CN105799707B - Eliminate or mitigate the method that electric car runs at a low speed shake - Google Patents
Eliminate or mitigate the method that electric car runs at a low speed shake Download PDFInfo
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- CN105799707B CN105799707B CN201410828603.0A CN201410828603A CN105799707B CN 105799707 B CN105799707 B CN 105799707B CN 201410828603 A CN201410828603 A CN 201410828603A CN 105799707 B CN105799707 B CN 105799707B
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Abstract
The invention discloses a kind of methods that elimination or mitigation electric car run at a low speed shake, this method acquisition speed signal simultaneously carries out low-pass filtering, obtain low frequency speed signal, speed signal subtracts low frequency speed signal, obtain high frequency speed signal, high frequency speed signal output torque order offset after the processing of phase compensation adjuster, torque command offset is superimposed with vehicle torque command, obtain comprehensive torque command, comprehensive torque command exports electric drive actual torque through Electric drive module, electric drive actual torque subtracts loading moment, obtain stable input torque, the input torque is transmitted to vehicle driveline, obtain stable speed, to eliminate or mitigate vehicle low jitter.This method, which is realized, is quickly mitigated or eliminated vehicle resonance, without changing existing vehicle mechanical structure and increasing extra means, saves vehicle development cost, reduces the development cycle, the occasion of multiple resonant frequency points is existed simultaneously suitable for vehicle, and versatility is good.
Description
Technical field
The present invention relates to a kind of methods that elimination or mitigation electric car run at a low speed shake.
Background technique
Under normal conditions, shake of electric car during running at a low speed is to be shaken by motor output torque or vehicle
Caused by the mechanical resonance of power drive system, the factor in terms of motor control is excluded, significant portion of electric car low speed is trembled
Dynamic is all due to caused by the mechanical resonance of power drive system.
The mechanical resonance of vehicle driveline refers to the frequency and the system of vehicle driveline institute excited target
Certain rank intrinsic frequency when being close, the phenomenon that system amplitude significantly increases.Under normal conditions, the measure of mechanical resonance is prevented
Have: improving the structure of vehicle driveline, the intrinsic frequency of vehicle driveline is made to avoid driving frequency；Using subtracting
Vibrating device；Or quickly through resonance region in mechanical actuation or docking process.
Vehicle can be fundamentally solved above by vehicle driveline mechanical structure or installing damping device is changed
It the problem of resonance, but also suffers from certain drawbacks, first, the mechanical structure of existing vehicle driveline need to be changed, or
Increase additional machinery damping device, increases development cost；Second, change vehicle driveline mechanical structure or increases volume
Outer mechanical device needs a realization period, extends the period of vehicle development；Third, be not suitable for vehicle exist simultaneously it is more
The occasion of a resonant frequency point；4th, poor universality is not easy to realize.
Summary of the invention
Technical problem to be solved by the invention is to provide the sides that a kind of elimination or mitigation electric car run at a low speed shake
Method, this method is realized and vehicle resonance is quickly mitigated or eliminated by changing vehicle driveline excitation, while not influencing vehicle
Normal traveling saves vehicle development cost, reduces without changing existing vehicle mechanical structure and increasing extra means
Development cycle exists simultaneously the occasion of multiple resonant frequency points suitable for vehicle, and versatility is good.
In order to solve the above technical problems, the present invention, which eliminates or mitigate the method that electric car runs at a low speed shake, passes through control
System unit and dynamical system unit are realized, in which: control system unit includes Bus- Speed Monitoring module, low-pass filter, phase
Compensated regulator, adder and the first subtracter, dynamical system unit include Electric drive module, vehicle driveline and
Two subtracters；This method includes the following steps:
Step 1: obtaining speed signal, the low-pass filtered device of speed signal using Bus- Speed Monitoring module detection vehicle speed
It is filtered, obtains low frequency speed signal；
Step 2: speed signal and low frequency speed signal are superimposed in the first subtracter, the high frequency in speed signal is obtained
Speed signal, high frequency speed signal are transmitted to phase compensation adjuster；
Step 3: phase compensation adjuster carries out phase lead compensation adjusting, output torque order to high frequency speed signal
Offset, torque command offset are superimposed by adder with vehicle torque command, and comprehensive torque command is obtained；
Step 4: comprehensive torque command passes to Electric drive module, Electric drive module is according to comprehensive torque command output electricity
Actual torque is driven, electric drive actual torque subtracts loading moment by the second subtracter, obtains stable input torque, this is defeated
Enter torque and be transmitted to vehicle driveline, obtain stable speed, to eliminate or mitigate vehicle low jitter.
Further, the cutoff frequency point of low-pass filtering in phase compensation adjuster is set as w1, and high frequency speed signal decays
Frequency point is w2, and phase compensation adjuster carries out phase to high frequency speed signal by (w1*w2+w2*S)/(w1*w2+w1*S) and surpasses
Precompensation is adjusted；Wherein, S is complex frequency.
Above-mentioned technical proposal is used since the present invention eliminates or mitigate the method that electric car runs at a low speed shake, i.e., originally
Method acquisition speed signal simultaneously carries out low-pass filtering, obtains low frequency speed signal, speed signal subtracts low frequency speed signal, obtains
High frequency speed signal, the high frequency speed signal output torque order offset, torque command after the processing of phase compensation adjuster
Offset is superimposed with vehicle torque command, obtains comprehensive torque command, and comprehensive torque command exports electric drive through Electric drive module
Actual torque, electric drive actual torque subtract loading moment, obtain stable input torque, and it is dynamic which is transmitted to vehicle
Power transmission system obtains stable speed, to eliminate or mitigate vehicle low jitter.This method is passed by changing vehicle power
Dynamic system incentive is realized and quickly mitigates and eliminate vehicle resonance, while not influencing vehicle and normally travelling, without changing existing vehicle
Mechanical structure and increase extra means, saves vehicle development cost, reduce the development cycle, existed simultaneously suitable for vehicle
The occasion of multiple resonant frequency points, and versatility is good.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and embodiments:
Fig. 1 is the Method And Principle block diagram that the present invention eliminated or mitigated that electric car runs at a low speed shake.
Specific embodiment
Embodiment passes through control system as shown in Figure 1, the present invention eliminates or mitigate the method that electric car runs at a low speed shake
System unit 1 and dynamical system unit 2 are realized, in which: control system unit 1 includes Bus- Speed Monitoring module 5, low-pass filter 6, phase
Position compensated regulator 7, adder 10 and the first subtracter 9, dynamical system unit 2 include Electric drive module 3, vehicle drive-train
System 4 and the second subtracter 8；This method includes the following steps:
Step 1: detecting vehicle speed j using Bus- Speed Monitoring module 5 obtains speed signal b, speed signal b is through low pass filtered
Wave device 6 is filtered, and obtains low frequency speed signal c；
Step 2: speed signal b and low frequency speed signal c is superimposed in the first subtracter 9, the height in speed signal is obtained
Frequency speed signal d, high frequency speed signal d are transmitted to phase compensation adjuster 7；
Step 3: phase compensation adjuster 7 carries out phase lead compensation adjusting, output torque life to high frequency speed signal d
It enables offset e, torque command offset e be superimposed by adder 10 with vehicle torque command f, obtains comprehensive torque command k；
Step 4: comprehensive torque command k passes to Electric drive module 3, Electric drive module 3 is defeated according to comprehensive torque command k
Electric drive actual torque h out, electric drive actual torque h subtract loading moment g by the second subtracter 8, are smoothly inputted
Torque i changes the excitation of vehicle driveline 4, input torque i is transmitted to vehicle driveline 4, obtains
Stable speed m, to eliminate or mitigate vehicle low jitter.
Preferably, the cutoff frequency point of low-pass filtering in phase compensation adjuster is set as w1, and high frequency speed signal decays
Frequency point is w2, and phase compensation adjuster carries out phase to high frequency speed signal by (w1*w2+w2*S)/(w1*w2+w1*S) and surpasses
Precompensation is adjusted；Wherein, S is complex frequency.
During the processing of the digital sample of speed signal and low-pass filtering, the phase steric retardation of high frequency speed signal can be caused
Afterwards, thus using phase compensation adjuster to high frequency speed signal carry out phase lead compensation, while to high frequency speed signal into
Row rapid decay, according to field application experience, vehicle low jitter frequency is usually no more than 300Hz, so utilizing advanced correction
Link carries out rapid decay to the signal of 300Hz or more, carries out phase lead compensation in the cutoff frequency point of low-pass filtering, with
To accurate torque command offset.
Shake during low vehicle speeds is summarized as vehicle driveline resonance by this method, by changing vehicle
The excitation of power drive system, obviate or mitigates the jitter phenomenon of vehicle, while not influencing the normally travel of vehicle, improves
The comfort that vehicle is driven, while also improving the quality of vehicle.This method is not necessarily to change the mechanical structure of existing vehicle, nothing
Extra means need to be increased, save vehicle development cost, and reduce the development cycle, at the same be suitable for vehicle exist simultaneously it is multiple
The occasion of resonant frequency point, and versatility is good, is suitble to promote.
Claims (2)
1. a kind of method that elimination or mitigation electric car run at a low speed shake, it is characterised in that this method passes through control system list
Member and dynamical system unit are realized, in which: control system unit includes Bus- Speed Monitoring module, low-pass filter, phase compensation tune
Saving device, adder and the first subtracter, dynamical system unit includes Electric drive module, vehicle driveline and the second subtraction
Device；This method includes the following steps:
Step 1: obtaining speed signal using Bus- Speed Monitoring module detection vehicle speed, the low-pass filtered device of speed signal is carried out
Filtering, obtains low frequency speed signal；
Step 2: speed signal and low frequency speed signal are superimposed in the first subtracter, the high frequency speed in speed signal is obtained
Signal, high frequency speed signal are transmitted to phase compensation adjuster；
Step 3: phase compensation adjuster carries out phase lead compensation adjusting, output torque order compensation to high frequency speed signal
Value, torque command offset are superimposed by adder with vehicle torque command, and comprehensive torque command is obtained；
Step 4: comprehensive torque command passes to Electric drive module, Electric drive module exports electric drive according to comprehensive torque command
Actual torque, electric drive actual torque subtract loading moment by the second subtracter, obtain stable input torque, the input power
Square is transmitted to vehicle driveline, obtains stable speed, to eliminate or mitigate vehicle low jitter.
2. the method that elimination according to claim 1 or mitigation electric car run at a low speed shake, it is characterised in that: setting
The cutoff frequency point of low-pass filtering is w1 in phase compensation adjuster, and high frequency speed signal frequency of fadings point is w2, phase compensation
Adjuster carries out phase lead compensation adjusting to high frequency speed signal by (w1*w2+w2*S)/(w1*w2+w1*S)；Wherein, S is
Complex frequency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410828603.0A CN105799707B (en) | 2014-12-29 | 2014-12-29 | Eliminate or mitigate the method that electric car runs at a low speed shake |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410828603.0A CN105799707B (en) | 2014-12-29 | 2014-12-29 | Eliminate or mitigate the method that electric car runs at a low speed shake |
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| Publication Number | Publication Date |
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| CN105799707A CN105799707A (en) | 2016-07-27 |
| CN105799707B true CN105799707B (en) | 2019-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410828603.0A Active CN105799707B (en) | 2014-12-29 | 2014-12-29 | Eliminate or mitigate the method that electric car runs at a low speed shake |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109421728B (en) * | 2017-08-21 | 2020-08-11 | 上海汽车集团股份有限公司 | Self-adaptive anti-shake control method and device for automobile |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4067539B2 (en) * | 2005-06-14 | 2008-03-26 | トヨタ自動車株式会社 | Vehicle control device |
| JP2010098871A (en) * | 2008-10-17 | 2010-04-30 | Panasonic Corp | Electric motor driver |
| KR101091484B1 (en) * | 2009-09-25 | 2011-12-07 | 현대자동차주식회사 | Shock improvement device of hybrid car and method therefor |
| CN102336191B (en) * | 2011-07-05 | 2014-04-09 | 昆山力久新能源汽车技术有限公司 | Model-based anti-shake control method for motor-driven vehicle |
| KR101448746B1 (en) * | 2012-10-17 | 2014-10-10 | 현대자동차 주식회사 | Method and system for controlling anti-jerk of electric vehicle |
| CN104071031B (en) * | 2013-12-30 | 2019-04-23 | 上海大郡动力控制技术有限公司 | A kind of suppressing method of pure electric automobile starting shake |
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