CN105584385A - Optimized control method for multi-motor torque output - Google Patents
Optimized control method for multi-motor torque output Download PDFInfo
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- CN105584385A CN105584385A CN201510935240.5A CN201510935240A CN105584385A CN 105584385 A CN105584385 A CN 105584385A CN 201510935240 A CN201510935240 A CN 201510935240A CN 105584385 A CN105584385 A CN 105584385A
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- motor
- torsion
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- torque
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
- B60L2250/28—Accelerator pedal thresholds
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an optimized control method for multi-motor torque output. The optimized control method for the multi-motor torque output comprises the following steps of a, calculating torques, needed by a vehicle during running, by using vehicle controller modules; b, exerting the vehicle controller modules to calculate the number of motors needing to work according to the needed torques and output torque ranges of the motors; c, distributing the motor torques on average according to the number of the motors needing to work and the torques needed by the vehicle; d, distributing the torques, needed by the vehicle during running, to the motor controller modules with a set number through communication modules; e, exerting the motor controller modules to control adaptive motors to work according to the distributed torques; and f, exerting the motors to output the torques to the same driving shaft. According to the scheme, the motor working efficiency can reach the highest level so that the energy is saved and the driving mileage is increased. The scheme is applied to electric automobiles, which are driven by a plurality of motors in a cooperative way.
Description
Technical field
The present invention relates to electric vehicle motor power control field, especially relate to a kind of many Motor torques output control method.
Background technology
The duty that pure electric vehicle Motor torque control method need to reach single or multiple motors is calculated and is controlled, and single or multiple motors independently provide the required driving force of vehicle to meet driving requirement. Existing Motor torque control method is only applicable to the electric vehicle of two and above motor drive, cannot ensure that machine operation, between high efficient area, has reduced energy service efficiency.
State Intellectual Property Office of the People's Republic of China discloses on October 31st, 2012 patent documentation (publication number: CN102756667A) that name is called " torque control method of electric automobile ", and it comprises: calculate pedal position comprehensive correction factor C1; According to pedal position comprehensive correction factor C1, calculate revised pedal position P1; According to revised pedal position P1, calculate the relative torque T 1 of motor target; According to the relative torque T 1 of motor target, calculate battery request electric current I 1; According to battery request electric current I 1, calculate the poor I2 of target current; According to the poor I2 of target current, calculate the clean torque T 2 of motor internal; According to the clean torque T 2 of motor internal, calculate motor internal target torque T3; According to motor internal target torque T3, calculate motor actual torque T4; Control the drive motors of electric automobile according to motor actual torque T4. This scheme is still only applicable to the electric vehicle of motor drive, cannot realize efficient control for the vehicle of many motors coordinated drive.
Summary of the invention
The present invention be mainly solve that prior art existingly cannot rationally be controlled the electric motor car of many motors coordinated drive, machine operation in poor efficiency interval, technical problem that energy utilization rate is low, a kind of moment of torsion that can the each motor of reasonable distribution is provided, allow machine operation at high efficiency range, improve the optimal control method of many Motor torque outputs of energy utilization rate.
The present invention is directed to above-mentioned technical problem is mainly solved by following technical proposals: a kind of optimal control method of many Motor torque outputs, comprises the following steps:
A, entire car controller module are calculated the moment of torsion that Vehicle Driving Cycle needs;
B, entire car controller module, according to required moment of torsion and the exportable torque range of motor, calculate and need the motor of work number;
C, motor number and the required moment of torsion of car load of working as required, be distributed equally Motor torque;
D, by communication module by torque distribution required Vehicle Driving Cycle to the electric machine controller module of set number;
E, electric machine controller module are according to the suitable machine operation of moment of torsion control of distributing;
F, motor export moment of torsion to same driving shaft.
This programme is applicable to two and the motor-driven electric automobile of above dependent. Obtain and need the scheme of minimum output motor as preferred plan by calculating, according to the output torque of preferred plan control motor, can make like this motor working efficiency reach the highest, save energy, improve course continuation mileage.
As preferably, described step b is specially:
B1, output motor number are i, and the average output torque Ti of each motor is T/i, judge whether Ti is greater than the peak power output of single motor, if so, enter step b2, otherwise enter step b3;
B2, judge whether i equals motor sum, if so, enter step b3, otherwise i increases 1, then returns to step b1;
B3, to need the motor number of work be i, enters step c;
The initial value of i is that 1, T is the moment of torsion that Vehicle Driving Cycle needs.
In the time that each motor still cannot meet the moment of torsion of Vehicle Driving Cycle needs for total power output, the motor number that needs work of preferred plan equals motor sum, each motor total power output.
As preferably, the parameter of each motor is identical. Each parameter of electric machine equates to reduce the complexity of calculating, improves computational efficiency.
As preferably, the moment of torsion that Vehicle Driving Cycle needs calculates according to battery case residual capacity, accelerator pedal aperture, accelerator pedal aperture rate of change and speed of a motor vehicle size.
As preferably, be when more than 2 or 2 when needing the number of motors of work, the output of each motor exports same driving shaft to by serial or parallel connection.
The substantial effect that the present invention brings is that computational process is simply efficient, can improve the vehicle control system speed of service, greatly promotes control accuracy; Can improve the operating efficiency of motor, improve energy service efficiency, increase the distance travelled of vehicle; The present invention is applicable to the pure electric automobile of existing many motors coordinated drive, applied widely.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present invention.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment: the optimal control method of a kind of many Motor torque outputs of the present embodiment, as shown in Figure 1, comprises the following steps:
A, entire car controller module are calculated the moment of torsion that Vehicle Driving Cycle needs;
B, entire car controller module, according to required moment of torsion and the exportable torque range of motor, calculate and need the motor of work number;
C, motor number and the required moment of torsion of car load of working as required, be distributed equally Motor torque;
D, by communication module by torque distribution required Vehicle Driving Cycle to the electric machine controller module of set number;
E, electric machine controller module are according to the suitable machine operation of moment of torsion control of distributing;
F, motor export moment of torsion to same driving shaft.
This programme is applicable to two and the motor-driven electric automobile of above dependent. Obtain and need the scheme of minimum output motor as preferred plan by calculating, according to the output torque of preferred plan control motor, can make like this motor working efficiency reach the highest, save energy, improve course continuation mileage.
Described step b is specially:
B1, output motor number are i, and the average output torque Ti of each motor is T/i, judge whether Ti is greater than the peak power output of single motor, if so, enter step b2, otherwise enter step b3;
B2, judge whether i equals motor sum, if so, enter step b3, otherwise i increases 1, then returns to step b1;
B3, to need the motor number of work be i, enters step c;
The initial value of i is that 1, T is the moment of torsion that Vehicle Driving Cycle needs.
In the time that each motor still cannot meet the moment of torsion of Vehicle Driving Cycle needs for total power output, the motor number that needs work of preferred plan equals motor sum, each motor total power output.
The parameter of each motor is identical, can reduce the complexity of calculating, improves computational efficiency.
The moment of torsion that Vehicle Driving Cycle needs calculates according to battery case residual capacity, accelerator pedal aperture, accelerator pedal aperture rate of change and speed of a motor vehicle size.
Be when more than 2 or 2 when needing the number of motors of work, the output of each motor exports same driving shaft to by serial or parallel connection.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit. Those skilled in the art can make various amendments or supplement or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although more used the terms such as moment of torsion, motor, entire car controller herein, do not got rid of the possibility that uses other term. Use these terms to be only used to describe more easily and explain essence of the present invention; They are construed to any additional restriction is all contrary with spirit of the present invention.
Claims (5)
1. an optimal control method for the output of Motor torque more than, is characterized in that, comprises the following steps:
A, entire car controller module are calculated the moment of torsion that Vehicle Driving Cycle needs;
B, entire car controller module, according to required moment of torsion and the exportable torque range of motor, calculate and need the motor of work number;
C, motor number and the required moment of torsion of car load of working as required, be distributed equally Motor torque;
D, by communication module by torque distribution required Vehicle Driving Cycle to the electric machine controller module of set number;
E, electric machine controller module are according to the suitable machine operation of moment of torsion control of distributing;
F, motor export moment of torsion to same driving shaft.
2. the optimal control method of a kind of many Motor torque outputs according to claim 1, is characterized in that, described step b is specially:
B1, output motor number are i, and the average output torque Ti of each motor is T/i, judge whether Ti is greater than the peak power output of single motor, if so, enter step b2, otherwise enter step b3;
B2, judge whether i equals motor sum, if so, enter step b3, otherwise i increases 1, then returns to step b1;
B3, to need the motor number of work be i, enters step c;
The initial value of i is that 1, T is the moment of torsion that Vehicle Driving Cycle needs.
3. the optimal control method of a kind of many Motor torque outputs according to claim 1 and 2, is characterized in that, the parameter of each motor is identical.
4. the optimal control method of a kind of many Motor torque outputs according to claim 3, is characterized in that, the moment of torsion that Vehicle Driving Cycle needs calculates according to battery case residual capacity, accelerator pedal aperture, accelerator pedal aperture rate of change and speed of a motor vehicle size.
5. the optimal control method of a kind of many Motor torques output according to claim 1, is characterized in that, is when more than 2 or 2 when needing the number of motors of work, and the output of each motor exports same driving shaft to by serial or parallel connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510935240.5A CN105584385A (en) | 2015-12-15 | 2015-12-15 | Optimized control method for multi-motor torque output |
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| CN201510935240.5A CN105584385A (en) | 2015-12-15 | 2015-12-15 | Optimized control method for multi-motor torque output |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926748A (en) * | 2017-02-21 | 2017-07-07 | 北京航天发射技术研究所 | 8*8 wheel driving electric motor car straight-line travelling torque distribution methods |
| CN109305044A (en) * | 2018-08-28 | 2019-02-05 | 北京长城华冠汽车科技股份有限公司 | A kind of the electric braking torque distribution method and device of vehicle |
| CN111703411A (en) * | 2020-05-25 | 2020-09-25 | 武汉理工大学 | Coordination control method and device for hub motor of electric automobile |
| CN112297867A (en) * | 2019-07-26 | 2021-02-02 | 比亚迪股份有限公司 | Vehicle and power distribution method thereof |
| CN113547934A (en) * | 2021-08-30 | 2021-10-26 | 重庆金康赛力斯新能源汽车设计院有限公司 | Energy recovery method and device, storage medium and vehicle control unit |
Citations (3)
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| US20090223726A1 (en) * | 2008-03-04 | 2009-09-10 | Hyundai Motor Company | Hybrid fuel cell vehicle with multi-power source and multi-drive system and method of controlling the same |
| CN103552483A (en) * | 2013-11-15 | 2014-02-05 | 哈尔滨理工大学 | Electric automobile driving system based on cascaded motors and driving method of driving system |
| CN104175863A (en) * | 2014-08-27 | 2014-12-03 | 北京新能源汽车股份有限公司 | Hub driving system and control method thereof |
-
2015
- 2015-12-15 CN CN201510935240.5A patent/CN105584385A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090223726A1 (en) * | 2008-03-04 | 2009-09-10 | Hyundai Motor Company | Hybrid fuel cell vehicle with multi-power source and multi-drive system and method of controlling the same |
| CN103552483A (en) * | 2013-11-15 | 2014-02-05 | 哈尔滨理工大学 | Electric automobile driving system based on cascaded motors and driving method of driving system |
| CN104175863A (en) * | 2014-08-27 | 2014-12-03 | 北京新能源汽车股份有限公司 | Hub driving system and control method thereof |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926748A (en) * | 2017-02-21 | 2017-07-07 | 北京航天发射技术研究所 | 8*8 wheel driving electric motor car straight-line travelling torque distribution methods |
| CN109305044A (en) * | 2018-08-28 | 2019-02-05 | 北京长城华冠汽车科技股份有限公司 | A kind of the electric braking torque distribution method and device of vehicle |
| CN112297867A (en) * | 2019-07-26 | 2021-02-02 | 比亚迪股份有限公司 | Vehicle and power distribution method thereof |
| CN111703411A (en) * | 2020-05-25 | 2020-09-25 | 武汉理工大学 | Coordination control method and device for hub motor of electric automobile |
| CN111703411B (en) * | 2020-05-25 | 2021-12-10 | 武汉理工大学 | Coordination control method and device for hub motor of electric automobile |
| CN113547934A (en) * | 2021-08-30 | 2021-10-26 | 重庆金康赛力斯新能源汽车设计院有限公司 | Energy recovery method and device, storage medium and vehicle control unit |
| CN113547934B (en) * | 2021-08-30 | 2022-06-10 | 重庆金康赛力斯新能源汽车设计院有限公司 | Energy recovery method and device, storage medium and vehicle control unit |
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Application publication date: 20160518 |
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