CN109815598B - Algorithm for enhancing response speed of motor to accelerator in electric automobile control system - Google Patents
Algorithm for enhancing response speed of motor to accelerator in electric automobile control system Download PDFInfo
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- CN109815598B CN109815598B CN201910078692.4A CN201910078692A CN109815598B CN 109815598 B CN109815598 B CN 109815598B CN 201910078692 A CN201910078692 A CN 201910078692A CN 109815598 B CN109815598 B CN 109815598B
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Abstract
An algorithm for enhancing the response speed of a motor to an accelerator in an electric automobile control system is characterized in that a reference zero point b is set in the process of monitoring an accelerator signal by a controller, the voltage corresponding to the reference zero point b is 2.5V, and when the accelerator signal is greater than 2.5V, the motor realizes forward rotation; when the throttle signal is smaller than 2.5V, the motor realizes reverse rotation; and calculating the stroke difference between the throttle position and the reference zero point b according to the driving force of the motor. Specifically, the larger the stroke difference is, the larger the corresponding motor driving force is, and the smaller the stroke difference is, the smaller the corresponding motor driving force is. When the two-side accelerator in the electric automobile is respectively positioned at different accelerator positions, different turning radiuses are realized by different driving force difference values due to the fact that different driving force sizes are different. The double motors and the double accelerants are used, and the double controllers are used for controlling the turning radius, the turning direction and the trigger button to realize forward and reverse rotation switching without special direction sensors, so that an algorithm is optimized, and the design is simplified.
Description
Technical Field
The invention relates to the field of new energy automobiles, in particular to an algorithm for enhancing the response speed of a motor to an accelerator in an electric automobile control system.
Background
The response speed of the motor to the accelerator potential signal is particularly important in the application of dual-motor control, the steering wheel is mostly adopted in dual-motor control to control the turning radius and direction of the whole vehicle and the driving force of the motor by stepping on the accelerator force, and the control method needs to install a sensor on the steering wheel shaft to sense the steering wheel to rotate through an angle so as to calculate the rotating speed difference and the rotating speed direction of the two motors, and an external trigger button is needed to realize the simultaneous forward and backward movement of the two motors, so that the complexity of a software algorithm is increased, the forward and backward rotation operation is uncoordinated, and the design is more complicated.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an algorithm for enhancing the response speed of a motor to an accelerator in an electric automobile control system, which comprises the following specific technical scheme:
an algorithm for enhancing the response speed of a motor to an accelerator in a control system of a dual-motor electric automobile is characterized in that:
the method comprises the following steps:
s1: the controller monitors the throttle potential signal in real time;
s2: the controller judges whether the motor is in forward rotation or reverse rotation according to the accelerator potential signal;
s3: the controller determines a corresponding first output torque Q10 through an accelerator potential signal, and the relation between the accelerator potential signal and the value A of the first output torque Q10 is as follows:
a= (y/2.5) A1, 0.ltoreq.a.ltoreq.2000; y is the stroke difference;
s4: the controller determines a corresponding second output torque Q15 through the value A of the first output torque Q10, and the relation between the value A of the first output torque Q10 and the value B of the second output torque Q15 is as follows:
B＝(A/A2)*B1，0≤B≤32767；
b1=32767, a2=2000 at Q15 output;
s5: when the controller acquires that the accelerator potential signal is zero, setting the target rotating speed of the motor to be 0;
s6: the controller collects motor operation parameters D in real time, and the relation between the motor operation parameters D and the motor rotating speed X is as follows:
D＝(X/D1)*D2，0≤D≤32767，D1＝3000，D2＝32767；
s7: the controller carries out PID adjustment according to the target rotating speed 0 of the motor and the running parameter D of the motor, and outputs a negative moment C;
s8: the controller obtains a value w of the output torque Q11 through PWM waves, wherein the value w is the superposition of a value B of the second output torque Q15 and the PID regulation output negative torque C, and the relation is as follows:
w＝(B+C)*w1/w2，0≤w≤3000；
w1=3000, w2=32767 at Q11 output.
Further: the model of a data sensor for collecting accelerator potential signals is TJ563A, and the model of the controller is YPK1002-01 or YPK1002-02.
The beneficial effects of the invention are as follows: the double motors and the double accelerants are used, the double controllers are used for controlling the double motors and the double accelerants without special direction sensors for judging the turning radius and the turning direction and realizing forward and reverse rotation switching of the trigger button, the current accelerants voltage and the zero voltage are only needed to be compared, the forward rotation or reverse rotation of the motors and the turning radius can be judged according to the S1-S8 algorithm, the forward and reverse rotation switching and turning of the motors can be realized only by accelerator potential signals, and PWM calculation is driven to optimize the algorithm, so that the design is simplified.
Drawings
FIG. 1 is a throttle rotational speed map;
fig. 2 is a control schematic of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
As shown in fig. 1 and 2:
in the process of monitoring the accelerator potential signal by the controller, setting a reference zero point b, wherein the voltage corresponding to the reference zero point b is 2.5V, and when the accelerator potential signal is more than 2.5V, the motor realizes forward rotation;
when the throttle potential signal is smaller than 2.5V, the motor realizes reverse rotation;
and calculating the stroke difference between the throttle position and the reference zero point b according to the driving force of the motor.
Specifically, the larger the stroke difference is, the larger the corresponding motor driving force is, and the smaller the stroke difference is, the smaller the corresponding motor driving force is. When the two-side accelerator in the electric automobile is respectively positioned at different accelerator positions, different turning radiuses are realized by different driving force difference values due to the fact that different driving force sizes are different.
The driving force is proportional to the value B of the second accelerator torque Q15, and the larger the value B is, the larger the corresponding PWM output signal is.
When the maximum stroke of the accelerator is performed, the potential difference between the generated accelerator potential signal c and the reference zero b is c-b;
setting the travel difference between an accelerator potential signal c2 of an actual accelerator travel n and a reference zero point b as y=n-b, and 0< = y < = b;
setting the output torque corresponding to the maximum accelerator potential signal as k=32767;
an algorithm for enhancing the response speed of a motor to an accelerator in a control system of a dual-motor electric automobile is characterized in that:
the method comprises the following steps:
s1: the controller monitors the throttle potential signal in real time;
s2: the controller judges whether the motor is in forward rotation or reverse rotation according to the accelerator potential signal;
s3: the controller determines a corresponding first output torque Q10 through an accelerator potential signal, and the relation between the accelerator potential signal and the value A of the first output torque Q10 is as follows:
a= (y/2.5) A1,0< = a < = 2000; (a1=2000 when Q10 is output)
S4: the controller determines a corresponding second output torque Q15 through the value A of the first output torque Q10, and the relation between the value A of the first output torque Q10 and the value B of the second output torque Q15 is as follows:
B＝(A/A2)*B1，0<＝B<＝32767；
b1=32767, a2=2000 at Q15 output;
s5: when the controller acquires that the accelerator potential signal is zero, setting the target rotating speed of the motor to be 0;
s6: the controller collects motor operation parameters D in real time, and the relation between the motor operation parameters D and the motor rotating speed X is as follows:
D＝(X/D1)*D2，0<＝D<＝32767，D1＝3000，D2＝32767；
s7: the controller carries out PID adjustment according to the target set rotating speed 0 of the motor and the motor running parameter D, and outputs a negative moment C;
s8: the controller obtains a value w of the output torque Q11 through PWM waves, wherein the w is the superposition of a value B of the output torque Q15 and the PID regulating output torque C, and the relation is as follows:
w＝(B+C)*w1/w2，0<＝w<＝3000；
w1=3000, w2=32767 at Q11 output.
In step S4, when the accelerator is at zero, since the stroke difference y=0, b=0 and c=0 are obtained, and through step S7, w=0 is obtained, and the driving force is minimum.
When the accelerator is at the maximum potential n=5, the stroke difference y=2.5 is obtained, b=32767, c=0 is obtained, and w=3000 is obtained through S7, at which time the driving force is maximum.
The working principle of the invention is as follows: according to the invention, open loop control is adopted, the accelerator potential signal is directly converted into PWM modulation wave through the accelerator potential signal, and by adopting the mode, the quick response to the accelerator potential signal can be realized, meanwhile, the response speed of the motor is influenced only by the accelerator potential signal, and when the accelerator potential signal passes through the reference zero point b, the motor direction can be switched in a positive and negative direction;
the current rotating speed is set to be 0, a negative PID value C is obtained through calculation of the rotating speed 0, PWM is reduced faster by superposing the PID value C and the accelerator moment B, the purpose of fully reducing the speed of the motor is achieved, the rotating speed of the motor is ensured to be smaller than a set value when the motor is switched, the impact of a speed reducing structure on the motor is reduced, and the purpose of protecting the motor and a controller is achieved.
Claims (2)
1. An algorithm for enhancing the response speed of a motor to an accelerator in a control system of a dual-motor electric automobile is characterized in that:
the method comprises the following steps:
s1: the controller monitors the throttle potential signal in real time;
s2: the controller judges whether the motor is in forward rotation or reverse rotation according to the accelerator potential signal;
s3: the controller determines a corresponding first output torque Q10 through an accelerator potential signal, and the relation between the accelerator potential signal and the value A of the first output torque Q10 is as follows:
a= (y/2.5) A1, 0.ltoreq.a.ltoreq.2000; y is a stroke difference, a1=2000 when Q10 is output;
s4: the controller determines a corresponding second output torque Q15 through the value A of the first output torque Q10, and the relation between the value A of the first output torque Q10 and the value B of the second output torque Q15 is as follows:
B＝(A/A2)*B1，0≤B≤32767；
b1=32767, a2=2000 at Q15 output;
s5: when the controller acquires that the accelerator potential signal is zero, setting the target rotating speed of the motor to be 0;
s6: the controller collects motor operation parameters D in real time, and the relation between the motor operation parameters D and the motor rotating speed X is as follows:
D＝(X/D1)*D2，0≤D≤32767，D1＝3000，D2＝32767；
s7: the controller carries out PID adjustment according to the target rotating speed 0 of the motor and the running parameter D of the motor, and outputs a negative moment C;
s8: the controller obtains a value w of the output torque Q11 through PWM waves, wherein the value w is the superposition of a value B of the second output torque Q15 and the PID regulation output negative torque C, and the relation is as follows:
w＝(B+C)*w1/w2，0≤w≤3000；
w1=3000, w2=32767 at Q11 output.
2. The algorithm for enhancing the response speed of a motor to an accelerator in a control system of a dual-motor electric vehicle according to claim 1, wherein the algorithm is characterized in that: the model of a data sensor for collecting accelerator potential signals is TJ563A, and the model of the controller is YPK1002-01 or YPK1002-02.
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| ITTO20030233A1 (en) * | 2003-03-27 | 2004-09-28 | Fiat Auto Spa | PROPULSION CONTROL SYSTEM FOR A VEHICLE |
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| CN101209683A (en) * | 2006-12-26 | 2008-07-02 | 比亚迪股份有限公司 | Electric automobile driving electric motor control method and control system thereof |
| CN101209681A (en) * | 2006-12-26 | 2008-07-02 | 比亚迪股份有限公司 | Electric motor outputting torque moment control system and control method in electric automobile descending condition |
| CN102278391A (en) * | 2011-06-28 | 2011-12-14 | 北京工业大学 | Control method of clutch based on revolving speed |
| CN103552481A (en) * | 2013-11-15 | 2014-02-05 | 哈尔滨理工大学 | Dual-motor configuring electric vehicle power control system and control method |
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