CN105291887A - Double-motor torque distribution control method for rubber wheel low-floor intelligent rail train - Google Patents
Double-motor torque distribution control method for rubber wheel low-floor intelligent rail train Download PDFInfo
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Abstract
A double-motor torque distribution control method for a rubber wheel low-floor intelligent rail train comprises the steps that firstly, a program starts to run after a power-on self-test is carried out; secondly, pedal and gear information of a driver at a driving end is collected, information of a double-motor controller, management of batteries and an auxiliary system is collected through a CAN, the state and the working mode of the current train are subjected to logical judgment, and whether a fault exists or not is judged according to states of all system components, and the fault grade of the fault is judged; thirdly, according to features of two motors, features of the batteries, and the state of a pedal, the target torque and a working mode of the given motor are calculated through a motor control module, and limit torque is output according to the fault grade of the train; fourthly, the limit torque is output to the two motors to carry out torque output, in other words, a whole-train controller finally outputs the motor target torque to the double-motor controller, and the motor torque output is subjected to average distribution. The double-motor torque distribution control method has the advantages that the principle is simple, reliability is high, and the whole-train control performance can be optimized.
Description
Technical field
The present invention is mainly concerned with urban public transport apparatus field, refers in particular to a kind of double-motor torque distribution control method being applicable to rubber tire low floor intelligent track train.
Background technology
Urban track traffic refers to the special line mass transit system with continuous steerable ability, and its feature shows as and has certain tracks, vehicle orbiting.Common urban track traffic has subway, light rail, tramway train etc.Wherein, subway, light rail are mostly built on underground or overpass, by using inaccessible pattern to realize its free-running operation in track special line, although their transport capacities are powerful, but early stage Infrastructure and vehicle acquisition cost comparatively large, make it can not widespread use in small and medium-sized cities.Tramway train then needs special electric system and track matching design, is no matter that design and construction cost or maintenance cost are relatively large and be easily limited by running environment.
Except above-mentioned track traffic, other mass transit system common are traditional bus, articulated road train.Tradition bus cost is low, traveling is flexible, when there is obstacle in front, can avoids obstacle very easily and continue to travel, when vehicle et out of order, can keep to the side, can not affect other vehicles and travel.But traditional bus transport power is few, usually can carry out formed automobile train by hinged more piece compartment increases transport power.In small and medium-sized cities, develop train-type vehicle substitute traditional bus, under safety factor condition such as guarantee train-type vehicle crossing ability and turning efficiency etc., it can not only improve transport capacity and can reduce traffic cost about 30%.
For train-type vehicle, for considerations such as environmental protection, the pure electronic mode of best employing.Existing pure electronic lengthening vehicle all adopts bicycle head, one-way traffic, general adopts single motor to decide driving use, and very large to the demanded power output of motor like this, electric machine design cost of development is also higher.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical matters existed for prior art, the invention provides that a kind of principle is simple, good reliability, the double-motor torque distribution control method of the rubber tire low floor intelligent track train of full-vehicle control performance can optimized
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A double-motor torque distribution control method for rubber tire low floor intelligent track train, the steps include:
S1: after power-on self-test, program brings into operation;
S2: drive end driver pedal, gear information by gathering, gather Double Motor Control device, battery management, ancillary system information by CAN simultaneously, through the state residing for Logic judgment Current vehicle and mode of operation, whether the condition adjudgement according to each system unit exists fault, authorizes the fault level of this fault;
S3: again according to characteristic, battery behavior, the pedal state of two motors, calculates given motor target torque and mode of operation by motor control module, according to the fault level export-restriction moment of torsion of vehicle;
S4: finally export to double-motor and carry out the output of execution moment of torsion, namely the final output motor target torque of entire car controller is to Double Motor Control device, and Motor torque exports and performs mean allocation.
As a further improvement on the present invention: when two Motor torque non_uniform responses, when feedback actual torque difference is certain value, full-vehicle control regulates motor target torque to export; After electric machine controller receives entire car controller target torque, preferential answering and the motor output torque away from vehicle forward direction, thus protect the hinged disk of vehicle connection.
As a further improvement on the present invention: described entire car controller is by gathering pedal information, battery management information, ancillary system information and motor status information, according to brake pedal or acceleration pedal percent travel, motor full-throttle characteristics and battery charging and discharging power, after corresponding restriction is carried out to the torque of motor braking or traction, given motor target torque.
As a further improvement on the present invention: described entire car controller gathers the battery system correlation behaviors such as battery contactor, export battery charging and discharging power, more whether there is fault and cell pressure according to battery, calculate motor braking, driving power; Comprehensive complete vehicle fault, motor total external characteristics, car load direction and pattern, battery status, the maximum braking of given motor, tractive torque.
As a further improvement on the present invention: the calculation process of described motor target brake torque is:
Charge-discharge electric power=cell pressure * battery current/1000;
The current rotating speed of current maximum permission charging current * 9.549/ motor of system restriction torque=cell pressure * battery;
Maximum admissible torque * brake pedal percent travel under the current rotating speed of motor target brake torque=motor.
Compared with prior art, the invention has the advantages that:
1, the present invention is the torque distribution method of a kind of full-vehicle control to Double Motor Control; include and driver is accelerated and brake pedal parsing; car load demand power distributes; battery and ancillary system are limited and protection; to double-motor traction and brake torque given and protection; thus realize, to the protection of battery, motor and ancillary system actv., reasonably controlling car load electric drive energy distribution, double-motor moment of torsion is exported and synchronously carries out actv. control.
2, the present invention is mainly applicable to adopt two headstock pure electric vehicle; can two way; double-motor is adopted to decide driving; meet the dynamic property of vehicle; greatly reduce electric machine design cost of development; entire car controller is mainly born and is gathered the incoming signal such as digital quantity, analog quantity; and by the reasonable output torque of logic control double-motor; according to battery and ancillary system real time information; accomplish actv. protection; reasonable distribution car load demand power, carries out actv. control to double-motor output torque and protection, plays important effect to vehicle smooth-ride.
Accompanying drawing explanation
Fig. 1 be the present invention the schematic front view of track train entirety that is suitable for.
Fig. 2 be the present invention the schematic diagram arranged of the track train chassis that is suitable for.
Fig. 3 be the present invention the schematic diagram of the track train main control part that is suitable for and communication structure.
Fig. 4 is the idiographic flow schematic diagram of the inventive method.
Fig. 5 is that the motor module of the present invention in embody rule example controls schematic diagram.
Marginal data:
1, standard headstock; 2, steering-by-wire actuating unit; 3, linkwork; 4, standard headstock; 5, entire car controller; 6, pantograph; 7, closed-centre system; 8, drive motor; 9, drive motor controller.
Detailed description of the invention
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
The present invention is mainly applicable to two headstock, king-size vehicle (as rubber tire low floor intelligent track train), and whole vehicle body reaches 35 meters, and car load can be divided into more piece compartment (as three joints), two headstocks, and whole vehicle can realize two way.As depicted in figs. 1 and 2, in an embody rule example, car load and system include the parts such as standard headstock 1, steering-by-wire actuating unit 2, linkwork 3, standard headstock 4, entire car controller 5, pantograph 6, closed-centre system 7, drive motor 8, drive motor controller 9.In said structure, adopting linkwork 3(hinged disk) each compartment couples together by the mode that connects, body structure can be regulated according to transport capacity, use independently steering structure on the driving shaft, control rear wheel by track following controller and overlap with front-wheel running orbit.Two drive motor 8 are arranged in two of car, can vehicle be driven separately to travel respectively by transmission shaft.See Fig. 3, the schematic diagram of above-mentioned two way pure electric vehicle main control part and communication structure.
Above-mentioned vehicle is pure electric vehicle type, on the basis meeting dynamic property, selects the different axle of double-motor directly to drive, controls double-motor drive by entire car controller 5.In pure electric vehicle type, entire car controller 5 is mainly born and is gathered the incoming signal such as digital quantity, analog quantity, and by the work of logic control output correlation signal function unit, in car load topological network, bears gateway function.Entire car controller 5 gathers driver's pedal signal, driving switch signal etc., and issue electric machine controller by CAN communication, electric machine controller receives these signals, then controls motor and exports corresponding moment of torsion.Simultaneously; entire car controller 5 receives the message of BMS; forward battery management information to electric machine controller; entire car controller 5 just plays simple data acquisition and the use that E-Packets; cause like this can not carrying out actv. protection to battery, car load demand power can not be distributed by actv., other faults such as car load ancillary system can not be responded in time; export synchronism to double-motor moment of torsion can not unanimously cause the impact of vehicle traveling, must be improved.
The double-motor torque distribution control method of rubber tire low floor intelligent track train of the present invention, for: using entire car controller 5 as control core; By gathering driving position acceleration, braking, gear signal, steering wheel angle information, when low speed is turned, single pass pedal aperture bad judgement car load torque demand, add that driver beats steering wheel angle size, when keeping straight on, general orientation angle change is little, comprehensively judges that driver driving is intended to, collected the information of closed-centre system 7, ancillary system by CAN communication, output to instrument and show.Comprehensive descision component information, controls motor, and then completes the control travelled car load.
As shown in Figure 4, in embody rule example, idiographic flow of the present invention is:
S1: after power-on self-test, program brings into operation;
S2: by gathering information such as driving end driver pedal, gear, gather the information such as Double Motor Control device, battery management, ancillary system by CAN simultaneously, through the state residing for Logic judgment Current vehicle and mode of operation, whether the condition adjudgement according to each system unit exists fault, authorizes the fault level of this fault;
S3: again according to characteristic, battery behavior, the pedal state of two motors, calculates given motor target torque and mode of operation by motor control module, according to the fault level export-restriction moment of torsion of vehicle;
S4: finally export to double-motor and carry out the output of execution moment of torsion, namely the final output motor target torque of entire car controller 5 is to Double Motor Control device, and Motor torque exports and performs mean allocation.
In above process, when two Motor torque non_uniform responses, when feedback actual torque difference is certain value, full-vehicle control regulates motor target torque to export; After electric machine controller receives entire car controller 5 target torque, preferential answering is used with the motor output torque away from vehicle forward direction, the hinged disk connected to protect vehicle.
In above process, entire car controller 5 is by gathering pedal information, battery management information, ancillary system information and motor status information, according to brake pedal (acceleration pedal) percent travel, motor full-throttle characteristics and battery charging and discharging power etc., after corresponding restriction is carried out to motor braking (traction) torque, given motor target torque.
As shown in Figure 5, for motor module control chart, final output motor target maximum traction (braking) moment of torsion, entire car controller 5 gathers the battery system correlation behaviors such as battery contactor, export battery and fill (putting) electric power, whether there is fault and cell pressure according to battery again, calculate motor braking (driving) power.Comprehensive complete vehicle fault, motor total external characteristics, car load direction and pattern, battery status, the maximum braking of given motor (traction) moment of torsion;
In embody rule example, its method of calculating is as follows:
Charge-discharge electric power=cell pressure * battery current/1000;
The current rotating speed of current maximum permission charging current * 9.549/ motor of system restriction torque=cell pressure * battery;
Maximum admissible torque * brake pedal percent travel under the current rotating speed of motor target brake torque=motor;
The final output motor target torque of entire car controller 5 is to Double Motor Control device, control double-motor and perform moment of torsion output, Motor torque exports and performs mean allocation, when two Motor torque non_uniform responses, when receiving actual torque difference for certain value, full-vehicle control regulates motor target torque to export.In order to protect the linkwork of connection body, when the vehicle is running, priority acccess control is motor output torque wherein, and then the time delay of another one motor exports, and double-motor output torque interval should control within 100ms, guarantees that vehicle does not have pause and transition in rhythm or melody sense.About Motor torque output order, preferentially away from a motor output torque of vehicle end of travel.
Below be only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.Such as say, the present invention can also be applicable to the multi-wheeler train of other types, it should be pointed out that for those skilled in the art, and some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (5)
1. a double-motor torque distribution control method for rubber tire low floor intelligent track train, it is characterized in that, step is:
S1: after power-on self-test, program brings into operation;
S2: drive end driver pedal, gear information by gathering, gather Double Motor Control device, battery management, ancillary system information by CAN simultaneously, through the state residing for Logic judgment Current vehicle and mode of operation, whether the condition adjudgement according to each system unit exists fault, authorizes the fault level of this fault;
S3: again according to characteristic, battery behavior, the pedal state of two motors, calculates given motor target torque and mode of operation by motor control module, according to the fault level export-restriction moment of torsion of vehicle;
S4: finally export to double-motor and carry out the output of execution moment of torsion, namely the final output motor target torque of entire car controller is to Double Motor Control device, and Motor torque exports and performs mean allocation.
2. the double-motor torque distribution control method of rubber tire low floor intelligent track train according to claim 1, it is characterized in that, when two Motor torque non_uniform responses, when feedback actual torque difference is certain value, full-vehicle control regulates motor target torque to export; After electric machine controller receives entire car controller target torque, preferential answering and the motor output torque away from vehicle forward direction, thus protect the hinged disk of vehicle connection.
3. the double-motor torque distribution control method of rubber tire low floor intelligent track train according to claim 1, it is characterized in that, described entire car controller is by gathering pedal information, battery management information, ancillary system information and motor status information, according to brake pedal or acceleration pedal percent travel, motor full-throttle characteristics and battery charging and discharging power, after corresponding restriction is carried out to the torque of motor braking or traction, given motor target torque.
4. the double-motor torque distribution control method of rubber tire low floor intelligent track train according to claim 3, it is characterized in that, described entire car controller gathers the battery system correlation behaviors such as battery contactor, export battery charging and discharging power, whether there is fault and cell pressure according to battery again, calculate motor braking, driving power; Comprehensive complete vehicle fault, motor total external characteristics, car load direction and pattern, battery status, the maximum braking of given motor, tractive torque.
5. the double-motor torque distribution control method of rubber tire low floor intelligent track train according to claim 4, is characterized in that, the calculation process of described motor target brake torque is:
Charge-discharge electric power=cell pressure * battery current/1000;
The current rotating speed of current maximum permission charging current * 9.549/ motor of system restriction torque=cell pressure * battery;
Maximum admissible torque * brake pedal percent travel under the current rotating speed of motor target brake torque=motor.
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| CN201510803916.5A CN105291887B (en) | 2015-11-20 | 2015-11-20 | The bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train |
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| CN201510803916.5A CN105291887B (en) | 2015-11-20 | 2015-11-20 | The bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106240400A (en) * | 2016-07-29 | 2016-12-21 | 株洲中车时代电气股份有限公司 | A kind of train traction control method based on energy-storage system power match and system |
| CN106515512A (en) * | 2016-12-23 | 2017-03-22 | 南京越博动力系统股份有限公司 | System controlling dual-motor assembly based on blade electric vehicle CAN buses |
| CN107139779A (en) * | 2017-05-25 | 2017-09-08 | 中车永济电机有限公司 | The control method of guide rail electric car |
| CN108248598A (en) * | 2018-01-08 | 2018-07-06 | 武汉理工大学 | A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method |
| CN108909529A (en) * | 2018-07-17 | 2018-11-30 | 北京新能源汽车股份有限公司 | A kind of torque chain control framework and bi-motor four-drive electric car |
| CN108973775A (en) * | 2018-07-04 | 2018-12-11 | 成都市新筑路桥机械股份有限公司 | A kind of drive system and its power distribution method of electron orbit intelligence train |
| CN112009259A (en) * | 2019-05-28 | 2020-12-01 | 比亚迪股份有限公司 | Vehicle and power distribution method thereof |
| CN112124087A (en) * | 2019-06-24 | 2020-12-25 | 中车时代电动汽车股份有限公司 | Distributed control device and method for bidirectional running vehicle |
| CN112477618A (en) * | 2019-09-12 | 2021-03-12 | 比亚迪股份有限公司 | Hinged passenger car, control method and control device thereof and machine readable storage medium |
| WO2023273921A1 (en) * | 2021-06-30 | 2023-01-05 | 长城汽车股份有限公司 | Vehicle drive control method, apparatus and system, and storage medium and vehicle |
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| CN108248598A (en) * | 2018-01-08 | 2018-07-06 | 武汉理工大学 | A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method |
| CN108973775A (en) * | 2018-07-04 | 2018-12-11 | 成都市新筑路桥机械股份有限公司 | A kind of drive system and its power distribution method of electron orbit intelligence train |
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| CN112124087A (en) * | 2019-06-24 | 2020-12-25 | 中车时代电动汽车股份有限公司 | Distributed control device and method for bidirectional running vehicle |
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| CN112477618A (en) * | 2019-09-12 | 2021-03-12 | 比亚迪股份有限公司 | Hinged passenger car, control method and control device thereof and machine readable storage medium |
| WO2023273921A1 (en) * | 2021-06-30 | 2023-01-05 | 长城汽车股份有限公司 | Vehicle drive control method, apparatus and system, and storage medium and vehicle |
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