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 PDFInfo
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- 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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- speed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/025—Measuring arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- 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
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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610190514.7A CN105865731B (en) | 2016-03-30 | 2016-03-30 | A kind of real-time detecting system and its control method of electric car resonance speed |
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| CN201610190514.7A CN105865731B (en) | 2016-03-30 | 2016-03-30 | A kind of real-time detecting system and its control method of electric car resonance speed |
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| CN105865731B true CN105865731B (en) | 2018-11-30 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| JP4333767B2 (en) * | 2007-04-03 | 2009-09-16 | 株式会社デンソー | Vehicle control device |
| DE112011105964T5 (en) * | 2011-12-16 | 2014-08-21 | Toyota Jidosha Kabushiki Kaisha | Drive control device for a hybrid vehicle |
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| CN2881818Y (en) * | 2005-12-30 | 2007-03-21 | 比亚迪股份有限公司 | Electric vehicle real-time monitoring system |
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| CN203719860U (en) * | 2014-01-21 | 2014-07-16 | 北京汽车新能源汽车有限公司 | Overall vehicle vibration test system used for electric vehicle |
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