CN107565864B - A kind of method that electric car eliminates the pulsation of hub motor electromagnetic torque - Google Patents
A kind of method that electric car eliminates the pulsation of hub motor electromagnetic torque Download PDFInfo
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- CN107565864B CN107565864B CN201710815905.8A CN201710815905A CN107565864B CN 107565864 B CN107565864 B CN 107565864B CN 201710815905 A CN201710815905 A CN 201710815905A CN 107565864 B CN107565864 B CN 107565864B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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Abstract
The invention discloses a kind of methods that electric car eliminates the pulsation of hub motor electromagnetic torque, the following steps are included: electrical signal collection: collected electric signal is sent to key control unit by signal acquisition circuit, and the magnetic field magnetic linkage signal of hub motor is calculated according to electric signal for key control unit;Fft analysis: motor magnetic linkage is analyzed using FFT Fast Fourier Transform (FFT) method;Double-closed-loop control: outer closed-loop control is the compensation current expected value that the amplitude demarcated using null as input quantity using in step S2 of key control unit calculates compensative winding as outer closed loop command signal, and it is that interior closed loop command signal exports PWM drive signal to driving bridge arm that interior closed-loop control, which is key control unit using the real-time current for compensating the compensative winding that current expected value is acquired as input quantity with signal acquisition circuit,;Field compensation and vibration are eliminated: compensative winding inspires compensation magnetic field after obtaining compensation electric current, eliminates the electromagnetic torque pulsation phenomenon of hub motor.
Description
Present patent application is a kind of invention and created name " electric automobile hub side electromagnetism damping of In-wheel motor driving
The applying date of the divisional application of control method ", original application is on December 28th, 2015, and application No. is 2015110061913.
Technical field
The present invention relates to electric car, the electric automobile hub side electromagnetism shockproof control of especially a kind of In-wheel motor driving
Method.
Background technique
Hub motor is the motor of a kind of inner stator, outer rotor form, and power, transmission and brake apparatus are all incorporated into wheel
In hub, therefore the mechanical part of electric vehicle is greatly simplified, compared with traditional centralized driving form, independent wheel side/wheel hub
Drive form has unique performance advantage, and such as good mobility, simplified transmission mechanism, high transmission efficiency are higher
Interior of body space utilization rate and good dynamic performance etc..
But since the hub motor of conventional wheel rim driven motor vehicle is connected with wheel rate, quality constitutes the non-spring of vehicle
Mounted mass keeps the ratio between vehicle spring carried mass and nonspring carried mass too small, is unfavorable for the adjustment of suspension system, affects hanging down for vehicle
To performance.When vehicle heavy duty or high speed are by the road surface of road conditions difference, road surface to the impact of wheel with vibrate that pass through wheel hub electric
Machine is directly delivered to suspension, so that ride performance and car body bad stability.
In order to improve vehicle hub motor vertical vibration bring adverse effect, vehicle driving ride comfort is improved, both at home and abroad
Associated production manufacturer is mainly from the lightweight of suspension material, the absorption of motor body dynamic antivibration, active/semi-active suspension etc. solution
The certainly vertical negative effect of wheel hub driving electric car.Currently, more mature technical solution is in vehicle frame suspending side to hub motor
And suspension overall structure takes glissando.
However, after vehicle frame suspending side takes glissando although vehicle driving ride comfort and car body stability obtain
Improve, still, when the vertical load of car body weight is applied on bearing, the deformation of bearing can cause hub motor inner stator and
Outer rotor is eccentric, is distorted the air-gap field in vertical direction, since bearing has stronger rigidity, the physics shape of bearing
Becoming very small, the mechanical oscillation as caused by bias can be ignored, but magnetic field is more sensitive to the air gap distance between rotor,
Lesser eccentricity can cause biggish flux density to change, and hub motor is caused to generate electromagnetic torque pulsation phenomenon, to influence to cut
Electromagnetic torque on line direction.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of electric cars to eliminate the pulsation of hub motor electromagnetic torque
Method, the electromagnetic torque pulsation phenomenon of hub motor can be eliminated.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of method that electric car eliminates the pulsation of hub motor electromagnetic torque, by hub motor electromagnetism damping device into
Row control, the hub motor electromagnetism damping device include hub motor, signal acquisition circuit, key control unit and driving electricity
Road, the hub motor have inner stator, and the inner stator is equipped with compensative winding, and the driving circuit has driving bridge arm,
The driving bridge arm is electrically connected with compensative winding, the signal acquisition circuit and driving circuit respectively with key control unit phase
Even, eliminate hub motor electromagnetic torque pulsation method the following steps are included:
Step S1, electrical signal collection: real-time voltage, electric current and the compensative winding of signal acquisition circuit acquisition hub motor
Real-time current and collected electric signal is sent to key control unit, key control unit is calculated according to electric signal
The magnetic field magnetic linkage signal of hub motor;
Fft analysis: step S2 analyzes motor magnetic linkage using FFT Fast Fourier Transform (FFT) method, decimation in frequency magnetic
Frequency content related with automotive wheel revolving speed in field wave shape, and its amplitude is demarcated;
Step S3, double-closed-loop control: including outer closed-loop control and interior closed-loop control, outer closed-loop control is key control unit
The amplitude demarcated using null as input quantity using in step S2 calculates the compensation of compensative winding as outer closed loop command signal
Current expected value, interior closed-loop control are that key control unit is adopted using compensating current expected value as input quantity with signal acquisition circuit
The real-time current of the compensative winding of collection is that interior closed loop command signal exports PWM drive signal to bridge arm is driven, to compensative winding
It compensates electric current and carries out closed-loop control;
Step S4, field compensation and vibration are eliminated: compensative winding inspires compensation magnetic field after obtaining compensation electric current, compensates magnetic
Field is superimposed the compensation for realizing distorted magnetic field with the distorted magnetic field of hub motor;
Wherein, for the driving bridge arm using IGBT or MOSFET as switching device, key control unit uses single-chip microcontroller
Or the microprocessor that dsp chip is constituted.
Further, in the step S1 key control unit be calculated hub motor magnetic field magnetic linkage signal calculating
Formula are as follows: ψ=∫ (u-RsI) dt, wherein ψ is hub motor magnetic linkage, and u is hub motor winding terminal voltage, and i is hub motor
Winding line current, Rs are hub motor winding phase resistance.
Further, the double-closed-loop control of the step S3 is double PID closed-loop controls, and the key control unit is by zero width
The amplitude demarcated in value and step S2 carries out the compensation current expected value after calculus of differences by pi regulator output compensative winding,
Closed-loop control is carried out to the compensation current expected value of compensative winding;Key control unit again it is expected the compensation electric current of compensative winding
By needed for the pi regulator output driving bridge arm with clipping function after the real-time current of value and compensative winding progress calculus of differences
PWM duty cycle signal, closed-loop control is carried out to the compensation electric current of compensative winding.
Further, the compensative winding is two groups of parallel with one another and identical single phase windings of the number of turns, the default attached bag
Stator core is included, the stator core is equipped with two groups of stator slots, nested one group of phase line in every group of stator slot in vertical direction
Circle, two groups of single phase windings are arranged in the same direction.
Further, the signal acquisition circuit includes the voltage sensor for acquiring wheel hub electric moter voltage, acquisition wheel hub electricity
The current sensor and conditioning circuit of electromechanics stream and compensative winding electric current, the conditioning circuit pass voltage sensor and electric current
The acquisition signal of sensor exports after conditioning to key control unit.
Further, the driving circuit has three-phase bridge arm, and the hub motor has three-phase end of incoming cables, the three-phase
Bridge arm is correspondingly connected with the three-phase end of incoming cables of hub motor, and the key control unit connection three-phase bridge arm exports three road PWM driving
The revolving speed and torque of signal control hub motor.
Further, the hub motor electromagnetism damping device further includes vehicle power supply, and the vehicle power supply includes electric power storage
Pond group and supply convertor, the battery group connect driving circuit by DC bus and export high voltage direct current, the power supply
High voltage direct current is converted to low-voltage DC by the DC bus of converter connection driving circuit, and the output end of supply convertor connects
Connect signal acquisition circuit, key control unit and driving circuit.
Further, the hub motor further includes outer rotor, bearing, motor shaft and end cap, the end cap and outer rotor
It is fixedly connected, the inner stator is fixedly connected with motor shaft, and the end cap is equipped with bearing, and the motor shaft and bearing fit connect
It connects.
Further, the driving bridge arm is using IGBT or MOSFET as switching device.
Further, the signal acquisition circuit, key control unit and driving circuit become one to form motor control
Device processed.
The invention has the benefit that
The real-time electricity that the present invention passes through the real-time voltage of signal acquisition circuit acquisition hub motor, electric current and compensative winding
Stream, then pass through the amplitude of frequency content related with automotive wheel revolving speed in fft analysis extraction field waveform, key control unit
It is realized with signal acquisition circuit acquisition and double-closed-loop control is carried out to the compensation electric current of compensative winding, according to vibrating state difference to benefit
It repays electric current and carries out accurate dynamic adjustment, inspire compensative winding and precisely compensate for magnetic field, the compensation magnetic field and hub motor
Because of the distorted magnetic field superposition that bearing deformation is formed, realizes the real-time compensation of hub motor distorted magnetic field, make hub motor circumferential direction magnetic
Close is more evenly distributed, to reduce torque pulsation, improves the Vertical Characteristic of electric vehicle, improves the smooth of vehicle driving
Property.
Particular technique effect of the invention will be further described in a specific embodiment.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described further:
Fig. 1 is hub motor in a kind of electric automobile hub side electromagnetism shock-absorbing control method of In-wheel motor driving of the present invention
A kind of cross-sectional view at visual angle;
Fig. 2 is hub motor in a kind of electric automobile hub side electromagnetism shock-absorbing control method of In-wheel motor driving of the present invention
Another cross-sectional view at visual angle;
Fig. 3 is hub motor in a kind of electric automobile hub side electromagnetism shock-absorbing control method of In-wheel motor driving of the present invention
The electrical connection diagram of electromagnetism damping device;
Fig. 4 is hub motor in a kind of electric automobile hub side electromagnetism shock-absorbing control method of In-wheel motor driving of the present invention
The structure flow chart of electromagnetism damping device;
Fig. 5 is a kind of flow chart of the electric automobile hub side electromagnetism shock-absorbing control method of In-wheel motor driving of the present invention.
Specific embodiment
It elaborates with reference to the accompanying drawing to a specific embodiment of the invention.
As shown in Figures 1 to 4, the hub motor electromagnetism damping device of a kind of electric car, including vehicle power supply 1, signal
Acquisition Circuit 2a, key control unit 2b, driving circuit 2c and hub motor 3, hub motor 3 include outer rotor 31, inner stator
33, bearing 34, motor shaft 35 and end cap 36, inner stator 33 are located at the inner circumferential of outer rotor 31, end cap 36 and the fixed company of outer rotor 31
It connects, inner stator 33 is fixedly connected with motor shaft 35, and end cap 36 is equipped with bearing 34, and motor shaft 35 and bearing 34 are cooperatively connected, outside
The inner peripheral surface of rotor 31 is equipped with permanent magnet 31a, and hub motor 3 is permanent-magnet brushless DC electric machine or permanent magnet synchronous motor, turns outside
There is air gap 32, when the vertical load of car body weight is applied on bearing between the inner peripheral surface of son 31 and the outer peripheral surface of inner stator 33
When, the deformation of bearing 34 can cause the inner stator 33 of hub motor 3 and outer rotor 31 eccentric, make the air-gap field in vertical direction
It is distorted.
In order to correct the distorted magnetic field of hub motor 3, the inner stator 33 of hub motor 3 is equipped with compensative winding 4, compensation around
Group 4 is two groups of parallel with one another and identical single phase windings of the number of turns, and inner stator 33 includes stator core, and stator core is in vertical direction
Two groups of stator slots are equipped with, nested one group of single phase winding in every group of stator slot, one group of stator slot includes two stator slots, Mei Geding
Pilot trench is equipped with opening, and the opening that single phase winding passes through stator slot carries out coiling, and two groups of single phase windings are arranged in the same direction, due to two groups
Single phase winding is located in the vertical direction of stator core, and two groups of single phase windings can excite the compensation magnetic of vertical direction after being powered
, the compensation magnetic field and the distorted magnetic field of hub motor 3 are superimposed, realize the compensation of distorted magnetic field.
In order to accurately control distortion magnetic of the intensity for compensating magnetic field to the different distortion degrees of hub motor 3 of compensative winding 4
Field carries out adaptable compensation, and driving circuit 2c is pwm power drive module and it is with driving bridge arm, driving bridge arm and benefit
The electrical connection of winding 4 is repaid, in order to improve the switch response speed of driving bridge arm, driving bridge arm preferably uses IGBT or MOSFET conduct
Switching device, signal acquisition circuit 2a and driving circuit 2c are connected with key control unit 2b respectively, and key control unit 2b is adopted
The microprocessor constituted with single-chip microcontroller or dsp chip, signal acquisition circuit 2a acquire voltage, electric current and the benefit of hub motor 3
It repays the electric current of winding 4 and acquisition signal is sent to key control unit 2b, signal acquisition circuit 2a includes acquisition hub motor 3
The voltage sensor of voltage, the current sensor and conditioning circuit for acquiring 3 electric current of hub motor and 4 electric current of compensative winding are adjusted
Managing circuit, to key control unit 2b, core control is single for output after conditioning by the signal of voltage sensor and current sensor
First 2b acquires signal to driving bridge arm output PWM drive signal closed-loop control compensative winding 4 according to voltage and current is received
Size of current, driving has power component on bridge arm, the size of current which is exported by PWM drive signal control,
Size of current by controlling compensative winding 4 controls the intensity in the compensation magnetic field that compensative winding 4 excites, and realizes that hub motor 3 is abnormal
The accurate compensation of varying magnetic field makes being more evenly distributed for the circumferential flux density of hub motor 3, to reduce torque pulsation, improves electric vehicle
Vertical Characteristic, improve the ride comfort of vehicle driving.
In order to improve circuit level, circuit volume, signal acquisition circuit 2a, key control unit 2b and driving electricity are reduced
Road 2c is preferably integrated to be formed as one electric machine controller 2, and vehicle power supply 1 includes battery group 1a and supply convertor 1b, electric power storage
Pond group 1a connects driving circuit 2 by DC bus and exports high voltage direct current, and the direct current of supply convertor 1b from driving circuit 2 is female
Line obtains high-voltage dc voltage and is depressured again as low-voltage DC, the output end connection signal Acquisition Circuit 2a of supply convertor 1b,
Key control unit 2b and driving circuit 2c, according to the volume of signal acquisition circuit 2a, key control unit 2b and driving circuit 2c
High voltage direct current is converted to 15V and 5V using the dropping equipment of DC-DC power source converter by constant voltage requirement, supply convertor 1b
Low-voltage DC signal acquisition circuit 2a, key control unit 2b and driving circuit 2c are powered.
In order to further increase circuit integration efficiency, the revolving speed and torque of hub motor 3 are carried out also by electric machine controller 2
Control, driving circuit 2c have three-phase bridge arm, and hub motor 3 has three-phase end of incoming cables, and three-phase bridge arm is correspondingly connected with hub motor 3
Three-phase end of incoming cables, key control unit 2b connection three-phase bridge arm export three road PWM drive signals control hub motor 3 revolving speed
And torque, voltage sensor and current sensor also connect the three-phase end of incoming cables collection voltages signal and electric current letter of hub motor 3
Number.
As shown in figure 5, a kind of electric automobile hub side electromagnetism shock-absorbing control method of In-wheel motor driving, including following step
It is rapid:
Electrical signal collection: signal acquisition circuit 2a acquires the real-time voltage of hub motor 3, electric current and compensative winding 4
Collected electric signal is simultaneously sent to key control unit 2b by real-time current, and key control unit 2b is calculated according to electric signal
To the magnetic field magnetic linkage signal of hub motor 3;S1
Fft analysis: motor magnetic linkage is analyzed using FFT Fast Fourier Transform (FFT) method, decimation in frequency field waveform
In frequency content related with automotive wheel revolving speed, and its amplitude is demarcated;S2
Double-closed-loop control: including outer closed-loop control and interior closed-loop control, outer closed-loop control is key control unit 2b with zero
The amplitude that amplitude is demarcated using in step S2 as input quantity calculates the compensation electric current of compensative winding 4 as outer closed loop command signal
Desired value, interior closed-loop control are that key control unit 2b is adopted using compensating current expected value as input quantity with signal acquisition circuit 2a
The real-time current of the compensative winding 4 of collection is that interior closed loop command signal exports PWM drive signal to bridge arm is driven, to compensative winding 4
Compensation electric current carry out closed-loop control;S3
Field compensation and vibration are eliminated: compensative winding 4 inspires compensation magnetic field, compensation magnetic field and wheel after obtaining compensation electric current
The compensation of distorted magnetic field is realized in the distorted magnetic field superposition of hub motor 3.S4
The calculation formula of the magnetic field magnetic linkage signal of hub motor 3 is calculated in key control unit 2b in step S1 are as follows: and ψ=
∫(u-RsI) dt, wherein ψ is hub motor magnetic linkage, and u is hub motor winding terminal voltage, and i is hub motor winding wire electricity
Stream, Rs are hub motor winding phase resistance.
FFT fast discrete Fourier transformation is carried out to magnetic linkage signal in step S2, obtains each frequency content in magnetic linkage signal
Amplitude, motor fundamental frequency electric frequency, two times of electric frequencies, six times of electric frequencies and HF switch frequency are included in the magnetic linkage signal of acquisition
Rate ingredient, for eccentric wheel hub motor according to the present invention then there are also more significant electromechanics frequency content, the frequency with
Wheel rotation frequency is identical, and the relationship of electromechanics frequency and motor fundamental frequency electric frequency depends on the number of magnetic pole pairs of hub motor,
It is calculated by key control unit 2b, specific calculation formula are as follows:Wherein, Ω is hub motor mechanical frequency,
ω is hub motor fundamental frequency electric frequency, and p is hub motor number of pole-pairs.Due to hub motor include more magnetic pole, this at
The frequency divided is far below all electric signals, and key control unit 2b can realize digital filter functions, be extracted with digital filter
The low-frequency component simultaneously is demarcated as shaking characteristic signal.
The double-closed-loop control of key control unit 2b is double PID closed-loop controls, the outer closed loop of the control process in step S3
Control signal is vibration characteristic signal, i.e. flux density amplitude signal of the magnetic field under specific frequency, the ideal of the signal and zero amplitude
Vibrant characteristic carries out calculus of differences, and by a pi regulator, compensation current expected value needed for exporting compensative winding 4 is right
The compensation current expected value of compensative winding carries out closed-loop control;The interior closed loop command signal of the control process is by current sensor
Detect the current signal of compensative winding 4, the current signal and instruction current carry out calculus of differences, pass through a band clipping function
Pi regulator, PWM duty cycle signal needed for output driving bridge arm carries out closed-loop control to the compensation electric current of compensative winding,
To realize the electric current of accurate control compensative winding 4, calculus of differences and pi regulator therein pass through key control unit 2b
Digital operation realize, be designed based on single-chip microcontroller or DSP, do not repeated them here specifically.
Step S4 is specifically, compensation electric current generates the magnetic field of vertical direction, the magnetic field and hub motor on compensative winding 4
The sine degree that distorted magnetic field can be improved after 3 distorted magnetic field superposition, so that the output torque of hub motor 3 is pulsed reduces, vibration
Weaken.Key control unit 2b, voltage sensor and current sensor use commercially available premium quality product, achievable in 0.2 second
Step S1~step S4 loop control, damping device are in the dynamic adjustment process constantly updated, and response speed is remote
Be faster than mechanical response speed, can real-time compensation car load variation or road surface vibration stimulus, realize shock-absorbing function.
Preferred embodiments of the present invention are described above, but are not to be construed as limiting the scope of the invention.This hair
Bright to be not only limited to above embodiments, specific structure is allowed to vary, and those skilled in the art can make according to the present invention
Various changes and variants, as long as it does not depart from the spirit of the invention, belongs to range defined in appended claims of the present invention.
Claims (9)
1. a kind of method that electric car eliminates the pulsation of hub motor electromagnetic torque, which is characterized in that pass through hub motor electromagnetism
Damping device is controlled, and the hub motor electromagnetism damping device includes hub motor, signal acquisition circuit, core control list
Member and driving circuit, the hub motor have inner stator, and the inner stator is equipped with compensative winding, and the driving circuit has
Drive bridge arm, the driving bridge arm is electrically connected with compensative winding, the signal acquisition circuit and driving circuit respectively with core control
Unit processed be connected, eliminate hub motor electromagnetic torque pulsation method the following steps are included:
Step S1, electrical signal collection: signal acquisition circuit acquires the reality of the real-time voltage of hub motor, electric current and compensative winding
When electric current and collected electric signal is sent to key control unit, wheel hub is calculated according to electric signal in key control unit
The magnetic field magnetic linkage signal of motor;
Fft analysis: step S2 analyzes motor magnetic linkage using FFT Fast Fourier Transform (FFT) method, decimation in frequency magnetic field wave
Frequency content related with automotive wheel revolving speed in shape, and its amplitude is demarcated;
Step S3, double-closed-loop control: including outer closed-loop control and interior closed-loop control, outer closed-loop control is key control unit with zero
The amplitude that amplitude is demarcated using in step S2 as input quantity calculates the compensation electric current of compensative winding as outer closed loop command signal
Desired value, interior closed-loop control are that key control unit is acquired using compensating current expected value as input quantity with signal acquisition circuit
The real-time current of compensative winding exports PWM drive signal for interior closed loop command signal and gives driving bridge arm, the compensation to compensative winding
Electric current carries out closed-loop control;
Step S4, field compensation and vibration eliminate: compensative winding obtain compensation electric current after inspire compensation magnetic field, compensation magnetic field with
The compensation of distorted magnetic field is realized in the distorted magnetic field superposition of hub motor;
Wherein, for the driving bridge arm using IGBT or MOSFET as switching device, key control unit uses single-chip microcontroller or DSP
The microprocessor that chip is constituted.
2. the method that a kind of electric car according to claim 1 eliminates the pulsation of hub motor electromagnetic torque, feature exist
In the calculation formula of the magnetic field magnetic linkage signal of hub motor is calculated in key control unit in the step S1 are as follows: ψ=∫ (u-
RsI) dt, wherein ψ is hub motor magnetic linkage, and u is hub motor winding terminal voltage, and i is hub motor winding line current, Rs
For hub motor winding phase resistance.
3. the method that a kind of electric car according to claim 2 eliminates the pulsation of hub motor electromagnetic torque, feature exist
In the double-closed-loop control of the step S3 is double PID closed-loop controls, and the key control unit gets the bid null and step S2
The compensation current expected value for exporting compensative winding after fixed amplitude progress calculus of differences by pi regulator, to the benefit of compensative winding
It repays current expected value and carries out closed-loop control;Key control unit is again by the compensation current expected value and compensative winding of compensative winding
Real-time current is believed after carrying out calculus of differences by PWM duty cycle needed for the pi regulator output driving bridge arm with clipping function
Number, closed-loop control is carried out to the compensation electric current of compensative winding.
4. the method that a kind of electric car according to claim 1 eliminates the pulsation of hub motor electromagnetic torque, feature exist
In the compensative winding is two groups of parallel with one another and identical single phase windings of the number of turns, and the inner stator includes stator core, described
Stator core is equipped with two groups of stator slots, nested one group of single phase winding in every group of stator slot, two groups of single phase windings in vertical direction
Setting in the same direction.
5. the method that a kind of electric car according to claim 1 eliminates the pulsation of hub motor electromagnetic torque, feature exist
In, the signal acquisition circuit include the voltage sensor for acquiring wheel hub electric moter voltage, acquisition wheel hub current of electric and compensation around
The current sensor and conditioning circuit of group electric current, the conditioning circuit is by the acquisition signal of voltage sensor and current sensor
It exports after conditioning to key control unit.
6. the method that a kind of electric car according to claim 1 eliminates the pulsation of hub motor electromagnetic torque, feature exist
In the driving circuit has three-phase bridge arm, and the hub motor has three-phase end of incoming cables, and the three-phase bridge arm is correspondingly connected with wheel
The three-phase end of incoming cables of hub motor, the key control unit connection three-phase bridge arm export three road PWM drive signals control wheel hub electricity
The revolving speed and torque of machine.
7. a kind of side of electric car elimination hub motor electromagnetic torque pulsation described in any one according to claim 1~6
Method, which is characterized in that the hub motor electromagnetism damping device further includes vehicle power supply, and the vehicle power supply includes battery group
And supply convertor, the battery group connect driving circuit by DC bus and export high voltage direct current, the power conversion
High voltage direct current is converted to low-voltage DC by the DC bus of device connection driving circuit, and the output end of supply convertor connects letter
Number Acquisition Circuit, key control unit and driving circuit.
8. the method that a kind of electric car according to claim 1 eliminates the pulsation of hub motor electromagnetic torque, feature exist
In the hub motor further includes outer rotor, bearing, motor shaft and end cap, and the end cap is fixedly connected with outer rotor, described interior
Stator is fixedly connected with motor shaft, and the end cap is equipped with bearing, and the motor shaft is connect with bearing fit.
9. the method that a kind of electric car according to claim 1 eliminates the pulsation of hub motor electromagnetic torque, feature exist
In the signal acquisition circuit, key control unit and driving circuit become one to form electric machine controller.
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CN107565864A (en) | 2018-01-09 |
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