CN104057839A - Torque compensation method and device - Google Patents
Torque compensation method and device Download PDFInfo
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- CN104057839A CN104057839A CN201410274023.1A CN201410274023A CN104057839A CN 104057839 A CN104057839 A CN 104057839A CN 201410274023 A CN201410274023 A CN 201410274023A CN 104057839 A CN104057839 A CN 104057839A
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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
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a torque compensation method and device. The torque compensation method comprises the following steps: acquiring a change rate of a motor speed, and compensating a torque value according to the change rate of the motor speed, wherein performing negative compensation on the torque value when the change rate of the motor speed is positive and greater than or equal to a preset threshold value, and performing positive compensation on the torque value when the change rate of the motor speed is negative and has an absolute value being greater than or equal to the preset threshold value. According to the embodiment of the invention, the change rate of the motor speed is acquired and then the torque value is compensated or adjusted according to the change rate, so that the ultra-fast change of the rotating speed is restrained, the change of the torque value is accordingly reduced, the continuous fluctuation of the subsequent rotating speed is avoided, and the shaking phenomenon of a vehicle is reduced.
Description
Technical field
The application relates to electric machines control technology field, relates in particular to a kind of torque compensation method and device.
Background technology
Drive motor is the important composition parts of electronlmobil.Electronlmobil needs to start frequently in motion, acceleration, deceleration, parking etc., when low speed or climbing, needs high moment of torsion, need to low moment of torsion when running at high speed.By electric machine control can reach that motor starts fast, the object of response fast, high efficiency, the output of high moment of torsion and high overload ability.
In existing motor control schemes, generally that electric machine controller obtains the current rotating speed of motor, then digital signal processing (Digital Signal Processing, DSP) motor speed obtaining according to electric machine controller, and upper computer gives the torque rating that comes, determine the current value that final electric machine controller should be exported.In the method, DSP can not adjust the torque rating that upper computer issues according to motor speed.Yet, because car load is a complex environment, the tire of vehicle is between motor being a complicated transfer function, when vehicle has small external disturbance (as Uneven road, hollow ground etc.) time, as appearring in vehicle, the non-resistance of moment or resistance sharply reduce, can cause the rotating speed of motor to change suddenly, also fluctuation ratio is larger thereupon for the torque rating that now upper computer issues, if the torque rating that DSP still issues according to upper computer is determined the current value of final output, this current value can cause follow-up motor speed to continue acute variation, thereby causes the shake of vehicle.
Summary of the invention
For solving the problems of the technologies described above, the embodiment of the present application provides a kind of torque compensation method and device, and the torque rating that can issue upper computer according to motor speed is adjusted, with the vehicle jitter problem that reduces to cause due to motor speed acute variation.Technical scheme is as follows:
A kind of torque compensation method is provided, comprises:
Obtain the rate of change of motor speed;
According to the rate of change of described motor speed, torque rating is compensated, wherein, when the rate of change of described motor speed is for just and while being more than or equal to predetermined threshold, described torque rating is born to compensation; When the rate of change of described motor speed is more than or equal to described predetermined threshold for negative and absolute value, described torque rating is just compensated.
Preferably, described method also comprises:
When the absolute value of the rate of change of described motor speed is less than described predetermined threshold, to the compensation value of described torque rating, be 0.
Preferably, the rate of change that obtains motor speed described in comprises:
Obtain the motor speed in first moment;
Obtain the motor speed in second moment, the time gap between described second moment and described first moment is 0.1 second;
Calculate the rate of change that is carved into motor speed between described second moment at described first o'clock.
Preferably, the maximum speed that described predetermined threshold is described motor.
Preferably, the described rate of change when described motor speed, for just and while being more than or equal to predetermined threshold, is born compensation to described torque rating, comprising:
When the rate of change of described motor speed is for just and while being more than or equal to predetermined threshold, described torque rating is reduced to 2～5Nm.
Preferably, when the described rate of change when described motor speed is more than or equal to described predetermined threshold for negative and absolute value, described torque rating is just being compensated, comprising:
When the rate of change of described motor speed is more than or equal to described predetermined threshold for negative and absolute value, described torque rating is increased to 2～5Nm.
A kind of torque compensator is also provided, comprises:
Rotating speed acquisition module, for obtaining the rate of change of motor speed;
Torque compensation module, compensates torque rating for the rate of change according to described motor speed, wherein, when the rate of change of described motor speed is for just and while being more than or equal to predetermined threshold, described torque rating is born to compensation; When the rate of change of described motor speed is more than or equal to described predetermined threshold for negative and absolute value, described torque rating is just compensated.
Preferably, described torque compensation module, while being also less than described predetermined threshold for the absolute value of the rate of change when described motor speed, is 0 to the compensation value of described torque rating.
Preferably, described torque compensation module, for just and while being more than or equal to predetermined threshold, reduces 2～5Nm by described torque rating specifically for the rate of change when described motor speed.
Preferably, described torque compensation module, while being more than or equal to described predetermined threshold specifically for the rate of change when described motor speed for negative and absolute value, increases 2～5Nm by described torque rating.
The embodiment of the present invention at least comprises following beneficial effect:
The embodiment of the present invention is by obtaining the rate of change of motor speed, then according to this rate of change, carry out torque rating compensation or adjustment, thereby suppressed the too fast variation of rotating speed, make the variation of torque rating also thereupon less, and then avoided the lasting fluctuation of follow-up rotating speed, reduced the jitter phenomenon of vehicle.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, the accompanying drawing the following describes is only some embodiment that record in the application, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is a kind of torque compensation method flow diagram of the embodiment of the present invention;
Fig. 2 is the another kind of torque compensation method flow diagram of the embodiment of the present invention;
Fig. 3 is the structural representation of a kind of torque compensator of the embodiment of the present invention.
The specific embodiment
In order to make those skilled in the art person understand better the technical scheme in the application, below in conjunction with the accompanying drawing in the embodiment of the present application, technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only the application's part embodiment, rather than whole embodiment.Embodiment based in the application, those of ordinary skills are not making the every other embodiment obtaining under creative work prerequisite, all should belong to the scope of the application's protection.
For the application's above-mentioned purpose, feature and advantage can be become apparent more, below in conjunction with the drawings and specific embodiments, the application is described in further detail.
Referring to Fig. 1, it is a kind of torque compensation method flow diagram of the embodiment of the present invention.
The method can comprise:
Step 101, obtains the rate of change of motor speed.
This concrete grammar that obtains the rate of change of motor speed has multiple, for example, it can be the motor speed that obtains respectively two moment, then calculate two moment variable quantity of motor speed and the ratios of time difference, obtain the rate of change of motor speed, can certainly be to obtain motor speed over time after rule, obtain the slope of motor speed change curve etc.Wherein, motor speed can be that the tach signal obtaining every the set time according to electric machine controller calculates acquisition.
Step 102, compensates torque rating according to the rate of change of motor speed, wherein, when the rate of change of motor speed is for just and while being more than or equal to predetermined threshold, torque rating is born to compensation; When the rate of change of motor speed is more than or equal to predetermined threshold for negative and absolute value, torque rating is just compensated.
After obtaining the rate of change of motor speed, the compensation of the torque rating that execution issues upper computer, if this rate of change is greater than 0 and be more than or equal to predetermined threshold, reduce torque rating, torque rating is born to compensation, if this rate of change be less than 0 and absolute value be more than or equal to predetermined threshold, increase torque rating, torque rating is just compensated.Certainly, if rate of change is 0, be also that motor speed does not change, this torque rating is not compensated, or compensation value is 0.
Wherein, predetermined threshold can be set according to the parameters such as maximum speed of motor, specifically to the compensation rate of torque rating, can set based on experience value, to reduce vehicle shake, is as the criterion.
After torque rating is compensated, can enter existing follow-up flow process, according to torque rating and motor speed after compensation, determine the current value that final electric machine controller should be exported.
The embodiment of the present invention is by obtaining the rate of change of motor speed, then according to this rate of change, carry out torque rating compensation or adjustment, thereby suppressed the too fast variation of rotating speed, make the variation of torque rating also thereupon less, and then avoided the lasting fluctuation of follow-up rotating speed, reduced the jitter phenomenon of vehicle.
Referring to Fig. 2, it is the another kind of torque compensation method flow diagram of the embodiment of the present invention.
The method can comprise:
Step 201, obtains the motor speed in first moment.
Step 202, obtains the motor speed in second moment, and the time gap between second moment and first moment is 0.1 second.
The acquisition of motor speed in step 201 and step 202, can be specifically in the main control chip of electric machine controller, to be provided with a clock, every 0.1s, will gather tach signal one time, then the rotating speed of twice motor before and after being calculated respectively according to the tach signal collecting by electric machine controller, then two motor speed values are sent to torque compensator, also can be, by electric machine controller, the tach signal collecting is sent to torque compensator, as DSP, by torque compensator, calculated respectively the rotating speed that obtains twice motor.Wherein, the process of calculating acquisition rotating speed according to the tach signal collecting is prior art, repeats no more herein.
Step 203, calculates the rate of change that is carved into motor speed between second moment at first o'clock.
Torque compensator, according to time difference 0.1s and two motor speed v, can calculate the rate of change v/0.1 of motor speed.
Step 204, judges whether the rate of change of motor speed is greater than 0.
If the rate of change of motor speed is greater than 0, proceed to step 205; If the rate of change of motor speed is less than 0, proceed to step 205 ', if the rate of change of motor speed equals 0, proceed to step 207.
Step 205, judges whether the rate of change of motor speed is more than or equal to 1200.
In the present embodiment, using motor maximum speed as threshold value, as 1200.
If the rate of change of motor speed is more than or equal to 1200, proceed to step 206, if be less than 1200, proceed to step 207.
Step 206, reduces 2～5Nm by torque rating.
And then proceed to step 207.
Step 205 ', judge whether the absolute value of the rate of change of motor speed is more than or equal to 1200.
If the absolute value of the rate of change of motor speed is more than or equal to 1200, proceed to step 206 ', if be less than 1200, proceed to step 207.
Step 206 ', torque rating is increased to 2～5Nm.
And then proceed to step 207.
Step 207, carries out follow-up normal flow.
Also enter according to torque rating and motor speed after compensation and determine the steps such as current value that final electric machine controller should be exported.
Be more than the description to inventive method embodiment, to realizing the device of said method, be introduced below.
Referring to Fig. 3, it is the structural representation of a kind of torque compensator of the embodiment of the present invention.
This device can comprise:
Rotating speed acquisition module 301, for obtaining the rate of change of motor speed.
Torque compensation module 302, compensates torque rating for the rate of change according to motor speed, wherein, when the rate of change of motor speed is for just and while being more than or equal to predetermined threshold, torque rating is born to compensation; When the rate of change of described motor speed is more than or equal to described predetermined threshold for negative and absolute value, described torque rating is just compensated.
This device obtains the rate of change of motor speed by above-mentioned module, then according to this rate of change, carry out torque rating compensation or adjustment, thereby suppressed the too fast variation of rotating speed, make the variation of torque rating also thereupon less, and then avoided the lasting fluctuation of follow-up rotating speed, reduced the jitter phenomenon of vehicle.
In another embodiment, when this torque compensation module is also less than described predetermined threshold for the absolute value of the rate of change when described motor speed, to the compensation value of described torque rating, be 0.
In another embodiment, rotating speed acquisition module 301 specifically can be for obtaining the motor speed in first moment; Obtain the motor speed in second moment, the time gap between described second moment and described first moment is 0.1 second; Calculate the rate of change that is carved into motor speed between described second moment at described first o'clock.
Above-mentioned predetermined threshold can be the maximum speed of motor.
In another embodiment, torque compensation module, specifically can, for the rate of change when described motor speed for just and while being more than or equal to predetermined threshold, reduce 2～5Nm by described torque rating; When the rate of change of described motor speed is more than or equal to described predetermined threshold for negative and absolute value, described torque rating is increased to 2～5Nm.
In said apparatus, the specific implementation process of each module please refer to the description of preceding method embodiment, repeats no more herein.
While for convenience of description, describing above device, with function, being divided into various modules describes respectively.Certainly, when implementing the application, the function of each module can be realized in same or a plurality of software and/or hardware.
As seen through the above description of the embodiments, those skilled in the art can be well understood to the mode that the application can add essential general hardware platform by software and realizes.Understanding based on such, the part that the application's technical scheme contributes to prior art in essence in other words can embody with the form of software product, this computer software product can be stored in storage medium, as ROM/RAM, magnetic disc, CD etc., comprise that some instructions are with so that a computer equipment (can be Personal Computer, server, or the network equipment etc.) carry out the method described in some part of each embodiment of the application or embodiment.
Each embodiment in this specification sheets all adopts the mode of going forward one by one to describe, between each embodiment identical similar part mutually referring to, each embodiment stresses is the difference with other embodiment.Especially, for system embodiment, because it is substantially similar in appearance to embodiment of the method, so describe fairly simplely, relevant part is referring to the part explanation of embodiment of the method.System embodiment described above is only schematic, the wherein said module as separating component explanation can or can not be also physically to separate, the parts that show as module can be or can not be also physical locations, can be positioned at a place, or also can be distributed on a plurality of network elements.Can select according to the actual needs some or all of module wherein to realize the object of the present embodiment scheme.Those of ordinary skills, in the situation that not paying creative work, are appreciated that and implement.
The application can be used in numerous general or special purpose computingasystem environment or configuration.For example: Personal Computer, server computer, handheld device or portable set, plate equipment, multi-processor system, the system based on microprocessor, set top box, programmable consumer-elcetronics devices, network PC, small-size computer, giant brain, comprise DCE of above any system or equipment etc.
The application can describe in the general context of the computer executable instructions of being carried out by computing machine, for example program module.Usually, program module comprises the routine carrying out particular task or realize particular abstract data type, program, object, assembly, data structure etc.Also can in DCE, put into practice the application, in these DCEs, by the teleprocessing equipment being connected by communication network, be executed the task.In DCE, program module can be arranged in the local and remote computer-readable storage medium that comprises storage equipment.
The above is only the application's the specific embodiment; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the application's principle; can also make some improvements and modifications, these improvements and modifications also should be considered as the application's protection domain.
Claims (10)
1. a torque compensation method, is characterized in that, comprising:
Obtain the rate of change of motor speed;
According to the rate of change of described motor speed, torque rating is compensated, wherein, when the rate of change of described motor speed is for just and while being more than or equal to predetermined threshold, described torque rating is born to compensation; When the rate of change of described motor speed is more than or equal to described predetermined threshold for negative and absolute value, described torque rating is just compensated.
2. method according to claim 1, is characterized in that, described method also comprises:
When the absolute value of the rate of change of described motor speed is less than described predetermined threshold, to the compensation value of described torque rating, be 0.
3. method according to claim 1 and 2, is characterized in that, described in obtain motor speed rate of change comprise:
Obtain the motor speed in first moment;
Obtain the motor speed in second moment, the time gap between described second moment and described first moment is 0.1 second;
Calculate the rate of change that is carved into motor speed between described second moment at described first o'clock.
4. method according to claim 1 and 2, is characterized in that, the maximum speed that described predetermined threshold is described motor.
5. method according to claim 1 and 2, is characterized in that, the described rate of change when described motor speed, for just and while being more than or equal to predetermined threshold, is born compensation to described torque rating, comprising:
When the rate of change of described motor speed is for just and while being more than or equal to predetermined threshold, described torque rating is reduced to 2～5Nm.
6. method according to claim 1 and 2, is characterized in that, when the described rate of change when described motor speed is more than or equal to described predetermined threshold for negative and absolute value, described torque rating is just being compensated, and comprising:
When the rate of change of described motor speed is more than or equal to described predetermined threshold for negative and absolute value, described torque rating is increased to 2～5Nm.
7. a torque compensator, is characterized in that, comprising:
Rotating speed acquisition module, for obtaining the rate of change of motor speed;
Torque compensation module, compensates torque rating for the rate of change according to described motor speed, wherein, when the rate of change of described motor speed is for just and while being more than or equal to predetermined threshold, described torque rating is born to compensation; When the rate of change of described motor speed is more than or equal to described predetermined threshold for negative and absolute value, described torque rating is just compensated.
8. device according to claim 7, is characterized in that,
Described torque compensation module, while being also less than described predetermined threshold for the absolute value of the rate of change when described motor speed, is 0 to the compensation value of described torque rating.
9. according to the device described in claim 7 or 8, it is characterized in that,
Described torque compensation module, for just and while being more than or equal to predetermined threshold, reduces 2～5Nm by described torque rating specifically for the rate of change when described motor speed.
10. according to the device described in claim 7 or 8, it is characterized in that,
Described torque compensation module, while being more than or equal to described predetermined threshold specifically for the rate of change when described motor speed for negative and absolute value, increases 2～5Nm by described torque rating.
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| CN201410274023.1A CN104057839A (en) | 2014-06-18 | 2014-06-18 | Torque compensation method and device |
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