CN105291887B - The bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train - Google Patents

The bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train Download PDF

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Publication number
CN105291887B
CN105291887B CN201510803916.5A CN201510803916A CN105291887B CN 105291887 B CN105291887 B CN 105291887B CN 201510803916 A CN201510803916 A CN 201510803916A CN 105291887 B CN105291887 B CN 105291887B
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motor
torque
vehicle
battery
moment
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CN105291887A (en
Inventor
冯江华
朱田
王海斌
吕永宾
雷悠
宋超
肖磊
蒋志东
任田良
李双龙
翁涛
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CRRC Zhuzhou Institute Co Ltd
Hunan CRRC Times Electric Vehicle Co Ltd
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CSR Zhuzou Institute Co Ltd
Hunan CSR Times Electric Vehicle Co Ltd
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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility

Abstract

A kind of bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train, its step are:S1:Program brings into operation after power-on self-test;S2:End driver's pedal, gear information are driven by gathering, Double Motor Control device, battery management, accessory system information are gathered by CAN simultaneously, by logic judgment Current vehicle state in which and mode of operation, failure whether there is according to the condition adjudgement of each system unit, authorize the fault level of the failure;S3:Further according to the characteristic of two motors, battery behavior, pedal state, given motor target torque and mode of operation are calculated by motor control module, according to the fault level export-restriction moment of torsion of vehicle;S4:Finally export and carry out execution torque output to bi-motor, be i.e. entire car controller final output motor target torque gives Double Motor Control device, and Motor torque output performs mean allocation.The present invention has the advantages that simple principle, good reliability, can optimize full-vehicle control performance.

Description

The bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train
Technical field
Present invention relates generally to urban public transport apparatus field, refers in particular to one kind and is applied to rubber tire low-floor intelligent track The bi-motor moment of torsion distribution control method of train.
Background technology
Urban track traffic refers to the special line public transportation system with continuous steerable ability, and its feature shows as possessing spy Orbit determination road, vehicle orbiting.Common urban track traffic has subway, light rail, tramcar etc..Wherein, subway, light rail Mostly it is built on underground or overpass, its free-running operation in track special line is realized by using inaccessible pattern, though they Right transport capacity is powerful, but infrastructure early stage and vehicle acquisition cost are larger so that it can not extensive use in small and medium-sized cities.Have Rail electric car then needs special power system and track matching design, either design and construction cost or maintenance cost relatively It is limited by greatly and easily running environment.
In addition to above-mentioned track traffic, other public transportation systems common are traditional bus, articulated vehicle Train.Traditional bus cost is low, traveling is flexible, when there is barrier in front, can very easily avoid barrier and continue to go Sail, when vehicle breaks down, can keep to the side, do not interfere with other vehicles traveling.But traditional bus transport power is few, it will usually logical Cross be hinged more piece compartment and carry out formed automobile train increase transport power.Develop truck combination in small and medium-sized cities and substitute traditional public transport Car, ensure truck combination by safety factors such as property and steering behaviours under the conditions of, its can not only improve transport capacity and Cost of transportation 30% or so can be reduced.
For truck combination, consider for environmental protection etc., most preferably using pure electronic mode.Existing pure electronic lengthening vehicle Using bicycle head, one-way traffic, typically decide to drive using single motor and use, it is so very big to the demanded power output of motor, Design of electrical motor development cost is also higher.
The content of the invention
The technical problem to be solved in the present invention is that:For technical problem existing for prior art, the present invention provides one Kind of principle is simple, good reliability, can optimize full-vehicle control performance rubber tire low-floor intelligent track train bi-motor moment of torsion Distribute control method
In order to solve the above technical problems, the present invention uses following technical scheme:
A kind of bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train, its step are:
S1:Program brings into operation after power-on self-test;
S2:End driver's pedal, gear information are driven by gathering, while Double Motor Control device, cell tube are gathered by CAN Reason, accessory system information, by logic judgment Current vehicle state in which and mode of operation, according to the shape of each system unit State judges whether failure, authorizes the fault level of the failure;
S3:Further according to the characteristic of two motors, battery behavior, pedal state, calculated by motor control module given Motor target torque and mode of operation, according to the fault level export-restriction moment of torsion of vehicle;
S4:Finally export and carry out execution torque output, i.e. entire car controller final output motor target torque to bi-motor Double Motor Control device is given, Motor torque output performs mean allocation.
As a further improvement on the present invention:When two Motor torque non_uniform responses, feedback actual torque difference is one During definite value, the output of full-vehicle control regulation motor target torque;It is preferential to ring after electric machine controller receives entire car controller target torque Should with away from vehicle forward direction motor output torque, so as to protect the hinged disk of vehicle connection.
As a further improvement on the present invention:The entire car controller be by gather pedal information, battery management information, Accessory system information and motor status information, according to brake pedal or accelerator pedal percent travel, motor external characteristic curve and Battery charging and discharging power, the torque of motor braking or traction is carried out after accordingly limiting, gives motor target torque.
As a further improvement on the present invention:The battery system correlation-likes such as the entire car controller collection battery contactor State, battery charging and discharging power is exported, whether there is failure and cell voltage further according to battery, calculate motor braking, driving work( Rate;Comprehensive complete vehicle fault, motor external characteristics, vehicle direction and pattern, battery status, give the maximum braking of motor, tractive torque.
As a further improvement on the present invention:The calculation process of the motor target braking torque is:
Charge-discharge electric power=cell voltage * battery current/1000;
The current current rotating speed of the maximum allowable motors of charging current * 9.549/ of system torque-limiting=cell voltage * batteries;
Maximum admissible torque * brake pedal percent travels under motor target braking torque=current rotating speed of motor.
Compared with prior art, the advantage of the invention is that:
1st, moment of torsion distribution method of the present invention for a kind of full-vehicle control to Double Motor Control, include and driver is accelerated and made Dynamic pedal parsing, the distribution of vehicle demand power, battery and accessory system are limited and protected, to bi-motor traction and braking torque Given and protection, battery, motor and accessory system are effectively protected so as to realize, vehicle electric drive energy is distributed and carried out Rational control, bi-motor torque output is synchronously effectively controlled.
2nd, the present invention is mainly suitable for using double headstock pure electric vehicles, can two way, decided drive using bi-motor It is dynamic, the dynamic property of vehicle is met, greatly reduces design of electrical motor development cost, entire car controller mainly undertakes collection numeral The input signals such as amount, analog quantity, and by the reasonable output torque of logic control bi-motor, believed in real time according to battery and accessory system Breath, has accomplished to be effectively protected, reasonable distribution vehicle demand power, and bi-motor output torque and protection are effectively controlled System, has served important to vehicle smooth-ride.
Brief description of the drawings
Fig. 1 is the schematic front view for the track train entirety that the present invention is applicable.
Fig. 2 is the schematic diagram for the track train chassis arrangement that the present invention is applicable.
Fig. 3 is the schematic diagram of the track train main control part that the present invention is applicable and communication structure.
Fig. 4 is the idiographic flow schematic diagram of the inventive method.
Fig. 5 is motor module control schematic diagram of the present invention in concrete application example.
Marginal data:
1st, standard headstock;2nd, steering-by-wire executing agency;3rd, linkwork;4th, standard headstock;5th, entire car controller;6th, by Pantograph;7th, energy-storage system;8th, motor;9th, drive motor controller.
Embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
The present invention is mainly suitable for double headstocks, king-size vehicle(Such as rubber tire low-floor intelligent track train), whole car For height up to 35 meters, vehicle can be divided into more piece compartment(Such as three sections), two headstocks, whole vehicle can realize two way.Such as Fig. 1 Shown in Fig. 2, in a concrete application example, vehicle and system include standard headstock 1, steering-by-wire executing agency 2, hinge The portions such as connection mechanism 3, standard headstock 4, entire car controller 5, pantograph 6, energy-storage system 7, motor 8, drive motor controller 9 Point.In said structure, using linkwork 3(Hinged disk)The mode of connection connects each compartment, can be according to fortune Movement Capabilities adjust body structure, and on the driving shaft using independent steering structure, rear car is controlled by track following controller Wheel overlaps with front-wheel running orbit.Two motors 8 are arranged in two of car, can individually be driven by power transmission shaft respectively Motor-car travels.Referring to 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 of dynamic property is met, is directly driven from the different axle of bi-motor, by vehicle control Device 5 processed controls bi-motor to be driven.In pure electric vehicle type, entire car controller 5 mainly undertakes collection digital quantity, analog quantity etc. Input signal, and worked by logic control output correlation signal control unit, undertake gateway function in vehicle topological network. Entire car controller 5 gathers driver's pedal signal, driving switch signal etc., and electric machine controller, motor control are issued by CAN communication Device receives these signals, and then controlled motor exports corresponding moment of torsion.Meanwhile entire car controller 5 receives BMS message, forwarding For battery management information to electric machine controller, entire car controller 5 has just played simple data acquisition and the use that E-Packets, and so causes Battery can not be effectively protected, vehicle demand power can not be distributed effectively, to other events such as vehicle accessory system Barrier can not be timely responded to, and bi-motor torque output synchronism, which can not be caused unanimously, to travel vehicle influences, it is necessary to is subject to Improve.
The bi-motor moment of torsion distribution control method of the rubber tire low-floor intelligent track train of the present invention, it is:By full-vehicle control Device 5 is used as control core;By gathering driving position acceleration, braking, gear signal, steering wheel angle information, when low speed is turned, Single pass pedal aperture is bad to judge vehicle torque demand, and steering wheel angle size is beaten plus driver, in straight trip, general side It is little to angle change, integrate to judge that driver driving is intended to, pass through CAN communication and collect energy-storage system 7, the letter of accessory system Breath, is output to instrument and is shown.Comprehensive descision component information, to be controlled to motor, and then complete and vehicle is travelled Control.
As shown in figure 4, in concrete application example, idiographic flow of the invention is:
S1:Program brings into operation after power-on self-test;
S2:The information such as end driver's pedal, gear are driven by gathering, while Double Motor Control device, battery are gathered by CAN The information such as management, accessory system, by logic judgment Current vehicle state in which and mode of operation, according to each system unit Condition adjudgement whether there is failure, authorize the fault level of the failure;
S3:Further according to the characteristic of two motors, battery behavior, pedal state, calculated by motor control module given Motor target torque and mode of operation, according to the fault level export-restriction moment of torsion of vehicle;
S4:Finally export and carry out execution torque output, i.e. the final output motor target torque of entire car controller 5 to bi-motor Double Motor Control device is given, Motor torque output performs mean allocation.
In above process, when two Motor torque non_uniform responses, when feedback actual torque difference is certain value, vehicle Control to adjust the output of motor target torque;After electric machine controller receives the target torque of entire car controller 5, preferential answering and remote car The motor output torque of direction of advance, in order to protect the hinged disk of vehicle connection to use.
In above process, entire car controller 5 is by gathering pedal information, battery management information, accessory system information And motor status information, according to brake pedal(Accelerator pedal)Percent travel, motor external characteristic curve and battery charging and discharging work( Rate etc., to motor braking(Traction)Torque is carried out after accordingly limiting, and gives motor target torque.
As shown in figure 5, being motor module control figure, final output motor target is maximum to draw(Braking)Moment of torsion, vehicle control Device 5 processed gathers the battery system correlation behaviors such as battery contactor, and output battery fills(Put)Electrical power, it whether there is further according to battery Failure and cell voltage, calculate motor braking(Driving)Power.Comprehensive complete vehicle fault, motor external characteristics, vehicle direction and mould Formula, battery status, give the maximum braking of motor(Traction)Moment of torsion;
In concrete application example, its computational methods is as follows:
Charge-discharge electric power=cell voltage * battery current/1000;
The current current rotating speed of the maximum allowable motors of charging current * 9.549/ of system torque-limiting=cell voltage * batteries;
Maximum admissible torque * brake pedal percent travels under motor target braking torque=current rotating speed of motor;
The final output motor target torque of entire car controller 5 gives Double Motor Control device, and control bi-motor performs torque output, Motor torque output performs mean allocation, when two Motor torque non_uniform responses, when to receive actual torque difference be certain value, Full-vehicle control regulation motor target torque exports.In order to protect the linkwork of connection body, when the vehicle is running, priority acccess control Wherein motor output torque, then another motor delay output, bi-motor output torque interval should control 100ms with It is interior, it is ensured that vehicle does not have pause and transition in rhythm or melody sense.On Motor torque output order, the preferential motor output away from vehicle end of travel is turned round Square.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment, All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.Such as say, the present invention can also be applied to Other kinds of multi-wheeler train, it is noted that for those skilled in the art, do not departing from this hair Some improvements and modifications under the premise of bright principle, should be regarded as protection scope of the present invention.

Claims (4)

1. the bi-motor moment of torsion distribution control method of a kind of rubber tire low-floor intelligent track train, it is characterised in that step is:
S1:Program brings into operation after power-on self-test;
S2:Drive end driver's pedal, gear information by gathering, at the same by CAN gather Double Motor Control device, battery management, Accessory system information, by logic judgment Current vehicle state in which and mode of operation, according to the state of each system unit Failure is judged whether, authorizes the fault level of the failure;
S3:Further according to the characteristic of two motors, battery behavior, pedal state, given motor is calculated by motor control module Target torque and mode of operation, according to the fault level export-restriction moment of torsion of vehicle;
S4:Finally export and carry out execution torque output to bi-motor, i.e., entire car controller final output motor target torque is to double Electric machine controller, Motor torque output perform mean allocation;
When two Motor torque non_uniform responses, when feedback actual torque difference is certain value, full-vehicle control regulation motor target Torque output;After electric machine controller receives entire car controller target torque, preferential answering and the motor away from vehicle forward direction Output torque, so as to protect the hinged disk of vehicle connection.
2. the bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train according to claim 1, it is special Sign is that the entire car controller is believed by gathering pedal information, battery management information, accessory system information and motor status Breath, according to brake pedal or accelerator pedal percent travel, motor external characteristic curve and battery charging and discharging power, to motor braking Or the torque of traction is carried out after accordingly limiting, and gives motor target torque.
3. the bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train according to claim 2, it is special Sign is, the battery system correlation behavior such as described entire car controller collection battery contactor, exports battery charging and discharging power, then root It whether there is failure and cell voltage according to battery, calculate motor braking, driving power;Comprehensive complete vehicle fault, motor external characteristics, Vehicle direction and pattern, battery status, give the maximum braking of motor, tractive torque.
4. the bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train according to claim 3, it is special Sign is that the calculation process of the motor target braking torque is:
Charge-discharge electric power=cell voltage * battery current/1000;
The current current rotating speed of the maximum allowable motors of charging current * 9.549/ of system torque-limiting=cell voltage * batteries;
Maximum admissible torque * brake pedal percent travels under motor target braking torque=current rotating speed of motor.
CN201510803916.5A 2015-11-20 2015-11-20 The bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train Active CN105291887B (en)

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CN107139779B (en) * 2017-05-25 2019-04-19 中车永济电机有限公司 The control method of guide rail electric car
CN108248598B (en) * 2018-01-08 2019-08-27 武汉理工大学 A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method
CN108909529B (en) * 2018-07-17 2020-04-17 北京新能源汽车股份有限公司 Torque chain control framework and dual-motor four-wheel-drive electric automobile
CN112009259B (en) * 2019-05-28 2022-08-09 比亚迪股份有限公司 Vehicle and power distribution method thereof
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CN112477618B (en) * 2019-09-12 2022-06-10 比亚迪股份有限公司 Hinged passenger car, control method and control device thereof and machine-readable storage medium

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