CN105865731B - A kind of real-time detecting system and its control method of electric car resonance speed - Google Patents

A kind of real-time detecting system and its control method of electric car resonance speed Download PDF

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Publication number
CN105865731B
CN105865731B CN201610190514.7A CN201610190514A CN105865731B CN 105865731 B CN105865731 B CN 105865731B CN 201610190514 A CN201610190514 A CN 201610190514A CN 105865731 B CN105865731 B CN 105865731B
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China
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speed
motor
vibration
body structure
structure surface
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CN105865731A (en
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王青春
孙杰
张琪
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Beijing Forestry University
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Beijing Forestry University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M7/00Vibration-testing of structures; Shock-testing of structures
    • G01M7/02Vibration-testing by means of a shake table
    • G01M7/025Measuring arrangements
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00Testing of vehicles
    • G01M17/007Wheeled or endless-tracked vehicles

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Vibration Prevention Devices (AREA)
  • Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The present invention relates to the vibration coupling fields of driving motor for electric automobile and power train, disclose the real-time detecting system and control method of a kind of electric car resonance speed, which includes acquisition module, analysis module and control module.Acquisition module is arranged in the regions such as car door, case cover, bonnet, roof, the fender of motor and body structure surface, for detecting the real-time Vibration Condition of motor and body structure surface.The present invention judges the Vibration Condition of motor and body structure surface by real-time detection vibration acceleration signal, once vibration acceleration is more than set threshold value, the revolving speed of motor is our rotating speed of target to be found out at this time, rotating speed of target crosses over rapidly rotating speed of target for control module control motor and provides reference frame, the system detection is high-efficient, have a wide range of application, response rapidly, can greatly improve the comfort level of car steering.

Description

A kind of real-time detecting system and its control method of electric car resonance speed
Technical field
The invention belongs to the vibration coupling fields of driving motor for electric automobile and body structure surface, more specifically relate to And a kind of control system and method for energy real-time detection driving motor for electric automobile and body structure surface resonance revolving speed.
Background technique
Electric car meets the requirement of increasingly stringent automobile emission regulation with the cleaning of its energy, gives birth to for alleviating The pressure and environmental protection for changing the energy have positive meaning.It is subjective many people think that, compared with traditional internal-combustion engines vehicle, Electric car has very big advantage in terms of vibration and noise.But substantially, the vibration of driving motor and body structure table There is stronger couplings for the vibration in face, match bad electric car, vibration and noise characteristic is even no more than internal combustion engine Automobile.At this stage, for driving motor for electric automobile and body structure surface vibration coupling research document and patent it is less, It has focused largely on driving motor vibration and inhibits, in terms of body structure surface vibration and inhibition and the control of driving motor.It drives The vibration control of dynamic motor is concentrated mainly on following field:The bias of rotor, the variation in motor gas-gap magnetic field, output The control of torque ripple and the control etc. for exporting revolving speed.Wherein, the control of motor output speeds is the most common mode, at present The method for avoiding electric car from resonating is mainly to pass through the revolving speed for adjusting motor, crosses resonant speed point.But current existing literature The control of this respect is mainly in static state, and the output revolving speed of motor is controlled by preset in advance cal speed point, right Vibration analysis between driving motor for electric automobile and body structure surface is most of relatively independent, institute's research object it is intrinsic Vibration frequency is substantially static state, cannot carry out real-time control with the change of the working condition and load of automobile.Even if Individually control, real-time, accuracy and the robustness of control are also worth discussion.Such as one kind exists in the prior art and avoids The control system of automobile resonance, it is preset with offset in resonant speed point and corresponding resonant speed within the control module and is total to (resonant speed point is offset point in resonant speed plus offset in resonant speed to offset, and resonant speed point adds under vibration velocity degree Offset is offset point under resonant speed under upper resonant speed), when data acquisition module detects the actual speed of motor operation With when offset point is corresponding under offset point in resonant speed or resonant speed, control module controls motor and improves acceleration to cross Resonant speed point.This way and the case where do not meet automobile actual motion.According to formula for natural frequency it is found that different quality feelings Under condition, the intrinsic frequency of this system of automobile be it is different, in routine use automobile, interior load-carrying and passengers quantity are all Variation, so above-mentioned the lifted prior art does not meet actual automobile service condition.Driving motor and body structure surface Between vibration there is complicated and real-time coupled relation, it is only right with the variation of vehicle operational mode and road condition The coupled relation of the two is detected in real time, and finding out real-time rotating speed of target, (i.e. resonance speed or vibration acceleration are more than institute If corresponding revolving speed when threshold value), control module on this basis adjusts the speed motor, fundamentally could inhibit or eliminate Coupled vibrations improves the working efficiency of motor to promote the NVH characteristic of vehicle, extends the longevity of motor and body structure surface Life.
Summary of the invention
For above-mentioned actual demand, technical problem to be solved by the invention is to provide a kind of electric car resonance speeds Control method is measured in real time driving motor and the vibration coupling on body structure surface, finds out electric car in different works Under condition, different loads under body body structure surface vibration corresponding motor speed when being more than set threshold value mentions to improve coupled vibrations For accurate foundation, the comfort level and safety of car steering are improved.
The purpose of the present invention is achieved through the following technical solutions:A kind of controlling party of electric car resonance speed Method, which is characterized in that a kind of real-time detecting system for avoiding electric car from resonating mainly includes acquisition module, analysis mould Three modules of block and control module.The acquisition module is by magnetic fixed pedestal, the vibration being set on magnetic fixed pedestal Acceleration transducer, vibrating data collection card and energization element composition.Vibration acceleration sensor and energization element are arranged in electricity Machine and the car door on body structure surface, case cover, bonnet, roof, fender.The energization element and described to measured motor For electrical connection, the vibration acceleration sensor passes through magnetic fixed pedestal and glues with described to measured motor and body structure surface It connects, for detecting the vibration acceleration signal in the region.The analysis module is by frequency overlapped-resistable filter and vibrating data collection Software composition is analyzed, the vibration acceleration signal for detecting according to acquisition module obtains described to measured motor and body structure The Vibrating modal parameters on surface find out the corresponding rotating speed of target of motor at this time and body structure surface, i.e. resonance speed or vibration Acceleration corresponding revolving speed when being more than set threshold value.The control module includes DC power supply, potentiometer automatic regulating system, outer Circuit, speed-regulating driver are enclosed, the speed-regulating signal from analysis module is received, for adjusting the revolving speed of motor.Described one kind is kept away The control method for exempting from electric car resonance includes the following steps:
(1) acquisition module acquisition motor and the car door on body structure surface, case cover, bonnet, roof, fender Vibration acceleration signal,
(2) vibration acceleration signal of analysis module processing and analysis from acquisition module, analyzes according to threshold comparison and ties Fruit judges, and whether body structure surface is more than set threshold value,
(3) if analysis module determines that body structure surface vibration this moment is more than set threshold value, initial speed at this time Rotating speed of target as under our operating conditions such at this time to be looked for, control system enter rotating speed control mode, velocity compensation meter Device calculating is calculated across the revolving speed of compensation needed for resonant speed point, is then added the velocity compensation signal with initial speed signal, Obtain actually required tach signal, after control module receives actually required tach signal, control motor speed, quickly across More rotating speed of target,
(4) if analysis module determines that body structure surface is not above set threshold value this moment, not trigger control module, Acquisition module and analysis module continue to test the Vibration Condition of motor and body structure surface.
Compared with prior art, the present invention having an advantageous effect in that:
(1) driving motor and the vibration coupling on body structure surface are measured in real time, control motor for control module It avoids resonance (or vibration more than set threshold value) and accurate foundation is provided, response rapidly, has a wide range of application, and effectiveness in vibration suppression is obvious, This is more of practical significance than presetting determining program in control module.
(2) this patent can carry out the analysis of more details to complicated road conditions and electric car working condition, make items Testing index is more accurate, while the erroneous judgement of vibration detection being fallen below minimum.
(3) this patent can be used for instructing driving motor and the optimization design of structure, match, and improve the work of driving motor Efficiency promotes fatigue life, improves the NVH quality of vehicle, promote the comfort of vehicle, to improve the active safety of vehicle Property.
(4) this patent can also be generalized to the similar engineerings such as Large Hydropower Station, electric airplane field, therefore also have weight The engineering application value wanted.
Detailed description of the invention
Fig. 1 real-time detecting system operation schematic diagram.
Fig. 2 real-time detecting system work flow diagram.
Specific embodiment
Below with reference to attached Fig. 1 and 2, a specific embodiment of the invention is described in further detail.But these are implemented Mode is not limited to the present invention, structure, method or the function that those skilled in the art are made according to these embodiments On transformation be included within the scope of protection of the present invention.
A kind of real-time detecting system for avoiding electric car from resonating of invention mainly includes acquisition module, analysis mould Three modules of block and control module.The acquisition module is by magnetic fixed pedestal, the vibration being set on magnetic fixed pedestal Acceleration transducer, vibrating data collection card and energization element composition, vibration acceleration sensor and energization element are arranged in electricity Machine and the car door on body structure surface, case cover, bonnet, roof, fender.The energization element and described to measured motor For electrical connection, the vibration acceleration sensor passes through magnetic fixed pedestal and glues with described to measured motor and body structure surface It connects, for detecting the vibration acceleration signal in the region.The analysis module is by frequency overlapped-resistable filter and vibrating data collection Software composition is analyzed, the vibration acceleration signal for detecting according to acquisition module obtains described to measured motor and body structure The Vibrating modal parameters on surface find out motor at this time and body structure surface corresponding rotating speed of target (i.e. resonance speed or vibration Acceleration corresponding revolving speed when being more than set threshold value).The control module include DC power supply, potentiometer automatic regulating system, Peripheral circuit, speed-regulating driver receive the speed-regulating signal from analysis module, and then adjust the revolving speed of motor.
Specific control method includes the following steps:
(1) acquisition module acquisition motor and the car door on body structure surface, case cover, bonnet, roof, fender Vibration acceleration signal,
(2) vibration acceleration signal of analysis module processing and analysis from acquisition module, analyzes according to threshold comparison and ties Fruit judges, and whether body structure surface vibration is more than set threshold value,
(3) if analysis module determines whether body structure surface vibration this moment is more than set threshold value, at this time initial Revolving speed is the rotating speed of target under our operating conditions such at this time to be looked for, and control system enters rotating speed control mode, and speed is mended Repay calculator calculate across compensation needed for resonant speed point revolving speed, then by the velocity compensation signal and initial speed signal phase Add, obtain actually required tach signal, after control module receives actually required tach signal, controls motor speed, fastly Speed crosses over rotating speed of target,
(4) if analysis module determines that body structure surface vibration this moment is not above set threshold value, control is not triggered Module, acquisition module and analysis module continue to test the Vibration Condition of motor and body structure surface.
The port number of vibrating data collection card is counted according to the acquisition of surveyed vibration acceleration signal and is selected, and meets experiment and wants It asks.
To fix vibration acceleration sensor, vibration acceleration sensor is connected through a screw thread and magnetic fixed pedestal It is fixed as one, then the vibration acceleration sensor being fixed as one and magnetic fixed pedestal is passed through to the magnetic of magnetic fixed pedestal Power and seccotine are bonded in car door, case cover, bonnet, roof, the fender of motor and body structure surface.
Frequency overlapped-resistable filter is arranged between the acquisition module and the analysis module, for being detected to acquisition module Vibration acceleration signal be filtered.
Further to eliminate influence of the environmental system to vibration acceleration sensor, the vibration acceleration sensor and its There is sound insulation damping rubber package in the outer surface of magnetic fixed pedestal, and the sound insulation damping adhesivity is strong, not easily to fall off, gel content Height, it is not easy to break.
Next the course of work of control module is specifically described, control module receives the speed regulation letter from analysis module Number, when motor or the car door on body structure surface, case cover, bonnet, roof, fender generation resonance, pass through speed regulation Driver changes motor speed, changes the vibration frequency of motor, to achieve the purpose that cross resonant speed point.In whole process Energization element be energization probe.
A series of above-described detailed description illustrating only for feasible embodiment of the invention, it The protection scope that is not intended to limit the invention, any equivalent implementations made by all technical solutions according to the present invention or Equivalent transformation should all be included in the protection scope of the present invention.

Claims (9)

1. a kind of control method of electric car resonance speed should for being measured in real time to motor and body structure surface Method is realized based on a kind of real-time detecting system of electric car resonance speed, which is characterized in that a kind of electricity The real-time detecting system of electrical automobile resonance speed mainly includes three acquisition module, analysis module and control module modules;
The acquisition module is by magnetic fixed pedestal, the vibration acceleration sensor being set on magnetic fixed pedestal, vibration number It is formed according to capture card and energization element, vibration acceleration sensor and energization element are arranged in the vehicle of motor and body structure surface Door, case cover, bonnet, roof, fender, the energization element and described power to measured motor connect, and the vibration adds Velocity sensor pass through magnetic fixed pedestal with it is described Nian Jie to measured motor and body structure surface, for detecting the region Vibration acceleration signal;
The analysis module is made of frequency overlapped-resistable filter, velocity compensation calculator and vibrating data collection analysis software, is used for It is obtained according to the vibration acceleration signal that acquisition module detects described to measured motor and the mode of oscillation on body structure surface ginseng Number, finds out corresponding rotating speed of target when motor and body structure surface vibration acceleration are more than set threshold value, i.e., resonance speed or Vibration acceleration corresponding revolving speed when being more than set threshold value;
The control module includes DC power supply, potentiometer automatic regulating system, peripheral circuit, speed-regulating driver, and reception comes from The speed-regulating signal of analysis module, and then adjust the revolving speed of motor;
Specific control method includes the following steps:
The vibration of acquisition module acquisition motor and the car door, case cover, bonnet, roof, fender on body structure surface adds Speed signal;
The vibration acceleration signal of analysis module processing and analysis from acquisition module, analyzes result and makes and sentence according to threshold comparison Disconnected, whether body structure surface generates resonance;If analysis module determines that body structure surface vibration this moment is more than set threshold value, Then initial speed at this time is the rotating speed of target under the operating condition such at this time to be looked for, i.e. resonance speed or vibration acceleration is super Corresponding revolving speed when set threshold value is crossed, control system enters rotating speed control mode, and velocity compensation calculator is calculated across resonance speed The velocity compensation signal, is then added with initial speed signal, obtains actually required revolving speed by the revolving speed compensated needed for degree point Signal after control module receives actually required tach signal, controls motor speed, quickly crosses over rotating speed of target;
If analysis module determines that body structure surface vibration this moment is not above set threshold value, trigger control module, is not adopted Collection module and analysis module continue to test the Vibration Condition of motor and body structure surface.
2. a kind of control method of electric car resonance speed according to claim 1, which is characterized in that vibration data is adopted The port number of truck should be greater than counting equal to the acquisition of vibration acceleration signal.
3. a kind of control method of electric car resonance speed according to claim 1, which is characterized in that vibration acceleration Sensor is connected through a screw thread and magnetic fixed pedestal is fixed as one.
4. a kind of control method of electric car resonance speed according to claim 1 or 3, which is characterized in that fix one The vibration acceleration sensor of body and magnetic fixed pedestal pass through the magnetic force of magnetic fixed pedestal and seccotine be bonded in motor with Car door, case cover, bonnet, roof, the fender on body structure surface.
5. a kind of control method of electric car resonance speed according to claim 1, which is characterized in that anti-aliasing filter Device is arranged between the acquisition module and the analysis module, and the vibration acceleration signal for detecting to acquisition module carries out Filtering.
6. a kind of control method of electric car resonance speed according to claim 1, which is characterized in that the vibration adds There is sound insulation damping rubber package in the outer surface of velocity sensor and its magnetic fixed pedestal.
7. a kind of control method of electric car resonance speed according to claim 6, which is characterized in that the sound insulation subtracts It is strong to shake adhesivity, not easily to fall off, gel content is high, not easy to break.
8. a kind of control method of electric car resonance speed according to claim 1, which is characterized in that energization element is Energization probe.
9. a kind of control method of electric car resonance speed according to claim 1, which is characterized in that the control mould Block receives the speed-regulating signal from analysis module, when motor or the car door on body structure surface, case cover, bonnet, roof, When fender vibration is more than set threshold value, motor speed is changed by speed-regulating driver, changes the vibration frequency of motor, to reach To the purpose of directed overshoot revolving speed.
CN201610190514.7A 2016-03-30 2016-03-30 A kind of real-time detecting system and its control method of electric car resonance speed Expired - Fee Related CN105865731B (en)

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JP6374999B2 (en) * 2017-01-30 2018-08-15 Kyb株式会社 Vibration control device for railway vehicles
CN110094451B (en) * 2019-03-28 2020-12-08 泉州极简机器人科技有限公司 Control method and device for avoiding resonance of structural part and computer equipment
CN111776248B (en) * 2020-08-03 2022-02-18 广州极飞科技股份有限公司 Vibration testing method and device and aircraft
CN113002322A (en) * 2021-03-24 2021-06-22 湖南工程学院 NVH (noise, vibration and harshness) suppression device and method for electric vehicle carrying automatic transmission

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