CN106553563A - A kind of control method and device of electric motor car - Google Patents
A kind of control method and device of electric motor car Download PDFInfo
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- CN106553563A CN106553563A CN201611108918.3A CN201611108918A CN106553563A CN 106553563 A CN106553563 A CN 106553563A CN 201611108918 A CN201611108918 A CN 201611108918A CN 106553563 A CN106553563 A CN 106553563A
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- motor car
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000001133 acceleration Effects 0.000 claims abstract description 114
- 238000012935 Averaging Methods 0.000 claims description 16
- 230000005611 electricity Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- 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
- B60L2240/429—Current
-
- 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 invention provides a kind of control method of electric motor car, including：Obtain the current acceleration of electric motor car；Proportion adjustment and integral adjustment are carried out to the deviation of current acceleration and default acceleration reference value, torque current is obtained, based on torque current, the speed of electric motor car is controlled.Present invention also offers a kind of control device of electric motor car.The present invention can make the actual acceleration of electric motor car tend towards stability, so as to when overcoming electric bicycle starting, early stage accelerates relatively acceleration of slow, later stage very fast, and the problem that speed is changed greatly when landing of being soared by potted road surface or deceleration strip.
Description
Technical field
The present invention relates to vehicle technology field, more particularly to a kind of control method and device of electric motor car.
Background technology
At present, electric bicycle typically uses the reference quantity of the input value as torque current of speed regulating handle, and detects
The feedback quantity of torque current, carries out PI (proportional integral by the reference quantity and feedback quantity to torque current
Controller, proportion adjustment and integral adjustment) adjust, torque voltage is obtained, and electric bicycle is controlled by torque voltage
Speed.
Above-mentioned method for control speed presence two is not enough：First, when electric bicycle is started to walk, early stage accelerates the relatively slow, later stage to add
It is fast very fast；Second, electric bicycle by potted road surface or deceleration strip soar landing when speed change greatly.
The content of the invention
During to overcome electric bicycle starting in prior art, early stage accelerates the relatively slow, later stage to accelerate comparatively fast, and soars into
On the one hand the problem that speed is changed greatly during ground, the embodiment of the present invention provide a kind of control method of electric motor car, including：
Obtain the current acceleration of the electric motor car；
Proportion adjustment and integral adjustment are carried out to the deviation of the current acceleration and default acceleration reference value, is obtained
Torque current；
Based on the torque current, the speed of the electric motor car is controlled.
Wherein, the step of the current acceleration of the acquisition electric motor car, including：
Obtain the current angular velocity of the rotor of the electric motor car；
Based on the current angular velocity and the difference of last time angular speed, the current acceleration, the last time angle speed are obtained
Degree is the angular speed of the rotor obtained before current angular velocity.
Wherein, it is described based on the current angular velocity and the difference of last time angular speed, obtain the step of the current acceleration
Suddenly, including：
Based on the current angular velocity and the current difference of the last time angular speed, current instantaneous acceleration is obtained；
The described current instantaneous acceleration that the repetition of first preset times is obtained is averaging, the current acceleration is obtained.
Wherein, including：
Obtain the current angular of the rotor；
Based on the current angular and the difference of last time angle, obtain the current angular velocity, the last time angle be
The angle of the rotor obtained before current angular.
Wherein, it is described based on the current angular and the difference of last time angle, the step of obtain the current angular velocity, bag
Include：
Based on the current angular and the current difference of the last time angle, current instantaneous angular velocity is obtained；
The described current instantaneous angular velocity that the repetition of second preset times is obtained is averaging, the current angular velocity is obtained.
Correspondingly, the embodiment of the present invention additionally provides a kind of control device of electric motor car, including：
Acceleration acquisition module, for obtaining the current acceleration of the electric motor car；
Torque current acquisition module, for comparing to the deviation of the current acceleration and default acceleration reference value
Example is adjusted and integral adjustment, obtains torque current；
Rate control module, for based on the torque current, controlling the speed of the electric motor car.
Wherein, the acceleration acquisition module includes：
Current angular velocity acquiring unit, for obtaining the current angular velocity of the rotor of the electric motor car；
Current acceleration acquiring unit, for the difference based on the current angular velocity and last time angular speed, obtains described
Current acceleration, the last time angular speed are the angular speed of the rotor obtained before current angular velocity.
Wherein, the current acceleration acquiring unit is specifically for based on the current angular velocity and the last time angular speed
Current difference, obtain current instantaneous acceleration, and to described current instantaneous acceleration that the repetition of the first preset times is obtained
It is averaging, obtains the current acceleration.
Wherein, the current angular velocity acquiring unit includes：
Current angular obtains subelement, for obtaining the current angular of the rotor；
Current angular velocity draws subelement, for the difference based on the current angular and last time angle, obtains described working as
Front angular speed, the last time angle are the angles of the rotor obtained before current angular.
Wherein, the current angular velocity draws subelement specifically for based on the current angular and the last time angle
Current difference, obtains current instantaneous angular velocity, and the described current instantaneous angular velocity that the repetition of the second preset times is obtained is asked
Averagely, obtain the current angular velocity.
The embodiment of the present invention by default acceleration reference value, and using obtain electric motor car current acceleration value as
Feedback quantity, carries out PI and adjusts obtaining torque current to the deviation of acceleration reference value and current acceleration value, and based on torque electricity
The speed of flow control electric motor car, as such, it is possible to make the actual acceleration of electric motor car vector control system output constantly be close in advance
If acceleration reference value so that the actual acceleration of electric motor car tends towards stability, when finally overcoming electric bicycle and starting to walk
It is very fast that early stage accelerates the relatively slow, later stage to accelerate, and soars what speed when landing was changed greatly by potted road surface or deceleration strip
Problem.
Description of the drawings
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to making needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, can be obtaining other according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the schematic flow sheet of the first embodiment of the control method of the electric motor car of the present invention；
Fig. 2 is the schematic flow sheet of the second embodiment of the control method of the electric motor car of the present invention；
Fig. 3 is the schematic flow sheet of the 3rd embodiment of the control method of the electric motor car of the present invention；
Fig. 4 is the structural representation of the embodiment of the control device of the electric motor car of the present invention；
Fig. 5 is the structural representation of the embodiment of the acceleration acquisition module of the present invention；
Fig. 6 is the structural representation of the embodiment of the current angular velocity acquiring unit of the present invention.
Specific embodiment
In order that technical problem solved by the invention, technical scheme and beneficial effect become more apparent, below in conjunction with
Drawings and Examples, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
In electric motor car vector control system, due to motor number of pole-pairs it is different, the rotating speed obtained by Hall element without
Method is computed correctly out the true mechanical speed of motor.It is in the case where precise control motor speed is not needed, different by applying
Torque current, PI adjusts output torque voltage, by SVPWM (Space Vector Pulse Width Modulation, it is empty
Between Vector Pulse Width Modulation) algorithm control PWM (Pulse Width Modulation, pulse width modulation) dutycycle can adjust
Motor speed.Torque current reference quantity is controlled in actual applications, reaches the purpose of controlled motor rotating speed.The embodiment of the present invention is led to
Cross obtain motor actual acceleration, carry out PI regulations with given reference acceleration, output valve as torque current reference,
The acceleration and rotating speed of controlled motor.
Fig. 1 is refer to, is the schematic flow sheet of the first embodiment of the control method of electric motor car of the present invention.As illustrated,
The method specifically includes following steps：
Step S11, obtains the current acceleration of electric motor car.Electric motor car is specifically as follows electric bicycle.Electric motor car work as
Preacceleration can be obtained in the following manner：The current of rotor is obtained in real time by the position sensor that electronic in-car sets
Angle；Based on the current angular of the real-time rotor for obtaining, the angle change value of rotor is obtained, the current angular velocity of rotor is obtained；
Based on the angular speed of the real-time rotor for obtaining, the changing value of the angular speed of rotor is obtained, the current acceleration of electric motor car is obtained.This
Outward, the current acceleration of electric motor car can also be obtained in the following manner：The speed of electric motor car is obtained in real time by GPS module,
Then the changing value of electronic vehicle speed is obtained, current acceleration is obtained.
Step S12, carries out PI regulations to the deviation of current acceleration and default acceleration reference value, obtains torque electricity
Stream.It is carrying out ratio and integral operation, by ratio and result of differentiating according to the deviation of specified rate and feedback quantity that PI is adjusted
Carry out linear combination controlled output later so that the output of system is reached actual defeated towards the ever-reduced direction change of deviation
Go out the purpose being constantly close to preferable output.In this step, then it is that the actual acceleration for making electric motor car adds close to default
Speed reference.The reference value of acceleration can be configured according to the demand of client, for example：It is fast that client needs starting to accelerate,
Acceleration reference value may be set to 12000；Starting acceleration is relatively slow, and acceleration reference value may be set to 7000.
Step S13, based on torque current, controls the speed of electric motor car.Specifically, step S12 can be obtained torque electricity
The specified rate adjusted as PI is flowed, and by the electric current of sampling module collection motor, obtains the feedback quantity of torque current.By right
The specified rate of torque current carries out PI regulations with the deviation of feedback quantity, and output torque voltage controls PWM duties by SVPWM algorithms
Than with regulation motor rotating speed, so as to reach the purpose of the speed of control electric motor car.
The embodiment of the present invention by default acceleration reference value, and using obtain electric motor car current acceleration value as
Feedback quantity, carries out PI regulations and obtains torque current, and the speed based on torque current control electric motor car to the deviation of the two, this
Sample, can make the actual acceleration of electric motor car vector control system output constantly be close to default acceleration reference value, so as to
Make the actual acceleration of electric motor car tend towards stability, finally overcome early stage when electric bicycle is started to walk and accelerate the relatively slow, later stage to accelerate
Comparatively fast, and by potted road surface or deceleration strip soar landing when the problem that changes greatly of speed.
Fig. 2 is refer to, is the schematic flow sheet of the second embodiment of the control method of electric motor car of the present invention.As illustrated,
The method specifically includes following steps：
Step S21, obtains the current angular of the rotor of electric motor car.
Step S22, based on current angular and the difference of last time angle, obtains current angular velocity.Wherein, last time angle be
The angle of the rotor obtained before current angular.Specifically, last time angle can be before current angular is obtained, recently
The angle of the rotor for once obtaining.In order that the value of angular speed is more smoothed, can be to the second preset times in step S22
The current angular velocity that obtains of repetition is averaging, and using the mean value as current angular velocity in step S23 value.Second default time
Number can be 256 times.
Step S23, based on current angular velocity and the difference of last time angular speed, obtains current acceleration.Wherein, last time angle speed
Degree is the angular speed of the rotor obtained before current angular velocity.Specifically, last time angle can work as anterior angle in acquisition
Before speed, the angular speed of the last rotor for obtaining.In order that the value of acceleration is more smoothed, can in step S23
To be averaging to the current acceleration that the repetition of the first preset times is obtained, and the mean value is worked as into preacceleration as in step S24
The value of degree.First preset times can be 256 times.
Step S24, carries out PI regulations to the deviation of current acceleration and default acceleration reference value, obtains torque electricity
Stream.The deviation of hypothesis current acceleration and default acceleration reference value is Err, then PI is output as：Kp*Err+∫Ki*
Err, wherein, Kp, Ki are respectively proportionality coefficient, integral coefficient, the reference value of the output of PI as torque current.
Step S25, based on torque current, controls the speed of electric motor car.The side of electronic vehicle speed is controlled based on torque current
Method has hereinbefore been made to be discussed in detail, and and therefore not to repeat here.
Angle of the embodiment of the present invention by real-time detection rotor, obtains the angle speed of rotor based on the change of angle
Degree, and the change based on rotor velocity, obtain the acceleration of motor, can so cause the current acceleration of the motor of acquisition
Value it is more accurate, such that it is able to the speed of more precise control electric motor car.
Fig. 3 is refer to, is the schematic flow sheet of the 3rd embodiment of the control method of electric motor car of the present invention.As illustrated,
The method specifically includes following steps：
Step S31, periodically obtains the current angular of the rotor of electric motor car.The current angular of rotor can lead to
Cross position sensor acquisition.
Step S32, calculated the difference of the angle of current angular and the acquisition of a upper cycle, and obtained current instantaneous angular velocity.
Second preset times are repeated the current instantaneous angular velocity for obtaining and are averaging, obtain current angular velocity by step S33.
Specifically, step S33 can be adjusted the distance before current time, nearest second preset times repeat the current instantaneous angular velocity that obtains
It is averaging.
Step S34, based on current angular velocity and the difference of last time angular speed, obtains current instantaneous acceleration.Wherein, last time
Angular speed is before current angular velocity, the angular speed of the last rotor for obtaining.
First preset times are repeated the current instantaneous acceleration for obtaining and are averaging, obtain current acceleration by step S35.
Specifically, step S35 can be adjusted the distance before current time, nearest first preset times repeat the current instantaneous acceleration that obtains
It is averaging.
Step S36, carries out PI regulations to the deviation of current acceleration and default acceleration reference value, obtains torque electricity
Stream.The acquisition methods of torque current have hereinbefore made to be discussed in detail that and therefore not to repeat here.
Step S37, based on torque current, controls the speed of electric motor car.The side of electronic vehicle speed is controlled based on torque current
Method has hereinbefore been made to be discussed in detail, and and therefore not to repeat here.
Angle of the embodiment of the present invention by real-time detection rotor, obtains the change of rotor angle based on the change of angle
Change value, and the changing value to multiple angle is averaging the angular speed for obtaining rotor, asks flat by the changing value to rotor velocity
, the acceleration of motor is obtained, the value of the current acceleration of the motor for obtaining more is smoothed, so that PI is adjusted
The reference value of the torque current of section output is more smoothed, and such that it is able to make motor operation more steady, is reached.
Above the control method of the electric motor car of the present invention is discussed in detail, below by the device relative to said method
It is further elaborated.
Fig. 4 is refer to, is the structural representation of the embodiment of the control device of the electric motor car of the present invention.The control of electric motor car
Device includes acceleration acquisition module 110, torque current acquisition module 120 and rate control module 130.
Acceleration acquisition module 110, for obtaining the current acceleration of electric motor car.The current acceleration of electric motor car can be led to
Cross in the following manner acquisition：The current angular of rotor is obtained in real time by the position sensor that electronic in-car sets；Based on real-time
The current angular of the rotor of acquisition, obtains the angle change value of rotor, obtains the current angular velocity of rotor；Based on real-time acquisition
The angular speed of rotor, obtains the changing value of the angular speed of rotor, obtains the current acceleration of electric motor car.Additionally, electric motor car work as
Preacceleration can also be obtained in the following manner：The speed of electric motor car is obtained in real time by GPS module, electric motor car is then obtained
The changing value of speed, obtains current acceleration.
Torque current acquisition module 120, for comparing to the deviation of current acceleration and default acceleration reference value
Example is adjusted and integral adjustment, obtains torque current.It is carrying out ratio and product according to the deviation of specified rate and feedback quantity that PI is adjusted
Partite transport is calculated, and ratio and result of differentiating are carried out linear combination controlled output later so that the output of system towards deviation not
The disconnected direction change for reducing, reaches the purpose that reality output is constantly close to preferable output.In this step, then it is to make electric motor car
Actual acceleration close to default acceleration reference value.The reference value of acceleration can be set according to the demand of client
Put, for example：It is fast that client needs starting to accelerate, and acceleration reference value may be set to 12000；Starting accelerates relatively slow, acceleration
Reference value may be set to 7000.
Rate control module 130, for based on torque current, controlling the speed of electric motor car.Specifically, can be by torque electricity
The specified rate that the torque current that stream acquisition module 120 is obtained is adjusted as PI, and the electric current of motor is gathered by sampling module, obtain
To the feedback quantity of torque current.PI regulations, output torque electricity are carried out by deviation of the specified rate to torque current with feedback quantity
Pressure, controls PWM duty cycle by SVPWM algorithms, with regulation motor rotating speed, so as to reach the purpose of the speed of control electric motor car.
The embodiment of the present invention by default acceleration reference value, and using obtain electric motor car current acceleration value as
Feedback quantity, carries out PI regulations and obtains torque current, and the speed based on torque current control electric motor car to the deviation of the two, this
Sample, can make the actual acceleration of electric motor car vector control system output constantly be close to default acceleration reference value, so as to
Make the actual acceleration of electric motor car tend towards stability, finally overcome early stage when electric bicycle is started to walk and accelerate the relatively slow, later stage to accelerate
Comparatively fast, and by potted road surface or deceleration strip soar landing when the problem that changes greatly of speed.
Fig. 5 is refer to, is the structural representation of the embodiment of the acceleration acquisition module of the present invention.Acceleration acquisition module
Including current angular velocity acquiring unit 111 and current acceleration acquiring unit 112.
Current angular velocity acquiring unit 111, for obtaining the current angular velocity of the rotor of electric motor car.
Current acceleration acquiring unit 112, for the difference based on current angular velocity and last time angular speed, obtains currently adding
Speed.Wherein, last time angular speed is the angular speed of the rotor obtained before current angular velocity.Specifically, currently
Acceleration obtainment unit obtains current instantaneous acceleration specifically for the current difference based on current angular velocity and last time angular speed
Degree, and the current instantaneous acceleration that the repetition of the first preset times is obtained is averaging, obtain current acceleration.
Fig. 6 is refer to, is the structural representation of the embodiment of the current angular velocity acquiring unit of the present invention.Current angular velocity
Acquiring unit 111 includes that current angular obtains subelement 111a and current angular velocity draws subelement 111b.
Current angular obtains subelement 111a, for obtaining the current angular of rotor.
Current angular velocity draws subelement 111b, for the difference based on current angular and last time angle, obtains working as anterior angle
Speed.Wherein last time angle is the angle of the rotor obtained before current angular.Specifically, current angular velocity draws son
Unit 111b obtains current instantaneous angular velocity specifically for the current difference based on current angular and last time angle, and to
The current instantaneous angular velocity that the repetition of two preset times is obtained is averaging, and obtains current angular velocity.
One of ordinary skill in the art will appreciate that all or part of flow process in realizing above-described embodiment method, can be
Instruct related hardware to complete by computer program, described program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..One or more embodiment provided with reference to particular content is provided, does not assert the present invention's
It is embodied as being confined to these explanations.It is all approximate with the method for the present invention, structure etc., identical, or for present inventive concept
Under the premise of make some technology deduction or replace, should all be considered as protection scope of the present invention.
Claims (10)
1. a kind of control method of electric motor car, it is characterised in that include：
Obtain the current acceleration of the electric motor car；
Proportion adjustment and integral adjustment are carried out to the deviation of the current acceleration and default acceleration reference value, torque is obtained
Electric current；
Based on the torque current, the speed of the electric motor car is controlled.
2. the control method of electric motor car as claimed in claim 1, it is characterised in that the acquisition electric motor car current plus
Speed, including：
Obtain the current angular velocity of the rotor of the electric motor car；
Based on the current angular velocity and the difference of last time angular speed, the current acceleration is obtained, the last time angular speed is
The angular speed of the rotor obtained before current angular velocity.
3. the control method of electric motor car as claimed in claim 2, it is characterised in that described based on the current angular velocity and upper
The difference of secondary angular speed, obtains the current acceleration, including：
Based on the current angular velocity and the current difference of the last time angular speed, current instantaneous acceleration is obtained；
The described current instantaneous acceleration that the repetition of first preset times is obtained is averaging, the current acceleration is obtained.
4. the control method of electric motor car as claimed in claim 2, it is characterised in that the motor of the acquisition electric motor car turns
The current angular velocity of son, including：
Obtain the current angular of the rotor；
Based on the current angular and the difference of last time angle, the current angular velocity is obtained, the last time angle is current
The angle of the rotor obtained before angle.
5. the control method of electric motor car as claimed in claim 4, it is characterised in that described based on the current angular and last time
The difference of angle, obtains the current angular velocity, including：
Based on the current angular and the current difference of the last time angle, current instantaneous angular velocity is obtained；
The described current instantaneous angular velocity that the repetition of second preset times is obtained is averaging, the current angular velocity is obtained.
6. a kind of control device of electric motor car, it is characterised in that include：
Acceleration acquisition module, for obtaining the current acceleration of the electric motor car；
Torque current acquisition module, for carrying out ratio tune to the deviation of the current acceleration and default acceleration reference value
Section and integral adjustment, obtain torque current；
Rate control module, for based on the torque current, controlling the speed of the electric motor car.
7. the control device of electric motor car as claimed in claim 6, it is characterised in that the acceleration acquisition module includes：
Current angular velocity acquiring unit, for obtaining the current angular velocity of the rotor of the electric motor car；
Current acceleration acquiring unit, for the difference based on the current angular velocity and last time angular speed, obtains described current
Acceleration, the last time angular speed are the angular speed of the rotor obtained before current angular velocity.
8. the control device of electric motor car as claimed in claim 7, it is characterised in that the current acceleration acquiring unit is concrete
For the current difference based on the current angular velocity and the last time angular speed, current instantaneous acceleration is obtained, and to
The described current instantaneous acceleration that the repetition of one preset times is obtained is averaging, and obtains the current acceleration.
9. the control device of electric motor car as claimed in claim 7, it is characterised in that the current angular velocity acquiring unit bag
Include：
Current angular obtains subelement, for obtaining the current angular of the rotor；
Current angular velocity draws subelement, for the difference based on the current angular and last time angle, obtains described working as anterior angle
Speed, the last time angle are the angles of the rotor obtained before current angular.
10. the control device of electric motor car as claimed in claim 9, it is characterised in that the current angular velocity draws subelement
Specifically for the current difference based on the current angular and the last time angle, current instantaneous angular velocity is obtained, and to
The described current instantaneous angular velocity that the repetition of two preset times is obtained is averaging, and obtains the current angular velocity.
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| CN201611108918.3A CN106553563B (en) | 2016-12-06 | 2016-12-06 | A kind of control method and device of electric vehicle |
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| CN201611108918.3A CN106553563B (en) | 2016-12-06 | 2016-12-06 | A kind of control method and device of electric vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107294460A (en) * | 2017-07-10 | 2017-10-24 | 无锡赛盈动力科技有限公司 | A kind of soft or hard control method for starting adjustment of electric bicycle controller |
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| WO1999022441A1 (en) * | 1997-10-24 | 1999-05-06 | Kabushiki Kaisha Yaskawa Denki | Motor speed controller and gain setting method of the controller |
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| CN107294460A (en) * | 2017-07-10 | 2017-10-24 | 无锡赛盈动力科技有限公司 | A kind of soft or hard control method for starting adjustment of electric bicycle controller |
| CN107294460B (en) * | 2017-07-10 | 2020-02-14 | 无锡赛盈动力科技有限公司 | Control method for soft and hard start adjustment of electric bicycle controller |
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