CN109795470A - A kind of dynamical system active damping method based on motor instant torque observer - Google Patents
A kind of dynamical system active damping method based on motor instant torque observer Download PDFInfo
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- CN109795470A CN109795470A CN201811528655.0A CN201811528655A CN109795470A CN 109795470 A CN109795470 A CN 109795470A CN 201811528655 A CN201811528655 A CN 201811528655A CN 109795470 A CN109795470 A CN 109795470A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000005183 dynamical system Methods 0.000 title claims abstract description 17
- 238000013016 damping Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
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- 239000007789 gas Substances 0.000 claims description 8
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- 230000006835 compression Effects 0.000 description 5
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- 230000008450 motivation Effects 0.000 description 3
- 230000035772 mutation Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
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- 208000004141 microcephaly Diseases 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
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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
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- 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
- Y02T10/62—Hybrid vehicles
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Abstract
The present invention proposes a kind of dynamical system active damping method based on motor instant torque observer, belongs to engine, motor or hybrid power system field of electric control.Party's decree engine is according to setting operating condition operation；Under every kind of operating condition, full-vehicle control unit acquires engine state parameters, control parameter with supplemental sensor signal；Motor instant torque observer is estimated to obtain motor instant torque ripple signal according to above-mentioned parameter and signal and crankshaft signal is sent to electric machine controller；Electric machine controller, which calculates target harmonic torque and generates control signal, is sent to motor；Motor generates corresponding harmonic torque according to the control signal received；The harmonic torque that the instantaneous torque and motor of engine generate acts on transmission shaft simultaneously, realizes the vibration damping of dynamical system.The present invention in dynamical system without installing additional hardware, and additional high harmonic torque inhibits driveline vibrations on motor, improves the comfort of vehicle drive.
Description
Technical field
The invention belongs to engine, motor or hybrid power system field of electric control, one kind especially set out is based on starting
The dynamical system active damping method of machine instantaneous torque observer.
Background technique
Engine startup is the key factor for influencing driving procedure comfort.Especially in hybrid power system, hair
The high oil consumption operating condition (usually low speed, Smaller load) and idling of motivation are cancelled, and motor can be realized the quick of engine
It starts.Therefore, during hybrid car travel, there is frequent starting and shut down in engine.It was started so reducing
Vibration in journey is the key that guarantee hybrid vehicle comfort.In starting process, the vibration of engine is mainly derived from
Two aspects, first, before engine is under fire (diesel engine is oil spout, and gasoline engine is plug ignition), pure compression and inertia
Power will lead to the vibration of shafting；Second, the mutation of torque caused by engine is under fire can also cause the vibration of shafting.Equally, it is sending out
During motivation variable load, it is each that the variation of distributive value (diesel engine) or combustion charge (gasoline engine) will lead to engine
The gas load of cylinder changes, this will lead to the fluctuation of shafting revolving speed, threatens to the comfort of driving.
Existing dynamical system oscillation damping method mainly solves starting process by designing optimal starting speed curve
Vibration problem.This method to engine and starts electric system progress Dynamic Modeling first, during research engine towing astern
Shafting vibration characteristic.The index that can characterize level of vibration, such as revolution inhomogeneities coefficient are extracted again, are calculated by optimizing
Method designs the optimal starting speed curve of engine, so that vibration index is optimal.Finally by closing for optimal starting speed
Ring control, allows motor towing astern engine to start along optimal starting speed curve, with the validity of verification algorithm.But it is this
Method needs to establish complicated physical model, and optimum results only realize that vibration index is optimal, it is difficult to compression hair when eliminating towing astern
Vibration caused by motivation cylinder interior gas.Moreover, after engine is under fire, motor is usually no longer intervened, it is difficult to processing burning
Vibration caused by torque mutation.In traditional engine power system, can also by installation flywheel and/torsion vibration absorber come
Cut down the energy of vibration.There are also certain methods by the control parameter in change dynamic process, for example injection timing and exhaust gas are again
Cycling rate realizes smooth start or variable load to limit the maximum pressure rate of rise in cylinder.Above-mentioned solution starting and variable load process
Although the method for vibration can reduce vibration to a certain extent, the comfort of driving procedure is promoted, does not catch and causes
The essential problem of the fluctuation of speed, i.e. torque ripple in engine working process.In hybrid power system, engine and motor
There are mechanical couplings, the quick response speed of motor is by the pro-active intervention of motor come when cutting down engine operation, especially
The fluctuation of speed in dynamic process provides possibility.
The control system of engine uses the control system based on torque, i.e., according to the accelerator pedal position of driver and starting
Machine revolving speed tables look-up to obtain the torque-demand of engine.The based on engine torque-demand of other control parameters and revolving speed are tabled look-up
It arrives.The torque-demand is the average torque of engine, rather than the fluctuation of the instantaneous torque of engine.Meanwhile average torque is not
It can solve the high frequency problem of hybrid power system, such as vibration problem.
Summary of the invention
The purpose of the present invention is the shortcomings to overcome prior art, provide a kind of based on motor instant torque observation
The dynamical system active damping method of device.The present invention does not need to install additional hardware in dynamical system, passes through engine wink
When torque observer estimate that the fluctuation of the instantaneous torque of engine, motor control unit MCU passes through processing torque observer
The instantaneous torque of estimation fluctuates, the harmonic torque of additional high on motor, inhibits the vibration of transmission system, improves vehicle drive
The comfort of process.
The present invention proposes that a kind of dynamical system active damping method based on motor instant torque observer, feature exist
In, method includes the following steps:
1) enable engine under the control of control unit of engine according to setting operating condition operation；
2) under every kind of operating condition, full-vehicle control unit acquires state parameter, control parameter and the additional sensing of engine
Device signal；
3) motor instant torque observer receiving step 2) it the engine state parameters of acquisition, control parameter, additional passes
The crankshaft signal that sensor signal and the encoder measurement by being mounted on crankshaft output end obtain carries out motor instant torque wave
Dynamic estimation obtains motor instant torque ripple signal and is sent to electric machine controller；
4) electric machine controller is calculated target harmonic torque and is generated corresponding by motor instant torque ripple signal
Control signal be sent to motor；
5) motor generates corresponding harmonic torque according to the control signal received；
6) harmonic torque that the instantaneous torque of engine and motor generate acts on transmission shaft simultaneously, realizes dynamical system
Vibration damping.
The features of the present invention and beneficial effect are:
1) present invention need not increase additional hardware, and motor instant torque observer can be to the instantaneous torque of engine
Fluctuation is estimated, guarantees the accurate response that motor changes motor torque.
2) instantaneous torque fluctuation of the MCU by processing torque observer estimation, the harmonic torque of additional high on motor,
The harmonic torque and motor instant torque ripple collective effect realize the reduction of vibration in power train, in high control frequency domain.
3) active damping of power train, energy are realized in the high frequency control for the estimation and motor that the present invention is fluctuated by instantaneous torque
More engine application scenes are enough in, there is very high practical value.
Detailed description of the invention
Fig. 1 is the overall flow figure of the method for the present invention.
Fig. 2 is the embodiment of the present invention using the implementation result schematic diagram after the method for the present invention.
Specific embodiment
The present invention proposes a kind of dynamical system active damping method based on motor instant torque observer, below with reference to
The drawings and specific embodiments are further described as follows.
The present invention proposes a kind of dynamical system active damping method based on motor instant torque observer, overall flow
As shown in Figure 1, method includes the following steps:
1) engine is enabled (in the present invention, to set under the control of ECU (control unit of engine) according to the operation of setting operating condition
Operating condition can be any operating condition, include to start, shut down, accelerate and slow down etc., and there is no limit for application scenarios).
2) under every kind of operating condition, VCU (full-vehicle control unit) acquisition include but is not limited to engine state parameter (into
Gas, cooling parameter), control parameter (oil spout, ER EGR Rate parameter) and supplemental sensor signal it is (attached in the present embodiment
Adding sensor is that cylinder pressure sensor is installed in each cylinder of engine, and the cylinder pressure sensor acquires cylinder pressure signal；In reality
In the operation of border, sensor can according to need addition).
3) motor instant torque observer receiving step 2 of the programming in VCU) acquisition engine state parameters, control
Crankshaft signal (the encoder that parameter, supplemental sensor signal and the encoder measurement by being mounted on crankshaft output end processed obtain
For obtaining the position of crankshaft, each electric-control motor has encoder, does not need additionally to install), it carries out motor instant and turns
The estimation of square fluctuation, obtains motor instant torque ripple signal and is sent to electric machine controller MCU.
4) the target harmonic wave turn that can be realized shafting vibration damping is calculated by motor instant torque ripple signal in MCU
Square and generation control signal accordingly and are sent to motor.
5) motor generates corresponding harmonic torque according to the control signal received；
6) harmonic torque that the instantaneous torque of engine and motor generate acts on transmission shaft simultaneously, passes through two kinds of power
Cancelling out each other for source output torque fluctuation, reduces the fluctuation of speed of engine, improves the ride comfort of dynamical system, realizes dynamical system
The vibration damping of system.
Engine, motor and ECU can use conventional components in the present invention.To realize frequency applications, VCU and MCU's
CAN (Controller Area Network, controller local area network) transmission rate should be in the order of magnitude of 1ms.
The step 3) carries out the estimation of motor instant torque ripple, for each cylinder of engine, adoptable public affairs
Formula is as follows:
Wherein, r is throw of crankshaft,For crank throw corner, β is connecting rod pivot angle, and λ=r/l is crank to connecting rod length ratio, and l is connecting rod
Concentric reducer center is away from D is cylinder bore, pgFor gas in the jar absolute pressure, pbFor crank case gases absolute pressure, IcrankFor song
Axis equivalent moment of inertia.Connecting rod pivot angleFor the friction torque of engine, with song
Shaft position is related with instantaneous speed of crankshaft, can be obtained by empirical equation or laboratory facilities；mhzFor piston mass, mlAFor connecting rod
Microcephaly's equivalent mass, ω are speed of crankshaft；
The target harmonic torque of the step 4) can be used following method and be calculated, for n Cylinder engine:
Wherein, Mt_iThe estimation of the motor instant torque ripple of i-th of cylinder of engine is represented, n is the cylinder number of engine.
The implementation result of the method for the present invention is as shown in Figure 2.It is the torque ripple of engine during Typical start in Fig. 2.Grey in figure
Dotted line is the fluctuation of speed of transmission system in traditional loading procedure, and solid black lines are using the fluctuation of speed after the method for the present invention.
Typical engine startup includes two parts, i.e., before engine is under fire and after being under fire.(for bavin before engine ignition
It is oil spout for oil machine, gasoline engine is plug ignition), motor drag engine accelerates.In compression stroke, piston compression cylinder
Interior working medium, working medium pushes piston acting in expansion stroke, cylinder, and the variation of torque will lead to starting process during pure compression
The fluctuation of middle revolving speed.After engine ignition, fuel combustion discharges heat, so that inner pressure of air cylinder increases suddenly, pushes piston
Externally output burning torque.Therefore, the moment that engine is under fire will lead to the mutation of torque, and torque fluctuation range obviously increases.
It can be seen that the fluctuation of speed of transmission system is obviously reduced, and ride comfort is improved after using this method.
The result example of attached drawing and above embodiment, which is merely to illustrate, reduces engine by additional motor harmonic torque
The method and steps of starting process vibration.It may be noted that the starting process in attached drawing is only a typical case of dynamic process
Scene, dynamic process should be including but not limited to the starting of engine, shutdown, variable load and speed changes.In addition, the conventional powertrain of application
The algorithm that system or hybrid power configuration, the structure of all parts, model, connection type and manufacture craft and modules use
It may be changed, all same transformation and improvement carried out based on the technical solution of the present invention should not arrange
In addition in protection scope of the present invention.
Claims (4)
1. a kind of dynamical system active damping method based on motor instant torque observer, which is characterized in that this method packet
Include following steps:
1) enable engine under the control of control unit of engine according to setting operating condition operation；
2) under every kind of operating condition, full-vehicle control unit acquires state parameter, control parameter and the additional sensor letter of engine
Number；
3) motor instant torque observer receiving step 2) acquisition engine state parameters, control parameter, additional sensor
The crankshaft signal that signal and the encoder measurement by being mounted on crankshaft output end obtain carries out motor instant torque ripple
Estimation, obtains motor instant torque ripple signal and is sent to electric machine controller；
4) electric machine controller is calculated target harmonic torque and generates corresponding control by motor instant torque ripple signal
Signal processed is sent to motor；
5) motor generates corresponding harmonic torque according to the control signal received；
6) harmonic torque that the instantaneous torque of engine and motor generate acts on transmission shaft simultaneously, realizes subtracting for dynamical system
Vibration.
2. the method as described in claim 1, which is characterized in that the supplemental sensor signal is cylinder pressure signal, the letter
Number pass through in each cylinder of engine install cylinder pressure sensor obtain.
3. the method as described in claim 1, which is characterized in that carry out estimating for motor instant torque ripple in the step 3)
Meter, expression formula are as follows:
Wherein, r is throw of crankshaft,For crank throw corner, β is connecting rod pivot angle, and λ=r/l is crank to connecting rod length ratio, and l is connecting rod concentric reducer
Center is away from D is cylinder bore, pgFor gas in the jar absolute pressure, pbFor crank case gases absolute pressure, IcrankIt is equivalent for crankshaft
Rotary inertia；Connecting rod pivot angle For the friction torque of engine；mhzFor piston matter
Amount, mlAFor small end of connecting rod equivalent mass, ω is speed of crankshaft.
4. method as claimed in claim 3, which is characterized in that target harmonic torque calculation expression is such as in the step 4)
Under:
Wherein, Mt_iThe estimation of the motor instant torque ripple of i-th of cylinder of engine is represented, n is the cylinder number of engine.
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| CN201811528655.0A CN109795470B (en) | 2018-12-13 | 2018-12-13 | Active vibration reduction method of power system based on engine instantaneous torque observer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110863912A (en) * | 2019-10-11 | 2020-03-06 | 清华大学 | Engine cylinder deactivation method utilizing active vibration reduction |
| CN113353053A (en) * | 2021-06-23 | 2021-09-07 | 精进电动科技股份有限公司 | Hybrid power system and method for acquiring engine crank angle in hybrid power system |
| CN113859216A (en) * | 2021-10-28 | 2021-12-31 | 北京交通大学 | Hybrid power system multi-working-condition active vibration reduction control method based on vibration reduction waveform |
| CN114151216A (en) * | 2021-10-29 | 2022-03-08 | 清华大学 | Active vibration reduction control method and device based on cylinder pressure reconstruction |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110863912A (en) * | 2019-10-11 | 2020-03-06 | 清华大学 | Engine cylinder deactivation method utilizing active vibration reduction |
| CN113353053A (en) * | 2021-06-23 | 2021-09-07 | 精进电动科技股份有限公司 | Hybrid power system and method for acquiring engine crank angle in hybrid power system |
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| CN113859216A (en) * | 2021-10-28 | 2021-12-31 | 北京交通大学 | Hybrid power system multi-working-condition active vibration reduction control method based on vibration reduction waveform |
| CN114151216A (en) * | 2021-10-29 | 2022-03-08 | 清华大学 | Active vibration reduction control method and device based on cylinder pressure reconstruction |
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