CN108303875A - A kind of control method of electric power load for testing simulator and its system - Google Patents
A kind of control method of electric power load for testing simulator and its system Download PDFInfo
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- CN108303875A CN108303875A CN201711495202.8A CN201711495202A CN108303875A CN 108303875 A CN108303875 A CN 108303875A CN 201711495202 A CN201711495202 A CN 201711495202A CN 108303875 A CN108303875 A CN 108303875A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a kind of electric power load for testing simulator and its control method of system, load simulating device includes three modules：Driving motor and control module, electric vehicle rate control module, load motor and control module.The electric vehicle rate control module is vehicle load mathematical model.The driving motor is permanent magnet synchronous motor, and the load motor is direct current generator.Load simulation system is the target simulation speed that system is calculated according to the driving moment of driving motor for electric automobile and the load module of automobile, using this target simulation speed as the rotating speed of target of the load motor joined with drive motor shaft, speed control is carried out to load motor.Control accuracy of the present invention it is low it is high, by weather environment outdoor driving is not influenced, the research and development test for improving pure power vehicle power assembly and its key technology is horizontal, and is substantially shorter the R＆D cycle of power assembly and related components, and reduces fund input.
Description
Technical field
The present invention relates to automobile dynamic system technical field of measurement and test more particularly to a kind of electric power load for testing simulation dresses
It sets and its control method of system.
Background technology
With increasingly increasing for people's lives demand, the energy is also increasingly in short supply, and energy problem has become national economy hair
The strategic issues of exhibition.From nation's security angle, energy resources closely join with economic development, national security
It has tied up to together, the energy stablizes the core content that supply is national emphasis and Chinese energy safety strategy of interest.
So facing resource scarcity and environmental protection problem, Development of EV becomes the main trend of automobile industry development.
The structure of pure electric automobile includes electric power driving control system, automobile chassis, vehicle body and various auxiliary devices
Equal parts, in addition to electric power driving control system, the function and structure of rest part are substantially similar to orthodox car, so electric
Power drive control system determines the structure composition and performance characteristic of entire pure electric automobile.
There are a kind of dynamic load simulating device of automobile dynamic system test, including control computer, controller, change at present
The torque flange of frequency device, electric A.C. dynamometer and tape controller；Using the control algolithm based on virtual car model, with reality
Torque actuated virtual car model is surveyed, vehicle rolling resistance, wind are realized in the case where dynamometer machine angular acceleration need not be calculated
The simulation of resistance and inertia resistance.Its dynamic load simulating device and method stability are good, and simulation precision is high, are conducive to shorten vapour
The development cycle of vehicle dynamical system is the experimental enviroment that the exploitation of dynamical system is provided convenience；It is avoided in calculating process pair
The revolution of automobile dynamic system carries out differential and obtains the process of vehicle acceleration, and filtering is prevented due to making differential to rotating speed
Larger noise is brought in the process.Although the noise brought when discretization can be eliminated using the method for filtering, so but
The pole for changing system, when a part of the electric dynamometer system as some closed-loop system, it will make whole system
Characteristic changes, and load simulation is made to lose meaning, use filter its purpose be not intended to obtain it is dynamic for mechanical load
The accurate simulation of step response, but obtaining time domain relatively good under open loop analog case influences.
Another automobile dynamic system is that have the experiment of the hybrid power automobile power assembly of operating mode and inertia simulation function,
Including operating console, rack control and measuring center manager, test model control system unit, dynamic simulator system list
Member drives function control device unit, Dynamometer Control device unit, data collecting system unit and experimental condition control system list
Member.Using the dynamical system of the system simulating vehicle, but the operating mode of electric vehicle and inertia simulation are really one quite multiple
Miscellaneous system, it is influenced the friction between restriction, such as wheel and rail by various factors, internal drive machinery
Friction, the line condition of vehicle operation and weight, the air damping etc. of vehicle can all have a huge impact it.And it arranges
Damping of the vehicle in each stage such as starting, constant speed, coasting and braking has larger difference.
Load simulation technology refers to the load by certain technological means for simulation loading object in laboratory conditions
Power or loading moment, the major advantage of load simulation technology in avoiding must use actual load in the actual environment
Object is studied, and can be answered in some environment complexity research approaches, in the case where actual experiment environment is difficult to realize
It is miscellaneous, simulated experiment.Be conducive to innovative research and theoretic discussion.It greatly reduces research and development test cost, subtracted vehicle repacking
Workload, artificial setting automatically controls, can eliminate the inevitable control difference of road test personnel's real vehicle driver behavior, controls
System is accurate, experimental condition control is stringent, can reproduce setting road test indoors, it is ensured that homogeneity, the comparativity of test result；
In addition the instrument that road test outdoors is difficult to use may be used, eliminate various external interferences of outdoor road test, increase research and development
The collection capacity and its accuracy of required data parameters, this just greatly improves research and development test level.
Current all kinds of pure electric vehicle power system testings have the following disadvantages：
1, it needs largely to be tested in power vehicle development process.It at present due to limited conditions, often can only be
Individual event assembly part experiment of the indoor progress based on steady state test, although traditional engine dynamic test bed is increasingly general
And but it can not complete the peculiar experiment of power vehicle power assembly.In addition, the improvement of hybrid power assembly or some component
Effect is both needed to examine on vehicle platform and in whole system, is also limited to research and development improvement.The difference of weather and manipulation,
The processing etc. of road site problems has significant limitations, and the raising for researching and developing quality is also restrained, the work of testing crew
Condition and safety are also difficult to ensure.
2, bench test is to carry out the important means of pure automobile dynamic system exploitation, is carrying out engine test or is integrating
When the test of the dynamical system of engine and gearbox, it is required for the simulation and control that are loaded using dynamometer machine.
Traditional measurement of power equipment has hydraulic dynamometer, electric eddy current dynamometer etc., but hydraulic dynamometer control accuracy is low, current vortex measurement of power
Machine is unable to towing astern dynamical system, and application is all subject to certain restrictions.
Invention content
In order to solve the problems in the prior art, the object of the present invention is to provide a kind of simulations of electric power load for testing to fill
The characteristics of setting and its control method of system, accurate modeling is difficult to for small inertia, itself inertia and resistance, uses load
The simulation loading that the indirect control theory of motor speed closed loop is loaded, to carry out torque compensation automatically；It is according to electronic vapour
The driving moment of vehicle driving motor and the load module of automobile calculate the target simulation speed of system, in this, as with driving
The rotating speed of target of the load motor of motor shaft connection carries out speed control to load motor.Which solve waterpower in bench test to survey
Work(machine control accuracy is low, electric eddy current dynamometer is unable to towing astern dynamical system restricted problem and weather environment to outdoor driving
Influence problem, the research and development test for improving pure power vehicle power assembly and its key technology is horizontal, and is substantially shorter power
The R＆D cycle of assembly and related components, and reduce fund input.
To achieve the goals above, the technical solution adopted by the present invention is：
A kind of electric power load for testing simulator, which is characterized in that it includes the driving motor being connected with each other and control
Molding block, electric vehicle rate control module, load motor and control module；The driving motor and control module include driving
Dynamic motor, controller and drive control device, the electric vehicle rate control module are vehicle load mathematical model, described negative
It includes load motor, controller and drive control device to carry motor and control module；The driving motor is permanent magnet synchronous motor,
The driving motor carries out velocity close-loop control according to the type of drive of practical driving motor for electric automobile；The load motor
For direct current generator, the target simulation speed that the load motor is calculated with vehicle load mathematical model carries out rotational speed and torque pair and closes
Ring controls.
When driving motor drive automobile on road when driving, the load of driving motor with motoring condition change
And constantly change.If being joined with a load motor and driving motor phase axis, by constantly regulating and controlling the output torque of load motor, just
The dynamic load of driving motor when can simulate practical running car.Load motor is directly connected with shaft coupling with driving motor, on
Position machine acquires rotational speed and torque data in real time, on the one hand to driving motor velocity close-loop control, one side constantly regulate load motor
Load.Power system of electric automobile dynamic load is simulated to realize, rotating speed control methods are carried out to load motor.
The vehicle load mathematical model is by analyzing the driving force of running car, running resistance and being carried out to automobile
Inertia conversion determines the constraints of running car and establishes.Electric vehicle dynamic load simulation system is true in order to simulate
Load characteristic of the real electric vehicle on real road when driving, thus first must to sail the electric vehicle under operating mode into
Action mechanical analysis.Since automobile power load is therefore to need comprehensive analysis automobile under driving cycle for driving motor
Driving force, running resistance, transmission system and automobile inertia, and find corresponding conversion relation.The dynamic property of automobile mainly by
Three indexs are evaluated below：Max. speed, acceleration time and ruling grade.I.e.：According to dynamic analysis, three are added
If index meets, here it is the mathematical models of load.
The present invention also provides a kind of control methods of electric power load for testing simulation system comprising following steps：
S1, the driving force for determining electric vehicle, running resistance, determine driving conditions；
S2, the load mathematical model for establishing automobile；
S3, speed when vehicle load mathematical model calculates electric vehicle actual travel by the output torque of driving motor
Degree, determines the target simulation speed of system；
S4, using the target simulation speed of system as the rotating speed of target of load motor, simulation control is carried out to load motor.
Preferred scheme, the driving motor are permanent magnet synchronous motor, and the driving motor drives according to practical electric vehicle
The type of drive of dynamic motor carries out velocity close-loop control.The load motor is direct current generator, and the load motor is negative with automobile
It carries the target simulation speed that mathematical model calculates and carries out rotational speed and torque double-closed-loop control.
The determination method of further preferred scheme, the driving force of the electric vehicle is：
The driving force of pure electric automobile is only provided by driving motor, the output torque T of driving motoreThrough mechanical transmissioning machine
Structure reaches wheel, gives one, ground force of periphery F0, then ground will give wheel reaction force Ft, it is clear that Ft=F0, as vehicle
Driving force；If the torque that motor is transmitted to power wheel through mechanical transmission mechanism is Tt, radius of wheel r then has：
If total reduction ratio is ig, efficiency ηT, then the output torque T of motoreWith the driving moment T of driving wheeltMeet following
Relationship： TeigηT=Tt, it is to the driving force of electric vehicle：
The determination method of the running resistance is：It is assumed that automobile straight-line travelling, the row being subject on flat dry, hard pavement
Sailing resistance has rolling resistance, air drag, gradient resistance and acceleration resistance；Wherein, the determination method of each resistance is：
Rolling resistance：When automobile tire straight-line rolling on dry, hard road surface, tire will will produce deformation, and with
Opposite part sliding is longitudinally and laterally generated between road surface, they are respectively equivalent to tire on the bullet opposite with rotating direction
They are equivalent to a power, with rolling resistance F by property sluggishness resistance and frictional resistancefTo indicate；Influence rolling resistance because
It is known as loading of tire, the structure and material of tire and pavement behavior, thinks rolling resistance with automobile pressure at just in actual analysis
Than that is,： Ff=frGcosα；
Air drag：Component of the air effect power being subject to when automobile straight-line travelling in travel direction is air drag
FW, the calculation formula of air drag is：
Gradient resistance：When automobile along ramp upwards when driving, component of the automobile gravity along ramp direction is gradient resistance
Fi, then：Fi=Gsin α；
Acceleration resistance：When the automobile accelerates, need to overcome the inertia force of self inertia, as acceleration resistance Fj；It considers
Vehicle not only has translational motion, the also rotatable parts such as wheel, therefore the quality of vehicle is divided into translatory mass and rotating mass；
It is calculated for ease of analysis, by rotating mass conversion to translatory mass, then acceleration resistance is：
The determination method of automobile running condition is：When running car, driving force always with resistance balance, i.e. Ft=Ff+
Fw+Fi+Fj；It straight line can at the uniform velocity be travelled on road surface to automobile, then driving force must satisfy following driving conditions：
Ft≥Ff+Fw+Fi
Above formula is the necessary condition of running car；The limiting value of the reaction force of wheel can be supplied to referred to as attached road surface
Put forth effort, is denoted asAs driving force FtMore than adhesive forceWhen, it will skid between wheel and ground, continue growing drive at this time
Power can only allow wheel to accelerate idle running；On hard road surface, adhesive forceThe normal force F of driving wheel is faced with groundzIt is directly proportional,
I.e.：
φ is attachment coefficient in formula, and φ and tire and road surface shape are related；When tire is conventional tyre, road surface is dry
When pitch or concrete road surface, φ=0.7~0.8 is taken, therefore running car should also meet the following conditions：
The permanent magnet synchronous motor uses space vector modulation, and rotating speed, double current loop modulation are carried out to motor；In electric current control
In ring processed, using maximal efficiency torque ratio control strategy, and by iterating to calculate out accurate numerical solution.
The rotating speed of target of the load motorFor：
Wherein, TFBIt is exported for the feedback of PI controllers, TFFFor the compensation torque to testing stand inertia and frictional force, TeFor
The output torque of driving motor, in simulations, testing stand inertia are total inertia of motor, and moment of friction is always rubbing for motor
Wipe torque.
By using above technical scheme, the control of a kind of electric power load for testing simulator of the present invention and its system
Compared with prior art, advantage is method：
1, the control method for the electric powered motor load for testing simulation system that the present invention establishes solves bench test
The problem of middle hydraulic dynamometer control accuracy is low, electric eddy current dynamometer is unable to the limitation of towing astern dynamical system, solves weather environment
Influence to outdoor driving, can for a certain parameter or structure, program change without be equipped on vehicle and at any time indoors into
Row experiment, compared with previous research and development test means, which improves pure power vehicle power assembly and its crucial skill
The research and development test of art is horizontal, and is substantially shorter the R＆D cycle of power assembly and related components.It being capable of fine simulation vapour
The various transport conditions of vehicle provide accurately and reliably test platform, so as to shorten electronic for the test of power system of electric automobile
The R＆D cycle of automobile and reduction fund input.
2, the performance development that pure power vehicle power assembly can be carried out using the system is tested；It can be developed with substitute products
Most of roadway experiment in the process；It, can be by dynamical system meanwhile for the early development of pure power automobile power system
Assembly component is flexibly arranged in pairs or groups, and the coupling for forming different motors and engine forms progress developmental research.
Description of the drawings
Fig. 1 is a kind of electric power load for testing simulator structural schematic diagram of the present invention；
Fig. 2 is the control structure figure of electric power load for testing simulation system of the present invention.
Specific implementation mode
In order to make the objectives, technical solutions and advantages of the present invention clearer, with reference to specific example, to the present invention
It is further described.It should be understood that these descriptions are merely illustrative, and it is not intended to limit the scope of the present invention.In addition,
In the following description, descriptions of well-known structures and technologies are omitted, so as not to unnecessarily obscure the concept of the present invention.
The present invention analyzes electric vehicle load simulation test platform, for its small inertia, itself inertia and resistance
The characteristics of being difficult to accurate modeling, the simulation loading loaded using the indirect control theory of load motor speed closed loop, to certainly
It is dynamic to carry out torque compensation.Its working principle is that according to the driving moment of driving motor for electric automobile and the load module meter of automobile
The target simulation speed of calculation system, in this, as the rotating speed of target of the load motor joined with drive motor shaft, to load motor
Carry out speed control.
The present invention relates to the controls of a kind of dynamic load simulating device for automobile dynamic system test and its simulation system
Method processed, dynamic load simulating device is as shown in Fig. 1, including：Driving motor and control module, electric vehicle speed calculate
Module and load motor and control mould are fast.Vehicle load mathematical model calculates electric vehicle by the output torque of driving motor
Speed when actual travel is then convert into the rotating speed of target of load motor.The precision of vehicle load mathematical model is established, it will
Directly influence the accuracy of load simulation.Driving motor is according to the type of drive of practical driving motor for electric automobile into scanning frequency
Spend closed-loop control.Load motor carries out velocity close-loop control with the target velocity that vehicle load mathematical model calculates.
Driving force, rolling resistance, air drag, gradient resistance when the present invention analyzes electric automobile during traveling first and add
Fast resistance；Then inertia conversion is carried out to automobile, the constraints of running car is determined, when finally establishing electric automobile during traveling
Mathematical model.Again using permanent magnet synchronous motor as the driving motor of electric vehicle；According to permanent-magnetic synchronous motor stator copper loss and
Relationship between stator current, using under the premise of meeting torque request and constraints, with minimum electric current come driving motor as
Control targe establishes maximal efficiency torque ratio control strategy and Controlling model.Establish electric vehicle dynamic load simulation system
Control structure.
The present invention dynamic load simulation system volume control method include：Electric vehicle speed calculates：Vehicle load mathematics
Model calculates speed when electric vehicle actual travel by the output torque of driving motor, is then convert into load motor
Rotating speed of target.Establish vehicle load mathematical model.Driving motor and control：Driving motor uses permanent magnet synchronous motor, according to reality
The type of drive of border driving motor for electric automobile carries out velocity close-loop control.Load motor and control：Load motor uses direct current
Motor carries out velocity close-loop control with the target velocity that vehicle load mathematical model calculates.
Electric vehicle dynamic load simulation system is to simulate true electric vehicle on real road when driving
Load characteristic, therefore first dynamic analysis must be carried out to the electric vehicle under driving cycle.Since automobile power load is
For driving motor, therefore need driving force, running resistance, transmission system and vapour of the comprehensive analysis automobile under driving cycle
Vehicle inertia, and find corresponding conversion relation.The dynamic property of automobile is mainly evaluated by following three indexs：Max. speed adds
Fast time and ruling grade.
Stress balance under automobile running working condition：
When electric vehicle on road when driving, driving force should balance each other with drag overall, i.e.,：
Ft=∑ F
Wherein, FtFor driving force, ∑ F is the sum of various resistances, and is had：
∑ F=Ff+Fw+Fi+Fj
I.e. drag overall is by Ff(rolling resistance), Fw(air drag), Fi(gradient resistance) and Fj(acceleration resistance) is formed.
When the vehicle is running, always by rolling resistance FfWith air drag Fw；When vehicle along ramp upwards when driving, also need to overcome vehicle
The component Gsin α, i.e. gradient resistance F of gravityi；When the vehicle accelerates, it is also necessary to a part of power is used to that inertia to be overcome to accelerate,
It is equivalent to acceleration resistance Fj。
1, the Driving force analyzing of automobile
The driving force of pure electric automobile is only provided by driving motor.The output torque T of driving motoreThrough mechanical transmissioning machine
Structure reaches wheel, gives one, ground force of periphery F0, then ground will give wheel reaction force Ft.Obvious Ft=F0, as vehicle
Driving force.
If the torque that motor is transmitted to power wheel through mechanical transmission mechanism is Tt, radius of wheel r then has：
Relative to internal combustion engine, motor has more preferably torque characteristic curve and broader speed adjustable range, therefore at present
Most of pure electric automobiles are not equipped with gearbox, only install the retarder of fixed reduction ratio.If total reduction ratio is ig, efficiency
For ηT, then motor output torque TeWith the driving moment T of driving wheeltMeet following relationship：
TeigηT=Tt
To have：
2, the running resistance analysis of automobile
The resistance that automobile is subject in the process of moving is considerably complicated, it is assumed herein that automobile is straight on flat dry, hard pavement
Line travels, and the resistance being subject to has rolling resistance, air drag, gradient resistance and acceleration resistance.
(1) rolling resistance
When automobile tire straight-line rolling on dry, hard road surface, tire will will produce deformation, and be indulged between road surface
It is slided to the part opposite with laterally generating.They are respectively equivalent to tire the elastic hysteresis resistance opposite with rotating direction
And frictional resistance, they are usually equivalent to a power, with rolling resistance FfTo indicate.Influence rolling resistance because being known as very
It is more, mainly there are loading of tire, the structure and material of tire and pavement behavior, rolling resistance and vapour are had been generally acknowledged that in actual analysis
Vehicle pressure is directly proportional, i.e.,：Ff=frGcosα。
(2) air drag
Component of the air effect power being subject to when automobile straight-line travelling in travel direction is air drag FW.Air hinders
The calculation formula of power is：
(3) gradient resistance
When automobile along ramp upwards when driving, component of the automobile gravity along ramp direction is gradient resistance Fi, then：
Fi=Gsin α.
(4) acceleration resistance
When the automobile accelerates, need to overcome the inertia force of self inertia, as acceleration resistance Fj.In view of vehicle not only has
The rotatable parts such as translational motion, also wheel, therefore the quality of vehicle is divided into translatory mass and rotating mass.For ease of analysis
It calculates, usually converts rotating mass to translatory mass, then acceleration resistance is：
3, the driving conditions of automobile
When running car, driving force always with resistance balance, i.e. Ft=Ff+Fw+Fi+Fj.It can be on road surface to automobile
Straight line at the uniform velocity travels, then driving force must satisfy following driving conditions：
Ft≥Ff+Fw+Fi
However, above formula is the necessary condition of running car.Road surface can be supplied to the limiting value of the reaction force of wheel to claim
For adhesive force, it is denoted asAs driving force FtMore than adhesive forceWhen, it will skid between wheel and ground, continue to increase at this time
Adding driving force only can allow wheel to accelerate idle running.On hard road surface, adhesive forceThe normal force F of driving wheel is faced with groundzAt
Direct ratio, i.e.,：
In formulaIt is related with tire and road surface shape for attachment coefficient.When tire is conventional tyre, road surface is the drip of drying
When green or concrete road surface, takeTherefore running car should also meet the following conditions：
4, driving is controlled with the maximal efficiency torque ratio of PMSM
The present invention initially sets up the mathematical model of permanent magnet synchronous motor, determines the motor characteristic under constraints；With space
Vector Modulation establishes the strategy and algorithm of the control of maximal efficiency torque ratio as control means, and realization is meeting motor torque need
Efficiency optimization networked control systems under the premise of speed governing demand of summing.The present invention is based on the progress of the characteristic curve of permanent magnet synchronous motor
The selection of maximal efficiency operating point, and numerical solution is carried out with iterative method to nonlinear characteristic curve, ensureing calculation amount
It seeks accurately solving while smaller, to realize that one kind while meeting torque-demand, having high efficiency and torque
The permanent magnet synchronous motor maximal efficiency torque ratio control strategy of fast dynamic response.
5, the control of dynamic load simulation system
The control structure of the dynamic load simulation system of the present invention is as shown in Figure 2.Wherein, the control of driving motor is using most
Big efficiency torque ratio control strategy, direct current generator use rotational speed and torque double-closed-loop control, therefore permanent magnet synchronous motor electromagnetic torque
Negative value be only the load torque to direct current generator.Therefore it can obtain following compensation formula：
In formula：For the target torque of direct current generator；TFBIt is exported for the feedback of PI controllers；TFFFor to testing stand inertia
With the compensation torque of frictional force.In simulations, testing stand inertia J0As total inertia of motor, moment of friction are the total of motor
Moment of friction.
The control flow device of the present invention includes mainly DC power supply, three-phase bridge inverter, speed control, permanent-magnet synchronous
Motor and direct current generator etc..Wherein permanent magnet synchronous motor uses space vector modulation, and rotating speed, current double-ring control are carried out to motor
System.Wherein, motor is made while meeting torque requests using maximal efficiency torque ratio control strategy in current regulator
Obtain maximum working efficiency；And by iterating to calculate out accurate numerical solution, obtain outstanding dynamic response performance and
Output torque stability.Direct current generator uses rotational speed and torque double-closed-loop control, and estimates the load of direct current generator and turn to target
Square compensates the dynamic response that can effectively improve system.
The performance development that pure power vehicle power assembly can be carried out using the system is tested；It can be developed with substitute products
Most of roadway experiment in journey；It, can be by the total of dynamical system meanwhile for the early development of pure power automobile power system
It flexibly arranges in pairs or groups at component, the coupling for forming different motors and engine forms progress developmental research；With previous research and development test
Means are compared, which is greatly improved hybrid power automobile power assembly and its research and development test of key technology is horizontal,
And it is substantially shorter the R＆D cycle of power assembly and related components.
The above specific embodiments are only exemplary, is to preferably make skilled artisans appreciate that originally
Patent, be not to be construed as include to this patent range limitation；As long as appointing according to made by spirit disclosed in this patent
How with change or modification, the range that this patent includes is each fallen within.
Claims (10)
1. a kind of electric power load for testing simulator, which is characterized in that it includes the driving motor being connected with each other and control
Module, electric vehicle rate control module, load motor and control module；The driving motor and control module include driving electricity
Machine, controller and drive control device, the electric vehicle rate control module are vehicle load mathematical model, the load motor
And control module includes load motor, controller and drive control device；The driving motor is permanent magnet synchronous motor, the driving
Motor carries out velocity close-loop control according to the type of drive of practical driving motor for electric automobile；The load motor is direct current
Machine, the load motor carry out rotational speed and torque double-closed-loop control with the target simulation speed that vehicle load mathematical model calculates.
2. a kind of electric power load for testing simulator according to claim 1, which is characterized in that the vehicle load
Mathematical model is by the driving force of analysis running car, running resistance and to carry out inertia conversion to automobile, determine running car
Constraints and establish.
3. a kind of control method of electric power load for testing simulation system, which is characterized in that it includes the following steps：
S1, the driving force for determining electric vehicle, running resistance, determine driving conditions；
S2, the load mathematical model for establishing automobile；
S3, speed when vehicle load mathematical model calculates electric vehicle actual travel by the output torque of driving motor, really
Determine the target simulation speed of system；
S4, using the target simulation speed of system as the rotating speed of target of load motor, simulation control is carried out to load motor.
4. a kind of control method of electric power load for testing simulation system according to claim 3, which is characterized in that institute
It is permanent magnet synchronous motor to state driving motor, and the driving motor is according to the type of drive of practical driving motor for electric automobile into scanning frequency
Spend closed-loop control.
5. a kind of control method of electric power load for testing simulation system according to claim 3, which is characterized in that institute
It is direct current generator to state load motor, and the load motor carries out rotating speed with the target simulation speed that vehicle load mathematical model calculates
Torque double-closed-loop control.
6. a kind of control method of electric power load for testing simulation system according to claim 3, which is characterized in that institute
The determination method for stating the driving force of electric vehicle is：
The driving force of pure electric automobile is only provided by driving motor, the output torque T of driving motoreIt is passed through mechanical transmission mechanism
To wheel, one, ground force of periphery F is given0, then ground will give wheel reaction force Ft, it is clear that Ft=F0, the as driving of vehicle
Power；If the torque that motor is transmitted to power wheel through mechanical transmission mechanism is Tt, radius of wheel r then has：
If total reduction ratio is ig, efficiency ηT, then the output torque T of motoreWith the driving moment T of driving wheeltMeet following relationship：
TeigηT=Tt, it is to the driving force of electric vehicle：
7. a kind of control method of electric power load for testing simulation system according to claim 3, which is characterized in that institute
The determination method for stating running resistance is：It is assumed that automobile straight-line travelling, the running resistance being subject on flat dry, hard pavement have rolling
Dynamic resistance, air drag, gradient resistance and acceleration resistance；Wherein, the determination method of each resistance is：
Rolling resistance：When automobile tire straight-line rolling on dry, hard road surface, tire will will produce deformation, and and road surface
Between longitudinally and laterally generate opposite part sliding, they are respectively equivalent to tire the elastic hysteresis opposite with rotating direction
They are equivalent to a power, with rolling resistance F by resistance and frictional resistancefTo indicate；Influence rolling resistance because being known as tire
Load, the structure and material of tire and pavement behavior think that rolling resistance is directly proportional to automobile pressure in actual analysis, i.e.,：Ff
=frGcosα；
Air drag：Component of the air effect power being subject to when automobile straight-line travelling in travel direction is air drag FW, empty
The calculation formula of atmidometer is：
Gradient resistance：When automobile along ramp upwards when driving, component of the automobile gravity along ramp direction is gradient resistance Fi, then：
Fi=Gsin α；
Acceleration resistance：When the automobile accelerates, need to overcome the inertia force of self inertia, as acceleration resistance Fj；Not in view of vehicle
The rotatable parts such as only translational motion, also wheel, therefore the quality of vehicle is divided into translatory mass and rotating mass；For ease of dividing
Analysis calculates, and by rotating mass conversion to translatory mass, then acceleration resistance is：
8. a kind of control method of electric power load for testing simulation system according to claim 7, which is characterized in that vapour
Vehicle travels condition determination method：When running car, driving force always with resistance balance, i.e. Ft=Ff+Fw+Fi+Fj；To
Automobile straight line can at the uniform velocity travel on road surface, then driving force must satisfy following driving conditions：
Ft≥Ff+Fw+Fi
Above formula is the necessary condition of running car；Road surface can be supplied to the limiting value of the reaction force of wheel be known as adhering to
Power is denoted asAs driving force FtMore than adhesive forceWhen, it will skid between wheel and ground, continue growing driving force at this time
Wheel can be only allowed to accelerate idle running；On hard road surface, adhesive forceThe normal force F of driving wheel is faced with groundzIt is directly proportional, i.e.,：
φ is attachment coefficient in formula, and φ and tire and road surface shape are related；When tire is conventional tyre, road surface is the pitch of drying
Or when concrete road surface, φ=0.7~0.8 is taken, therefore running car should also meet the following conditions：
9. a kind of control method of electric power load for testing simulation system according to claim 4, which is characterized in that institute
It states permanent magnet synchronous motor and uses space vector modulation, rotating speed, double current loop modulation are carried out to motor；In current regulator, adopt
With maximal efficiency torque ratio control strategy, and by iterating to calculate out accurate numerical solution.
10. a kind of control method of electric power load for testing simulation system according to claim 3, which is characterized in that
The rotating speed of target of the load motorFor：
Wherein, TFBIt is exported for the feedback of PI controllers, TFFFor the compensation torque to testing stand inertia and frictional force, TeFor driving electricity
The output torque of machine, in simulations, testing stand inertia are total inertia of motor, and moment of friction is the total frictional force of motor
Square.
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