CN106314195A - Method and system for inhibiting torsional vibration of power system of electric vehicle - Google Patents
Method and system for inhibiting torsional vibration of power system of electric vehicle Download PDFInfo
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- CN106314195A CN106314195A CN201610681835.7A CN201610681835A CN106314195A CN 106314195 A CN106314195 A CN 106314195A CN 201610681835 A CN201610681835 A CN 201610681835A CN 106314195 A CN106314195 A CN 106314195A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000002401 inhibitory effect Effects 0.000 title abstract 2
- 230000010355 oscillation Effects 0.000 claims description 26
- 238000005183 dynamical system Methods 0.000 claims description 18
- 230000001629 suppression Effects 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000001914 filtration Methods 0.000 claims description 7
- 241000208340 Araliaceae Species 0.000 description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 235000008434 ginseng Nutrition 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 206010030312 On and off phenomenon Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
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Classifications
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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
-
- 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
-
- 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
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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 provides a method and a system for inhibiting torsional vibration of a power system of an electric vehicle. The method comprises the following steps of calculating a theoretical motor rotating speed according to an actual wheel rotating speed and a preset power system speed ratio; calculating a motor rotating speed variable quantity according to an actual motor rotating speed and the theoretical motor rotating speed; calculating a motor output torque according to the motor rotating speed variable quantity and preset parameters; controlling a motor to operate according to the output torque. The method and the system provided by the invention have the advantages that the actual motor rotating speed is matched with the theoretical motor rotating speed when the motor is controlled to operate by utilization of the output torque, so that the rotating speed fluctuation of the motor is stabilized, and the torsional vibration of the power system is inhibited, therefore the jittering problem of the electric vehicle when a driver of the electric vehicle deeply treads an accelerator pedal or completely releases the accelerator pedal is eliminated, and the comfortableness of the driver in the driving process is improved.
Description
Technical field
The present invention relates to electric vehicle engineering field, particularly relate to the suppressing method of a kind of power system of electric automobile torsional oscillation
And system.
Background technology
At present, along with the development of electric vehicle engineering, electric automobile gradually instead of fuel-engined vehicle and has become as people
One of the main traffic instrument of go off daily.
When driver normally travels, it will usually pedal of slowly stepping on the throttle, now, the motor in dynamical system export
Stable moment of torsion, thus band motor car wheel drives electric automobile normally to travel.
But, when driver needs the degree of depth trample gas pedal or be totally released gas pedal, the torsion of motor output
Square there will be fluctuation by a relatively large margin so that fluctuation by a relatively large margin occurs in the rotating speed of motor, causes dynamical system torsional oscillation occur,
And then jitter phenomenon occurs in electric automobile, have a strong impact on driver's comfortableness when electric vehicle drive.
Summary of the invention
In view of this, the invention provides suppressing method and the system of a kind of power system of electric automobile torsional oscillation, with suppression
Dynamical system torsional oscillation, stablizes motor speed, solves the electric automobile jitter phenomenon that dynamical system torsional oscillation brings, and improves driver and exists
Comfortableness when driving.
To achieve these goals, the technical scheme that the embodiment of the present invention provides is as follows:
A kind of suppressing method of power system of electric automobile torsional oscillation, including:
Obtain the actual wheel rotating speed of current time wheel, according to described actual wheel rotating speed and default dynamical system
Speed ratio is calculated theoretical motor speed；
Obtain the real electrical machinery rotating speed of current time motor, and according to described real electrical machinery rotating speed and described theoretical motor
Rotating speed is calculated motor speed variable quantity；
The output torque of motor it is calculated according to described motor speed variable quantity and default parameter；Described output turns
Square makes described real electrical machinery rotating speed match with described theoretical motor speed；
Control described motor to run according to described output torque.
Preferably, the actual wheel rotating speed of described acquisition current time includes:
Obtain the reality that current time is put the electric automobile wheel of locking system ABS Real-time Collection by the braking of electric automobile
Vehicle wheel rotational speed.
Preferably, described according to described real electrical machinery rotating speed and described theoretical motor speed calculates and obtains motor speed and become
Change amount includes:
The difference calculating described real electrical machinery rotating speed and described theoretical motor speed obtains the first variable quantity；
Described first variable quantity is carried out low-pass filtering and obtains the second variable quantity；
The difference calculating described first variable quantity and described second variable quantity obtains motor speed variable quantity.
Preferably, the described output torque being calculated motor according to described motor speed variable quantity and default parameter
Including:
Obtain the demand torque by the calculated motor of current time accelerator pedal signal；
It is calculated default parameter, described default parameter according to described demand torque and described real electrical machinery rotating speed
Torque is compensated including predetermined coefficient and restriction；
Compensate torque calculation according to described motor speed variable quantity, predetermined coefficient and described restriction and obtain described motor
Output torque.
Preferably, described according to described motor speed variable quantity, predetermined coefficient and described restriction compensate torque calculation obtain
Output torque to described motor includes:
Use described motor speed variable quantity to be multiplied with described predetermined coefficient and be compensated torque；
Described compensation torque and described restriction are compensated one that in torque, absolute value is little and compensates torque as actual；
Described actual compensation torque is added the output torque as described motor with described demand torque.
Another aspect of the present invention provides the suppression system of a kind of power system of electric automobile torsional oscillation, including:
First computing module, for obtaining the actual wheel rotating speed of current time wheel, according to described actual wheel rotating speed
And the dynamical system speed ratio preset is calculated theoretical motor speed；
Second computing module, for obtaining the real electrical machinery rotating speed of current time motor, and turns according to described real electrical machinery
Fast and described theoretical motor speed calculates and obtains motor speed variable quantity；
3rd computing module, for being calculated the defeated of motor according to described motor speed variable quantity and default parameter
Go out torque；Described output torque is used for so that described real electrical machinery rotating speed matches with described theoretical motor speed；
Control module, is used for controlling described motor and runs according to described output torque.
Preferably, described first computing module includes:
First acquiring unit, is put locking system ABS Real-time Collection for obtaining current time by the braking of electric automobile
The actual wheel rotating speed of electric automobile wheel.
Preferably, described second computing module includes:
First computing unit, obtains the first change for calculating the difference of described real electrical machinery rotating speed and described theoretical motor speed
Change amount；
Second computing unit, obtains the second variable quantity for described first variable quantity is carried out low-pass filtering；
3rd computing unit, obtains motor speed change for calculating the difference of described first variable quantity and described second variable quantity
Change amount.
Preferably, described 3rd computing module includes:
Second acquisition unit, is turned by the demand of the calculated motor of current time accelerator pedal signal for obtaining
Square；
4th computing unit, for being calculated default ginseng according to described demand torque and described real electrical machinery rotating speed
Number, described default parameter includes predetermined coefficient and limits compensation torque；
5th computing unit, for compensating torque according to described motor speed variable quantity, predetermined coefficient and described restriction
It is calculated the output torque of described motor.
Preferably, described 5th computing unit includes:
First computation subunit, is used for using described motor speed variable quantity to be multiplied with described predetermined coefficient to be compensated and turn
Square；
Second computation subunit, for compensating described compensation torque for the work that in torque, absolute value is little with described restriction
Torque is compensated for reality；
3rd computation subunit, for being added described actual compensation torque as described motor with described demand torque
Output torque.
The invention provides suppressing method and the system of a kind of power system of electric automobile torsional oscillation, described method obtains current
The actual wheel rotating speed of moment wheel, is calculated theory according to described actual wheel rotating speed and default dynamical system speed ratio
Motor speed；Obtain the real electrical machinery rotating speed of current time motor, and according to described real electrical machinery rotating speed and described theoretical electricity
Machine rotating speed is calculated motor speed variable quantity；It is calculated motor according to described motor speed variable quantity and default parameter
Output torque；Described output torque is used for so that described real electrical machinery rotating speed matches with described theoretical motor speed；Control
Described motor runs according to described output torque.When motor uses output torque to run, real electrical machinery rotating speed and theoretical motor
Rotational speed matches, thus stablize the fluctuation of speed of motor, suppress dynamical system torsional oscillation, and then it is deep driver to eliminate electric automobile
When degree is trampled gas pedal or is totally released gas pedal, the problem of electric automobile shake, improve when driver drives
Comfortableness.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
Fig. 1 is the flow chart of the suppressing method of a kind of power system of electric automobile torsional oscillation disclosed in the embodiment of the present invention；
Fig. 2 is the another kind of flow process of the suppressing method of a kind of power system of electric automobile torsional oscillation disclosed in the embodiment of the present invention
Figure；
Fig. 3 is the structural representation of the suppression system of a kind of power system of electric automobile torsional oscillation disclosed in the embodiment of the present invention
Figure；
Fig. 4 is an instantiation figure in actual use in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Referring to Fig. 1, Fig. 1 is the suppressing method of a kind of power system of electric automobile torsional oscillation disclosed in the embodiment of the present invention
Flow chart.
The suppressing method of a kind of power system of electric automobile torsional oscillation that the present invention provides, including:
S101, the actual wheel rotating speed of acquisition current time wheel, according to described actual wheel rotating speed and default moving
Force system speed ratio is calculated theoretical motor speed；
In the embodiment of the present invention, controller obtains the actual speed of the wheel of current time preferably by the system of electric automobile
The dynamic actual wheel rotating speed putting locking system ABS Real-time Collection electric automobile wheel, ABS is sent to after gathering actual wheel rotating speed
In CAN (Controller Area Network) network.
It should be noted that the controller in the present invention can be car body controller can also be other kinds of control
Device, all can be as the executive agent of scheme as long as technical scheme can be realized, and here, technical solution of the present invention is excellent
Choosing uses entire car controller.
It is understood that special collection can also be arranged in addition to using ABS Real-time Collection actual wheel rotating speed
Device such as arranges speed probe Real-time Collection actual wheel rotating speed, and the actual wheel rotating speed of Real-time Collection is sent to CAN
In network, controller realize the reading of data.
Obtain the actual wheel rotating speed of current moment wheel, namely obtain the rotating speed of wheel end.Then according to actual wheel
Rotating speed and the dynamical system speed ratio preset are calculated theoretical motor speed.Preset dynamical system speed ratio be one fixing
Value, be the speed ratio previously according to decelerator and wheel radius use existing described in computational methods calculate electric automobile
Prestore after the dynamical system speed ratio that type is corresponding.
The method calculating theoretical motor speed can be that described actual wheel rotating speed is multiplied by described default dynamical system
Speed ratio, obtains theoretical motor speed；Can also be to be set in advance with the dynamical system speed ratio lookup preset by actual wheel rotating speed
The data base put obtains the theoretical motor speed of correspondence.
S102, the real electrical machinery rotating speed of acquisition current time motor, and according to described real electrical machinery rotating speed and described reason
Opinion motor speed calculates and obtains motor speed variable quantity；
In the embodiment of the present invention, electric machine controller obtains the real electrical machinery rotating speed of motor within each control cycle, by revolving
Change depressor collection motor rotating signal and obtain current motor by the hardware chip decoding in electric machine controller and software filtering
Rotating speed, and be sent in CAN network.Electric machine controller would generally carry out vector controlled to motor under the speed of 10000Hz, defeated
Going out pwm control signal, therefore this frequency also referred to as controls the cycle.
After controller obtains the real electrical machinery rotating speed of the current time motor that electric machine controller is sent in CAN network, root
Calculate obtain motor speed variable quantity according to described real electrical machinery rotating speed and described theoretical motor speed.Calculation can be straight
Connect and deduct theoretical motor speed according to real electrical machinery rotating speed and take absolute value and obtain motor speed variable quantity.
In embodiments of the present invention, it is also possible to use other calculation, describe in detail later.
S103, it is calculated the output torque of motor according to described motor speed variable quantity and default parameter；Described
Output torque makes described real electrical machinery rotating speed match with described theoretical motor speed；
In the embodiment of the present invention, after obtaining motor speed variable quantity, carry out computing with default parameter, electricity can be obtained
The output torque of machine, default parameter refer in embodiments of the present invention previously according to described real electrical machinery rotating speed use preset
The parameter that mode obtains after calculating and stores.The method of computing is the calculating carried out according to the formula preset.
S104, control described motor and run according to described output torque.
After being calculated output torque, controller, by the operational factor of described output torque write motor, will be transported
Line parameter is sent to motor, after motor receives operational factor, performs operational factor and is operated, now, when motor runs
Torque exports torque exactly.When using output torque to run, the real electrical machinery rotating speed of motor can match with theoretical motor speed,
Match and refer to that both are equal to mutually or the difference of real electrical machinery rotating speed and theoretical motor speed meets preset range.
So, when electric automobile is owing to can cause when driver's degree of depth is trampled gas pedal or is totally released gas pedal
When motor speed is unstable within the cycle, the output torque to motor compensates automatically so that real electrical machinery rotating speed is with theoretical
Motor speed matches, thus stablizes motor speed within the cycle, suppresses motor fluctuation, and then suppression system torsional oscillation, eliminates
The problem of automobile shake, improves the experience of driving of driver.
Referring to Fig. 2, Fig. 2 is the suppressing method of a kind of power system of electric automobile torsional oscillation disclosed in the embodiment of the present invention
Another kind of flow chart.
The suppressing method of a kind of power system of electric automobile torsional oscillation that the present invention provides, including:
S201, the actual wheel rotating speed of acquisition current time wheel, according to described actual wheel rotating speed and default moving
Force system speed ratio is calculated theoretical motor speed；
Step S201 is identical with the executive mode of step S101, does not repeats them here.
S202, the real electrical machinery rotating speed of acquisition current time motor；
The difference calculating described real electrical machinery rotating speed and described theoretical motor speed obtains the first variable quantity；
Described first variable quantity is carried out low-pass filtering and obtains the second variable quantity；
The difference calculating described first variable quantity and described second variable quantity obtains motor speed variable quantity；
In the embodiment of the present invention, owing in actual use, car load operationally tire pressure very likely can change, and tire pressure
Change can cause the change of drive system speed ratio so that the precision obtaining real electrical machinery rotating speed is inadequate, and then causes follow-up meter
The output torque precision calculated is the highest.
Therefore, in the embodiment of the present invention, the process of the variable quantity obtaining motor speed be first by real electrical machinery rotating speed with
Theoretical motor speed does difference, obtains the first variable quantity.
Then the first variable quantity is carried out low-pass filtering, obtain the second variable quantity.
Finally the first variable quantity and the second variable quantity are subtracted each other and obtain AC compounent, namely motor speed variable quantity.
This way it is secured that when car load runs, the calculating output torque brought due to tire pressure change is inaccurate
Problem.
S203, the acquisition demand torque by the calculated motor of current time accelerator pedal signal；
It is calculated default parameter, described default parameter according to described demand torque and described real electrical machinery rotating speed
Torque is compensated including predetermined coefficient and restriction；
Compensate torque calculation according to described motor speed variable quantity, predetermined coefficient and described restriction and obtain described motor
Output torque；Described output torque makes described real electrical machinery rotating speed match with described theoretical motor speed；
Wherein, compensate torque calculation according to described motor speed variable quantity, predetermined coefficient and described restriction and obtain described
The output torque of motor includes:
Use described motor speed variable quantity to be multiplied with described predetermined coefficient and be compensated torque；
Described compensation torque and described restriction are compensated one that in torque, absolute value is little and compensates torque as actual；
Described actual compensation torque is added the output torque as described motor with described demand torque.
In the embodiment of the present invention, when calculating the demand torque of motor, the demand calculating motor according to accelerator pedal signal turns
Square.Calculate the demand torque of motor according to accelerator pedal signal, belong to a kind of calculation of the prior art, then this is the most superfluous
State.
In the embodiment of the present invention, be previously provided with data base or tables of data, data base or tables of data be according to actual measurement with
The most calculated, which includes the predetermined coefficient in demand torque, real electrical machinery rotating speed, the compensation moment coefficient i.e. present invention
And limit compensation torque.
After obtaining demand torque, by demand torque and two dimensions of real electrical machinery rotating speed, inquire about data base or tables of data,
Obtain predetermined coefficient and limit compensation torque.For inquire about in the database or table less than data, use interpolation fitting, insert
Value matching uses conventional linear matching.
Use described motor speed variable quantity to be multiplied with described predetermined coefficient and be compensated torque, by compensation torque with pass through
The compensation torque that inquiry obtains compares, and little one that takes absolute value compensates torque as actual.
Finally, reality is compensated torque and is added with demand torque, obtain exporting torque.
S204, control described motor and run according to described output torque.
In this step, identical with S104, therefore, no longer repeat.
Therefore, by such scheme it can be seen that in the embodiment of the present invention, directly measured vehicle wheel rotational speed by ABS system
Obtaining actual wheel rotating speed, by being calculated demand torque, electric machine controller can export as desired in torque so that wheel
Actual wheel stabilization of speed i.e. match with theoretical vehicle wheel rotational speed.Thus the problem solving car load shake.
Further, in the present invention, the calculating that motor speed variable quantity is carried out by the way of AC compounent, therefore, it can solve
The most in actual use, the undesirable problem of output torque that car load causes due to tire pressure change.
It addition, the calculation in the present invention is not related to the calculating process of complexity, therefore, it can simplify controller hardware and become
This, product is also easier to realize.
Another aspect of the present invention discloses the suppression system of a kind of power system of electric automobile torsional oscillation, shown in Figure 3, and one
Plant the suppression system of power system of electric automobile torsional oscillation, including:
First computing module 301, for obtaining the actual wheel rotating speed of current time wheel, turns according to described actual wheel
Speed and the dynamical system speed ratio preset are calculated theoretical motor speed；
Second computing module 302, for obtaining the real electrical machinery rotating speed of current time motor, and according to described real electrical machinery
Rotating speed and described theoretical motor speed calculate and obtain motor speed variable quantity；
3rd computing module 303, for being calculated motor according to described motor speed variable quantity and default parameter
Output torque；Described output torque is used for so that described real electrical machinery rotating speed matches with described theoretical motor speed；
Control module 304, is used for controlling described motor and runs according to described output torque.
Preferably, described first computing module includes:
First acquiring unit, is put locking system ABS Real-time Collection for obtaining current time by the braking of electric automobile
The actual wheel rotating speed of electric automobile wheel.
Preferably, described second computing module includes:
First computing unit, obtains the first change for calculating the difference of described real electrical machinery rotating speed and described theoretical motor speed
Change amount；
Second computing unit, obtains the second variable quantity for described first variable quantity is carried out low-pass filtering；
3rd computing unit, obtains motor speed change for calculating the difference of described first variable quantity and described second variable quantity
Change amount.
Preferably, described 3rd computing module includes:
Second acquisition unit, is turned by the demand of the calculated motor of current time accelerator pedal signal for obtaining
Square；
4th computing unit, for being calculated default ginseng according to described demand torque and described real electrical machinery rotating speed
Number, described default parameter includes predetermined coefficient and limits compensation torque；
5th computing unit, for compensating torque according to described motor speed variable quantity, predetermined coefficient and described restriction
It is calculated the output torque of described motor.
Preferably, described 5th computing unit includes:
First computation subunit, is used for using described motor speed variable quantity to be multiplied with described predetermined coefficient to be compensated and turn
Square；
Second computation subunit, for compensating described compensation torque for the work that in torque, absolute value is little with described restriction
Torque is compensated for reality；
3rd computation subunit, for being added described actual compensation torque as described motor with described demand torque
Output torque.
Fig. 4 is an instantiation figure in actual use in the embodiment of the present invention, figure 4, it is seen that use
Effect before technical solution of the present invention and after use technical solution of the present invention is obvious.The purpose of invention can be realized.
The invention provides the suppression system of a kind of power system of electric automobile torsional oscillation, described system obtains current time car
The actual wheel rotating speed of wheel, is calculated theoretical motor according to described actual wheel rotating speed and default dynamical system speed ratio and turns
Speed；Obtain the real electrical machinery rotating speed of current time motor, and according to described real electrical machinery rotating speed and described theoretical motor speed
It is calculated motor speed variable quantity；The output of motor it is calculated according to described motor speed variable quantity and default parameter
Torque；Described output torque is used for so that described real electrical machinery rotating speed matches with described theoretical motor speed；Control described electricity
Machine runs according to described output torque.By technique scheme, when controlling motor use output torque operation, real electrical machinery turns
Speed matches with theoretical motor speed, thus stablizes the fluctuation of speed of motor, suppresses dynamical system torsional oscillation, and then eliminates electronic vapour
Car when driver's degree of depth is trampled gas pedal or is totally released gas pedal, electric automobile shake problem, improve and drive
Sail comfortableness when people drives.
It should be noted that the suppression system of a kind of power system of electric automobile torsional oscillation in the present invention can use above-mentioned
The suppressing method of a kind of power system of electric automobile torsional oscillation in embodiment, for realizing the whole skills in said method embodiment
Art scheme, the function of its each device can implement according to the method in said method embodiment, and it implements process
Can refer to the associated description in above-described embodiment, here is omitted.
It should be noted that each embodiment in this specification all uses the mode gone forward one by one to describe, each embodiment weight
Point explanation is all the difference with other embodiments, and between each embodiment, identical similar part sees mutually.
For device class embodiment, due to itself and embodiment of the method basic simlarity, so describe is fairly simple, relevant part ginseng
See that the part of embodiment of the method illustrates.
Finally, in addition it is also necessary to explanation, in this article, the relational terms of such as first and second or the like be used merely to by
One entity or operation separate with another entity or operating space, and not necessarily require or imply these entities or operation
Between exist any this reality relation or order.And, term " includes ", " comprising " or its any other variant meaning
Containing comprising of nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include that
A little key elements, but also include other key elements being not expressly set out, or also include for this process, method, article or
The key element that equipment is intrinsic.In the case of there is no more restriction, statement " including ... " key element limited, do not arrange
Except there is also other identical element in including the process of described key element, method, article or equipment.
For convenience of description, it is divided into various unit to be respectively described with function when describing apparatus above.Certainly, this is being implemented
The function of each unit can be realized in same or multiple softwares and/or hardware during invention.
As seen through the above description of the embodiments, those skilled in the art it can be understood that to the present invention can
The mode adding required general hardware platform by software realizes.Based on such understanding, technical scheme essence
On the part that in other words prior art contributed can embody with the form of software product, this computer software product
Can be stored in storage medium, such as ROM/RAM, magnetic disc, CD etc., including some instructions with so that a computer equipment
(can be personal computer, server, or the network equipment etc.) performs some of each embodiment of the present invention or embodiment
Method described in part.
Above a kind of multi-point path analysis method and system provided by the present invention are described in detail, herein
Applying specific case to be set forth principle and the embodiment of the present invention, the explanation of above example is only intended to help
Understand method and the core concept thereof of the present invention；Simultaneously for one of ordinary skill in the art, according to the thought of the present invention,
The most all will change, in sum, this specification content should not be construed as this
The restriction of invention.
Claims (10)
1. the suppressing method of a power system of electric automobile torsional oscillation, it is characterised in that including:
Obtain the actual wheel rotating speed of current time wheel, according to described actual wheel rotating speed and default dynamical system speed ratio
It is calculated theoretical motor speed；
Obtain the real electrical machinery rotating speed of current time motor, and according to described real electrical machinery rotating speed and described theoretical motor speed
It is calculated motor speed variable quantity；
The output torque of motor it is calculated according to described motor speed variable quantity and default parameter；Described output torque makes
Obtain described real electrical machinery rotating speed to match with described theoretical motor speed；
Control described motor to run according to described output torque.
Suppressing method the most according to claim 1, it is characterised in that the actual wheel rotating speed bag of described acquisition current time
Include:
Obtain the actual wheel that current time is put the electric automobile wheel of locking system ABS Real-time Collection by the braking of electric automobile
Rotating speed.
Suppressing method the most according to claim 1, it is characterised in that described according to described real electrical machinery rotating speed and described
Theoretical motor speed calculating obtains motor speed variable quantity and includes:
The difference calculating described real electrical machinery rotating speed and described theoretical motor speed obtains the first variable quantity；
Described first variable quantity is carried out low-pass filtering and obtains the second variable quantity；
The difference calculating described first variable quantity and described second variable quantity obtains motor speed variable quantity.
Suppressing method the most according to claim 1, it is characterised in that described according to described motor speed variable quantity and pre-
If parameter be calculated the output torque of motor and include:
Obtain the demand torque by the calculated motor of current time accelerator pedal signal；
Being calculated default parameter according to described demand torque and described real electrical machinery rotating speed, described default parameter includes
Predetermined coefficient and restriction compensate torque；
Compensate torque calculation according to described motor speed variable quantity, predetermined coefficient and described restriction and obtain the output of described motor
Torque.
Suppressing method the most according to claim 4, it is characterised in that described according to described motor speed variable quantity, preset
Coefficient and described restriction compensation torque calculation obtain the output torque of described motor and include:
Use described motor speed variable quantity to be multiplied with described predetermined coefficient and be compensated torque；
Described compensation torque and described restriction are compensated one that in torque, absolute value is little and compensates torque as actual；
Described actual compensation torque is added the output torque as described motor with described demand torque.
6. the suppression system of a power system of electric automobile torsional oscillation, it is characterised in that including:
First computing module, for obtaining the actual wheel rotating speed of current time wheel, according to described actual wheel rotating speed and
The dynamical system speed ratio preset is calculated theoretical motor speed；
Second computing module, for obtaining the real electrical machinery rotating speed of current time motor, and according to described real electrical machinery rotating speed with
And described theoretical motor speed calculates and obtains motor speed variable quantity；
3rd computing module, turns for being calculated the output of motor according to described motor speed variable quantity and default parameter
Square；Described output torque is used for so that described real electrical machinery rotating speed matches with described theoretical motor speed；
Control module, is used for controlling described motor and runs according to described output torque.
Suppression system the most according to claim 6, it is characterised in that described first computing module includes:
First acquiring unit, is put the electronic of locking system ABS Real-time Collection for obtaining current time by the braking of electric automobile
The actual wheel rotating speed of automotive wheel.
Suppression system the most according to claim 6, it is characterised in that described second computing module includes:
First computing unit, obtains the first change for calculating the difference of described real electrical machinery rotating speed and described theoretical motor speed
Amount；
Second computing unit, obtains the second variable quantity for described first variable quantity is carried out low-pass filtering；
3rd computing unit, obtains motor speed change for calculating the difference of described first variable quantity and described second variable quantity
Amount.
Suppression system the most according to claim 6, it is characterised in that described 3rd computing module includes:
Second acquisition unit, for obtaining the demand torque by the calculated motor of current time accelerator pedal signal；
4th computing unit, for being calculated default parameter according to described demand torque and described real electrical machinery rotating speed,
Described default parameter includes predetermined coefficient and limits compensation torque；
5th computing unit, for compensating torque calculation according to described motor speed variable quantity, predetermined coefficient and described restriction
Obtain the output torque of described motor.
Suppression system the most according to claim 9, it is characterised in that described 5th computing unit includes:
First computation subunit, is used for using described motor speed variable quantity to be multiplied with described predetermined coefficient and is compensated torque；
Second computation subunit, for limiting compensate that absolute value is little in torque one as reality using described compensation torque with described
Border compensates torque；
3rd computation subunit, for being added the output as described motor using described actual compensation torque with described demand torque
Torque.
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