CN105584383B - A kind of more Motor torque output control methods - Google Patents
A kind of more Motor torque output control methods Download PDFInfo
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- CN105584383B CN105584383B CN201510935239.2A CN201510935239A CN105584383B CN 105584383 B CN105584383 B CN 105584383B CN 201510935239 A CN201510935239 A CN 201510935239A CN 105584383 B CN105584383 B CN 105584383B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a kind of more Motor torque output control methods, it comprises the following steps：A, entire car controller module calculates the moment of torsion that vehicle traveling needs；B, entire car controller module travels the moment of torsion and the exportable torque range of motor needed according to vehicle, calculates the optimal case under different output motor numbers；Then gross efficiency highest scheme is selected from the optimal case under different output motor numbers as preferred plan；C, Motor torque is allocated according to preferred plan；D, vehicle is travelled into required moment of torsion by communication module to distribute to the electric machine controller module of set number；E, the motor that electric machine controller module is adapted according to the moment of torsion control of distribution works；F, motor outputs torque to same drive shaft.This programme can make motor working efficiency reach highest, save energy, improve course continuation mileage.This programme is applied to the electric automobile of more motor coordinated drives.
Description
Technical field
The present invention relates to electric vehicle motor power control field, more particularly, to a kind of more Motor torque output control sides
Method.
Background technology
The working condition that pure electric vehicle Motor torque control method needs to reach to single or multiple motors calculates
And control, single or multiple motors separately provide the driving force needed for vehicle to meet that driving requires.Existing Motor torque control
The electric vehicle that method processed is only applicable to two and above motor independently drives, can not ensure that motor is operated between high efficient area,
Reduce energy ecology.
State Intellectual Property Office of the People's Republic of China disclosed entitled on October 31st, 2012《The torsion of electric automobile
Square control method》Patent document（Publication number：CN102756667A）, it includes：Calculate pedal position comprehensive correction factor C1；
According to pedal position comprehensive correction factor C1, revised pedal position P1 is calculated；According to revised pedal position P1, calculate
Motor target opposing torque T1；According to motor target opposing torque T1, battery request electric current I1 is calculated；Electric current is asked according to battery
I1, calculate target current difference I2；According to target current difference I2, motor internal net moment of torsion T2 is calculated；According to motor internal net moment of torsion
T2, calculate motor internal target torque T3；According to motor internal target torque T3, motor actual torque T4 is calculated；According to motor
Actual torque T4 controls the motor of electric automobile.This scheme is still only applicable to the electric vehicle that motor independently drives, right
Efficient control can not be realized in the vehicle of more motor coordinated drives.
The content of the invention
The present invention mainly solves can not rationally be controlled to more motor coordinated drive electric cars present in prior art
System, motor are operated in the low technical problem of poorly efficient section, energy utilization rate, there is provided it is a kind of can be with the torsion of each motor of reasonable distribution
Square, allow motor to be operated in high efficiency range, improve more Motor torque output control methods of energy utilization rate.
The present invention is mainly what is be addressed by following technical proposals for above-mentioned technical problem：A kind of more Motor torques
Output control method, comprise the following steps：
A, entire car controller module calculates the moment of torsion that vehicle traveling needs；
B, entire car controller module travels the moment of torsion and the exportable torque range of motor needed according to vehicle, calculates not
With the optimal case under output motor number；Then gross efficiency highest is selected from the optimal case under different output motor numbers
Scheme, this scheme is as preferred plan；
C, the output motor number in preferred plan determines final output motor number, and according to preferred plan pair
Motor torque is allocated；
D, vehicle is travelled into required moment of torsion by communication module to distribute to the electric machine controller module of set number；
E, the motor that electric machine controller module is adapted according to the moment of torsion control of distribution works；
F, motor outputs torque to same drive shaft.
This programme is applied to two and the motor-driven electric automobile of above dependent.Vehicle traveling need moment of torsion according to
Battery case residual capacity, accelerator pedal aperture, accelerator pedal aperture rate of change and speed size are calculated.Obtained by calculating
Optimal case in the case of different output motors, gross efficiency highest is then selected as preferred plan, according to preferred plan control
It the output torque of motor processed, motor working efficiency is reached highest, save energy, improve course continuation mileage.
Preferably, the step b is specially：
B1, judge whether 1 motor disclosure satisfy that torque request, if it can, then entering b2, otherwise into b3；
B2, make ηmax1=η1, subsequently into b3；
B3, judge whether i motor disclosure satisfy that torque request, if it can, then entering step b5, otherwise into step
b4；
B4, i increase 1, is then back to step b3；
Gross efficiency when i b5, calculating output motor under the different moment of torsion methods of salary distribution, by gross efficiency highest scheme
Gross efficiency is designated as ηmaxi；
B6, judge whether i is equal to motor sum, if it is, into step b7, otherwise i increases 1 then branch to step
b3；
B7, from ηmax1To ηmaxsMiddle selection maximum, moment of torsion allocative decision is preferred plan corresponding to this maximum；
S is motor sum, and i initial value is 2, ηmax1For the gross efficiency of optimal case under 1 output motor, η1It is defeated for list
Go out the efficiency of motor under motor conditions, ηmaxiFor i output motor when optimal case gross efficiency.
The gross efficiency of motor is tried to achieve by look-up table.
Preferably, the step b5 is specially：
B51, to make the 1st moment of torsion to the i-th -1 motor be all 1 N of rice, and the torque T i of i-th of motor is T-（i-1）Ox
Rice, if Ti is less than or equal to the max. output torque of single motor, calculate now motor gross efficiency ηi1；Make ηmaxi=ηi1；Such as
Fruit Ti is more than the max. output torque of single motor, then into step b54；T is that vehicle travels the moment of torsion needed, ηmaxiIt is initial
It is worth for 0, all positive integers of value of moment of torsion；This step allows Motor torque distribution to reach maximum difference；
B52, judge whether the moment of torsion that each motor is assigned to is all equal, if it is, into step b6；Otherwise enter
Step b53；All equal expression Motor torque distribution reaches minimum difference to moment of torsion；
B53, judge whether the moment of torsion that each motor is assigned to only has the difference of two kinds of values and two kinds of values for 1, if it is,
Into step b6, otherwise into step b54；It is 1 that the moment of torsion that each motor is assigned to, which only has the difference of two kinds of values and two kinds of values,
Represent that Motor torque distribution reaches minimum difference, can not further be averaged；
B54, current maximum moment of torsion is set as Tnm, by the moment of torsion in current all moments of torsion less than or equal to Tnm-2 most rearward
Add 1 N of rice, by moment of torsion most forward in all peak torques ox rice that subtracts 1；
It is forward and be defined as follows rearward：The moment of torsion that the 2nd motor of torque ratio that 1st motor is assigned to is assigned to leans on
Before, the moment of torsion that the 3rd motor of torque ratio that the 2nd motor is assigned to is assigned to is forward, the torque ratio that i-th of motor is assigned to
The moment of torsion that the i-th -1 motor is assigned to rearward, by that analogy；
If b55, Ti are less than or equal to the max. output torque of single motor, the gross efficiency η k of now motor are calculated,
Subsequently into step b56；If Ti is more than the max. output torque of single motor, return to step b54；
If b56, η k ＞ ηmaxi, then ηmaxi=η k, otherwise keep ηmaxiIt is constant；
B57, return to step b52.
All moment of torsion methods of salary distribution can be traveled through by being up to the minimum process of difference from moment of torsion distribution difference.This process can be with
Ensure that the moment of torsion sum that each motor is assigned to is equal to T always.
Preferably, when output motor quantity still can not meet the moment of torsion of vehicle traveling needs equal to motor sum,
Preferred plan is that output motor quantity is equal to motor sum, and each output motor exports for total power.
Preferably, the parameter of each motor is identical.The equal complexity that can reduce calculating of each parameter of electric machine,
Improve computational efficiency.
The substantial effect that the present invention is brought is can to improve the vehicle control system speed of service, greatly promotes control essence
Degree；To improve the operating efficiency of motor, energy ecology is improved, increases the distance travelled of vehicle；The present invention is applied to existing
More motor coordinated drives pure electric automobile, it is applied widely.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the present invention.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment：A kind of more Motor torque output control methods of the present embodiment, as shown in figure 1, comprising the following steps：
A, entire car controller module calculates the moment of torsion that vehicle traveling needs；
B, entire car controller module travels the moment of torsion and the exportable torque range of motor needed according to vehicle, calculates not
With the optimal case under output motor number；Then gross efficiency highest is selected from the optimal case under different output motor numbers
Scheme, this scheme is as preferred plan；
C, the output motor number in preferred plan determines final output motor number, and according to preferred plan pair
Motor torque is allocated；
D, vehicle is travelled into required moment of torsion by communication module to distribute to the electric machine controller module of set number；
E, the motor that electric machine controller module is adapted according to the moment of torsion control of distribution works；
F, motor outputs torque to same drive shaft.
The step b is specially：
B1, judge whether 1 motor disclosure satisfy that torque request, if it can, then entering b2, otherwise into b3；
B2, make ηmax1=η1, subsequently into b3；
B3, judge whether i motor disclosure satisfy that torque request, if it can, then entering step b5, otherwise into step
b4；
B4, i increase 1, is then back to step b3；
Gross efficiency when i b5, calculating output motor under the different moment of torsion methods of salary distribution, by gross efficiency highest scheme
Gross efficiency is designated as ηmaxi；
B6, judge whether i is equal to motor sum, if it is, into step b7, otherwise i increases 1 then branch to step
b3；
B7, from ηmax1To ηmaxsMiddle selection maximum, moment of torsion allocative decision is preferred plan corresponding to this maximum；
S is motor sum, and i initial value is 2, ηmax1For the gross efficiency of optimal case under 1 output motor, η1It is defeated for list
Go out the efficiency of motor under motor conditions, ηmaxiFor i output motor when optimal case gross efficiency.
The step b5 is specially：
B51, to make the 1st moment of torsion to the i-th -1 motor be all 1 N of rice, and the torque T i of i-th of motor is T-（i-1）Ox
Rice, if Ti is less than or equal to the max. output torque of single motor, calculate now motor gross efficiency ηi1；Make ηmaxi=ηi1；Such as
Fruit Ti is more than the max. output torque of single motor, then into step b54；T is that vehicle travels the moment of torsion needed, ηmaxiIt is initial
It is worth for 0, all positive integers of value of moment of torsion；
B52, judge whether the moment of torsion that each motor is assigned to is all equal, if it is, into step b6；Otherwise enter
Step b53；All equal expression Motor torque distribution reaches minimum difference to moment of torsion, such as the moment of torsion that vehicle traveling needs is 100
Ox rice, shares four motors, and each motor is assigned to 25 Ns of rice, then has stepped through all methods of salary distribution；
B53, judge whether the moment of torsion that each motor is assigned to only has the difference of two kinds of values and two kinds of values for 1, if it is,
Into step b6, otherwise into step b54；It is 1 that the moment of torsion that each motor is assigned to, which only has the difference of two kinds of values and two kinds of values,
Represent that Motor torque distribution reaches minimum difference, can not further be averaged, such as the moment of torsion that vehicle traveling needs is 102 Ns of rice,
Four motors are shared, the 1st motor and the 2nd motor are all assigned to 25 Ns of rice, and the 3rd motor and the 4th motor are all assigned to
26 Ns of rice, then have stepped through all methods of salary distribution；
B54, current maximum moment of torsion is set as Tnm, by the moment of torsion in current all moments of torsion less than or equal to Tnm-2 most rearward
Add 1 N of rice, by moment of torsion most forward in all peak torques ox rice that subtracts 1；
It is forward and be defined as follows rearward：The moment of torsion that the 2nd motor of torque ratio that 1st motor is assigned to is assigned to leans on
Before, the moment of torsion that the 3rd motor of torque ratio that the 2nd motor is assigned to is assigned to is forward, the torque ratio that i-th of motor is assigned to
The moment of torsion that the i-th -1 motor is assigned to rearward, by that analogy；
If b55, Ti are less than or equal to the max. output torque of single motor, the gross efficiency η k of now motor are calculated,
Subsequently into step b56；If Ti is more than the max. output torque of single motor, return to step b54；
If b56, η k ＞ ηmaxi, then ηmaxi=η k, otherwise keep ηmaxiIt is constant；
B57, return to step b52.
Pass through all moment of torsion methods of salary distribution under i motor of this procedure ergodic.
When output motor quantity, which is equal to motor sum, still can not meet the moment of torsion of vehicle traveling needs, preferred plan is
Output motor quantity is equal to motor sum, and each output motor exports for total power.
In the present embodiment, the parameter of each motor is identical.
When the output motor quantity of preferred plan is more than or equal to 2, each motor will by way of in parallel or series
Torque output is to same drive shaft.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more having used the terms such as moment of torsion, efficiency herein, the possibility using other terms is not precluded from.Make
It is used for the purpose of more easily describing and explaining the essence of the present invention with these terms；It is construed as what any one was added
Limitation is all disagreed with spirit of the present invention.
Claims (3)
1. a kind of more Motor torque output control methods, it is characterised in that comprise the following steps：
A, entire car controller module calculates the moment of torsion that vehicle traveling needs；
B, entire car controller module travels the moment of torsion and the exportable torque range of motor needed according to vehicle, calculates different defeated
The optimal case gone out under motor number；Then gross efficiency highest side is selected from the optimal case under different output motor numbers
Case, this scheme is as preferred plan；
C, the output motor number in preferred plan determines final output motor number, and according to preferred plan to motor
Moment of torsion is allocated；
D, vehicle is travelled into required moment of torsion by communication module to distribute to the electric machine controller module of set number；
E, the motor that electric machine controller module is adapted according to the moment of torsion control of distribution works；
F, motor outputs torque to same drive shaft；
The step b is specially：
B1, judge whether 1 motor disclosure satisfy that torque request, if it can, then entering b2, otherwise into b3；
B2, make ηmax1=η1, subsequently into b3；
B3, judge whether i motor disclosure satisfy that torque request, if it can, then entering step b5, otherwise into step b4；
B4, i increase 1, is then back to step b3；
Gross efficiency when i b5, calculating output motor under the different moment of torsion methods of salary distribution, by total effect of gross efficiency highest scheme
Rate is designated as ηmaxi；
B6, judge whether i is equal to motor sum, if it is, into step b7, otherwise i increases 1 then branch to step b3；
B7, from ηmax1To ηmaxsMiddle selection maximum, moment of torsion allocative decision is preferred plan corresponding to this maximum；
S is motor sum, and i initial value is 2, ηmax1For the gross efficiency of optimal case under 1 output motor, η1For single output electricity
The efficiency of motor, η in the case of machinemaxiFor i output motor when optimal case gross efficiency；
The step b5 is specially：
B51, to make the 1st moment of torsion to the i-th -1 motor be all 1 N of rice, and the torque T i of i-th of motor is T-（i-1）Ox rice, such as
Fruit Ti is less than or equal to the max. output torque of single motor, then calculates now motor gross efficiency ηi1；Make ηmaxi=ηi1；If Ti
More than the max. output torque of single motor, then into step b54；T is that vehicle travels the moment of torsion needed, ηmaxiInitial value be
0, all positive integers of value of moment of torsion；
B52, judge whether the moment of torsion that each motor is assigned to is all equal, if it is, into step b6；Otherwise step is entered
b53；
B53, judge whether the moment of torsion that each motor is assigned to only has the difference of two kinds of values and two kinds of values for 1, if it is, into
Step b6, otherwise into step b54；
Moment of torsion in current all moments of torsion less than or equal to Tnm-2 most rearward is added 1 by b54, the moment of torsion for setting current maximum as Tnm
Ox rice, by moment of torsion most forward in all peak torques ox rice that subtracts 1；
It is forward and be defined as follows rearward：The moment of torsion that the 2nd motor of torque ratio that 1st motor is assigned to is assigned to is forward, and the 2nd
The moment of torsion that the 3rd motor of the torque ratio that individual motor is assigned to is assigned to is forward, the torque ratio the i-th -1 that i-th of motor is assigned to
The moment of torsion that motor is assigned to rearward, by that analogy；
If b55, Ti are less than or equal to the max. output torque of single motor, the gross efficiency η k of now motor are calculated, then
Into step b56；If Ti is more than the max. output torque of single motor, return to step b54；
If b56, η k ＞ ηmaxi, then ηmaxi=η k, otherwise keep ηmaxiIt is constant；
B57, return to step b52.
2. a kind of more Motor torque output control methods according to claim 1, it is characterised in that when output motor quantity
When still can not meet the moment of torsion of vehicle traveling needs equal to motor sum, preferred plan is that output motor quantity is total equal to motor
Number, each output motor export for total power.
A kind of 3. more Motor torque output control methods according to claim 2, it is characterised in that the parameter of each motor
It is identical.
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| CN114302823A (en) * | 2019-08-01 | 2022-04-08 | 系统73有限公司 | Performance optimized multi-motor switching system and method |
| CN111645797B (en) * | 2020-06-04 | 2022-03-25 | 广东高标电子科技有限公司 | Two-wheeled electric motor car actuating system |
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| KR101090814B1 (en) * | 2010-11-03 | 2011-12-08 | 현대자동차주식회사 | Control apparatus and method of vehicle with multi drive system |
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