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 PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
mrow
msub
motor
mtd
current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201510245666.8A
Other languages
Chinese (zh)
Other versions
CN105262404A (en
Inventor
于蓬
章桐
陈诗阳
张涛
李京
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tongji University
Original Assignee
Tongji University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tongji University filed Critical Tongji University
Priority to CN201510245666.8A priority Critical patent/CN105262404B/en
Publication of CN105262404A publication Critical patent/CN105262404A/en
Application granted granted Critical
Publication of CN105262404B publication Critical patent/CN105262404B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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

Landscapes

  • Control Of Ac Motors In General (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

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

A kind of pure electric vehicle power drive system mechanical-electric coupling control device and method
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)

  1. 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>&amp;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>&amp;theta;</mi> <mi>e</mi> </msub> <mo>-</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&amp;pi;</mi> <mo>)</mo> </mrow> <mo>&amp;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&amp;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>&amp;theta;</mi> <mi>e</mi> </msub> <mo>-</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&amp;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>&amp;lsqb;</mo> <mi>sin</mi> <mrow> <mo>(</mo> <msub> <mi>&amp;theta;</mi> <mi>e</mi> </msub> <mo>+</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&amp;pi;</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>k</mi> <mi>a</mi> </msub> <msub> <mi>sin&amp;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>&amp;theta;</mi> <mi>e</mi> </msub> <mo>-</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&amp;pi;</mi> <mo>)</mo> </mrow> <mo>&amp;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. 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. 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. 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·T2
    Wherein：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>&amp;theta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>-</mo> <mn>2</mn> <mi>&amp;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>&amp;theta;</mi> <mo>+</mo> <mn>2</mn> <mi>&amp;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>&amp;theta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>-</mo> <mn>2</mn> <mi>&amp;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>&amp;theta;</mi> <mo>+</mo> <mn>2</mn> <mi>&amp;pi;</mi> <mo>/</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>
    Wherein：θ is rotor position angle.
  5. 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. 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. 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.
CN201510245666.8A 2015-05-14 2015-05-14 A kind of pure electric vehicle power drive system mechanical-electric coupling control device and method Active CN105262404B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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

Publications (2)

Publication Number Publication Date
CN105262404A CN105262404A (en) 2016-01-20
CN105262404B true CN105262404B (en) 2018-04-03

Family

ID=55101950

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510245666.8A Active CN105262404B (en) 2015-05-14 2015-05-14 A kind of pure electric vehicle power drive system mechanical-electric coupling control device and method

Country Status (1)

Country Link
CN (1) CN105262404B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3433701B2 (en) * 1999-07-08 2003-08-04 トヨタ自動車株式会社 Electric power steering device for vehicles
CN101396976A (en) * 2007-09-25 2009-04-01 奇瑞汽车股份有限公司 Electric machine control method and device in hybrid motor
CN102013863A (en) * 2009-09-07 2011-04-13 东芝电梯株式会社 Motor driving device and method for removing torque pulsation
CN102386838A (en) * 2011-11-08 2012-03-21 株洲南车时代电气股份有限公司 Motor control system and control method for alternating current transmission system
CN103944476A (en) * 2014-03-07 2014-07-23 电子科技大学 Torque controller of electric vehicle
EP1703630B1 (en) * 2005-03-15 2014-10-29 Jtekt Corporation Controller for brushless motor
CN104158457A (en) * 2014-07-24 2014-11-19 中国东方电气集团有限公司 Torque calibration method for AC induction motor of electric vehicle
CN106357185A (en) * 2016-11-15 2017-01-25 吉林大学 Permanent magnet synchronous motor torque control method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103929109B (en) * 2014-05-12 2016-06-29 哈尔滨工业大学 A kind of high-power internal permanent magnet synchronous motor control system without position sensor and control method

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3433701B2 (en) * 1999-07-08 2003-08-04 トヨタ自動車株式会社 Electric power steering device for vehicles
EP1703630B1 (en) * 2005-03-15 2014-10-29 Jtekt Corporation Controller for brushless motor
CN101396976A (en) * 2007-09-25 2009-04-01 奇瑞汽车股份有限公司 Electric machine control method and device in hybrid motor
CN102013863A (en) * 2009-09-07 2011-04-13 东芝电梯株式会社 Motor driving device and method for removing torque pulsation
CN102386838A (en) * 2011-11-08 2012-03-21 株洲南车时代电气股份有限公司 Motor control system and control method for alternating current transmission system
CN103944476A (en) * 2014-03-07 2014-07-23 电子科技大学 Torque controller of electric vehicle
CN104158457A (en) * 2014-07-24 2014-11-19 中国东方电气集团有限公司 Torque calibration method for AC induction motor of electric vehicle
CN106357185A (en) * 2016-11-15 2017-01-25 吉林大学 Permanent magnet synchronous motor torque control method

Also Published As

Publication number Publication date
CN105262404A (en) 2016-01-20

Similar Documents

Publication Publication Date Title
CN101662258B (en) Motor controller
CN101396976B (en) Electric machine control method and device in hybrid motor
US8188695B2 (en) Motor control device and drive device for hybrid vehicle
CN101034864B (en) Controller for electric vehicle and driving apparatus for the electric vehicle
CN101445065B (en) Method and system for sensorless control of an electric motor
Sun et al. Analysis and control of complementary magnetic-geared dual-rotor motor
EP3470284B1 (en) Method for controlling hybrid vehicle and device for controlling hybrid vehicle
Sun et al. Motion control and performance evaluation of a magnetic-geared dual-rotor motor in hybrid powertrain
CN105262404B (en) A kind of pure electric vehicle power drive system mechanical-electric coupling control device and method
CN105392660A (en) Inverter device and electric vehicle
CN105763118A (en) EPS control method for improving hand touch of steering wheel rapidly manipulated by driver
CN106849823A (en) Electric automobile active vibration-reducing control method
Draou Electronic differential speed control for two in-wheels motors drive vehicle
CN108111088A (en) A kind of accurate Forecasting Methodology of permanent magnetic linear synchronous motor thrust for considering air gap fluctuation
CN109391209A (en) Line inductance electromotor senseless control strategy suitable for middle low speed magnetic suspension
CN113733935B (en) Torsional vibration suppression method and system for electric vehicle transmission system based on electromechanical coupling model
CN102751935B (en) Method for suppressing asynchronous motor interference under rotating speed open loop of electric car
JP2011251606A (en) Control device of vehicle
Rehman An integrated starter–alternator and low-cost high-performance drive for vehicular applications
JP6420557B2 (en) Eco-friendly vehicle motor control system
JP4581470B2 (en) Inverter test equipment
CN110048651B (en) Drive control method based on NVH optimization of electric vehicle
BENOUDJIT et al. Electric vehicle propelled by dual-induction motors structure: experimental results
Hoang et al. Control development for hybrid vehicle powertrain with magnetic continuously variable transmission
Yahia Cherif et al. Comparative study between propulsion control system failures of an electrical vehicle piloted by FOC and by DTC using dual-induction-motors structure

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant