CN109842342A - A kind of anti-interference intelligent controller of pure electric automobile hub motor - Google Patents
A kind of anti-interference intelligent controller of pure electric automobile hub motor Download PDFInfo
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Abstract
The present invention discloses a kind of anti-interference intelligent controller of pure electric automobile hub motor, it is made of load compensation controller, state feedback controller, voltage decoupling controller, controller parameter optimization module and limited-voltage control device, the input of load compensation controller is load torque TlIt is voltage u with rotational speed omega, outputd1、uq1；State feedback controller input is reference rotation velocity ωref, reference current id ref, optimal controller gain matrix Kbest, ω and electric current id、iq, output be voltage ud2、uq2；The input of voltage decoupling controller is ω and id, output be voltage ud3、uq3；The input of controller parameter optimization module is ω and idAnd ωrefAnd id ref, output be Kbest；The input of limited-voltage control device is ω, iqAnd voltageWithThe global optimum parameter K of state feedback controller is obtained by grey wolf optimization algorithmbest, improve the maximum voltage that vehicle supplies motor in starting, acceleration and climbing.
Description
Technical field
The invention belongs to pure electric automobile control field, in particular to a kind of wheel hub motor system of pure electric automobile
Intelligent controller.
Background technique
The problems such as with energy crisis, environmental pollution, increasingly sharpens, and improves efficiency of energy utilization and becomes increasingly important.With
Traditional combustion engine automobile is compared, and the discharge of pure electric automobile is lower, capacity usage ratio is higher.For conventional truck, clutch
Device, speed changer, transmission shaft, differential mechanism or even transfer gear are all essential components, but the heavy complexity of these components, for mentioning
Economy and the dynamic property for rising vehicle are all very unfavorable.The use of hub motor has well solved these problems.Using wheel hub electricity
Machine not only makes vehicle structure more simple, but also many spaces saved for vehicle, while transmission efficiency is also greatly mentioned
It is high.Permanent magnet synchronous motor has high dynamic performance, the distinguishing features such as high efficiency and lightweight, so being now widely used for new energy
Source pure electric automobile.
Exploring more intelligent will be important directions that the following pure electric automobile develops with high performance electric machine controller.
What use was more at present is permanent-magnet synchronous hub motor control technology, and there are mainly two types of:
(1) revolving speed open loop constant voltage constant frequency control: the control method is chiefly used in motor group speed-regulating system, and observation steady-state characteristic is bent
Line discovery, this method need to only control the amplitude of variable, and value of feedback and given value are proportional, thus control principle and
Structure is simple.Constant voltage constant frequency control have the shortcomings that one it is obvious, be exactly rotor concussion and step-out problem be not resolved, adopt
With the control of single-variable system, stability is not high, and dynamic property is not ideal enough, and it is also ten clearly demarcated that parameter is difficult to the disadvantages of designing
It is aobvious.
(2) based on the two close cycles vector controlled of PI controller: using double closed-loop control system, inner ring is electric current loop, outer ring
For der Geschwindigkeitkreis, revolving speed and electric current are adjusted by the negative-feedback of revolving speed and electric current respectively.The shortcomings that such control method it is also obvious that
Entire control system is there are three PI controller, the controller parameter at least six for needing to adjust, and can bring in practical application very big
Workload；And due to the inherent shortcoming of double-closed-loop control structure, the dynamic characteristic of system will receive limitation.
Chinese Patent Application No. is 201110358020.2, entitled " control is concentrated in double wheel hub motor electronic differential and speed regulation
The differential control under the operating conditions such as automobile turning is disclosed in the document of device processed ", Chinese Patent Application No. is
201210098727.9, entitled " a kind of hub motor combination drive control system and its control method " and Chinese patent Shen
It number please disclose for 201220144616.2, in the document of entitled " a kind of hub motor combination drive control system " in difference
The conversion and control of uniaxial driving and four-wheel drive, all lays particular emphasis on the cooperation between different motors under operating condition, is not directed to be promoted single
The control performance of a hub motor controls.
Summary of the invention
The purpose of the present invention is for the common load characteristic of hub motor, provide a kind of to effectively improve hub motor system
Items of uniting Control performance standard, and increase the anti-interference intelligent control of the pure electric automobile wheel hub motor system of voltage utilization
Device.
The technical solution adopted by the present invention is that: a kind of anti-interference intelligent controller of pure electric automobile hub motor of the present invention
Output end connection wheel hub motor system input terminal, the input of wheel hub motor system be control voltage ud、uq, output be revolving speed
ω and electric current id、iq, anti-interference intelligent controller by load compensation controller, state feedback controller, voltage decoupling controller,
Controller parameter optimization module and limited-voltage control device composition, the input of load compensation controller is load torque TlWith rotational speed omega,
Output is control voltage ud1、uq1；The input of state feedback controller is reference rotation velocity ωref, reference current id ref, optimum control
Device gain matrix KbestAnd rotational speed omega and electric current id、iq, output for control voltage ud2、uq2；The input of voltage decoupling controller
It is rotational speed omega and electric current id, output be control voltage ud3、uq3；The input of controller parameter optimization module is rotational speed omega and electric current id
And reference rotation velocity ωrefWith reference current id ref, output be the optimal controller gain matrix Kbest；Limited-voltage control device
Input is rotational speed omega, electric current iqAnd voltageWithOutput is the control electricity
Press ud、uq。
Further, the controller parameter optimization module generates N group weight matrix Q and R at random, calculate gain
Matrix K is simultaneously exported to state feedback controller, calculates the fitness value F of present weight matrix, determines that N group is weighed in current iteration
Three groups of best weight matrix of fitness in weight matrix update all weight matrix using grey wolf optimization algorithm, and output is next time
Weight matrix [QR] in iterationi+1, by [QR]i+1Calculate the gain matrix K in next iterationi+1, by gain matrix Ki+1It is defeated
Out to state feedback controller, it is so repeated up to arrival maximum number of iterations, by the best weight matrix of fitness [QR]Imax
Determine the optimal controller gain matrix Kbest。
The beneficial effects of the present invention are:
1, the present invention replaces double closed-loop control system by state feedback controller, effectively overcomes consolidating for double loop system
It is defective, improve the dynamic property of system.Voltage decoupling controller ensure that the control precision of system.Load compensation controller
Improve response speed of the hub motor under the operating conditions such as acceleration, climbing.Above three sub-controller is constituted into anti-interference intelligence
Controller efficiently solves the defect of the existing control method of pure electric automobile wheel hub motor system, designs simple, control effect
It is excellent, there is very strong anti-interference ability.
2, global optimum's parameter that state feedback controller is obtained by grey wolf optimization algorithm, in lifting controller effect
While reduce parameter adjustment workload.
3, present invention employs it is a kind of it is novel, in conjunction with current motor operation conditions dynamic electric voltage constraint processing it is further
Improve the dynamic property of vehicle.Compared with traditional fixed voltage clipping mode, the present invention is guaranteeing wheel hub motor system safety
Under the premise of operation, the maximum voltage that vehicle supplies motor in starting, acceleration and climbing can be effectively improved, when shortening adjusting
Between.
4, control variable and input variable needed for the present invention are that can survey, easily survey variable, and the control algolithm of the controller
It need to only be programmed and be realized by modular software, not need to increase additional instrument and equipment, before no increase controls cost
It puts, effectively increases the Control platform of controller, be conducive to Project Realization.
Detailed description of the invention
Fig. 1 is a kind of anti-interference intelligent controller of pure electric automobile hub motor of the present invention and its input and output
Structural block diagram；
Fig. 2 is the structure equivalent block diagram of wheel hub motor system 1 in Fig. 1；
Fig. 3 is the parameter optimization flow chart of controller parameter optimization module 3 in Fig. 1.
In figure: 1. wheel hub motor systems；2. anti-interference intelligent controller；3. controller parameter optimization module；11.2r/2s
Coordinate transformation module；12.SVPWM；13. inverter module；14. hub motor；15.3s/2r coordinate transformation module；21. load
Compensating controller；22. state feedback controller；23. voltage decoupling controller；24. limited-voltage control device；41. rotational speed setup module；
42. given value of current module；43. load torque.
Specific embodiment
The anti-interference intelligent controller 2 of a kind of pure electric automobile hub motor of the present invention is serially connected in as shown in Figure 1:
The front end of wheel hub motor system 1, the input terminal of the output end connection wheel hub motor system 1 of anti-interference intelligent controller 2, output
It is control voltage ud、uq, what wheel hub motor system 1 exported is rotational speed omega and electric current id、iq。
Anti-interference intelligent controller 2 is by load compensation controller 21, state feedback controller 22, voltage decoupling controller
23, controller parameter optimization module 3 and limited-voltage control device 24 form.
The input of load compensation controller 21 is load torque TlAnd rotational speed omega, the output of load compensation controller 21 are controls
Voltage u processedd1、uq1。
The input of state feedback controller 22 is reference rotation velocity ωref, reference current id ref, optimal controller gain matrix
KbestAnd the rotational speed omega and electric current i of the output of wheel hub motor system 1d、iq, the output of state feedback controller 22 is control voltage
ud2、uq2。
The input of voltage decoupling controller 23 is the rotational speed omega and electric current i that wheel hub motor system 1 exportsd, voltage decoupling control
The output of device 23 processed is control voltage ud3、uq3。
The input of controller parameter optimization module 3 is the rotational speed omega and electric current i that wheel hub motor system 1 exportsd, and reference
Rotational speed omegarefWith reference current id ref, the output of controller parameter optimization module 3 is the optimal of input state feedback controller 22
Controller gain matrix Kbest。
Voltage u will be controlledd1、ud2、ud3It combines, the voltage in conjunction with after It will control
Voltage uq1、uq2、uq3It combines, the voltage in conjunction with after Voltage in conjunction with afterMake
Be limited pressure controller 24 first part input, limited-voltage control device 24 second part input be wheel hub motor system 1 export
Rotational speed omega and electric current iq.The output of limited-voltage control device 24 is control voltage ud、uq, control voltage ud、uqIt is anti-interference intelligence control
The output of device 2 processed will control voltage ud、uqInput hub electric system 1 realizes the control to pure electric automobile wheel hub motor system 1
System.
Constructing anti-interference intelligent controller 2 shown in FIG. 1 need to be embodied by following ten steps:
Step 1: as shown in Fig. 2, construction wheel hub motor system 1.By 2r/2s coordinate transformation module 11, SVPWM 12, inverse
Become device module 13, hub motor 14,3s/2r coordinate transformation module 15 and forms wheel hub motor system 1 as a whole.The wheel hub
Electric system 1 is with voltage ud、uqTo input, with rotational speed omega, electric current id、iqFor output.
2r/2s coordinate transformation module 11, SVPWM 12, inverter module 13 and hub motor 14 are sequentially connected in series, inverter
The output end of module 13 connects the input terminal of 3s/2r coordinate transformation module 15 again.
Two inputs of 2r/2s coordinate transformation module 11 are respectively voltage udAnd uq, voltage udAnd uqBy 2r/2s coordinate
The coordinate transform of conversion module 11 obtains the control voltage u under two-phase stationary coordinate systemαAnd uβ, the voltage value is as SVPWM 12
The input of adjustment module, the output of SVPWM 12 are switching pulse signal 0 and 1 (0 represents closing, and 1 is open-minded), switching pulse letter
Input number as inverter 13, the three-phase current i of 13 output driving hub motor 14 of invertera、ib、ic.Hub motor 14
Output is rotational speed omega, by three-phase current ia、ib、icAs the input of 3s/2r coordinate transformation module 15,3s/2r coordinate transformation module
15 outputs are the current value i under synchronous rotating framed、iq。
Step 2: the mathematical model of wheel hub motor system 1 is established.By analysis, equivalent and derivation, hub motor system is established
The mathematical model of system 1 are as follows:
In formula: x=[id iq ω sw]TWith u=[ud uq]TThe respectively state variable and control of wheel hub motor system 1
Variable takes three output i of wheel hub motor system 1d、iq, ω and speed error integral swFor the state variable of system, control
Variable processed is two input u of wheel hub motor system 1dAnd uq。TlFor load torque, A is coefficient of combination matrix, and B is input coefficient
Matrix, E are load coefficient matrix:
Step 3: the analytical expression of the anti-interference intelligent controller of construction wheel hub motor system 1 considers hub motor system
The uncertain disturbances characteristics such as load sudden change, the parameter time varying of system 11, the anti-interference intelligence control of available wheel hub motor system 1
The output u of device processed are as follows:
U=u1+u2+u3 (2)
U in formula1、u2、u3Respectively load compensation controller 21, state feedback controller 22 and voltage decoupling controller 23
Output.
Wherein, the output voltage u of load compensation controller 211It is:
In formula: ktFor the torque coefficient of hub motor 14, BωCoefficient of friction, T for hub motor 14qFor hub motor 14
Time constant, J is rotary inertia, kt=1.32, Bω=0.006, Tq=0.05, J=0.004kgm2,Respectively revolving speed
The second order and first derivative of ω, TlFor load torque.
The output u of state feedback controller 222It is:
In formula: the gain matrix that K is 2 × 4, value directly affect the response characteristic of system.It is managed in linear quadratic form optimal
In, designed controller should take into account control performance and energy loss, and the gain matrix K of the controller of selection should make following formula most
It is small:
First part in formula (5) represents the tracking performance of controller, and second part represents control energy, and Q and R are weight
Matrix, represents the relative importance of control performance and energy loss, and value is presented with direct shadow to anti-interference intelligent controller 2
It rings.
After obtaining weight matrix Q and R, gain matrix K can be found out by following formula:
K=lqr (A, B, Q, R) (6)
Lqr () is Linear-Quadratic Problem optimal function.
The output u of voltage decoupling controller 233It is:
In formula: k1、k2And k3For voltage coupling coefficient, k1=17, k2=37, k3=103.2.
Step 4: such as Fig. 3, the state that system can be made to reach global optimum is obtained using controller parameter optimization module 3
Optimal controller gain matrix is denoted as K by the gain matrix K of feedback controller 22best。
The external input of controller parameter optimization module 3 be under 1 different moments of wheel hub motor system the rotational speed omega that exports and
Electric current idAnd the reference rotation velocity ω that rotational speed setup module 41 and given value of current module 42 exportrefWith reference current id ref.Control
The output of device parameter optimization module 3 is to be assigned to the optimum gain matrix K of state feedback controllerbest.；
Controller parameter optimization module 3 obtains optimum gain matrix K according to the following stepsbest:
Step 1: initialization weight matrix, it is random to generate N group weight matrix Q and R, it is denoted as [QR]0, [QR]iIndicate i-th
Weight matrix Q and R in iterative process, N=30.
Step 2: the gain matrix K of state feedback controller 22 is calculated by formula (6).
Step 3: obtained gain matrix K is exported to state feedback controller 22.
Step 4: using the anti-interference 2 drive hub electric system 1 of intelligent controller of hub motor, obtain anti-in current state
Present motor output speeds ω discrete under the gain matrix K of controller 22nWith electric current id n, n represents sampling instant.
Step 5: the fitness value F of present weight matrix is calculated using formula (8):
In formula: w1、w2For weight, w1=5, w2=2.eω、eidMistake for actual speed and actual current relative to reference value
Difference.N represents sampling instant, and Ts is the sampling time.
Step 6: determining fitness is best in N group weight matrix in current iteration three groups, be denoted as [QR]i 1,[QR]i 2,
[QR]i 3。
Step 7: according to three groups of determining weight matrix [QR]i 1,[QR]i 2,[QR]i 3, institute is updated using grey wolf optimization algorithm
There is weight matrix, exports the weight matrix [QR] in next iterationi+1.Global optimum is approached using grey wolf optimization algorithm
State feedback controller efficiently solves the selection problem of gain matrix in STATE FEEDBACK CONTROL.
Step 8: according to formula (6), by [QR]i+1Calculate the state feedback controller coefficient gain in next iteration
Matrix Ki+1。
Step 9: repeating step 3 to step 8, until reaching maximum number of iterations Imax,Imax=10.I-th iteration process
Obtained gain matrix is Ki。
Step 10: output reaches maximum number of iterations ImaxAfterwards by the best weight matrix of fitness [QR]ImaxIt is determining most
Excellent controller gain matrix Kbest:
Step 5: load compensation controller 21 is constructed using formula (3).For pure electric automobile, load torque TlIt is divided into
Accelerating weight TaT is loaded with climbingθ:
In formula: m is complete vehicle quality, and r is tire radius, and θ is road surface inclination angle.
By output actual speed ω, the load torque T of wheel hub motor system 1lAs the input of load compensation controller 21,
It is voltage u that it, which is exported,d1、uq1。
Step 6: state feedback controller 22 is constructed using formula (4).By the finally obtained optimal solution of step 4, i.e., most
Excellent controller gain matrix KbestBring state feedback controller 22 into.The reference rotation velocity ω exported with rotational speed setup module 41ref、
The reference current i that given value of current module 42 exportsd ref, wheel hub motor system 1 output ω, idAnd iqFor input, state feedback control
The output of device 22 processed is control voltage ud2、uq2。
Step 7: voltage decoupling controller 23 is constructed using formula (7).With output ω, i of wheel hub motor system 1dAs
The input of voltage decoupling controller 23, the output for obtaining voltage decoupling controller 23 is ud3、uq3。
Step 8: to improve voltage utilization under the premise of guaranteeing that wheel hub motor system 1 is safely operated, the present invention is abandoned
A kind of method of traditional fixed voltage clipping, using constraint processing mode novel, in conjunction with current motor operation conditions.
The control voltage that load compensation controller 21, state feedback controller 22 and voltage decoupling controller 23 export is combined, structure
It is inputted at the first part of limited-voltage control device 24 are as follows:
Simultaneously by output ω, i of wheel hub motor system 1qSecond part as limited-voltage control device 24 inputs.Hub motor
The discrete expression of the q shaft current of system 1 are as follows:
iq(n+1)=kαuq(n)+kβiq(n)-kδEq(n) (10)
In formula, EqIt (n) is the counter electromotive force at n moment, Eq(n)=ω ψf, ψfFor permanent magnet flux linkage；kαFor voltage coefficient, kβ-
For current coefficient, kδFor back EMF coefficient, kα=0.31, kβ=9.56, kδ=0.03.
The purpose of limited-voltage control device 24 is the electric current i to guarantee subsequent time wheel hub motor system 1q(n+1) it is no more than electricity
The specified phase current I of machineN, that is, guarantee:
iq(n+1)≤IN (11)
(13) and formula (14) according to the following formula, can obtain q shaft voltage udConstraint condition are as follows:
|ud(n)|≤uup (13)
In formula: uupFor the voltage rating of inverter.Limited-voltage control device 24 can be constructed by formula (12), (13).Pressure limiting control
The output of device 24 processed is control voltage ud、uq, input as wheel hub motor system 1.
Step 9: controller parameter optimization module 3 is connected with state feedback controller 22, by state feedback controller
22, it after load compensation controller 21,23 parallel connection of voltage decoupling controller, and connects with limited-voltage control device 24 and may make up wheel hub
The anti-interference intelligent controller 2 of motor.The reference rotation velocity that the anti-interference intelligent controller 2 is generated with rotational speed setup unit 41
ωref, given value of current unit 42 generate reference current id ref, wheel hub motor system 1 export actual speed ω, actual current
id、iqWith load torque TlTo input, with voltage ud、uqTo export, to realize the height to pure electric automobile wheel hub motor system 1
Performance robust control.
Claims (6)
1. a kind of anti-interference intelligent controller of pure electric automobile hub motor, output end connects wheel hub motor system (1)
Input terminal, the input of wheel hub motor system (1) are control voltage ud、uq, output be rotational speed omega and electric current id、iq, it is characterized in that:
It optimizes mould by load compensation controller (21), state feedback controller (22), voltage decoupling controller (23), controller parameter
Block (3) and limited-voltage control device (24) composition, the input of load compensation controller (21) is load torque TlIt is with rotational speed omega, output
Control voltage ud1、uq1；The input of state feedback controller (22) is reference rotation velocity ωref, reference current id ref, optimal controller
Gain matrix KbestAnd rotational speed omega and electric current id、iq, output for control voltage ud2、uq2；Voltage decoupling controller (23) it is defeated
Enter is rotational speed omega and electric current id, output be control voltage ud3、uq3；The input of controller parameter optimization module (3) be rotational speed omega and
Electric current idAnd reference rotation velocity ωrefWith reference current id ref, output be the optimal controller gain matrix Kbest；Pressure limiting control
The input of device (24) processed is rotational speed omega, electric current iqAnd voltageWithOutput is
The control voltage ud、uq。
2. a kind of anti-interference intelligent controller of pure electric automobile hub motor according to claim 1, it is characterized in that: institute
The controller parameter optimization module (3) stated generates N group weight matrix Q and R at random, it calculates gain matrix K and exports to state
Feedback controller (22) calculates the fitness value F of present weight matrix, determines in current iteration and adapts in N group weight matrix
Three groups of best weight matrix are spent, all weight matrix is updated using grey wolf optimization algorithm, exports the weight in next iteration
Matrix [QR]i+1, by [QR]i+1Calculate the gain matrix K in next iterationi+1；Again by gain matrix Ki+1It exports anti-to state
It presents controller (22)；It so is repeated up to arrival maximum number of iterations, by the best weight matrix of fitness [QR]ImaxIt determines
The optimal controller gain matrix Kbest。
3. a kind of anti-interference intelligent controller of pure electric automobile hub motor according to claim 1, it is characterized in that:ktFor the torque coefficient of hub motor, BωFor wheel hub electricity
Coefficient of friction, the T of machineqFor the time constant of hub motor, J is rotary inertia, kt=1.32, Bω=0.006, Tq=0.05, J
=0.004kgm2,The respectively second order and first derivative of rotational speed omega, TlFor load torque.
4. a kind of anti-interference intelligent controller of pure electric automobile hub motor according to claim 1, it is characterized in that:The gain matrix that K is 2 × 4, K=lqr (A, B, Q, R), lqr () are Linear-Quadratic Problem optimal function, and A is
Coefficient of combination matrix, B are input coefficient matrix, and Q and R are weight matrix.
5. a kind of anti-interference intelligent controller of pure electric automobile hub motor according to claim 1, it is characterized in that:k1、k2And k3For voltage coupling coefficient.
6. a kind of anti-interference intelligent controller of pure electric automobile hub motor according to claim 2, it is characterized in that: institute
The fitness value for the present weight matrix statedw1、w2For weight, w1=5,
w2=2, eω、eidThe respectively error of actual speed and actual current relative to reference value, n is sampling instant, when Ts is sampling
Between.
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| CN110376884A (en) * | 2019-06-26 | 2019-10-25 | 江苏大学 | A kind of building method of new-energy automobile driving motor Intelligent Dynamic anti-interference controller |
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| CN111510045A (en) * | 2020-03-19 | 2020-08-07 | 江苏大学 | Construction method of in-wheel motor controller without position sensor |
| CN111510045B (en) * | 2020-03-19 | 2023-05-05 | 江苏大学 | Construction method of position-sensor-free controller of hub motor |
| CN111934586A (en) * | 2020-07-07 | 2020-11-13 | 江苏大学 | Disturbance attenuation controller for hub motor of electric vehicle |
| CN111934586B (en) * | 2020-07-07 | 2023-11-10 | 江苏大学 | Electric automobile in-wheel motor disturbance attenuation controller |
| CN112713830A (en) * | 2020-12-21 | 2021-04-27 | 华中科技大学 | Permanent magnet synchronous motor speed regulation system and multi-target optimal state feedback control method |
| CN112713830B (en) * | 2020-12-21 | 2022-04-08 | 华中科技大学 | Permanent magnet synchronous motor speed regulation system and multi-target optimal state feedback control method |
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Application publication date: 20190604 Assignee: Honeycomb drive system (Jiangsu) Co.,Ltd. Assignor: JIANGSU University Contract record no.: X2023320000079 Denomination of invention: An Anti-interference Intelligent Controller of Hub Motor for Pure Electric Vehicle Granted publication date: 20201120 License type: Common License Record date: 20230206 |