CN106541854B - A kind of electric car starting shake Active Control Method based on addition of waveforms - Google Patents
A kind of electric car starting shake Active Control Method based on addition of waveforms Download PDFInfo
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- CN106541854B CN106541854B CN201610968535.7A CN201610968535A CN106541854B CN 106541854 B CN106541854 B CN 106541854B CN 201610968535 A CN201610968535 A CN 201610968535A CN 106541854 B CN106541854 B CN 106541854B
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- signal
- motor torque
- electric car
- control method
- active control
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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
- B60L15/2072—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 for drive off
-
- 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
Abstract
The present invention relates to a kind of, and Active Control Method is shaken in the electric car starting based on addition of waveforms, this method comprises the following steps: (1) obtaining the motor torque signal being mutated when electric car starting, the motor torque signal rate of rise for correcting mutation obtains the motor torque signal of smooth variation；(2) motor torque signal of smooth variation is split into multiple torque sub-signals with given reference phase difference；(3) it is overlapped the torque sub-signal to obtain motor torque Setting signal, using the motor torque Setting signal as electric machine controller Setting signal, and then controls motor operation.Compared with prior art, present invention control is simple, control effect is good.
Description
Technical field
The present invention relates to a kind of vehicle starting vibration control methods, more particularly, to a kind of electronic vapour based on addition of waveforms
Vehicle starting shake Active Control Method.
Background technique
Compared to orthodox car, the new-energy automobile exported using motor as power source, due to its complicated power assembly
Vibration characteristics makes it be faced with unprecedented NVH (Noise, Vibration and Harshness) challenge.
Under the operating condition that starts to walk, driver is easy to experience a vehicle low-frequency jitter in the front-back direction, general frequency model
It is trapped among 2~10Hz.This is as caused by transmission system single order model of vibration, and the quick response of motor torque causes wheel angle and adds
Speed has the vibration characteristics of a underdamping, and first amplitude is larger.This can largely effect on the comfort of driving, and may
There are certain security risks.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be based on addition of waveforms
Electric car starting shake Active Control Method.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of electric car starting shake Active Control Method based on addition of waveforms, this method comprises the following steps:
(1) motor torque signal being mutated when electric car starting is obtained, the motor torque signal for correcting mutation rises tiltedly
Rate obtains the motor torque signal of smooth variation；
(2) motor torque signal of smooth variation is split into multiple torque sub-signals with given reference phase difference；
(3) it is overlapped the torque sub-signal to obtain motor torque Setting signal, the motor torque is given
Signal is determined as electric machine controller Setting signal, and then controls motor operation.
Pass through the motor torque signal of energy-storage travelling wave tube amendment mutation in step (1).
Step (2) is specially that the motor torque signal of smooth variation is split into 2 torques with given reference phase difference point
Signal.
Step (2) specifically:
(201) motor torque signal of smooth variation is separately input into the first amplifier and the second amplifier obtains first
Signal and second signal, the first amplifier amplification coefficient be s, the second amplifier amplification coefficient be 1-s, s value be 0~
1；
(202) using the first signal as the first torque sub-signal, when second signal is input to delay cell delay setting
Between Δ t obtain the second torque sub-signal.
The Δ t value range is 0~T, and T is the system vibration period, and T is acquired by following manner: seeking electricity first
Under electrical automobile starting operating condition then motor speed obtains system according to transmission function frequency characteristic to the transmission function of motor torque
Intrinsic frequency f, finally seeks T=1/f.
This method further includes the optimization to amplification coefficient s and delay setting time Δ t parameter value, specifically: by enumerating
Method chooses the combination of amplification coefficient s and the setting time Δ t parameter value that is delayed, when acquisition makes wheel angular acceleration peak value reach minimum
Corresponding amplification coefficient s and delay setting time Δ t parameter value.
Compared with prior art, the present invention has the advantage that
(1) present invention passes through the amendment to motor torque signal and splits into multiple torques with given reference phase difference point letter
Number, then torque sub-signal is overlapped to obtain motor torque Setting signal, can be slackened using the Signal averaging of non-same-phase
Principle reduces the vibration under underdamping system, the given letter of active control motor torque under the premise of not influencing dynamic property and requiring
Number, it can significantly reduce the shake under electric car starting, control effect is good；
(2) present invention is by optimizing amplification coefficient s and delay setting time Δ t parameter value, thus utmostly
Ground reduces starting shake；
(3) the method for the present invention is simple, easy to implement.
Detailed description of the invention
Fig. 1 is the control block diagram for starting to walk to shake Active Control Method the present invention is based on the electric car of addition of waveforms；
Fig. 2 is frequency characteristic figure of the motor speed of the present invention to the transmission function of motor torque；
Fig. 3 is the schematic diagram for starting to walk to shake Active Control Method the present invention is based on the electric car of addition of waveforms；
Fig. 4 is that amplification coefficient and non-same-phase addition of waveforms under delay setting time combining parameter values most preferably press down in the present invention
Shake efficacy parameter data point three-dimensional figure；
Fig. 5 is the control effect figure using the method for the present invention.
In figure, 1 is entire car controller, and 2 be energy-storage travelling wave tube, and 3 be the first amplifier, and 4 be the second amplifier, and 5 be delay member
Part, 6 be electric machine controller, and 7 be electric car.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in Figure 1, shaking Active Control Method progress vapour using starting to walk the present invention is based on the electric car of addition of waveforms
The overall structure block diagram of vehicle shake control, entire car controller 1 operate (accelerator pedal position etc.) and operating condition (vehicle according to driver
Speed etc.) determine motor torque signal, twisting vibration is controlled by twist control, electric machine controller 6 controls motor working current,
Vehicle drive force is generated, and then drives electric car 7, wherein twist control is that empty shape frame portion point, twist control are real in Fig. 1
The electric car starting shake active control based on addition of waveforms is showed.
Specifically, the electric car starting shake Active Control Method based on addition of waveforms, this method comprises the following steps:
(1) motor torque signal being mutated when electric car starting is obtained, the motor torque signal for correcting mutation rises tiltedly
Rate obtains the motor torque signal of smooth variation；
(2) motor torque signal of smooth variation is split into multiple torque sub-signals with given reference phase difference；
(3) it is overlapped the torque sub-signal to obtain motor torque Setting signal, the motor torque is given
Signal is determined as 6 Setting signal of electric machine controller, and then controls motor operation.
Wherein, pass through the motor torque signal of the amendment mutation of energy-storage travelling wave tube 2 in step (1).
Step (2) is specially that the motor torque signal of smooth variation is split into 2 torques with given reference phase difference point
Signal further includes following steps:
(201) motor torque signal of smooth variation is separately input into the first amplifier 3 and the second amplifier 4 obtains
One signal and second signal, 3 amplification coefficient of the first amplifier are s, and 4 amplification coefficient of the second amplifier is 1-s, s value
It is 0~1；
(202) using the first signal as the first torque sub-signal, when second signal is input to the delay setting of delay cell 5
Between Δ t obtain the second torque sub-signal.
Δ t value range is 0~T, and T is the system vibration period, and T is acquired by following manner: seeking electric car first
Transmission function of the motor speed to motor torque under the operating condition that starts to walk, frequency characteristic of the motor speed to the transmission function of motor torque
Figure finally seeks T=1/f as shown in Fig. 2, then obtain system frequency f according to transmission function frequency characteristic.
Above-mentioned Active Control Method schematic diagram is as shown in figure 3, the motor torque signal being mutated using 2 Duis of energy-storage travelling wave tube is carried out
Amendment, the motor torque signal of mutation such as line 1. shown in, enable after amendment motor torque it is gentle be transitioned into stationary value, such as line
Shown in 2., so that the vibration amplitude value of wheel angular acceleration be made to reduce.The measurement dt of its inertia size requires to set according to acceleration
It sets.Be divided into two parts from the motor torque signal of smooth variation after the output of energy-storage travelling wave tube 2, as line 3. with line 4. shown in, often
Partial dtc signal proportionally reappears the signal received by the way that amplifier is undistorted.The wherein proportionality coefficient of amplifier point
Not Wei s and 1-s, s value be 0~1.Suitable time-delay is carried out by delay cell 5 by the signal of a portion, so that generating
Two column vibrational waveforms have certain phase difference, so that the principle that can be slackened using the Signal averaging of non-same-phase is deficient to reduce
Vibration under damping system.
This method further includes the optimization to amplification coefficient s and delay setting time Δ t parameter value, specifically: by enumerating
Method chooses the combination of amplification coefficient s and the setting time Δ t parameter value that is delayed, when acquisition makes wheel angular acceleration peak value reach minimum
Corresponding amplification coefficient s and delay setting time Δ t parameter value.The present embodiment amplification coefficient s and delay setting time Δ t parameter
The non-best inhibition of vibration parameter value point three-dimensional figure of same-phase addition of waveforms is as shown in Figure 4 under value combination.
Using the control effect control such as Fig. 5 of control method of the invention, as can be seen from the figure present invention side
Method can effectively solve the starting jitter problem of electric car.
Claims (6)
1. a kind of electric car starting shake Active Control Method based on addition of waveforms, which is characterized in that this method includes such as
Lower step:
(1) motor torque signal being mutated when electric car starting is obtained, the motor torque signal rate of rise for correcting mutation obtains
To the motor torque signal of smooth variation；
(2) motor torque signal of smooth variation is split into multiple torque sub-signals with given reference phase difference；
(3) it is overlapped the torque sub-signal to obtain motor torque Setting signal, by the given letter of the motor torque
Number be used as electric machine controller Setting signal, and then control motor operation.
2. a kind of electric car starting shake Active Control Method based on addition of waveforms according to claim 1, special
Sign is, passes through the motor torque signal of energy-storage travelling wave tube amendment mutation in step (1).
3. a kind of electric car starting shake Active Control Method based on addition of waveforms according to claim 1, special
Sign is that step (2) is specially that the motor torque signal of smooth variation is split into 2 torques with given reference phase difference point letter
Number.
4. a kind of electric car starting shake Active Control Method based on addition of waveforms according to claim 3, special
Sign is, step (2) specifically:
(201) motor torque signal of smooth variation is separately input into the first amplifier and the second amplifier obtains the first signal
And second signal, the first amplifier amplification coefficient are s, the second amplifier amplification coefficient is 1-s, and s value is 0~1；
(202) using the first signal as the first torque sub-signal, second signal is input to delay cell delay setting time Δ t
Obtain the second torque sub-signal.
5. a kind of electric car starting shake Active Control Method based on addition of waveforms according to claim 4, special
Sign is that the Δ t value range is 0~T, and T is the system vibration period, and T is acquired by following manner: being sought first electronic
Under vehicle starting operating condition then it is solid to obtain system according to transmission function frequency characteristic to the transmission function of motor torque for motor speed
There is frequency f, finally seeks T=1/f.
6. a kind of electric car starting shake Active Control Method based on addition of waveforms according to claim 4, special
Sign is that this method further includes the optimization to amplification coefficient s and delay setting time Δ t parameter value, specifically: pass through enumerative technique
The combination for choosing amplification coefficient s and the setting time Δ t parameter value that is delayed, when acquisition makes wheel angular acceleration peak value reach minimum pair
The amplification coefficient s and delay setting time Δ t parameter value answered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610968535.7A CN106541854B (en) | 2016-10-27 | 2016-10-27 | A kind of electric car starting shake Active Control Method based on addition of waveforms |
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| CN201610968535.7A CN106541854B (en) | 2016-10-27 | 2016-10-27 | A kind of electric car starting shake Active Control Method based on addition of waveforms |
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| Publication Number | Publication Date |
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| CN106541854A CN106541854A (en) | 2017-03-29 |
| CN106541854B true CN106541854B (en) | 2019-01-25 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725255A (en) * | 2017-04-21 | 2018-11-02 | 阿尔特汽车技术股份有限公司 | Electric vehicle driving torque smoothness control method |
| CN109968996B (en) * | 2017-12-27 | 2022-07-05 | 上海大郡动力控制技术有限公司 | Control method for eliminating starting resonance vibration and abnormal sound of pure electric bus |
| CN109591623B (en) * | 2019-01-28 | 2021-11-09 | 重庆瑜欣平瑞电子股份有限公司 | Algorithm for avoiding small accelerator starting jitter in open loop mode |
| US11177762B2 (en) * | 2019-02-20 | 2021-11-16 | Volvo Car Corporation | Electric motor control for preventing torque ripple |
| CN109941120B (en) * | 2019-03-15 | 2021-09-17 | 南京航空航天大学 | System and control algorithm for active vibration control of electric vehicle |
| CN110509779A (en) * | 2019-07-24 | 2019-11-29 | 浙江合众新能源汽车有限公司 | A kind of electric car starting jitter suppression method |
| CN112356683B (en) * | 2020-11-10 | 2022-06-24 | 深圳市英威腾电动汽车驱动技术有限公司 | Anti-shaking method, device and equipment based on electric automobile and storage medium |
| CN113246743B (en) * | 2021-04-27 | 2022-06-28 | 同济大学 | System and method for suppressing shake of pure electric start of hybrid electric vehicle |
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| EP1325828A1 (en) * | 2001-12-25 | 2003-07-09 | Fuji Jukogyo Kabushiki Kaisha | Differential mechanism for a vehicle |
| CN1929290A (en) * | 2005-08-26 | 2007-03-14 | 三洋电机株式会社 | Motor control device |
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2016
- 2016-10-27 CN CN201610968535.7A patent/CN106541854B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1325828A1 (en) * | 2001-12-25 | 2003-07-09 | Fuji Jukogyo Kabushiki Kaisha | Differential mechanism for a vehicle |
| CN1929290A (en) * | 2005-08-26 | 2007-03-14 | 三洋电机株式会社 | Motor control device |
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