CN108621861A - A kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination takes turns control method entirely - Google Patents
A kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination takes turns control method entirely Download PDFInfo
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- CN108621861A CN108621861A CN201810340472.XA CN201810340472A CN108621861A CN 108621861 A CN108621861 A CN 108621861A CN 201810340472 A CN201810340472 A CN 201810340472A CN 108621861 A CN108621861 A CN 108621861A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
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- 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
- Y02T10/64—Electric machine technologies in electromobility
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- 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)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of electric vehicles of the intelligent and high-efficiency of dual-motor combination safety to take turns control method entirely, includes the following steps：（1）The rear axle of electric vehicle is connected to the first motor by the first speed changer/differential assembly, and the front axle of electric vehicle is connected to the second motor by the second speed changer/differential assembly；（2）Calculate the best torque of vehicle；（3）First motor, the respective output torque of the second motor are calculated according to the best torque of vehicle.Through the above way, a kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination of the present invention takes turns control method entirely, intelligent 4 wheel driven control is realized by bi-motor, power, energy consumption and energy regenerating are performed into optimum value, have many advantages, such as that unfailing performance height, registration, reasonable for structure, efficient, performance is good, energy conservation and environmental protection, while there are extensive market prospects in the application of vehicle control and on popularizing.
Description
Technical field
The present invention relates to vehicle control system fields, more particularly to a kind of electricity of the intelligent and high-efficiency safety of dual-motor combination
Electrical automobile takes turns control method entirely.
Background technology
In the past decade, it designs and builds energy saving, low emission vehicle trend to sharply increase, this trend is by ring
What the concern in border and the increase of fuel cost drove, be the development of hybrid vehicle in the forefront of this trend, this is
A kind of hybrid vehicle of the internal combustion engine and electro-motor of combination relative efficiency.
Currently, most of ordinary hybrid vehicles are using driven in parallel system, although different automakers it
Between the realization of parallel drive system might have prodigious difference；Torque rotational speed governor by motor and frequency-variable controller it
Between power carry out calculating allotment, i.e. frequency-variable controller power dividing design in different travel phases according to vehicle to need maximum
For the purpose of changing efficiency, power is not needed in vehicle traveling, motor is also referred to as generator, by being produced after frequency-variable controller
Raw electric energy recycles its ability in storage accumulator, for providing electric power again with drive motor.
Invention content
The invention mainly solves the technical problem of providing a kind of electric vehicles of the intelligent and high-efficiency of dual-motor combination safety
Full wheel control method.
In order to solve the above technical problems, one aspect of the present invention is：
A kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination is provided and takes turns control method entirely, is included the following steps：
（1）The rear axle of electric vehicle is connected to the first motor by the first speed changer/differential assembly, and the first motor passes through
One frequency conversion controller of motor is connect with torque controller, and the front axle of electric vehicle is connected to by the second speed changer/differential assembly
Second motor, the second motor are connect by the second frequency conversion controller of motor with torque controller, the front axle of electric vehicle and
Rear axle is connect with torque controller respectively, the first emergency brake caution system respectively with first motor frequency-variable controller, torque control
Device connection processed, the second emergency brake caution system are connect with the second frequency conversion controller of motor, torque controller respectively, multiple automobiles
Control sensor is connect with torque controller；
（2）Calculate the best torque of vehicle：
It is maximum that total torque, speed, the torque capacity of first motor and the second motor are read according to the data of torque controller
Torque；
First motor magnetic linkage value and the second electricity are calculated separately according to the temporary torque of the temporary torque of first motor, the second motor
Machine magnetic linkage value；
If the temporary torque of first motor is less than the torque capacity of first motor, the torque output of first motor is the first electricity
The temporary torque of machine, if the temporary torque of first motor is more than the torque capacity of first motor, the torque output of first motor
For the torque capacity of first motor, the magnetic flux of first motor is the magnetic linkage value corresponding to first motor torque output；If second
The temporary torque of motor is less than the torque capacity of the second motor, and the torque output of the second motor is the temporary torque of the second motor,
If the temporary torque of the second motor is more than the torque capacity of the second motor, the torque output of the second motor be the second motor most
The magnetic flux of big torque, the second motor is the corresponding magnetic linkage value of the second motor torque output；
（3）First motor, the respective output torque of the second motor are calculated according to the best torque of vehicle：
In vehicle speed measurement loop, vehicle speed minimum value and maximum value are measured；In total torque measures loop, vehicle is measured
Total torque minimum value and maximum value；
In first motor torque measurement loop, the minimum value and maximum value of first motor torque are measured；For given first
Motor torque obtains the minimum value and maximum value of first motor magnetic flux；For given first motor torque and magnetic flux, the is obtained
One power input to a machine；According to the optimum flow of first motor, the minimum power input of first motor is calculated；
According to total torque and first motor torque, the minimum value and maximum value of the second Motor torque are calculated；And then acquire second
The minimum value and maximum value of motor magnetic flux；For given the second Motor torque and magnetic flux, the second power input to a machine is obtained；
According to the optimum flow of the second motor, the minimum power input of the second motor is calculated；
The total minimum input work of vehicle is calculated according to the minimum power input of first motor, the minimum power input of the second motor
Rate；
The total minimum power input of corresponding vehicle obtains electric current, speed, first motor torque, the second Motor torque, optimal
The optimum flow of the optimum flow of first motor and the second optimal motor.
In a preferred embodiment of the present invention, the torque controller includes vehicle torque command module, first motor
Torque management module, the second Motor torque control module, best torque distribution module, traction control command module, vehicle body are stablized
Control module.
In a preferred embodiment of the present invention, the automobile control sensor includes gear selection sensor, throttle biography
Sensor, rotation direction sensor, brake sensor, driving mode sensor.
The beneficial effects of the invention are as follows：A kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination is provided and takes turns control entirely
Method realizes intelligent 4 wheel driven control, when running car different phase, wherein a motor efficiency is relatively by bi-motor
When low, another motor plays its intrinsic propesties, the difference of wherein one motor performance is compensated, by power, energy consumption and energy
Recycling performs to optimum value, has unfailing performance height, registration, reasonable for structure, efficient, good, energy conservation and environmental protection of performance etc.
Advantage, while having extensive market prospects in the application of vehicle control and on popularizing.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is that a kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination of the present invention takes turns the preferably implementation of control method one entirely
Torque versus's curve graph of SRM (VFD) switched reluctance motors and three phase induction motor of example；
Fig. 2 is that a kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination of the present invention takes turns the preferably implementation of control method one entirely
Power contrast's curve graph of SRM (VFD) switched reluctance motors and three phase induction motor of example；
Fig. 3 is that a kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination of the present invention takes turns the preferably implementation of control method one entirely
The primary element and each motor/power control module of the control system of example are coupled to the schematic diagram of individual ESS；
Fig. 4 is that a kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination of the present invention takes turns the preferably implementation of control method one entirely
The segmentation of example generates the schematic diagram for the algorithm that best torque uses；
Fig. 5 is that a kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination of the present invention takes turns the preferably implementation of control method one entirely
The motor instantaneous torque and magnetic linkage value calculating method schematic diagram of example；
Fig. 6 is that a kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination of the present invention takes turns the preferably implementation of control method one entirely
The algorithm schematic diagram of the bi-motor output torque distribution of example.
Specific implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
- 6 are please referred to Fig.1, the embodiment of the present invention includes：
A kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination takes turns control method entirely, includes the following steps：
（1）The rear axle of electric vehicle is connected to the first motor by the first speed changer/differential assembly, and the first motor passes through
One frequency conversion controller of motor is connect with torque controller, and the front axle of electric vehicle is connected to by the second speed changer/differential assembly
Second motor, the second motor are connect by the second frequency conversion controller of motor with torque controller, the front axle of electric vehicle and
Rear axle is connect with torque controller respectively, the first emergency brake caution system respectively with first motor frequency-variable controller, torque control
Device connection processed, the second emergency brake caution system are connect with the second frequency conversion controller of motor, torque controller respectively, multiple automobiles
Control sensor is connect with torque controller；
（2）Calculate the best torque of vehicle：
It is maximum that total torque, speed, the torque capacity of first motor and the second motor are read according to the data of torque controller
Torque；
First motor magnetic linkage value and the second electricity are calculated separately according to the temporary torque of the temporary torque of first motor, the second motor
Machine magnetic linkage value；
If the temporary torque of first motor is less than the torque capacity of first motor, the torque output of first motor is the first electricity
The temporary torque of machine, if the temporary torque of first motor is more than the torque capacity of first motor, the torque output of first motor
For the torque capacity of first motor, the magnetic flux of first motor is the magnetic linkage value corresponding to first motor torque output；If second
The temporary torque of motor is less than the torque capacity of the second motor, and the torque output of the second motor is the temporary torque of the second motor,
If the temporary torque of the second motor is more than the torque capacity of the second motor, the torque output of the second motor be the second motor most
The magnetic flux of big torque, the second motor is the corresponding magnetic linkage value of the second motor torque output；
（3）First motor, the respective output torque of the second motor are calculated according to the best torque of vehicle：
In vehicle speed measurement loop, vehicle speed minimum value and maximum value are measured；In total torque measures loop, vehicle is measured
Total torque minimum value and maximum value；
In first motor torque measurement loop, the minimum value and maximum value of first motor torque are measured；For given first
Motor torque obtains the minimum value and maximum value of first motor magnetic flux；For given first motor torque and magnetic flux, the is obtained
One power input to a machine；According to the optimum flow of first motor, the minimum power input of first motor is calculated；
According to total torque and first motor torque, the minimum value and maximum value of the second Motor torque are calculated；And then acquire second
The minimum value and maximum value of motor magnetic flux；For given the second Motor torque and magnetic flux, the second power input to a machine is obtained；
According to the optimum flow of the second motor, the minimum power input of the second motor is calculated；
The total minimum power input of vehicle is calculated according to the minimum power input of first motor, the minimum power input of the second motor；
The total minimum power input of corresponding vehicle obtains electric current, speed, first motor torque, the second Motor torque, optimal
The optimum flow of the optimum flow of first motor and the second optimal motor.
Preferably, the torque controller includes vehicle torque command module, first motor torque management module, the second electricity
Machine torque management module, best torque distribution module, traction control command module, vehicle body stability contorting module.
Preferably, the automobile control sensor includes gear selection sensor, throttle sensor, rotation direction sensor, brake
Vehicle sensor, driving mode sensor.
Fig. 1-2 illustrates that torque and the power curve of example motor, curve a, b and ab show respectively SRM switches respectively
The torque curve of output of reluctance motor, the torque of three-phase induction motor and two groups of combinations, the SRM that curve c, d and cd are indicated respectively
The torque curve of output power output curve of switched reluctance machines, the torque of three-phase induction motor and two groups of combinations.
Fig. 3 shows the primary element for the dual-motor drive system that the control system with the present invention is used together, such as Fig. 3 institutes
Showing, each axis is coupled to independent power source, and rear axle 101 is connected to motor 103 by the first speed changer/differential assembly 105,
Front axle 107 is connected to motor 109 by the second speed changer/differential assembly 111, the present invention is not limited to the specific type of transmission/
Configuration or specific type/configuration of differential, although preferred single-rate transmission, either one or two transmission can use multi-speed
Rate is transmitted, and the differential mechanism used with the present invention is configurable to out, locks or limits cunning, but open or limited-slip differential is preferred.
In a preferred embodiment of the invention, one in two motors is SRM switching magnetic-resistance drive motors motor 103,
And the second motor 109 is then three-phase induction motor, but the present invention is not limited to the order of the first motor and the second motor, also not
Which kind of motor be confined to forerunner and rear-guard is defined in, and the purpose of the present invention is the requirement driven according to pure electric vehicle and roads
Condition plays the characteristics of two kinds of motors export to the maximum extent, it is ensured that the performance and driving pleasure for enhancing electric vehicle, in addition, horse
It is designed to the torque curve with relatively flat in wide velocity interval up to 109, therefore can increases at high speeds
The output of motor 103, especially in the range of the torque drop of primary motor 103.
Basic configuration shown in Fig. 1 provides many advantages better than single driver EV, and first, bi-motor configuration carries
Superior polling power controlling has been supplied, because power is coupled to two axis, therefore provides at least one wheel of power per axis, if one
Or two differential mechanisms utilize limited sliding or locking mechanism, to couple power to remaining wheel or wheel, then just
Additional polling power controlling may be implemented；Second, by by each axis connection to an independent power source, vehicle traction
It therefore can be greatly improved with stability, because the torque of front-wheel can be changed according to the concrete condition of front-wheel, for example,
In turning, the torque for gradually increasing front-wheel relative to trailing wheel is advantageous, equally, under the pavement conditions of icing, before increase
The torque of wheel is also desirable；Third is configured using bi-motor, and regenerative braking can be used for two sets of wheels, to provide enhancing
Braking and improve battery charging ability；4th, it is assumed that there are one opposing straight torque curve the first motor, in addition to
Additional power is provided under all speed, the intervention of the second motor, which provides, substantially increases performance, because in high speed, the first electricity
Machine may start to lose torque.
Have many advantages that the present invention is by providing torque and traction than single driver configuration using two-drive configuration
Force control system extends these advantages, and the torque and traction control system being capable of fast and effective two drive systems of Ground Split
Between torque, wheel-slip minimizes, and vehicle traction and stability substantially improves, in every operating condition.These change
It is all apparent into being controlled in turning and straight line traction and wheel-slip.
The gear ratio of speed changer/differential mechanism element 105 and 111 can be same or different, if they are the same
, the motor speed of 1 and 2 two motors of display, if they are different, the motor speed of 1 and 2 one motor of display, second
The rotating speed of motor can convert according to gear ratio conversion coefficient, 1 and 2 explanations, at least one configures, the maximum of assist torque
Value can in entire electromotor velocity substantially constant, therefore car speed, maximum auxiliary power with the increase of motor speed and
Increase, this preferred configuration, which is suitable for the driving of operation and regeneration mode, an advantage of this method, is, it can be used for mending
The torque drop under high rotating speed is repaid, the phenomenon that this is the limited generation of typical motor operating voltage, preferred reality according to the present invention
Example is applied, another benefit for significantly improving the high speed capability of vehicle is to improve vehicle performance, especially in maximum speed, high speed
In terms of accelerating with climbing capacity, finally, by using the method for double drive, in certain configurations, lower total electricity may be implemented
Machine weight, and may be single motor size to provide the ability of similar peak power.
In Fig. 1-2, the characteristics of curve 101 illustrates many such motor, i.e., relatively flat is shown in low speed
Peak torque, then decline at higher velocities, " base speed " of motor is defined as torque drop and turns to flat peak
The 95% of square, and under prime power limitation, base speed continues to decline after reaching maximum speed, for curve 201, this
Inflection point is happened at a point 207 on curve, and inflection point speed is about 7200 turns, " transmission system base speed " phase of motor
When base speed after motor is in gear drive, the i.e. basic rotating speed of motor divided by transmission gear, preferred second motor
Three-phase induction motor 109 is designed to provide the driving more much higher than the drive system base speed of switched reluctance motor 103
System base speed, the second motor 109 is designed to can be than 103 high at least 50% base speed of the first motor.
Fig. 4 is the basic structure of the preferred embodiment of the present invention, and the first motor 103 is via main power control module 203 and ESS
301 connections, the second motor 109 are connected to ESS 201 by power control module 205.
The energy supply control module 203 and 205 of first motor and the second motor includes needed for two motor drive characteristics
Frequency converter needed for control, the input that energy supply control module 203,205 is used to provide needed for major-minor motor 103,109 are for example electric
Pressure, electric current, waveform etc., energy supply control module 203,205 is by passive device（Such as transient state filtered electrical perhaps inductance）, active device
（For example, semiconductor IGBT and/or electromechanical transformation apparatus, circuit protection device etc.）, detection device（Such as voltage, electric current, power
And/or flow sensor etc.）, logic control device, communication equipment etc..
System 200 includes torque and polling power controlling device 207, power, voltage, electric current for determining power control module
And waveform, so that each power control module is controlled respective motor, to make each motor applications in controlling its coupling
The torque of wheel or wheel and power, it is each to give torque/power distribution in order to calculate the appropriate power of each motor
Wheel, torque controller 207 is coupled to the various sensors in entire vehicle, and receives the data from these sensors, and one
As for, these sensors can be divided into four groups：For monitoring vehicle performance, for monitoring drive system, for monitoring ESS and work(
The state of rate control electronics and the group of performance, and for monitoring sensor input by user.
Wheel speed sensor 209-212, the sensor in the group monitor continuing for vehicle by monitoring wheel rotation
Wheel rotation sensor is coupled to each wheel by performance to reduce tyre slip.
Drive system sensor includes that be connected to the first motor is temperature sensor 213 and motor speed sensor 215,
Performance for monitoring the first motor and the second motor.
ESS and power control electronic sensor include that ESS 301 is temperature sensor 221, voltage sensor 223 and electric current
Sensor 225, for example, with main power control module 203 couple be temperature sensor 227, be coupled to auxiliary power control module
205 be temperature sensor 229, the state for monitoring ESS and power control module.
User's input pickup includes braking sensor 231, accelerator sensor 233 and rotation direction sensor 235, for supervising
It is inputted depending on user, these sensors may be coupled to corresponding pedal and/or steering wheel, are connected to corresponding connecting rod, or and vehicle
The coupling of drive system, to obtain braking, acceleration and turn to data, which can also include that gear selects sensor 237,
If vehicle includes multiple tooth wheel speed, rather than single speed speed changer, the system can also include that driving mode selects sensor
239, vehicle allows user to be selected from multiple operation modes, for example, high efficiency mode, high performance mode etc..
Although torque and traction controller 207 are used to determine the best torsion between main drive system and assistant drive system
Square, for example, by temperature and/or monitoring humidity/rainfall around monitoring, system is adapted to atrocious weather, i.e., wet and slippery
Condition or potential ice-formation condition, equally, by the monitoring to inclination of vehicle, the system adapt to abrupt slope climbing or decline
Situation.
As previously mentioned, the present invention is not limited to the Vehicular systems that two driving row are coupled to single ESS, specifically, first
Motor 103 and power control module 203 are couple to ESS 301, and the second motor 109 and power control module 205 are couple to ESS
303, in the present embodiment, first motor ESS 301 includes temperature, voltage, current sensor difference 305-307, assists motor
ESS 303 may be coupled to ESS 303 including temperature, voltage and current sensor 309-311, ESS 301.
Fig. 4 provides the more detailed schematic diagram of torque and polling power controlling device 207, as shown, from braking sensor
231, accelerator sensor 233, gear shift sensor 237（If vehicle has multiple gears）With model selection sensor
239（If vehicle includes various modes）Data be input in vehicle torque order generation unit 401, calculate car speed,
That is " c_vspeed ", is input to the torque command generation unit 401 of vehicle, and c_vspeed is counted by traction order generation unit 409
It calculates, output unit 401 is a total torque, i.e. " c_torque ", and c_torque is the combination required torque of transmission system.
The peak torque of first, second motor is " c_maxtorque1 " and " c_maxtorque2 ", is limited by the first torque
403 and second torque limiting apparatus 405 of unit processed calculates.
The input of first motor torque-limiting unit 403 is from the first motor temperature sensor 213, the first motor
The input of the data of velocity sensor 215 and power control module temperature sensor 227, the second torque limiter unit 405 is
Data, the second motor speed sensor 219 and the second power control module temperature from the second motor temperature sensor 217 pass
The data of sensor 229, it is assumed that single ESS configurations, as shown in figure 4, the ESS data to the input of two units 403 and 405 are come respectively
From the ESS temperature datas and sensor 223 of sensor 221 and 225 ESS voltages and current data, if transmission system makes
With individual ESS system, data input cell 403 is then accessed, from sensor and data input cell 405.
By combining car speed to calculate, the total torque needed for combination power train calculated by module 401, by module 403
The maximum torque available of the first and second motor calculated separately with 405, is input into best torque allocation unit 407,407
Unit calculates the torque distribution optimized between two driving trains, in the case of not considering wheel-slip, to be optimal the
The combined torque that one motor torque requires and the requirement of the second best motor torque distribution is required, i.e. c_torque are realized
Maximum operational efficiency distributes torsion within the scope of the peak torque of each motor.
As shown in figure 5, the system of the present invention is determined most preferably using the function algorithm of a simple and effective continuous operation
Torque distributes, and reads c_torque, c_vspeed, c_maxtorque1 and c_maxtorque2（Step 501）；Secondly, it determines
The interim torque value of first motor 103（c_temptorque1）With 109 interim torque value of the second motor（c_temptorque2）,
And 103 motor magnetic linkage value of first motor（c_flux1）With 109 magnetic linkage value of the second motor（c_flux2）, this step is by inserting
It is carried out in Value Data look-up table, optimum torque is calculated according to car speed and required torque demand（That is T1 and T2）With best stream
Magnitude（That is, f1opt and f2opt）.
Second motor torque values are calculated with by the first torque-limiting unit and the second motor torque limiting unit in step 503
Maximum available torque value（Step 505）It is compared, such as motor, instantaneous torque value is less than its maximum torque, then
Interim torque value output is c_torque1e（First motor）And c_torque2e（Second motor）；If motor instantaneous torque
Value is more than maximum torque, then the output of maximum torque value is c_torque1e and c_torque2e.（Step 507-509）,
Composition motor flux demand value is c_flux1, c_flux2.
The optimization algorithm for generating the three dimensional lookup table used by best torque allocation unit 407 is shown in Fig. 6,
In step 601, in vehicle speed measurement loop, vehicle speed minimum value Wmin and maximum value Wmax are measured；In step 603,
Second loop measurement goes out the torque T of total vehicle, minimum value Tmin to maximum of T max；In step 605, third loop measurement
Go out, by t1 minutes, the minimum value and maximum value of the torque of the first motor T1.
In step 607-609, the optimum flow value f1opt of first motor is confirmed, for a specified value T1, the first electricity
The minimum value f1min and maximum value f1max of machine magnetic flux F1 calculates primary motor input for each of T1 and f1 value
The value of power P 1 obtains minimum power input p1min.
The second motor optimum flow value f2opt is determined for a specified value T1 in step 611-614, for given
Value t1 determines that the analog value T2 of the torque of the second motor, wherein T2 subtract t1 equal to T, then confirms the magnetic of the second motor
The minimum value f2min and maximum value f2ma of logical F2, calculates the value of the second power input to machine P2, corresponds to each T2 and F2 value,
Obtain minimum power input p2min.
The total power input to machine Pmin of minimum in step 615 adds p2min equal to p1min, and minimum Pmin is according to specific
Step 817 T1 value iterative cycles calculate minimum Pmin and current T and W, T1, T2 value, f1opt and f2opt outputs（Step
819）.
Traction control order generation unit 409, each the speed probe data input cell from 209-212 wheels
409, the data of the first motor speed sensor 215, the second motor speed sensor 219 and rotation direction sensor 235 are input to
Traction control order generation unit, using this data, Unit 409 calculate the speed c_vspeed of vehicle, and unit 209 also uses
Motor speed data provide error checking.
The major function of unit 409 is to calculate the skidding ratio of each wheel, and wheel slip is wheel velocity and vehicle speed
Difference between degree divided by one of wheel velocity and speed higher value calculate the wheel slip and speed of each wheel
Functional relation, calculate the skidding ratio of each axis, the wheel slip of axle must take into account wheel different on same axis may
Different degrees of sliding is undergone, to show different slip rates, for a limited-slip differential, in other most of situations
Under, the wheel slip preferably to the high value of two wheel slips of dead axle as the specific axis.
In order to determine that the skidding ratio to dead axle is more than desired value, it is necessary to by wheel slip and the mesh that includes in a lookup table
Mark skidding ratio is compared.Look-up table provides target skidding than the function as speed and steering angle.Look-up table can be based on
The target rate known, or obtained according to the test data for being preferably based on particular vehicle and vehicle configuration.Between each axis
It calculates wheel slip and target slip ratio calculates error and generates slippage, referred to as " c_sliperror1 be " wheel slip error
Main drive shaft 101 and the " c_sliperror2 " auxiliary drive shafts 107 of wheel slip error.Control shake in order to prevent, most
Dead zone, i.e. differential gap are used well, and comparator is introduced into the comparator in the calculating.Other than controlling flutter, hysteresis band is also
Allow a small amount of wheelslip, this can compensate the DYNAMIC DISTRIBUTION of vehicle weight and improve acceleration and decelerability.
Calculate slippage errors c_sliperror1 and c_sliperror2, also the value c_torque1e and c_ of torque distribution
Torque2e and total torque c_torque, vehicle body stability contorting module 411, the first stage uses feedback control system, such as makes
With lead-lag controller, sliding mode control, PID controller or other linearly or nonlinearly controller types, independently
It minimizes wheel slip error and uses high-pass filter and compensator in the second stage of unit 411（It is preferred that pid is controlled
Device）It independently minimizes motor speed rapid perturbations and motor is suddenly greatly lowered for example, in excessive skidding event
The load torque on motor shaft is increased considerably in load torque on axis, or the wheel that is blocked suddenly from one or two, just
It may cause the rapid perturbations of motor speed.
It is an instantaneous torque boosting feedforward control circuit between the first and second phase, referred to as dynamic accelerates, it increases
The torque capacity of each axis is added, increased torque under first stage rear haulage power with driving required torque and total torque c_
Difference between torque is proportional, and the proportionality constant K1 and K2 between two axis can be adjusted to difference, and feedover torque, carries
The performance of high vehicle performance, vehicle respond driver requirement and driving, in no traction control system and Vehicle Stability System
Intervention, when torque demand is fully met, feedforward torque be zero, while effective slip ratio error be zero-sum torque capacity limit value not
It works, in the case where wheel-slip event causes axle torque to reduce, the effect of feedback control is to increase torque command to arrive
Another axle, improves tire earth-grasping force, and feedback control also increases a torque command to the axletree to skid, but due to phase
To less feedback, wheel slip error backfeed loop is still occupied an leading position, and will reduce wheel slip error to the greatest extent.
After the second stage of traction control, torque limiter is independent to control second stage torque instruction, such as c_
Maxtorque1, c_maxtorque2, torque limiter output torque instruct c_torque1 and c_torque2, flux demand to turn
Square instructs c_flux1 and c_flux2,407 input control module 203 and 205 of best torque allocation unit, power control module
203 and 205 can use any one of various electric machines control technologies, such as scalar control, vector controlled and Direct Torque
Control, vector controlled allow the quick decoupling control of torque and magnetic flux, at least one preferred embodiment of the present invention, control
Module utilizes pulse width modulator（PWM）Control circuit.
In some cases, torque and flux electric machine control command may be limited further, especially because component
Additional limiter circuitry can be used in torque controller 207 or in power control module in overheat and/or ESS power limits
Apply this order limitation, in general, temperature of this limiter by 213/217 monitoring motor of sensor, electric power
Temperature of the electronics by sensor 227/229 and the temperature by sensor 421/423/425, voltage and current 201,
If using multiple ESS systems as previously mentioned, using the temperature of each ESS system, voltage and current as limitation
The input of device, at least one embodiment, using single ESS system, if ESS temperature is higher than threshold temperature, to motor
Order proportionally reduce, if the temperature of certain power control module or particular motor be higher than preset temperature threshold, send
Control command to the special motors is reduced, and control command, which is sent to, not to be influenced motor and have enough be increased to ensure that always
The torque c_torque asked.
Torque controller 207 uses multiple processing frequencies, specific frequency to depend on the function of the unit, for example, can be with
Using the method for double frequency, wherein using relatively low frequency to optimize two drive systems based on general operational requirement(GOR)
Performance, and second higher frequency is applied with the transient condition of quick response fast development, for example, wheel-slip, at this
In preferred method, low frequency cycle is applied to torque command generation unit 401, torque limiter 409/405, best torque point
Cut unit 407 and various temperature, voltage, electric current and velocity sensor, it is preferable that low frequency is selected at 100 hertz to 2 kilo hertzs
In range, more preferably in the range of 500 hertz to 1.5 kilo hertzs, and it is more preferably disposed in about 1 kilo hertz, high frequency cycle
Applied to traction and stability contorting unit 411, control module 203/205 and wheel slip sensor, and preferably low frequency
About 10 to 30 times of frequency, more preferably under about 20 kilo hertzs of frequency, due to traction control order generation unit
409 monitoring wheel-slips and the slippage errors for generating each axis, preferably run under high frequency rate, although at least one reality
It applies in example, it is worked with medium speed, for example, 5-10 kilo hertzs.
As previously mentioned, current control system can be used for electric vehicle, it utilizes the single ESS or one of two drivers
For a correspondence per driver ESS, the system and method are substantially identical as described in detail above, only must be to each ESS
Temperature, electric current and voltage are monitored and consider, specifically, the electric current and voltage sensor of ESS 301 will detect 305-
307 and it is input to the data of main torque limiting apparatus 403；The electric current and voltage sensor of 2nd ESS 303 will detect 303-311
Input the data of auxiliary torque limits device 405.
In the bi-motor intelligence four-wheel-driven control system of the invention, when running car different phase, wherein one electronic
When engine efficiency is relatively low, another motor plays its intrinsic propesties, compensates the difference of wherein one motor performance, will move
Power, energy consumption and energy regenerating perform to optimum value, such as certain single order in initial acceleration, static, deceleration or low cruise
Section, when wherein a motor efficiency is required higher than another motor, the calculating point in time of torque rotational speed governor 407 at this time
With data, using motor performance under operating mode at that time, the motor performance under a wherein suitable current working is performed into best shape
State.
A kind of advantageous effect that the electric vehicle of the intelligent and high-efficiency safety of dual-motor combination takes turns control method entirely of the present invention is：
A kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination is provided and takes turns control method entirely, passes through bi-motor and realizes intelligent 4 wheel driven
Control, when running car different phase, wherein when a motor efficiency is relatively low, another motor plays its essence
Characteristic compensates the difference of wherein one motor performance, power, energy consumption and energy regenerating is performed to optimum value, has reliable
Performance height, registration, the advantages that reasonable for structure, efficient, performance is good, energy conservation and environmental protection, at the same in the application of vehicle control and
There are extensive market prospects on universal.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (3)
1. a kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination takes turns control method entirely, which is characterized in that including following
Step：
（1）The rear axle of electric vehicle is connected to the first motor by the first speed changer/differential assembly, and the first motor passes through
One frequency conversion controller of motor is connect with torque controller, and the front axle of electric vehicle is connected to by the second speed changer/differential assembly
Second motor, the second motor are connect by the second frequency conversion controller of motor with torque controller, the front axle of electric vehicle and
Rear axle is connect with torque controller respectively, the first emergency brake caution system respectively with first motor frequency-variable controller, torque control
Device connection processed, the second emergency brake caution system are connect with the second frequency conversion controller of motor, torque controller respectively, multiple automobiles
Control sensor is connect with torque controller；
（2）Calculate the best torque of vehicle：
It is maximum that total torque, speed, the torque capacity of first motor and the second motor are read according to the data of torque controller
Torque；
First motor magnetic linkage value and the second electricity are calculated separately according to the temporary torque of the temporary torque of first motor, the second motor
Machine magnetic linkage value；
If the temporary torque of first motor is less than the torque capacity of first motor, the torque output of first motor is the first electricity
The temporary torque of machine, if the temporary torque of first motor is more than the torque capacity of first motor, the torque output of first motor
For the torque capacity of first motor, the magnetic flux of first motor is the magnetic linkage value corresponding to first motor torque output；If second
The temporary torque of motor is less than the torque capacity of the second motor, and the torque output of the second motor is the temporary torque of the second motor,
If the temporary torque of the second motor is more than the torque capacity of the second motor, the torque output of the second motor be the second motor most
The magnetic flux of big torque, the second motor is the corresponding magnetic linkage value of the second motor torque output；
（3）First motor, the respective output torque of the second motor are calculated according to the best torque of vehicle：
In vehicle speed measurement loop, vehicle speed minimum value and maximum value are measured；In total torque measures loop, vehicle is measured
Total torque minimum value and maximum value；
In first motor torque measurement loop, the minimum value and maximum value of first motor torque are measured；For the first given electricity
Machine torque obtains the minimum value and maximum value of first motor magnetic flux；For given first motor torque and magnetic flux, first is obtained
Power input to a machine；According to the optimum flow of first motor, the minimum power input of first motor is calculated；
According to total torque and first motor torque, the minimum value and maximum value of the second Motor torque are calculated；And then acquire the second electricity
The minimum value and maximum value of machine magnetic flux；For given the second Motor torque and magnetic flux, the second power input to a machine is obtained；Root
According to the optimum flow of the second motor, the minimum power input of the second motor is calculated；
The total minimum input work of vehicle is calculated according to the minimum power input of first motor, the minimum power input of the second motor
Rate；
The total minimum power input of corresponding vehicle obtains electric current, speed, first motor torque, the second Motor torque, optimal the
The optimum flow of the optimum flow of one motor and the second optimal motor.
2. a kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination according to claim 1 takes turns control method entirely,
It is characterized in that, the torque controller includes vehicle torque command module, first motor torque management module, the torsion of the second motor
Square control module, best torque distribution module, traction control command module, vehicle body stability contorting module.
3. a kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination according to claim 1 takes turns control method entirely,
It is characterized in that, the automobile control sensor includes gear selection sensor, throttle sensor, rotation direction sensor, brake biography
Sensor, driving mode sensor.
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Application publication date: 20181009 |