CN106696756A - Torque control method for speed stepping - Google Patents

Torque control method for speed stepping Download PDF

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Publication number
CN106696756A
CN106696756A CN201611183581.2A CN201611183581A CN106696756A CN 106696756 A CN106696756 A CN 106696756A CN 201611183581 A CN201611183581 A CN 201611183581A CN 106696756 A CN106696756 A CN 106696756A
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CN
China
Prior art keywords
rotating speed
counter
motor
speed step
torque
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Granted
Application number
CN201611183581.2A
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Chinese (zh)
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CN106696756B (en
Inventor
管丽丽
王国强
杨桃桃
王胜勇
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Wisdri Wuhan Automation Co Ltd
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Wisdri Wuhan Automation Co Ltd
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Priority to CN201611183581.2A priority Critical patent/CN106696756B/en
Publication of CN106696756A publication Critical patent/CN106696756A/en
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Classifications

    • 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
    • B60L2240/421—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)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention provides a torque control method for speed stepping, comprising: when a motor controller detects speed stepping, judging whether a motor experiences speed stepping or not according to a difference between current motor speed and previous-cycle motor speed; counting the number of speed stepping occurrences and the number of zero speed steeping occurrences according to the judging results; comparatively analyzing the counting results, and judging to obtain a motor controller output torque target value; to be specific, the motor speed is controlled dynamically by means of multi-cycle gradual decrease of motor electromagnetic torque, the increase amplitude of counter electromotive force is lowered, and motor controller overcurrent is avoided.

Description

The method for controlling torque of rotating speed step
Technical field
The present invention relates to electric automobile automation control area, and in particular to a kind of method for controlling torque of rotating speed step.
Background technology
Permagnetic synchronous motor is with the obvious advantage the aspects such as weight, volume, efficiency, cost, is obtained in electric automobile More application.Electric machine controller realizes the rotating speed control of Permanent-magnet Synchronous-motor Speed Servo System by electromagnetic torque.But it is electric Electrical automobile in the process of moving, runs into the situation jolted or skid, and causes motor speed to be mutated, when motor speed mutation is larger When, counter electromotive force has an increase by a relatively large margin, and the regulation of weak magnetic ring has little time response, causes ovennodulation so that electric machine controller because Excessively stream causes control to be failed.
The content of the invention
In order to solve the rotating speed control Problem of Failure that causes of mutation, the present invention is proposed and a kind of can reduce counter electromotive force Increasing degree and controller output current, prevent the method for controlling torque of motor controller overcurrent rotating speed step.
The present invention provides a kind of method for controlling torque of rotating speed step, the method for controlling torque of the rotating speed step include with Lower step：
S1, judge whether motor occurs rotating speed step with the difference of upper cycle motor speed according to current motor rotating speed；
S2, the number of times and the nonevent number of times of rotating speed step that are occurred to rotating speed step according to the judged result of step S1 enter Row statistics；
S3, the statistics to rotating speed step frequency and the non-frequency of rotating speed step are compared analysis, sentence Power-off machine controller output torque desired value.
Preferably, the step S1 include it is following step by step：
S11, electric machine controller calculate the difference of current motor rotating speed and upper cycle motor speed；
If the difference of S12, motor speed is more than or equal to the threshold value of rotating speed step, judge that motor occurs rotating speed step；
If the difference of S13, motor speed judges that motor does not occur rotating speed step less than the threshold value of rotating speed step.
Preferably, the step S2 include it is following step by step：
S21, when judge motor occur rotating speed step when, count rotating speed step frequency counter Counter2Carry out It is cumulative, count the counter Counter of the non-frequency of rotating speed step1Reset；
S22, when judging that motor does not occur rotating speed step, then count the non-frequency of rotating speed step counter Counter1Added up.
Preferably, the step S3 include it is following step by step：
If S31, Counter2More than 0 and Counter1Count value is exited less than rotating speed step, then electric machine controller output turns Square desired value TsetWith Counter2Value increase and proportional reduction.
If S32, Counter2Equal to 0, or Counter2More than 0 and Counter1Meter is exited more than or equal to rotating speed step Numerical value, then electric machine controller output torque desired value TsetIt is set as the given torque T of entire car controllervms。
Preferably, in the step S31, the electric machine controller output torque desired value TsetWith giving for entire car controller The functional relation for determining torque is as follows：
Tset=Max { Min [Tmax-ΔT×(Counter2-1),Tvms],0}
Wherein TmaxThe maximum of torque, T are controlled for rotating speed stepvmsIt is the given torque of entire car controller, Δ T is torque Control ladder.
The present invention provides a kind of method for controlling torque of rotating speed step, its when electric machine controller detects rotating speed step, Judge whether motor occurs rotating speed step with the difference of upper cycle motor speed according to current motor rotating speed；Statistic analysis result The number of times and the nonevent number of times of rotating speed step occurred to rotating speed step；And analysis is compared to statistics, judge To electric machine controller output torque desired value, i.e., by way of the multicycle gradually reduces motor electromagnetic torque, dynamic control electricity Machine rotating speed, so as to reduce the increasing degree of counter electromotive force, prevents motor controller overcurrent.
The method for controlling torque of rotating speed step of the present invention is compared prior art and is had the advantages that：
One, with feedback.By periodic Control, and give the control response time.
Secondly, dynamic regulation.According to the actual speed after regulation number of times and regulation, dynamical output control torque.
Thirdly, torque output it is steady.Staged output control torque, it is to avoid control torque change is too fast.
Four, strong adaptability.The parameters such as control torque limit value, controlling cycle, torque ladder are provided with, are easy to by parameter Adjust to adapt to various motors and practical service environment.
Brief description of the drawings
The step of Fig. 1 is the method for controlling torque of rotating speed step of the present invention flow chart.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
As shown in figure 1, the present invention provides a kind of method for controlling torque of rotating speed step, the direct torque of the rotating speed step Method is comprised the following steps：
S1, judge whether motor occurs rotating speed step with the difference of upper cycle motor speed according to current motor rotating speed.
Specifically, the step S1 include it is following step by step：
S11, electric machine controller calculate the difference of current motor rotating speed and upper cycle motor speed；
If the difference of S12, motor speed is more than or equal to the threshold value of rotating speed step, judge that motor occurs rotating speed step；
If the difference of S13, motor speed judges that motor does not occur rotating speed step less than the threshold value of rotating speed step.
S2, the number of times and the nonevent number of times of rotating speed step that are occurred to rotating speed step according to the judged result of step S1 enter Row statistics.
Specifically, the step S2 include it is following step by step：
S21, when judge motor occur rotating speed step when, count rotating speed step frequency counter Counter2Carry out It is cumulative, count the counter Counter of the non-frequency of rotating speed step1Reset；
S22, when judging that motor does not occur rotating speed step, then count the non-frequency of rotating speed step counter Counter1Added up.
S3, the statistics to rotating speed step frequency and the non-frequency of rotating speed step are compared analysis, sentence Power-off machine controller output torque desired value.
The step S3 include it is following step by step：
If S31, Counter2More than 0 and Counter1Count value is exited less than rotating speed step, then the electric machine controller is defeated Go out torque target value TsetWith Counter2Value increase and proportional reduction；
If specifically, Counter2More than 0 and Counter1Count value is exited less than rotating speed step, that is, is represented and is had occurred and that Rotating speed step and also the condition that rotating speed step is exited is not arrived, carrying out rotating speed step control, now, electric machine controller master Dynamic regulation and control output torque desired value reaches the purpose of drop motor speed.If further Counter2＞ 1, i.e., in the treatment of rotating speed step During there occurs multiple rotating speed step again, the current torque amplitude of accommodation is represented not enough, by electric machine controller output torque target Value TsetIt is set to Counter2Value increase and proportional reduction such that it is able to the output of quick regulation electric machine controller Torque target value.The electric machine controller output torque desired value TsetWith the functional relation of the given torque of entire car controller such as Under：
Tset=Max { Min [Tmax-ΔT×(Counter2-1),Tvms],0}
Wherein TmaxThe maximum of torque, T are controlled for rotating speed stepvmsIt is the given torque of entire car controller, Δ T is torque Control ladder.
If S32, Counter2Equal to 0, or Counter2More than 0 and Counter1Meter is exited more than or equal to rotating speed step Numerical value, then it represents that the control of rotating speed step has been completed and motor speed has recovered normal, has reached the exit criteria of rotating speed step.This The control of rotating speed step is either way exited, and makes Counter2Reset, the electric machine controller output torque desired value TsetIf It is set to the given torque T of entire car controllervms, i.e. Tset=Tvms。
The present invention provides a kind of method for controlling torque of rotating speed step, its when electric machine controller detects rotating speed step, Judge whether motor occurs rotating speed step with the difference of upper cycle motor speed according to current motor rotating speed；Statistic analysis result The number of times and the nonevent number of times of rotating speed step occurred to rotating speed step；And analysis is compared to statistics, judge To electric machine controller output torque desired value, i.e., by way of the multicycle gradually reduces motor electromagnetic torque, dynamic control electricity Machine rotating speed, so as to reduce the increasing degree of counter electromotive force, prevents motor controller overcurrent.
Above-described embodiment is the present invention preferably implementation method, but embodiments of the present invention are not by above-described embodiment Limitation, it is other it is any without departing from Spirit Essence of the invention and the change, modification, replacement made under principle, combine, simplification, Equivalent substitute mode is should be, is included within protection scope of the present invention.

Claims (5)

1. a kind of method for controlling torque of rotating speed step, it is characterised in that the method for controlling torque of the rotating speed step include with Lower step：
S1, judge whether motor occurs rotating speed step with the difference of upper cycle motor speed according to current motor rotating speed；
S2, the number of times and the nonevent number of times of rotating speed step that are occurred to rotating speed step according to the judged result of step S1 are united Meter；
S3, the statistics to rotating speed step frequency and the non-frequency of rotating speed step are compared analysis, judge electricity Machine controller output torque desired value.
2. the method for controlling torque of rotating speed step according to claim 1, it is characterised in that the step S1 includes following point Step：
S11, electric machine controller calculate the difference of current motor rotating speed and upper cycle motor speed；
If the difference of S12, motor speed is more than or equal to the threshold value of rotating speed step, judge that motor occurs rotating speed step；
If the difference of S13, motor speed judges that motor does not occur rotating speed step less than the threshold value of rotating speed step.
3. the method for controlling torque of rotating speed step according to claim 2, it is characterised in that the step S2 includes following point Step：
S21, when judge motor occur rotating speed step when, count rotating speed step frequency counter Counter2Added up, Count the counter Counter of the non-frequency of rotating speed step1Reset；
S22, when judging that motor does not occur rotating speed step, then count the non-frequency of rotating speed step counter Counter1Enter Row is cumulative.
4. the method for controlling torque of rotating speed step according to claim 3, it is characterised in that the step S3 includes following point Step：
If S31, Counter2More than 0 and Counter1Count value is exited less than rotating speed step, then electric machine controller output torque mesh Scale value TsetWith Counter2Value increase and proportional reduction.
If S32, Counter2Equal to 0, or Counter2More than 0 and Counter1Count value is exited more than or equal to rotating speed step, Then electric machine controller output torque desired value TsetIt is set as the given torque T of entire car controllervms。
5. the method for controlling torque of rotating speed step according to claim 4, it is characterised in that in the step S31, the electricity Machine controller output torque desired value TsetFunctional relation with the given torque of entire car controller is as follows：
Tset=Max { Min [Tmax-ΔT×(Counter2-1),Tvms],0}
Wherein TmaxThe maximum of torque, T are controlled for rotating speed stepvmsIt is the given torque of entire car controller, Δ T is direct torque Ladder.
CN201611183581.2A 2016-12-20 2016-12-20 The method for controlling torque of revolving speed step Active CN106696756B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611183581.2A CN106696756B (en) 2016-12-20 2016-12-20 The method for controlling torque of revolving speed step

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Application Number Priority Date Filing Date Title
CN201611183581.2A CN106696756B (en) 2016-12-20 2016-12-20 The method for controlling torque of revolving speed step

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111071066A (en) * 2020-01-14 2020-04-28 深圳市福瑞电气有限公司 Method for inhibiting sudden increase of rotating speed in torque control of electric automobile
CN112477623A (en) * 2020-11-20 2021-03-12 江铃汽车股份有限公司 Motor rotating speed optimization method and system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN86100223A (en) * 1985-01-21 1986-07-30 株式会社日立制作所 In order to keep the control system of guideway vehicle tractive force
JP2011063038A (en) * 2009-09-15 2011-03-31 Hitachi Automotive Systems Ltd Drive controller
CN103802688A (en) * 2012-11-12 2014-05-21 上海电驱动股份有限公司 Low-speed torque output capability improving method for vehicle motor
CN104129388A (en) * 2013-05-03 2014-11-05 上海汽车集团股份有限公司 Torque distributing and controlling method based on efficiency optimization for double motors in hybrid power system
CN104228607A (en) * 2014-10-11 2014-12-24 东南大学 Anti-slip control method for driving of electric automobile

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN86100223A (en) * 1985-01-21 1986-07-30 株式会社日立制作所 In order to keep the control system of guideway vehicle tractive force
JP2011063038A (en) * 2009-09-15 2011-03-31 Hitachi Automotive Systems Ltd Drive controller
CN103802688A (en) * 2012-11-12 2014-05-21 上海电驱动股份有限公司 Low-speed torque output capability improving method for vehicle motor
CN104129388A (en) * 2013-05-03 2014-11-05 上海汽车集团股份有限公司 Torque distributing and controlling method based on efficiency optimization for double motors in hybrid power system
CN104228607A (en) * 2014-10-11 2014-12-24 东南大学 Anti-slip control method for driving of electric automobile

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111071066A (en) * 2020-01-14 2020-04-28 深圳市福瑞电气有限公司 Method for inhibiting sudden increase of rotating speed in torque control of electric automobile
CN112477623A (en) * 2020-11-20 2021-03-12 江铃汽车股份有限公司 Motor rotating speed optimization method and system

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