CN105262404B - A kind of pure electric vehicle power drive system mechanical-electric coupling control device and method - Google Patents
A kind of pure electric vehicle power drive system mechanical-electric coupling control device and method Download PDFInfo
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- CN105262404B CN105262404B CN201510245666.8A CN201510245666A CN105262404B CN 105262404 B CN105262404 B CN 105262404B CN 201510245666 A CN201510245666 A CN 201510245666A CN 105262404 B CN105262404 B CN 105262404B
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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
- Y02T10/72—Electric energy management in electromobility
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Abstract
The present invention relates to a kind of pure electric vehicle power drive system mechanical-electric coupling control device, including:Motor control assembly, for according to the torque of target torque output motor, rotor corner and current of electric;Transmission system, it is connected with motor control assembly, for obtaining motor speed according to motor torque, and the motor speed is sent to motor control assembly feedback control motor torque;Current parameters adjusting apparatus, is connected with motor control assembly, for generating adjustment electric current according to motor torque, rotor corner and current of electric, and adjustment electric current is sent to motor control assembly feedback regulation motor torque.Compared with prior art, transmission system of the present invention and current parameters adjusting apparatus carry out feedback control by motor speed and adjustment electric current to motor control assembly respectively, finally vehicle power is controlled by way of mechanical-electric coupling, motor torque can be adjusted, it is more accurate to the speed control of vehicle.
Description
Technical field
The present invention relates to a kind of electrical vehicular power control technology, more particularly, to a kind of pure electric vehicle power drive system machine
It is electrically coupled control device and method.
Background technology
The power drive system of centralized driving formula pure electric vehicle is different from conventional internal combustion rolling stock.Dynamical system and power train
System direct-coupling, power motor actuating speed is fast, torque response slope is big, easily triggers transmission system impact and twisting vibration, makes
There is longitudinal chattering phenomenon when working in electric car.
Automobile motor species includes direct current generator, AC induction motor, permagnetic synchronous motor and switched reluctance machines, its
In, permagnetic synchronous motor with its small volume, performance is good, simple in construction, reliability is high, output torque is big the features such as and it is extensive
Using.But either motor body or control system are inevitably present necessarily compared with ideal situation in actual applications
Deviation, therefore the pulsation of the output torque of permagnetic synchronous motor also certainly exists.The parameter of electric machine reverses to power drive system
Vibration also has an impact.
Electric car is driven by caused electromagnetic torque between motor rotor, and the application of torque will trigger shafting impact,
Then the twisting vibration of shafting is triggered in transmission system resonance point.The Monomial coefficient of electric corner is defined as electromagnetism in electromagnetic torque
Rigidity, determine that ELECTROMAGNETIC STIFFNESS links together stator and rotor by the distinctive performance of motor, make stator and rotor and follow-up
Transmission parts form a unified entirety.The intrinsic frequency of power driving system for electric vehicle low order caused by ELECTROMAGNETIC STIFFNESS and branch
Rate (0Hz~2Hz), vehicle drive system will be caused to produce resonance under motor speed corresponding to low order characteristic frequency and speed,
Trigger vehicle extensional vibration.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of pure electric vehicle power
Transmission system mechanical-electric coupling control device and method.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of pure electric vehicle power drive system mechanical-electric coupling control device, including:
Motor control assembly, for according to the torque of target torque output motor, rotor corner and current of electric;
Transmission system, it is connected with motor control assembly, for obtaining motor speed according to motor torque, and the motor is turned
Speed is sent to motor control assembly feedback control motor torque;
Current parameters adjusting apparatus, is connected with motor control assembly, for according to motor torque, rotor corner and electricity
Electromechanics stream generation adjustment electric current, and adjustment electric current is sent to motor control assembly feedback regulation motor torque.
The motor control assembly includes:
Control strategy module, target torque is received, and be converted to target torque by maximum torque per ampere control method
Two-phase current signal;
Space vector modulation module, it is connected respectively with control strategy module and current parameters adjusting apparatus, by two-phase current
Signal and adjustment electric current are integrated and are modulated to two-phase voltage;
Inverter module, it is connected respectively with space vector modulation module and transmission system, for according to motor speed and two
Phase voltage generation current of electric, motor torque and rotor corner.
Rotor that the transmission system includes being sequentially connected, armature spindle, subtract differential mechanism, discrete axle group and tire group.
The differential mechanism that subtracts subtracts differential input shaft, subtracts differential mechanism jackshaft and subtracts differential mechanism output including what is be sequentially connected
Axle.
The discrete axle group includes discrete left half axle and discrete right axle shaft, and the tire group includes revolver and right wheel, described
One end of discrete left half axle and discrete right axle shaft is connected with subtracting differential mechanism, and the other end is connected with revolver and right wheel respectively.
A kind of control method of pure electric vehicle power drive system mechanical-electric coupling control device, including step:
A. motor control assembly receives target torque, and motor torque, rotor corner and electricity are generated according to target torque
Electromechanics stream, and motor torque is sent to transmission system, motor torque, rotor corner and current of electric are sent to electricity
Flow parameter adjustment controls;
B. current parameters adjusting apparatus generates adjustment electric current according to motor torque, rotor corner and current of electric, and
Adjustment electric current is sent to motor control assembly feedback regulation motor torque;
C. transmission system obtains motor speed according to motor torque, and the motor speed is sent anti-to motor control assembly
Present controlled motor torque.
The step A specifically includes step in the presence of current of electric and motor speed feedback control:
A1. control strategy module receives target torque, and is changed target torque by maximum torque per ampere control method
For two-phase current signal;
A2. space vector modulation module receives two-phase current signal and adjustment electric current, by two-phase current signal and adjustment electricity
Stream integration is modulated to two-phase voltage, and the two-phase voltage is sent to inverter module;
A3. inverter module generates current of electric, motor torque and rotor according to motor speed and two-phase voltage and turned
Angle, and current of electric and rotor corner are sent to current parameters adjusting apparatus, motor torque is respectively sent to electric current
Parameter adjustment controls and transmission system.
The step A2 specifically includes step:
A21. space vector modulation module receives two-phase current signal and adjustment electric current;
A22. two-phase current signal voltage is obtained after two-phase current signal and adjustment electric current superposition;
A23. two-phase voltage is obtained after entering line translation and processing to two-phase current signal voltage, and the two-phase voltage is sent
To inverter module.
Enter line translation in the step A23 to two-phase current signal voltage is specially with the process handled:
U2=U1·T1·T2
Wherein:U2For two-phase voltage, U1For two-phase current signal voltage, T1For the first transformation matrix, T2For the second conversion square
Battle array;
First transformation matrix is specially:
Second transformation matrix is specially:
Wherein:θ is rotor position angle.
The step B specifically includes step:
B1. electric current median is obtained according to motor torque and rotor corner, is specially:
Wherein:I is electric current median, TeFor motor torque, equivalent voltages of the E between rotor, w is rotor angular frequency
Rate, kaAnd kbThe respectively ratio of the measurement error and actual current value of A phases and B phase current of electric, θeFor rotor corner;
B2. according to three-phase adjustment electric current is worth among electric current, it is specially:
Wherein:ia、ibAnd icRespectively adjust the three-phase component of electric current;
B3., three-phase adjustment electric current is converted to the adjustment electric current of two-phase.
Compared with prior art, transmission system of the present invention and current parameters adjusting apparatus pass through motor speed and adjustment respectively
Electric current carries out feedback control to motor control assembly, and finally vehicle power is controlled by way of mechanical-electric coupling, can be with
Motor torque is adjusted, it is more accurate to the speed control of vehicle.
Brief description of the drawings
Fig. 1 is the structural representation of control device of the present invention;
Fig. 2 is the MATLAB/simulink illustratons of model of control device of the present invention;
Fig. 3 is the MATLAB/simulink illustratons of model of motor control module;
Fig. 4 is the MATLAB/simulink illustratons of model of transmission system;
Wherein:1st, motor control assembly, 2, current parameters adjusting apparatus, 3, transmission system, 11, control strategy module, 12,
Space vector modulation module, 13, inverter module, 14, motor body module, 31, rotor, 32, armature spindle, 33, subtract difference
Fast device input shaft, 34, subtract differential mechanism jackshaft, 35, subtract differential output shaft, 36, discrete left half axle, 37, discrete right axle shaft,
38th, revolver, 39, right wheel.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
A kind of pure electric vehicle power drive system mechanical-electric coupling control device, as depicted in figs. 1 and 2, including:
Motor control assembly 1, for according to the torque of target torque output motor, rotor corner and current of electric, its
In target torque sent by driver by pedal;
Transmission system 3, it is connected with motor control assembly 1, for obtaining motor speed according to motor torque, and by the motor
Rotating speed is sent to the feedback control motor torque of motor control assembly 1;
Current parameters adjusting apparatus 2, be connected with motor control assembly 1, for according to motor torque, rotor corner and
Current of electric generation adjustment electric current, and adjustment electric current is sent to the feedback regulation motor torque of motor control assembly 1.
As shown in figure 3, motor control assembly 1 includes:
Control strategy module 11, target torque is received, and changed target torque by maximum torque per ampere control method
For two-phase current signal;
Space vector modulation module 12, it is connected respectively with control strategy module 11 and current parameters adjusting apparatus 2, by two-phase
Current signal and adjustment electric current are integrated and are modulated to two-phase voltage;
Inverter module 13, it is connected respectively with space vector modulation module 12 and transmission system 3, for according to motor speed
With two-phase voltage generation current of electric, motor torque and rotor corner.
In the present embodiment, motor control assembly 1 also include motor body module 14, respectively with inverter module 13 and transmission
System 3 connects, and for driving transmission system 3, rotor corner is actual by motor body module 14 in the present embodiment in addition
Provided according to the initial corner of current of electric, motor torque, and rotor.
As shown in figure 4, transmission system 3 is using power train mass concentration-distributed model, including the rotor being sequentially connected
31st, armature spindle 32, subtract differential mechanism, discrete axle group and tire group.
Subtract differential mechanism to subtract differential input shaft 33 including what is be sequentially connected, subtract differential mechanism jackshaft 34 and subtract differential mechanism output
Axle 35.
Discrete axle group includes discrete left half axle 36 and discrete right axle shaft 37, and tire group includes revolver 38 and right wheel 39, discrete
One end of left half axle 36 and discrete right axle shaft 37 is connected with subtracting differential mechanism, and the other end is connected with revolver 38 and right wheel 39 respectively.
The MATLAB/simulink models of transmission system 3 take into full account the engagement during gear drive during establishing
The flexible influence of rigidity, backlash, semiaxis, because lumped-mass model only has higher precision to vibrational system low-frequency range,
In order to preferably reflect influence of the non-linear factors such as motor and gap to power drive system twisting vibration, discretization is established
Semiaxis distributed mass model;Ignore Tire nonlinearity characteristic in revolver 38 and the modeling process of right wheel 39, and by vehicle equivalent inertia
It is applied directly to carry out the equivalent simulation of drive train power and vehicle motion on revolver 38 and the carcass of right wheel 39.
Consider the flexible transmission system concentration-distributed mass model of semiaxis, more rich power can be reflected in time domain
Phenomenon is learned, influence of the non-linear factors such as gap to the high order frequency domain response characteristic of transmission system can also be reflected on frequency domain.
Help further solve the problems, such as longitudinal high frequency torsional vibration existing for centralization driving driving system for electric vehicles.
A kind of control method of pure electric vehicle power drive system mechanical-electric coupling control device, including step:
A. motor control assembly 1 receives target torque, and motor torque, rotor corner and electricity are generated according to target torque
Electromechanics stream, and motor torque is sent to transmission system 3, by motor torque, rotor corner and current of electric send to
Current parameters adjusting apparatus 2;
B. current parameters adjusting apparatus 2 generates adjustment electric current according to motor torque, rotor corner and current of electric, and
Adjustment electric current is sent to the feedback regulation motor torque of motor control assembly 1;
C. transmission system 3 obtains motor speed according to motor torque, the motor speed by gain process back send to
The feedback control motor torque of motor control assembly 1.
Step A specifically includes step in the presence of current of electric and motor speed feedback control:
A1. control strategy module 11 receives target torque, and is turned target torque by maximum torque per ampere control method
It is changed to two-phase current signal;
A2. space vector modulation module 12 receives two-phase current signal and adjustment electric current, by two-phase current signal and adjustment
Electric current is integrated and is modulated to two-phase voltage, and the two-phase voltage is sent to inverter module 13, specifically includes step:
A21. space vector modulation module 12 receives two-phase current signal and adjustment electric current;
A22. two-phase current signal voltage is obtained after two-phase current signal and adjustment electric current superposition;
A23. two-phase electricity is obtained after conversion and processing between two-phase and three-phase signal are carried out to two-phase current signal voltage
Pressure, and the two-phase voltage is sent to inverter module 13, wherein entering the mistake of line translation and processing to two-phase current signal voltage
Journey is specially:
U2=U1·T1·T2
Wherein:U2For two-phase voltage, U1For two-phase current signal voltage, T1For the first transformation matrix, T2For the second conversion square
Battle array;
First transformation matrix is specially:
Second transformation matrix is specially:
Wherein:θ is rotor position angle.
Specifically, two-phase current signal voltage U1It is set to uα、uβ, i.e. voltage under coordinate system α β, it is specially:
Wherein:RSFor stator equivalent resistance, iαAnd iβThe respectively α of stator current vector, beta -axis component, LαAnd LβRespectively
α, the beta -axis component of inductance, LαβMutual inductance between rotor, p are differential operator, ψαAnd ψβThe respectively stator magnetic linkage of α, β axle,
W is rotor angular frequency.
A3. inverter module 13 generates current of electric, motor torque and rotor according to motor speed and two-phase voltage
Corner, and current of electric and rotor corner are sent to current parameters adjusting apparatus 2, motor torque is respectively sent to electricity
Flow parameter adjustment controls 2 and transmission system 3.
Current parameters adjusting apparatus 2 can set the ratio between biased error and actual current amplitude in step B, analyze current detecting
During influence of the biased error to power drive system twisting vibration, the harmonic torque that Main Analysis biased error introduces
The response of power train when frequency is each rank intrinsic frequency;Current gain error can be also set, analyze the increasing during current detecting
Influence of the beneficial error to power drive system torsional oscillation, the frequency for the harmonic torque that Main Analysis error introduces are consolidated for each rank of power train
The response of power train when having frequency.
When under current detecting gain error, detailed process includes step:
B1. electric current median is obtained according to motor torque and rotor corner, is specially:
Wherein:I is electric current median, TeFor motor torque, equivalent voltages of the E between rotor, w is rotor angular frequency
Rate, kaAnd kbThe respectively ratio of the measurement error and actual current value of A phases and B phase current of electric, θeFor rotor corner;
B2. according to three-phase adjustment electric current is worth among electric current, it is specially:
Wherein:ia、ibAnd icRespectively adjust the three-phase component of electric current;
B3., three-phase adjustment electric current is converted to the adjustment electric current of two-phase.
When gear is under current detecting biased error, it is specially:
Motor torque rotor corner is substituted into following formula:
Wherein:ΔaAnd ΔbRespectively A phases and the ratio of B phase currents biased error and actual current value;Further according in electric current
Between be worth to three-phase adjustment electric current:
Three-phase adjustment electric current is finally converted to the adjustment electric current of two-phase.
Similar also has phase deviation, the interference of constant current composition etc., does not repeat.
Claims (7)
- A kind of 1. control method of pure electric vehicle power drive system mechanical-electric coupling control device, it is characterised in that the control Equipment includes:Motor control assembly (1), for according to the torque of target torque output motor, rotor corner and current of electric,Transmission system (3), it is connected with motor control assembly (1), for obtaining motor speed according to motor torque, and by the motor Rotating speed is sent to motor control assembly (1) feedback control motor torque,Current parameters adjusting apparatus (2), be connected with motor control assembly (1), for according to motor torque, rotor corner and Current of electric generation adjustment electric current, and adjustment electric current is sent to motor control assembly (1) feedback regulation motor torque;The motor control assembly (1) includes:Control strategy module (11), target torque is received, and be converted to target torque by maximum torque per ampere control method Two-phase current signal,Space vector modulation module (12), it is connected respectively with control strategy module (11) and current parameters adjusting apparatus (2), by two Phase current signal and adjustment electric current are integrated and are modulated to two-phase voltage,Inverter module (13), it is connected respectively with space vector modulation module (12) and transmission system (3), for being turned according to motor Speed and two-phase voltage generation current of electric, motor torque and rotor corner;The control method includes step:A. motor control assembly (1) receives target torque, and motor torque, rotor corner and motor are generated according to target torque Electric current, and motor torque is sent to transmission system (3), by motor torque, rotor corner and current of electric send to Current parameters adjusting apparatus (2),B. current parameters adjusting apparatus (2) generates adjustment electric current according to motor torque, rotor corner and current of electric, and will Adjustment electric current is sent to motor control assembly (1) feedback regulation motor torque,C. transmission system (3) obtains motor speed according to motor torque, and the motor speed is sent to motor control assembly (1) Feedback control motor torque;The step B specifically includes step:B1. electric current median is obtained according to motor torque and rotor corner, is specially:<mrow> <msub> <mi>T</mi> <mi>e</mi> </msub> <mo>=</mo> <mfrac> <mrow> <mi>E</mi> <mi>I</mi> </mrow> <mi>w</mi> </mfrac> <mo>&lsqb;</mo> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> <mo>+</mo> <mfrac> <mn>3</mn> <mn>4</mn> </mfrac> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mi>a</mi> </msub> <mo>+</mo> <msub> <mi>k</mi> <mi>b</mi> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mi>a</mi> </msub> <mo>-</mo> <msub> <mi>k</mi> <mi>b</mi> </msub> <mo>)</mo> </mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mn>2</mn> <msub> <mi>&theta;</mi> <mi>e</mi> </msub> <mo>-</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&pi;</mi> <mo>)</mo> </mrow> <mo>&rsqb;</mo> </mrow>Wherein:I is electric current median, TeFor motor torque, equivalent voltages of the E between rotor, w is rotor angular frequency, kaWith kbThe respectively ratio of the measurement error and actual current value of A phases and B phase current of electric, θeFor rotor corner,B2. according to three-phase adjustment electric current is worth among electric current, it is specially:<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>i</mi> <mi>a</mi> </msub> <mo>=</mo> <mi>I</mi> <mrow> <mo>(</mo> <mn>1</mn> <mo>+</mo> <msub> <mi>k</mi> <mi>a</mi> </msub> <mo>)</mo> </mrow> <msub> <mi>sin&theta;</mi> <mi>e</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>i</mi> <mi>b</mi> </msub> <mo>=</mo> <mi>I</mi> <mrow> <mo>(</mo> <mn>1</mn> <mo>+</mo> <msub> <mi>k</mi> <mi>b</mi> </msub> <mo>)</mo> </mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>&theta;</mi> <mi>e</mi> </msub> <mo>-</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&pi;</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>i</mi> <mi>c</mi> </msub> <mo>=</mo> <mi>I</mi> <mo>&lsqb;</mo> <mi>sin</mi> <mrow> <mo>(</mo> <msub> <mi>&theta;</mi> <mi>e</mi> </msub> <mo>+</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&pi;</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>k</mi> <mi>a</mi> </msub> <msub> <mi>sin&theta;</mi> <mi>e</mi> </msub> <mo>-</mo> <msub> <mi>k</mi> <mi>b</mi> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>&theta;</mi> <mi>e</mi> </msub> <mo>-</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&pi;</mi> <mo>)</mo> </mrow> <mo>&rsqb;</mo> </mrow> </mtd> </mtr> </mtable> </mfenced>Wherein:ia、ibAnd icThe three-phase component of electric current is respectively adjusted,B3., three-phase adjustment electric current is converted to the adjustment electric current of two-phase.
- 2. control method according to claim 1, it is characterised in that the step A is anti-in current of electric and motor speed Present and specifically include step under the participation of control:A1. control strategy module (11) receives target torque, and is changed target torque by maximum torque per ampere control method For two-phase current signal;A2. space vector modulation module (12) receives two-phase current signal and adjustment electric current, by two-phase current signal and adjustment electricity Stream integration is modulated to two-phase voltage, and the two-phase voltage is sent to inverter module (13);A3. inverter module (13) generates current of electric, motor torque and rotor according to motor speed and two-phase voltage and turned Angle, and current of electric and rotor corner are sent to current parameters adjusting apparatus (2), motor torque is respectively sent to electricity Flow parameter adjustment controls (2) and transmission system (3).
- 3. control method according to claim 2, it is characterised in that the step A2 specifically includes step:A21. space vector modulation module (12) receives two-phase current signal and adjustment electric current;A22. two-phase current signal voltage is obtained after two-phase current signal and adjustment electric current superposition;A23. two-phase voltage is obtained after entering line translation and processing to two-phase current signal voltage, and the two-phase voltage is sent to inverse Become device module (13).
- 4. control method according to claim 3, it is characterised in that to two-phase current signal voltage in the step A23 Enter line translation is specially with the process handled:U2=U1·T1·T2Wherein:U2For two-phase voltage, U1For two-phase current signal voltage, T1For the first transformation matrix, T2For the second transformation matrix;First transformation matrix is specially:<mrow> <msub> <mi>T</mi> <mn>1</mn> </msub> <mo>=</mo> <msqrt> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> </msqrt> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mn>1</mn> <mo>/</mo> <mn>2</mn> </mrow> </mtd> <mtd> <mrow> <msqrt> <mn>3</mn> </msqrt> <mo>/</mo> <mn>2</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mn>1</mn> <mo>/</mo> <mn>2</mn> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <msqrt> <mn>3</mn> </msqrt> <mo>/</mo> <mn>2</mn> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>Second transformation matrix is specially:<mrow> <msub> <mi>T</mi> <mn>2</mn> </msub> <mo>=</mo> <msqrt> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> </msqrt> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&theta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>&theta;</mi> <mo>-</mo> <mn>2</mn> <mi>&pi;</mi> <mo>/</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>&theta;</mi> <mo>+</mo> <mn>2</mn> <mi>&pi;</mi> <mo>/</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&theta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>&theta;</mi> <mo>-</mo> <mn>2</mn> <mi>&pi;</mi> <mo>/</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>&theta;</mi> <mo>+</mo> <mn>2</mn> <mi>&pi;</mi> <mo>/</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>Wherein:θ is rotor position angle.
- 5. control method according to claim 1, it is characterised in that the transmission system (3) includes the electricity being sequentially connected Machine rotor (31), armature spindle (32), subtract differential mechanism, discrete axle group and tire group.
- 6. control method according to claim 5, it is characterised in that the differential mechanism that subtracts subtracts differential including what is be sequentially connected Device input shaft (33), subtract differential mechanism jackshaft (34) and subtract differential output shaft (35).
- 7. control method according to claim 5, it is characterised in that the discrete axle group include discrete left half axle (36) and Discrete right axle shaft (37), the tire group include revolver (38) and right wheel (39), the discrete left half axle (36) and discrete right half One end of axle (37) is connected with subtracting differential mechanism, and the other end is connected with revolver (38) and right wheel (39) respectively.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201510245666.8A CN105262404B (en) | 2015-05-14 | 2015-05-14 | A kind of pure electric vehicle power drive system mechanical-electric coupling control device and method |
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CN201510245666.8A CN105262404B (en) | 2015-05-14 | 2015-05-14 | A kind of pure electric vehicle power drive system mechanical-electric coupling control device and method |
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CN106650177B (en) * | 2017-01-16 | 2019-11-22 | 哈尔滨理工大学 | A kind of loss preparation method of four-wheel driving electric vehicle under two-wheel drive state |
CN108400741B (en) * | 2018-03-01 | 2020-09-08 | 西北工业大学 | Direct instantaneous torque control method for switched reluctance motor |
CN109878346B (en) * | 2019-03-22 | 2021-01-01 | 湖南中成动力科技有限公司 | Crawler agricultural machinery electric driving system assembly and control method thereof |
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