brake pedal position reduction B that the condition judgment module receives greater than preset brake pedal position reduction higher limit B
0, if, then determining current vehicle for advancing or retreating retaining, current gear is in anxious loose brake pedal operating mode, and the output enable condition is set up, and the condition that the enables establishment time of this kind operating mode sets up above the preset condition that enables and continues duration t
2After, enabling condition judgment module output enable condition is false; C), when enabling motor speed (V in interval that the condition judgment module receives
Min,, V
Max), if current gear for advancing or retreating retaining, then determines current vehicle motor speed approach to criticality rotating speed.
Therefore, electronlmobil of the present invention comprises an entire car controller and drive motor controller and drive motor.Calculate the torque demand of chaufeur through entire car controller, this torque demand passes to electric machine controller through communication (like the CAN communication), so that the motor controller controls drive motor advances vehicle.
Electronlmobil of the present invention equally also can have only a drive motor controller and drive motor thereof.Both moved the car load control logic in the drive motor controller, the controlling and driving motor is so that vehicle operating again.
Torque control method of the present invention comprises and enables condition judgment module, feedback controller, phase regulator and dead band link.Enabling the condition judgment module condition that enables when setting up, the compensation torque of this control method output obtains after passing through feedback controller, phase regulator and dead band link successively; Otherwise the output compensation torque of this control method is 0.
The condition judgment module that enables of the present invention comprises three kinds of situation: 1. anxious stepping on accelerator pedal 2. anxious loose brake pedals 3. are near the critical speed.Through judging that accelerator pedal position AccelPedalPosn_pct recruitment in some cycles (can demarcate, initial value is made as 10) is greater than calibration value A
0, gear is for advancing or retreating shelves and discern anxious stepping on accelerator pedal; Brake pedal position BrkPedalPosn_pct reduction through judging (can demarcate, initial value is made as 10) in some cycles is greater than calibration value B
0, gear is for advancing or retreating shelves and discern anxious loose brake pedal operating mode; Through judging that motor speed TMSpeed_rpm is at interval (V
Min,, V
Max), interior, gear is for advancing or retreating shelves and judge near current whether being in the critical speed.When identifying current vehicle and be in above-mentioned three kinds of situation any one, the torque control method condition of enabling of the present invention is enabled, and situation 1 during with situation 2 condition set up and pass through nominal time t respectively
1, t
2After the condition that enables be false automatically, situation 3 as long as the condition that then enables that always satisfies condition set up all the time.
Feedback controller of the present invention carries out differential algorithm with this actual speed signal and obtains the change in rotational speed amount based on the real electrical machinery tach signal TMSpeed_rpm of battery-driven car or the transmission of hybrid vehicle drive motor controller; This differential algorithm can be that the current period rotating speed deducts last cycle rotating speed; The difference that also can be the current period rotating speed and the rotating speed in preceding which cycle is divided by cycle life; Be that the rotation speed change amount equals (TMSpeed_rpm-z^ (n) * TMSpeed_rpm)/n; Wherein z is the discrete domain operator, and (n) * TMSpeed_rpm representes n the real electrical machinery rotating speed constantly in front to z^.This actual speed variable quantity multiply by an adjustable negative gain link K and is compensated the output Tfb_out of moment of torsion as feedback controller.Can guarantee by the way: this compensation torque is to be correct time a negative value in the rotation speed change amount, increases suddenly to suppress rotating speed; The rotation speed change amount when negative be one on the occasion of, reduce suddenly to suppress rotating speed.When negative gain link K amplitude was big more, the ability that rotating speed is suppressed was strong more, but excessive amplitude can cause system unstable.
Phase regulator of the present invention is input with the output compensation torque Tfb_out of motor speed feedback controller, through obtaining the leading or compensation torque Tpc_out that lags behind on the phase place behind the phase regulator.This phase regulator is generally differentiation element to increase the phase margin of system, improves relative stability; This phase regulator can be a delay component as required also.
Phase regulator of the present invention has transfer function G as follows (s):
Wherein:
S is a Laplace operator.
H_lpf (s) is a low-pass filter, the degree of cyclic irregularity frequency w that the value of its parameter T2 is existed during through the critical speed district under not with the controlled reset situation by vehicle (unit: confirm that Hz) both have shown in the following formula and concern: T2=1/ (2*pi*w); This degree of cyclic irregularity frequency w records through open loop, can be through calculating in vehicle critical speed district the mean speed oscillation frequency in a period of time, and promptly number cycle of fluctuation in a period of time obtains degree of cyclic irregularity frequency w divided by this section period; Also can be through the tach signal in the critical speed district being carried out find out the strongest Frequency point of energy behind the fast fourier transform (FFT), this Frequency point is exactly degree of cyclic irregularity frequency w.Near the incoming signal composition that the T2 value of setting according to above formula can guarantee only to be positioned at the degree of cyclic irregularity frequency could be by phase adjusted, and the phase place of other incoming signal composition is unaffected basically.
The value of parameter K 1 is dull adjustable.This phase regulator is a differentiation element when-1 < K1 < 0, and K1 approaches-1 o'clock phase advance angle more and approaches 90 ° more, and phase adjusted is 0 when K1=0, and it is inoperative to be equivalent to this phase regulator; As K1>this phase regulator is a delay component 0 the time, K1 large time delay effect more is strong more; Above-mentioned G (s) link is made the adaptable quantities of controlled device after the discretization according to the systematic sampling cycle.
The realization of phase regulator of the present invention is explained through following example.
Suppose that the degree of cyclic irregularity frequency that vehicle exists when under not with the controlled reset situation, passing through the critical speed district is 10Hz, the sampling period of control system is 0.01s, and then the transfer function of phase regulator is:
1
G(s)=1+K1*?————————?；
1/(2*pi*10)s+1
With obtaining after G (s) discretization:
0.4665z^(-1)
G(z)=1+K1*————————；
1-0.5335z^(-1)
Wherein z is the discrete domain operator, z^ (n) n the moment of expression front (n=1,2 ... Inf).
Can confirm suitable K1 parameter value through actual tuning parameter K1 to obtain the different vehicles driving.
Do not weaken in order to make that chaufeur is normal to quicken or the deceleration demand behind the controlled reset; Have only promptly that compensate control just works when the degree of cyclic irregularity frequency is high; And stable rotating speed increases or reduces unaffected; The output compensation torque Tpc_out of phase regulator also needs through a dead band link, to filter out the cooresponding torque compensation of steady-state component in the rotation speed change amount.The algorithm of this dead band link is: when the absolute value of input Tpc_out during less than a calibration value Tcal, the dead band link is output as 0; Otherwise the output of dead band link equals the output of phase regulator.That is:
If?abs(Tpc_out)<Tcal THEN
Tdead_out=0;
ELSE
Tdead_out=?Tpc_out;
END
The output compensation torque that the original torque request amount of reacting the chaufeur request is deducted the link of dying promptly obtains final torque request; This torque request passes to drive motor controller through entire car controller, so that the drive motor drives vehicle advances.
Torque control method through the described band phase regulator of embodiment of the present invention; Can reduce effectively by vehicle shake and the vibration problem of motor-driven vehicle under specific operation; Weaken the degree of cyclic irregularity that the resonance of drive motor and vehicle suspension system brings, improve the driver comfort of vehicle.
Claims (3)
1. a control method that adopts phase regulator to stabilize the vehicle torsional moment fluctuation is characterized in that, this control method is set up based on enabling condition judgment module, feedback controller, phase regulator and dead band link; When the condition that enables that enables the output of condition judgment module is set up; To compensation torque of drive motor output, this compensation torque obtains after the processing through feedback controller, phase regulator and dead band link through the real electrical machinery tach signal of drive motor output successively; Otherwise, be 0 to the compensation torque of drive motor output; Wherein:
The described condition judgment module that enables comprises following three kinds of situation is judged: A, anxious stepping on accelerator pedal; B, anxious loose brake pedal; C, motor speed are in the critical speed district; When enabling the condition judgment module when determining according to accelerator pedal position, brake pedal position, motor speed and gear that vehicle is current to be in one of above-mentioned A, B, three kinds of operating modes of C, the condition that enables is set up;
Described feedback controller is used for the real electrical machinery tach signal of drive motor output is carried out the differential inverse feedback, and it carries out differential algorithm with the real electrical machinery tach signal earlier and obtains the actual speed variable quantity; Again this actual speed variable quantity multiply by an adjustable negative gain link K, can obtain the compensation torque of feedback controller output;
The phase adjuster for compensation of the feedback controller output torque phase adjustment, the transfer function G (s) as follows: ?
, and
;
where: s is pulled Plath operator;
is pi
; w for the vehicle in the case without feedback control exists through the critical speed speed fluctuation frequency;
is monotone tunable ;
Described dead band link is used to filter out the cooresponding torque compensation of stable state part of drive motor output speed variable quantity; It is through confirming the calibration value of compensation torque, and when the absolute value of the compensation torque of input dead band link during less than the compensation torque calibration value, the output valve of dead band link is 0; Otherwise the output of dead band link equals the output of phase regulator.
2. stabilize the control method of vehicle torsional moment fluctuation according to the said employing phase regulator of claim 1; It is characterized in that; Saidly enable the decision process that the condition judgment module enables condition and be specially: at first, enable preset accelerator pedal position recruitment higher limit A in the condition judgment module
0, brake pedal position reduction higher limit B
0, motor critical speed lower limit Vmin, the motor critical speed higher limit Vmax and the condition that enables are set up time length t
1, t
2Then, a), receive accelerator pedal position recruitment A greater than preset accelerator pedal position recruitment higher limit A when enabling the condition judgment module
0, and current gear is non-neutral gear, then determines current vehicle and is in anxious stepping on accelerator pedal operating mode, and the output enable condition is set up, and the condition that the enables establishment time of this kind operating mode surpasses the preset condition that enables and sets up and continue duration t
1After, enabling condition judgment module output enable condition is false; B), when enabling brake pedal position reduction B that the condition judgment module receives greater than preset brake pedal position reduction higher limit B
0, if, then determining current vehicle for advancing or retreating retaining, current gear is in anxious loose brake pedal operating mode, and the output enable condition is set up, and the condition that the enables establishment time of this kind operating mode sets up above the preset condition that enables and continues duration t
2After, enabling condition judgment module output enable condition is false; C), when enable motor speed that the condition judgment module receives in interval (Vmin,, Vmax), for advancing or retreating retaining, then determine current vehicle motor speed approach to criticality rotating speed as if current gear.
3. stabilize the control method of vehicle torsional moment fluctuation according to the said employing phase regulator of claim 1, it is characterized in that the actual speed variable quantity in the said feedback controller is last cycle actual speed for the current period actual speed deducts; The difference that perhaps is the current period actual speed and the actual speed in preceding n cycle is divided by cycle life n.
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|---|---|---|---|
| CN 201110186874 CN102336192B (en) | 2011-07-05 | 2011-07-05 | Control method for stabilizing torque fluctuation of automobile by using phase regulator |
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| CN104071031B (en) * | 2013-12-30 | 2019-04-23 | 上海大郡动力控制技术有限公司 | A kind of suppressing method of pure electric automobile starting shake |
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| CN114103660A (en) * | 2021-12-09 | 2022-03-01 | 安徽江淮汽车集团股份有限公司 | Control method for low-speed torque fluctuation of electric vehicle |
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