CN108696222A - A kind of distributed driving motor vehicle dual-motor torque balance control method and device - Google Patents
A kind of distributed driving motor vehicle dual-motor torque balance control method and device Download PDFInfo
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- CN108696222A CN108696222A CN201710233587.4A CN201710233587A CN108696222A CN 108696222 A CN108696222 A CN 108696222A CN 201710233587 A CN201710233587 A CN 201710233587A CN 108696222 A CN108696222 A CN 108696222A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
- H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The purpose of the present invention is to provide a kind of distributed driving motor vehicle dual-motor torque balance control methods and device, wherein control method to include:The current operating status of each motor is obtained, the current torque of each motor is calculated;According to the current torque of each motor, the prediction torque corresponding under each voltage vector of each motor of next controlling cycle is predicted;The speed reference for setting each motor calculates the torque reference value of each motor according to speed reference, the sum of the torque reference value of each motor is distributed equally, the torque reference value after being distributed;The torque reference after the corresponding distribution of prediction Assist force of each motor is controlled, the optimal voltage vector of the lower controlling cycle of each motor is selected;Each motor is controlled using corresponding optimal voltage vector respectively in next period.Since trial need not be repeated to the adjusting of motor in technical solution provided herein, so the unstable of system will not be caused.
Description
Technical field
The invention belongs to pure electric vehicle control technology fields, and in particular to a kind of distributed driving motor vehicle dual-motor torque
Balance control method and device.
Background technology
In recent years, with the worsening of traditional energy gradually used up with environment, new energy pure electric vehicle obtains
Quickly development, is gradually being replaced using new energy by the vehicle of power using traditional energy by the vehicle of power.In pure electric vehicle
In the dynamical system of vehicle, the distributed drive system (i.e. distributed Direct wheel drives system) based on wheel motor is instead of tradition
Universal shaft and the mechanical transmission mechanisms such as differential mechanism, this mode can not only promote transmission efficiency, reduce complete vehicle quality, increase
The course continuation mileage of vehicle, and chassis structure can be simplified, interior space is saved, the comfort of seating is improved.
Traditional centralized drive system is and distributed by " the not poor torque of differential speed " of differential mechanism time or so semiaxis
In Direct wheel drives system, driving wheel is independently driven by respective driving motor, can arbitrarily be distributed according to the driving state of the vehicle
The driving moment of wheel, to promote the stability of vehicle operating.
In distributed Direct wheel drives system, it is to ensure that vehicle is normal to keep the consistency of both sides wheel drive motors torque
The basis of traveling, and torque stable state output bias and dynamic response deviation can all reduce the stability of vehicle traveling.In linear rows
During sailing, the torque deviation of both sides wheel drive motors is bigger, and vehicle lateral displacement is bigger, if both sides vehicle traction motor
Torque error be more than in 5% or accelerator torque response time difference be more than 0.5 second, the lateral displacement of vehicle will be big
In the sideslip value of permission, so needing the torque deviation for taking certain measure to eliminate both sides vehicle traction motor, vehicle is kept
The torque balance of both sides wheel drive motors.
Before the method for the torque balance of current traditional holding vehicle both sides wheel drive motors is as shown in Figure 1, be utilization
Feedback link coordinates with PI links, eliminates the torque deviation of two motors.But this mode has certain delay in PI links
Time, response speed is slower, is likely larger than 0.5 second, and the feedforward parameter used in feedforward link is needed by repeatedly tasting
Examination, may cause the unstable of system in the process.
Invention content
The purpose of the present invention is to provide a kind of distributions to drive motor vehicle dual-motor torque balance control method and device,
For solving when vehicle both sides wheel drive motors are adjusted, the problem that system is unstable is caused.
To achieve the above object, technical solution provided by the invention is:
A kind of distributed driving motor vehicle dual-motor torque balance control method, includes the following steps:
(1) the current operating status of each motor is obtained, the current torque of each motor is calculated;
(2) according to the current torque of each motor, it is corresponding under each voltage vector to predict each motor of next controlling cycle
Prediction torque;
(3) speed reference for setting each motor, the torque reference value of each motor is calculated according to speed reference, to each
The sum of torque reference value of motor is distributed equally, the torque reference value after being distributed;
(4) torque reference after the corresponding distribution of prediction Assist force of each motor is controlled, a control week under each motor is selected
Phase optimal voltage vector;
(5) each motor is controlled using corresponding optimal voltage vector respectively in next period.
Further, two motors current stator voltage and stator current are obtained, magnetic linkage and torque is then utilized to observe
Device calculates the current stator magnetic linkage of each motor and rotor flux, and current stator magnetic linkage and rotor flux is recycled to calculate each electricity
The current torque of machine.
Further, each motor is predicted first under the effect of each voltage vector, the stator current of next controlling cycle
And stator magnetic linkage, go out each motor of next controlling cycle in each voltage further according to the stator current and stator magnetic linkage Budget Service predicted
Prediction torque under vector.
Further, using proportional, integral control algolithm, the ginseng of each motor is calculated according to the reference value of each motor speed
Examine torque.
Further, the prediction torque according to each motor predicted a lower period under each voltage vector and distribution after
Torque reference value, according to formula
The corresponding cost function value J of each voltage vector of each motor is calculated, when by each motor cost function value being minimum
Optimal voltage vector of the corresponding voltage vector as corresponding motor;
In formula, Q is the cost function coefficient of corresponding motor, ψ*It is expected the output of stator magnetic linkage amplitude for corresponding motor,
For motor next period stator magnetic linkage predicted magnitude,It is motor in the prediction torque in next period, T*It is distributed for motor
Torque reference afterwards.
A kind of distributed driving motor vehicle dual-motor torque balance control device, including following module:
The current operating status of each motor is obtained, the module of the current torque of each motor is calculated;
According to the current torque of each motor, it is corresponding pre- under each voltage vector to predict each motor of next controlling cycle
Survey the module of torque;
The speed reference for setting each motor calculates the torque reference value of each motor according to speed reference, to each electricity
The sum of torque reference value of machine is distributed equally, the module of the torque reference value after being distributed;
The torque reference after the corresponding distribution of prediction Assist force of each motor is controlled, selects the lower controlling cycle of each motor most
The module of excellent voltage vector;
The module that each motor is controlled using corresponding optimal voltage vector respectively in next period.
Further, two motors current stator voltage and stator current are obtained, magnetic linkage and torque is then utilized to observe
Device calculates the current stator magnetic linkage of each motor and rotor flux, and current stator magnetic linkage and rotor flux is recycled to calculate each electricity
The current torque of machine.
Further, each motor is predicted first under the effect of each voltage vector, the stator current of next controlling cycle
And stator magnetic linkage, go out each motor of next controlling cycle in each voltage further according to the stator current and stator magnetic linkage Budget Service predicted
Prediction torque under vector.
Further, using proportional, integral control algolithm, the ginseng of each motor is calculated according to the reference value of each motor speed
Examine torque.
Further, the prediction torque according to each motor predicted a lower period under each voltage vector and distribution after
Torque reference value, according to formula
The corresponding cost function value J of each voltage vector of each motor is calculated, when by each motor cost function value being minimum
Optimal voltage vector of the corresponding voltage vector as corresponding motor;
In formula, Q is the cost function coefficient of corresponding motor, ψ*It is expected the output of stator magnetic linkage amplitude for corresponding motor,
For motor next period stator magnetic linkage predicted magnitude,It is motor in the prediction torque in next period, T*It is distributed for motor
Torque reference afterwards.
The beneficial effects of the invention are as follows:Technical solution provided by the present invention predicts each electricity of next controlling cycle first
Then the prediction torque of machine and torque reference select the optimal voltage vector of each motor according to prediction torque and torque reference,
Each motor is controlled using optimal voltage vector again.Since technical solution provided herein need not be to the tune of motor
Trial is repeated in section, so will not cause the unstable of system, and calculating process will not occupy a large amount of time, when response
Between it is also shorter, to solve when vehicle both sides wheel drive motors are adjusted, cause the problem that system is unstable.
Description of the drawings
Fig. 1 is distributed Direct wheel drives system structure diagram in the prior art;
The distributed Direct wheel drives system structure diagram that Fig. 2 is provided by embodiment of the method.
Specific implementation mode
The purpose of the present invention is to provide a kind of distributions to drive motor vehicle dual-motor torque balance control method and device,
For solving when vehicle both sides wheel drive motors are adjusted, the problem that system is unstable is caused.
To achieve the above object, technical solution provided by the invention is:
(1) the current operating status of each motor is obtained, the current torque of each motor is calculated;
(2) according to the current torque of each motor, it is corresponding under each voltage vector to predict each motor of next controlling cycle
Prediction torque;
(3) speed reference for setting each motor, the torque reference value of each motor is calculated according to speed reference, to each
The sum of torque reference value of motor is distributed equally, the torque reference value after being distributed;
(4) torque reference after the corresponding distribution of prediction Assist force of each motor is controlled, a control week under each motor is selected
Phase optimal voltage vector;
(5) each motor is controlled using corresponding optimal voltage vector respectively in next period.
The beneficial effects of the invention are as follows:Technical solution provided by the present invention predicts each electricity of next controlling cycle first
Then the prediction torque of machine and torque reference select the optimal voltage vector of each motor according to prediction torque and torque reference,
Each motor is controlled using optimal voltage vector again.Since technical solution provided herein need not be to the tune of motor
Trial is repeated in section, so will not cause the unstable of system, and calculating process will not occupy a large amount of time, when response
Between it is also shorter, to solve when vehicle both sides wheel drive motors are adjusted, cause the problem that system is unstable.
Embodiments of the present invention are described further below in conjunction with the accompanying drawings.
Embodiment of the method:
A kind of distributed driving motor vehicle dual-motor torque balance control method provided in this embodiment, applicable control
System is as shown in Fig. 2, motor 1 and motor 2 are two motors for needing to be balanced control, by the unification of prediction direct torque part
It is controlled, specific rate-determining steps are as follows:
(1) obtain motor 1 and motor 2 current control period rotor angler1And θr2, rotational speed omegar1And ωr2, stator
Voltage Udc1And Udc2And stator currentWith
(2) flux observer is used to calculate motor 1 and the current stator magnetic linkage of motor 2WithAnd rotor magnetic
ChainWith
In formula, ψ1With ψ2It is the rotor flux amplitude of motor 1 and motor 2 respectively, it is specified to be that every motor has
Value, Ls1With Ls2It is the stator inductance of motor 1 and motor 2 respectively;
(3) use torque observer calculate motor 1 and motor 2 current time torqueWith
In formula, p1With p2It is the number of pole-pairs of motor 1 and motor 2 respectively, Im { } is to take imaginary part operator.
(4) pre- measured motor 1 and motor 2 are under the effect of each voltage vector, the torque of next controlling cycle:
(4.1) according to the pre- measured motor 1 of motor model and motor 2 under the effect of each voltage vector, next controlling cycle
Stator currentWith
In formula, Rs1And Rs2It is the stator resistance of motor 1 and motor 2 respectively,WithIt is current control period electricity respectively
The stator voltage of machine 1 and motor 2, TsIt is controlling cycle;
(4.2) two motors are predicted under the effect of each voltage vector according to motor model, the stator magnet of next controlling cycle
Chain valueWith
(4.3) two motors are predicted under the effect of each voltage vector according to motor model, the torque value of next controlling cycleWith
(5) speed reference of motor 1 and motor 2 is setAnd motor 1 is calculated using proportional-plus-integral controller
With the torque reference value T of motor 21 *WithWherein torque referenceIt is determined according to the aperture of vehicle accelerator by entire car controller;
(6) the cost function value J corresponding with each voltage vector of motor 2 of motor 1 is calculated separately1And J2:
In formula, Q1For the cost function coefficient of motor 1;Q2For the cost function coefficient of motor 2;It is fixed it is expected for motor 1
Sub- magnetic linkage amplitude output;It is expected the output of stator magnetic linkage amplitude for motor 2;
(7) voltage vector corresponding when 1 cost function value minimum of motor is selected respectively and motor divalent value function value is minimum
When corresponding voltage vector, respectively as the optimal voltage vector of motor 1 and motor 2;
(8) in next controlling cycle, corresponding motor is controlled using the optimal voltage vector selected.
In the present embodiment, corresponding motor is calculated by motor 1 and motor 2 current stator voltage and stator current to work as
Preceding stator magnetic linkage and rotor flux is calculating the current of each motor according to the current stator magnetic linkage of each motor and rotor flux
Torque;As other embodiment, other methods may be used and calculate or directly detect and locate the current torque of each motor.
In the present embodiment, each motor is predicted first under the effect of each voltage vector, in determining for next controlling cycle
Electron current and stator magnetic linkage calculate each motor further according to the stator current and stator magnetic linkage predicted and exist in next controlling cycle
Prediction torque under each voltage vector;As other embodiment, other methods may be used and directly or indirectly predict each electricity
Prediction torque of the machine in next controlling cycle under each voltage vector.
In the present embodiment, it is that it is distributed equally when the torque reference value to each motor is allocated;As
Other embodiment can be allocated according to actual demand.
In the present embodiment, according to calculating cost function of each motor in next period corresponding to each voltage vector
Value, obtains the optimal voltage vector of each motor;As other embodiment, can be gone to push up the optimal of each motor according to other methods
Voltage vector.
In the present embodiment, the cost function of motor 1 and motor 2 according to prediction torque and torque reference between difference,
And the difference between prediction magnetic linkage and Reference Stator Flux Linkage determines;As other embodiment, the cost function of motor 1 and motor 2
It can only be determined according to the difference between prediction torque and torque reference, or only according between prediction magnetic linkage and Reference Stator Flux Linkage
Difference determines, or is determined according to other correlative factors.
Device embodiment:
A kind of distributed driving motor vehicle dual-motor torque balance control device of the present embodiment, including following module:
The current operating status of each motor is obtained, the module of the current torque of each motor is calculated;
According to the current torque of each motor, prediction torque of each motor of next controlling cycle under each voltage vector is predicted
Module;
The speed reference for setting each motor calculates the torque reference value of each motor according to speed reference, to each electricity
The torque reference value of machine is allocated, the module of the torque reference value after being distributed;
The torque reference after the corresponding distribution of prediction Assist force of each motor is controlled, selects the lower controlling cycle of each motor most
The module of excellent voltage vector;
The module that each motor is controlled using corresponding optimal voltage vector respectively in next period.
A kind of distributed driving motor vehicle dual-motor torque balance control device of the present embodiment, wherein each module is not hard
Part module, but the method that embodiment is provided according to the method described above is programmed obtained software module, operates in vehicle
In upper corresponding controller, it can be stored in flash memory device and fixed-storage device.
Specific implementation mode of the present invention is presented above, but the present invention is not limited to described embodiment.
Under the thinking that the present invention provides, to the skill in above-described embodiment by the way of being readily apparent that those skilled in the art
Art means are converted, are replaced, are changed, and play the role of with the present invention in relevant art means it is essentially identical, realize
Goal of the invention it is also essentially identical, the technical solution formed in this way is finely adjusted above-described embodiment to be formed, this technology
Scheme is still fallen in protection scope of the present invention.
Claims (10)
1. a kind of distributed driving motor vehicle dual-motor torque balance control method, which is characterized in that include the following steps:
(1) the current operating status of each motor is obtained, the current torque of each motor is calculated;
(2) according to the current torque of each motor, it is corresponding pre- under each voltage vector to predict each motor of next controlling cycle
Survey torque;
(3) speed reference for setting each motor, the torque reference value of each motor is calculated according to speed reference, to each motor
The sum of torque reference value be distributed equally, the torque reference value after being distributed;
(4) torque reference after the corresponding distribution of prediction Assist force of each motor is controlled, selects the lower controlling cycle of each motor most
Excellent voltage vector;
(5) each motor is controlled using corresponding optimal voltage vector respectively in next period.
2. a kind of distributed driving motor vehicle dual-motor torque balance control method according to claim 1, feature exist
In then two motors of acquisition current stator voltage and stator current calculate each motor using magnetic linkage and torque observer
Current stator magnetic linkage and rotor flux, recycle current stator magnetic linkage and rotor flux to calculate the current torque of each motor.
3. a kind of distributed driving motor vehicle dual-motor torque balance control method according to claim 1, feature exist
In, each motor is predicted first under the effect of each voltage vector, the stator current and stator magnetic linkage of next controlling cycle, then root
Turn it is predicted that the stator current and stator magnetic linkage Budget Service that go out go out prediction of each motor of next controlling cycle under each voltage vector
Square.
4. a kind of distributed driving motor vehicle dual-motor torque balance control method according to claim 1, feature exist
In using proportional, integral control algolithm, the torque reference of each motor is calculated according to the reference value of each motor speed.
5. a kind of distributed driving motor vehicle dual-motor torque balance control method according to claim 1, feature exist
According to the torque reference value after prediction torque and distribution of each motor predicted the lower period under each voltage vector, root
According to formula
The corresponding cost function value J of each voltage vector of each motor is calculated, is corresponded to when by each motor cost function value being minimum
Optimal voltage vector of the voltage vector as corresponding motor;
In formula, Q is the cost function coefficient of corresponding motor, ψ*It is expected the output of stator magnetic linkage amplitude for corresponding motor,For motor
In the predicted magnitude of next period stator magnetic linkage,It is motor in the prediction torque in next period, T*Ginseng after being distributed for motor
Examine torque.
6. a kind of distributed driving motor vehicle dual-motor torque balance control device, which is characterized in that including following module:
The current operating status of each motor is obtained, the module of the current torque of each motor is calculated;
According to the current torque of each motor, predicts the prediction corresponding under each voltage vector of each motor of next controlling cycle and turn
The module of square;
The speed reference for setting each motor calculates the torque reference value of each motor according to speed reference, to each motor
The sum of torque reference value is distributed equally, the module of the torque reference value after being distributed;
The torque reference after the corresponding distribution of prediction Assist force of each motor is controlled, it is optimal to select the lower controlling cycle of each motor
The module of voltage vector;
The module that each motor is controlled using corresponding optimal voltage vector respectively in next period.
7. a kind of distributed driving motor vehicle dual-motor torque balance control device according to claim 6, feature exist
In then two motors of acquisition current stator voltage and stator current calculate each motor using magnetic linkage and torque observer
Current stator magnetic linkage and rotor flux, recycle current stator magnetic linkage and rotor flux to calculate the current torque of each motor.
8. a kind of distributed driving motor vehicle dual-motor torque balance control device according to claim 6, feature exist
In, each motor is predicted first under the effect of each voltage vector, the stator current and stator magnetic linkage of next controlling cycle, then root
Turn it is predicted that the stator current and stator magnetic linkage Budget Service that go out go out prediction of each motor of next controlling cycle under each voltage vector
Square.
9. a kind of distributed driving motor vehicle dual-motor torque balance control device according to claim 6, feature exist
In using proportional, integral control algolithm, the torque reference of each motor is calculated according to the reference value of each motor speed.
10. a kind of distributed driving motor vehicle dual-motor torque balance control device according to claim 6, feature exist
According to the torque reference value after prediction torque and distribution of each motor predicted the lower period under each voltage vector, root
According to formula
The corresponding cost function value J of each voltage vector of each motor is calculated, is corresponded to when by each motor cost function value being minimum
Optimal voltage vector of the voltage vector as corresponding motor;
In formula, Q is the cost function coefficient of corresponding motor, ψ*It is expected the output of stator magnetic linkage amplitude for corresponding motor,For motor
In the predicted magnitude of next period stator magnetic linkage,It is motor in the prediction torque in next period, T*Ginseng after being distributed for motor
Examine torque.
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Cited By (1)
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