CN109747431A - A kind of control method in slope of electric car, system and device - Google Patents
A kind of control method in slope of electric car, system and device Download PDFInfo
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- CN109747431A CN109747431A CN201711078840.XA CN201711078840A CN109747431A CN 109747431 A CN109747431 A CN 109747431A CN 201711078840 A CN201711078840 A CN 201711078840A CN 109747431 A CN109747431 A CN 109747431A
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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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Abstract
The invention belongs to electric vehicle engineering field, control method in slope, system, device and the computer readable storage medium of a kind of electric car are disclosed, a kind of control method in slope of electric car includes: the target position θ * for setting rotor；Detect the current location θ of the rotor；Export the angular deviation Δ θ of the target position θ * Yu the current location θ；If the angular deviation Δ θ is not equal to 0, the current location θ of the rotor is adjusted based on feed-forward regulation instruction, until the angular deviation Δ θ is equal to 0；The feed-forward regulation instruction is obtained based on the instruction of preset feed forward of acceleration and the feedforward instruction output of preset revolving speed.The present invention is directly given to electric current loop and speed ring by that can instruct feed-forward regulation, to greatly improve instruction trace effect backward, it is ensured that vehicle not only can be reduced the distance slipped in during in slope, but also can guarantee that vehicle smoothly stops.
Description
Technical field
The invention belongs to electric vehicle engineering field more particularly to a kind of control methods in slope of electric car, system, dress
It sets and computer readable storage medium.
Background technique
Present bus uses New-energy electric vehicle mostly, and in the more city in some hill paths, bus
Platform is usually all to build the road surface with slope in, is pulled the hand brake for this purpose, driver will usually touch on the brake in the platform side parking with slope, and
Pull the hand brake and usually realized by control mechanical structure, for this purpose, at the end of the day bus can draw many times parking brake to
The service life of shadow mechanical structure.To the solution of this problem in industry, it is common that adjusted using closed-loop proportional-integral to realize
Control in slope.
The control method has the shortcomings that a comparison is serious, is exactly that closed-loop proportional-integral adjusts (PI adjusting) in itself in the presence of scarce
Fall into: if (1) P value tune obtain it is very big, after driver's releasing of brake pedal rear car slips a distance backward, Che Youhui dash forward one section away from
From, and this process, acceleration ratio are very fast.In this state, there can be security risk to some elder persons or child.(2)
If P value tune obtains very little, driver's releasing of brake pedal rear car slips distance backward can be very big.Under this state, it may occur that
Car accident.
Therefore, there are the jiggly problems of electric car process in slope in conventional solution.
Summary of the invention
The purpose of the present invention is to provide a kind of control method in slope of electric car, system, devices and computer-readable
Storage medium, it is intended to solve the problems, such as that electric car process in slope present in traditional technical solution is jiggly.
The first aspect of the embodiment of the present invention provides a kind of control method in slope of electric car, comprising: setting motor
The target position θ * of rotor；Detect the current location θ of the rotor；Export the target position θ * and the current location
The angular deviation Δ θ of θ；If the angular deviation Δ θ is not equal to 0, instructed based on feed-forward regulation to the current of the rotor
Position θ is adjusted, until the angular deviation Δ θ is equal to 0；The feed-forward regulation instruction is referred to based on preset feed forward of acceleration
It enables and the feedforward instruction output of preset revolving speed obtains.
The second aspect of the embodiment of the present invention provides a kind of control system in slope of electric car, comprising: position setting
Unit sets the target position θ * of rotor；Position detection unit detects the current location θ of the rotor；Position ratio
Compared with unit, the angular deviation Δ θ of the target position θ * Yu the current location θ are exported；Position regulating unit, if the angle
Deviation delta θ is not equal to 0, the current location θ of the rotor is adjusted based on feed-forward regulation instruction, until the angle
Deviation delta θ is equal to 0；The feed-forward regulation instruction is based on the instruction of preset feed forward of acceleration and the feedforward instruction output of preset revolving speed
It obtains.
The third aspect of the embodiment of the present invention provides a kind of control device in slope of electric car, including memory, place
The computer program managing device and storage in the memory and can running on the processor, the processor execute institute
The step of a kind of control method in slope of above-mentioned electric car is realized when stating computer program.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has a computer program, and what the computer program realized a kind of above-mentioned electric car when being executed by processor stays slope
The step of control method.
The present invention adjusts the current location of rotor by detecting the current location of motor in electric automobile rotor,
So that the deviation of the current location of rotor and the target position of preset rotor is equal to 0, so that electronic
Automobile can steadily stop when slope surface is stopped, and since the present invention is when adjusting the current location of rotor, introduce feedforward
Regulating command carries out open-loop feed-forward by rotor of the preset feed-forward regulation instruction for the electric car during staying slope
It adjusts, the rotor of electric car is allowed to arrive more quickly at target position, and overcome simple utilization closed loop and adjust
Control vehicle the shortcomings that in slope, avoid closed loop adjust in P value tune too large or too small caused by docking process it is unstable
Or slipped after vehicle apart from big problem, it is ensured that vehicle not only can be reduced the distance slipped backward in during in slope, but also can protect
Card vehicle smoothly stops.
Detailed description of the invention
Fig. 1 is the control principle block diagram that the electric car standing wave of the prior art controls.
Fig. 2 is a kind of method flow schematic diagram of the control method in slope of electric car of one embodiment of the invention.
Fig. 3 is a kind of method flow schematic diagram of the control method in slope of electric car of another embodiment of the present invention.
Fig. 4 is a kind of structural schematic diagram of the control system in slope of electric car of one embodiment of the invention.
Fig. 5 is a kind of structural schematic diagram of the control system in slope of electric car of another embodiment of the present invention.
Fig. 6 is a kind of control principle block diagram of the control in slope of electric car of the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the control principle block diagram of electric car standing wave in the prior art control, realizes vehicle using closed-loop control
In slope.Closed-loop control is referred to as controlled output in a certain way back to the input terminal as control, and to input terminal
Apply a kind of control planning that control influences, vehicle stays slope and refers to that vehicle stops on the road surface with slope, what control in slope referred to
It is vehicle when stopping on the road surface with slope, control vehicle steadily stops, and Fig. 1 realizes that vehicle stays slope using closed-loop control
Control method, controlled output c (v) feedback arrive the input terminal of control system, are compared to obtain departure e with input quantity r (v)
(v) it and exports, departure e (v), which applies control to whole system again, to be influenced, so as to form closed-loop control.Specifically, Si Ji
Platform touches on the brake stop after, at this point, driver's foot releasing of brake pedal, program enter closed-loop control in slope.As shown in Figure 1, control
System processed gives motor 0rpm revolving speed, i.e. input quantity r (v)=0rpm, but since on Che Po, vehicle will receive the power slipped backward,
Vehicle might have -50rpm revolving speed, i.e. output quantity c (v)=- 50rpm at this time, and r (v) and c (v) are compared output bias amount e
(v), departure e (v) is carried out PI adjusting (proportional integration adjusting) again, is generated control amount u (v), torque is eventually converted into, to support
The power for the car slipping backward of having disappeared realizes that vehicle stays the function on slope.
The control method has the shortcomings that a comparison is serious, is exactly that P adjusts existing defects itself: if (1) P value tune obtains very
Greatly, the response time is very fast, but the case where have toning simultaneously.Specific phenomenon be exactly driver's releasing of brake pedal rear car backward
After slipping a distance, Che Youhui dashes forward a distance, and this process, acceleration ratio are very fast.In this state, to some
Elder person or child can have security risk, because acceleration ratio is larger, old man and child may be not steady on one's legs.(2) if P value
Adjust to obtain very little, the case where toning can be many less, but the response time is very slow.After specific phenomenon is exactly driver's releasing of brake pedal
Vehicle slips distance backward can be very big.Under this state, if there are also other vehicles for vehicle back, it is possible to collision thing can occur
Therefore.
Fig. 2 to Fig. 6 is please referred to, as shown in Fig. 2, a kind of controlling party in slope of electric car in one embodiment of the invention
Method, comprising:
S10: the target position θ * of rotor is set；
By the target position θ * of the rotor of default electric car, target position θ * is that the present invention is a kind of electronic
The input quantity of the control method in slope of automobile, when the rotor of electric car is in target position θ *, the drive of electric car
Dynamic torque is equal to load torque, and vehicle can steadily stop, and target position θ * is set as the rotation of the rotor of electric car
Angle is 0.
S20: the current location θ of the rotor is detected；
Become the current location that sensor detects rotor by rotation, the current location of rotor refers to that rotation becomes sensing
When device detects rotor, the position of the rotor of detection moment, it is a kind of the small-sized of measurement angle that rotation, which becomes sensor,
Ac motor, for measuring the rotating shaft angular travel and angular speed of rotating object.When vehicle does not come to a complete stop also, current location θ and mesh
The value of cursor position θ * is necessarily unequal, if because the value of current location θ and target position θ * are equal, then the driving of electric car
Torque is equal to load torque, and vehicle can steadily stop, therefore, during vehicle does not come to a complete stop, current location θ and target position
The value of θ * is necessarily unequal, it would therefore be desirable to which the current location θ to rotor is adjusted, makes current location θ and target
Position θ * is identical, then vehicle could steadily stop.
S30: the angular deviation Δ θ of the target position θ * Yu the current location θ are exported；
The comparison to target position θ * and current location θ can be realized by comparator circuit, can also pass through software
Inside programming realizes the comparison to target position θ * and current location, and that target position θ * refers to us is flat in order to reach vehicle
The purpose surely stopped and the target value of rotor inputted, what it was indicated be it is desirable that rotor rotation angle,
And to be us become the current rotation angle of rotor that sensor detects by rotation to current location θ, therefore, we are by target
θ * and current location θ are compared for position, are to compare two angle values, the target position θ * and current location θ's
Angular deviation Δ θ is the departure Δ θ for exporting and generating after two angles are compared, this departure Δ θ is with angle come table
Then sign realizes the mesh that present invention vehicle to be achieved steadily stops by carrying out closed loop adjusting and feed-forward regulation to departure
's.
S40: if the angular deviation Δ θ is not equal to 0, based on feed-forward regulation instruction to the current location of the rotor
θ is adjusted, until the angular deviation Δ θ is equal to 0；Feed-forward regulation instruction based on the instruction of preset feed forward of acceleration and
Preset revolving speed feedforward instruction output obtains；
The control method in slope of electric car of the invention using closed-loop control and feedforward control complex controll side
Method, feedforward control refers to through observation situation, compiles information, grasp rule, anticipation trend, correct estimated following possible
The problem takes measures in advance, it would be possible to which the deviation of generation is eliminated in budding state, to avoid in the following different development
The problem of stage is likely to occur and the measure taken in advance after input quantity θ * is compared by the present invention with output quantity θ, generate inclined
Then residual quantity Δ θ carries out closed loop adjusting and feed-forward regulation to departure Δ θ, until just stopping closing when departure Δ θ is equal to 0
Ring adjusts and feed-forward regulation, because as long as vehicle does not come to a complete stop, departure Δ θ can be generated, as long as and producing departure Δ
θ, then entire control system can work always, when control is so that departure Δ θ is equal to 0, when vehicle steadily stops, can just stop adjusting
Section, it is seen then that vehicle control in slope may be implemented in technical solution of the present invention.Also, technical solution of the present invention and traditional skill
Art scheme is compared, and the process of not only closed loop adjusting is different, and closed loop of the invention, which is adjusted, uses a P adjusting (ratio tune
Section) and PI adjusts (proportional integration adjusting) twice, and only with PI adjusting (proportional integration tune in traditional technical solution
Section), and invention increases feed-forward regulation, by the feed-forward regulation instruction of systemic presupposition to the current location θ of electronics rotor into
Row is adjusted, and in this way for the vehicle control method in slope adjusted only with closed loop, be may be implemented to adjust faster, be made
Vehicle steadily stops, and can reduce proportion adjustment and proportional integration adjust in P value tune too large or too small influence, reduce peace
Full hidden danger.
As shown in figure 3, a kind of control method in slope of electric car in another embodiment of the present invention, comprising:
S10: the target position θ * of rotor is set；
S20: the current location θ of the rotor is detected；
S30: the angular deviation Δ θ of the target position θ * Yu the current location θ are exported；
S60: parameter adjustment instruction is received, the parameter adjustment instruction is for adjusting a and/or b；
A refers to feed forward of acceleration coefficient, and b refers to revolving speed feed-forward coefficients, and the value of a and b are preset by system, user
Also it can according to need and the value of a and b adjusted, to be optimized to feed-forward regulation process.
S50: it is based on aJs2+ bBs obtains the feed-forward regulation instruction；Wherein, a is feed forward of acceleration coefficient, the b
For revolving speed feed-forward coefficients, the J is inertia constant, and the B is viscous value coefficient, and the s is Laplacian Differential Approach operator, described
aJs2For feed forward of acceleration instruction, the bBs is revolving speed feedforward instruction；
Wherein, feed forward of acceleration instructs aJs2Instruction bBs is feedovered as preset instruction with revolving speed, and J is inertia constant [kg
M2], s is differential operator (Laplace operator), and B is viscous value coefficient (coefficient of friction), and a and b can be obtained by testing test,
A and b is a fixed value according to the attribute of motor, and different vehicles corresponds to the value of different a and b, the specific value of a and b
It is to be obtained according to realization test, is then set in advance in internal system.
S40: if the angular deviation Δ θ is not equal to 0, based on feed-forward regulation instruction to the current location of the rotor
θ is adjusted, until the angular deviation Δ θ is equal to 0；Feed-forward regulation instruction based on the instruction of preset feed forward of acceleration and
Preset revolving speed feedforward instruction output obtains；
Wherein, feed forward of acceleration instructs aJs2Instruction bBs is feedovered as preset instruction with revolving speed, and J is inertia constant [kg
M2], s is differential operator (Laplace operator), and B is viscous value coefficient (coefficient of friction), and a and b can be obtained by testing test,
Specifically, a and b can be obtained by CANalyzer software test, and CANalyzer is one for simulating CAN message and receiving and dispatching
Hardware device, CANalyzer is the true platform test for confirming the value of a and b in the present invention, and the value of a and b are general
It is artificial subjective matching during sample car debugging at the scene, for example, setting a can during driving as 0.9, b 0.7
It can feel that sample car is shaking, the amplitude by adjusting a energy fine tuning vibration passes through by adjusting the frequency of the adjustable vibration of b
Constantly debug determine a and b optimal solution, if the value of a and b give it is improper, will lead to sample car start and slow down process
It is not smooth, shake it is particularly evident, if deviateing reasonable value farther out, starting and moderating process will impact it is bigger, in vehicle
The old man that stand can constitute danger, and it is a fixed value, different vehicles pair that the optimal solution of a and b, which are according to the attribute of motor,
Answer the value of different a and b, the specific value of a and b are then to be set in advance in internal system according to realizing that test obtains.
The described the step of current location θ of the rotor is adjusted according to feed-forward regulation instruction, specifically includes:
P is carried out to the angular deviation Δ θ to adjust with output angular velocity specified rate ω *；
Export the angular speed deviation delta ω of the angular speed specified rate ω * Yu current angular speed value of feedback ω；
PI is carried out to the angular speed deviation delta ω to adjust to export given value of current amount I*；
By the feed-forward regulation instruction with the given value of current amount I*'s and, be compared with current current feedback values I,
Export current deviation Δ I；
PI is carried out to the current deviation Δ I to adjust with output voltage specified rate U*；
[1/ (L*s+R)] is carried out to the voltage specified rate U* to adjust to update the current feedback values I；
[p φ/(Is)] is carried out to the updated current feedback values I to adjust to update the angular speed value of feedback ω；
(1/s) transformation is carried out to update the current location of the rotor to the updated angular speed value of feedback ω
θ。
Wherein, Δ ω=ω *-ω；Δ I=aJs2+bBs+I*-I；R is machine winding resistance [Ω], and L is machine winding
Inductance [H], s are differential operator (Laplace operators)；[p φ/(Is)] is carried out to the updated current feedback values I to adjust
Refer to that the updated current feedback values I is multiplied by value obtained by [p φ/(Is)] to update the angular speed value of feedback ω
The rotation speed ω [rad/s] of rotor, i.e. angular speed value of feedback ω；(1/ is carried out to updated angular speed value of feedback ω
S) convert with update the current location θ of the rotor refer to the updated angular speed value of feedback ω multiplied by 1/s and
The value obtained is the present rotation angel A of rotor, and 1/s is integral operator；So, it is equal to the current location of rotor
The mode of target position controls the rotor of electric car.
The present invention provides a kind of control device in slope of electric car, the control device in slope of the electric car includes
Memory, processor and storage in the memory and the computer program that can run on the processor, the place
Reason device realizes a kind of control method in slope of electric car when executing the computer program:
S10: the target position θ * of rotor is set；
S20: the current location θ of the rotor is detected；
S30: the angular deviation Δ θ of the target position θ * Yu the current location θ are exported；
S40: if the angular deviation Δ θ is not equal to 0, based on feed-forward regulation instruction to the current location of the rotor
θ is adjusted, until the angular deviation Δ θ is equal to 0；Feed-forward regulation instruction based on the instruction of preset feed forward of acceleration and
Preset revolving speed feedforward instruction output obtains.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has calculating
Machine program, the computer program realize a kind of control method in slope of electric car when being executed by processor:
S10: the target position θ * of rotor is set；
S20: the current location θ of the rotor is detected；
S30: the angular deviation Δ θ of the target position θ * Yu the current location θ are exported；
S40: if the angular deviation Δ θ is not equal to 0, based on feed-forward regulation instruction to the current location of the rotor
θ is adjusted, until the angular deviation Δ θ is equal to 0；Feed-forward regulation instruction based on the instruction of preset feed forward of acceleration and
Preset revolving speed feedforward instruction output obtains.
As shown in figure 4, a kind of control system in slope of electric car of one embodiment of the invention include: position setup unit 1,
Position detection unit 2, position comparing unit 3 and position regulating unit 4.
Position setup unit 1 is used to set the target position θ * of rotor；Position detection unit 2 is for detecting the electricity
The current location θ of machine rotor；The angle that position comparing unit 3 is used to export the target position θ * and the current location θ is inclined
Poor Δ θ；If position regulating unit 4 is not equal to 0 for the angular deviation Δ θ, the motor is turned based on feed-forward regulation instruction
The current location θ of son is adjusted, until the angular deviation Δ θ is equal to 0, the feed-forward regulation instruction is based on preset acceleration
Degree feedforward instruction and the feedforward instruction output of preset revolving speed obtain.
As shown in figure 5, a kind of control system in slope of electric car of another embodiment of the present invention includes position setup unit
1, position detection unit 2, position comparing unit 3, position regulating unit 4, feedforward instruction generation unit 5 and parameter adjustment unit 6.
Position setup unit 1 is used to set the target position θ * of rotor；Position detection unit 2 is for detecting the electricity
The current location θ of machine rotor；The angle that position comparing unit 3 is used to export the target position θ * and the current location θ is inclined
Poor Δ θ；If position regulating unit 4 is not equal to 0 for the angular deviation Δ θ, the motor is turned based on feed-forward regulation instruction
The current location θ of son is adjusted, until the angular deviation Δ θ is equal to 0, the feed-forward regulation instruction is based on preset acceleration
Degree feedforward instruction and the feedforward instruction output of preset revolving speed obtain；The instruction generation unit 5 that feedovers is based on aJs2+ bBs obtains described
Feed-forward regulation instruction；The aJs2For feed forward of acceleration instruction, the bBs is revolving speed feedforward instruction；Parameter adjustment
Unit 6 receives parameter adjustment instruction, and the parameter adjustment instruction is for adjusting a and/or b.
As shown in fig. 6, position setup unit 1 sets the target position θ * of rotor；Position detection unit 2 detects described
The current location θ of rotor；Position comparing unit 3 exports the angular deviation of the target position θ * Yu the current location θ
Δθ；If the angular deviation Δ θ is not equal to 0, position regulating unit 4 works as the rotor based on feed-forward regulation instruction
Front position θ is adjusted, until the angular deviation Δ θ is equal to 0, the feed-forward regulation instruction is based on preset feed forward of acceleration
Instruction and the feedforward instruction output of preset revolving speed obtain；The instruction generation unit 5 that feedovers is based on aJs2+ bBs obtains the feedforward and adjusts
Section instruction；The aJs2For feed forward of acceleration instruction, the bBs is revolving speed feedforward instruction；Parameter adjustment unit 6 connects
Parameter adjustment instruction is received, the parameter adjustment instruction is for adjusting a and/or b.
P adjusts unit 41 and carries out P adjusting (proportion adjustment) to the angular deviation Δ θ with output angular velocity specified rate ω *；
Angular speed comparing unit 42 exports the angular speed deviation delta of the angular speed specified rate ω * Yu current angular speed value of feedback ω
ω；Angular speed adjusts unit 43 and carries out PI adjusting to the angular speed deviation delta ω to export given value of current amount I*；Electric current compares
Unit 44 by the feed-forward regulation instruction with the given value of current amount I*'s and, be compared with current current feedback values I, it is defeated
Current deviation Δ I out；Current regulation unit 45 carries out PI adjusting (proportional integration adjusting) to the current deviation Δ I to export electricity
Press specified rate U*；Electric current updating unit 46 carries out [1/ (L*s+R)] to the voltage specified rate U* and adjusts to update the electric current
Value of feedback I；It is described to update that angular speed updating unit 47 carries out [p φ/(Is)] adjusting to the updated current feedback values I
Angular speed value of feedback ω；Location updating unit 48 carries out (1/s) transformation to the updated angular speed value of feedback ω to update
The current location θ of the rotor.
From fig. 6 it can be seen that the high speed positioning control in order to realize AC servo, obtains to the fast of regulating command
Speed response and tracking, under the premise of speed ring and electric current loop stable operation, introduce the feedforward of speed command and current-order
Control, wherein position ring is controlled using P, and speed ring and electric current loop are controlled using PI, introduces revolving speed to electric current loop on this basis
Feedforward and feed forward of acceleration, wherein a and b is respectively feed forward of acceleration coefficient and revolving speed feed-forward coefficients, can be in real system
By adjusting two coefficients of a and b, change feedforward amount.Precalculated instruction can be directly given to by feedforward controller
Electric current loop and speed ring, to greatly improve instruction trace effect.Corresponding to actual conditions, vehicle is bright in slope road when in slope
It has obtained aobviously smoothly excessively, driver unclamps again brake after having stepped on brake, and the case where bus is apparently without slipping backward shakes
Phenomenon is also resolved.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of control method in slope of electric car characterized by comprising
Set the target position θ * of rotor；
Detect the current location θ of the rotor；
Export the angular deviation Δ θ of the target position θ * Yu the current location θ；
If the angular deviation Δ θ is not equal to 0, the current location θ of the rotor is adjusted based on feed-forward regulation instruction
Section, until the angular deviation Δ θ is equal to 0；
The feed-forward regulation instruction is obtained based on the instruction of preset feed forward of acceleration and the feedforward instruction output of preset revolving speed.
2. the control method in slope of electric car as described in claim 1, which is characterized in that referred to described according to feed-forward regulation
Before the current location θ of the rotor is adjusted in order, further includes:
Based on aJs2+ bBs obtains the feed-forward regulation instruction；
Wherein, a is feed forward of acceleration coefficient, and the b is revolving speed feed-forward coefficients, and the J is inertia constant, and the B is viscous
Value coefficient, the s are Laplacian Differential Approach operator, the aJs2For feed forward of acceleration instruction, the bBs is the revolving speed
Feedforward instruction.
3. the control method in slope of electric car as claimed in claim 2, which is characterized in that be based on aJs described2+ bBs is obtained
To before feed-forward regulation instruction, further includes:
Parameter adjustment instruction is received, the parameter adjustment instruction is for adjusting a and/or b.
4. the control method in slope of electric car as described in claim 1, which is characterized in that described to be instructed according to feed-forward regulation
The current location θ of the rotor is adjusted, comprising:
P is carried out to the angular deviation Δ θ to adjust with output angular velocity specified rate ω *；
Export the angular speed deviation delta ω of the angular speed specified rate ω * Yu current angular speed value of feedback ω；
PI is carried out to the angular speed deviation delta ω to adjust to export given value of current amount I*；
By the feed-forward regulation instruction with the given value of current amount I*'s and, be compared with current current feedback values I, output
Current deviation Δ I；
PI is carried out to the current deviation Δ I to adjust with output voltage specified rate U*；
[1/ (L*s+R)] is carried out to the voltage specified rate U* to adjust to update the current feedback values I；
[p φ/(Is)] is carried out to the updated current feedback values I to adjust to update the angular speed value of feedback ω；
(1/s) transformation is carried out to update the current location θ of the rotor to the updated angular speed value of feedback ω.
5. a kind of control system in slope of electric car characterized by comprising
Position setup unit sets the target position θ * of rotor；
Position detection unit detects the current location θ of the rotor；
Position comparing unit exports the angular deviation Δ θ of the target position θ * Yu the current location θ；
Position regulating unit works as the rotor based on feed-forward regulation instruction if the angular deviation Δ θ is not equal to 0
Front position θ is adjusted, until the angular deviation Δ θ is equal to 0；
The feed-forward regulation instruction is obtained based on the instruction of preset feed forward of acceleration and the feedforward instruction output of preset revolving speed.
6. the control system in slope of electric car as claimed in claim 5, which is characterized in that further include:
Feedover instruction generation unit, is based on aJs2+ bBs obtains the feed-forward regulation instruction, wherein a is feed forward of acceleration system
Number, the b are revolving speed feed-forward coefficients, and the J is inertia constant, and the B is viscous value coefficient, and the s is Laplacian Differential Approach calculation
Son；
The aJs2For feed forward of acceleration instruction, the bBs is revolving speed feedforward instruction.
7. the control system in slope of electric car as claimed in claim 6, which is characterized in that further include:
Parameter adjustment unit receives parameter adjustment instruction, and the parameter adjustment instruction is for adjusting a and/or b.
8. the control system in slope of electric car as claimed in claim 5, which is characterized in that the position regulating unit packet
It includes:
P adjusts unit, carries out P to the angular deviation Δ θ and adjusts with output angular velocity specified rate ω *；
Angular speed comparing unit exports the angular speed deviation of the angular speed specified rate ω * and current angular speed value of feedback ω
Δω；
Angular speed adjusts unit, carries out PI to the angular speed deviation delta ω and adjusts to export given value of current amount I*；
Electric current comparing unit, by the feed-forward regulation instruction with the given value of current amount I*'s and, with current current feedback values I
It is compared, exports current deviation Δ I；
Current regulation unit carries out PI to the current deviation Δ I and adjusts with output voltage specified rate U*；
Electric current updating unit carries out [1/ (L*s+R)] to the voltage specified rate U* and adjusts to update the current feedback values I；
Angular speed updating unit carries out [p φ/(Is)] to the updated current feedback values I and adjusts to update the angle speed
Spend value of feedback ω；
Location updating unit carries out (1/s) transformation to the updated angular speed value of feedback ω to update the rotor
Current location θ.
9. a kind of control device in slope of electric car, including memory, processor and storage are in the memory and can
The computer program run on the processor, which is characterized in that the processor is realized when executing the computer program
Such as the step of any one of Claims 1-4 the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as Claims 1-4 of realization the method.
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