CN109871044A - A kind of rotating-speed tracking method and device - Google Patents
A kind of rotating-speed tracking method and device Download PDFInfo
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- CN109871044A CN109871044A CN201910207778.2A CN201910207778A CN109871044A CN 109871044 A CN109871044 A CN 109871044A CN 201910207778 A CN201910207778 A CN 201910207778A CN 109871044 A CN109871044 A CN 109871044A
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Abstract
The present invention provides a kind of rotating-speed tracking method and devices, after the rotating speed of target and current rotating speed for obtaining electric dynamometer, in addition to can be according to the rotating speed of target and the current rotating speed, except the initial target torque for calculating the electric dynamometer, it can also be according to the current rotating speed, calculate the inertia compensation torque of the electric dynamometer, final target torque includes inertia compensation torque, inertia compensation torque can offset the lag of PI adjusting, the rotating-speed tracking method and device provided through the invention, it can eliminate and only carry out the existing lag of PI adjusting.
Description
Technical field
The present invention relates to vehicle testing fields, more specifically, being related to a kind of rotating-speed tracking method and device.
Background technique
In recent years, new-energy automobile is flourished, three electric systems of new-energy automobile (motor, battery and automatically controlled
System) core as new-energy automobile, the increasingly attention by major main engine plants safely and effectively carries out three electric systems
It tests more and more important.
The prior art proposes a kind of road load simulation system of three electric system of new-energy automobile test, road load mould
Frequency converter and electric dynamometer in quasi- system constitute load system, the pedestal control system meter in road load simulation system
Road resistance is calculated, and road resistance is converted into the driving motor output end moment of resistance, driving electricity is loaded by load system
On machine output end, road load simulation is formed.
In order to track electric dynamometer to the rotating speed of target of driving motor, the prior art is that rotating speed of target is direct
Frequency converter is issued, PI adjusting is carried out by frequency converter, and then realize rotating-speed tracking, but PI, which adjusts itself, has lag, works as driving
When Motor torque fluctuation is larger, hysteresis is more serious, or even biggish overshoot occurs.
Summary of the invention
In view of this, the present invention provides a kind of rotating-speed tracking method and device, to solve directly to issue rotating speed of target into change
Frequency device carries out PI adjusting by frequency converter, and then realizes rotating-speed tracking, but PI, which adjusts itself, has lag, when driving motor is turned round
When square fluctuation is larger, hysteresis is more serious, or even the problem of biggish overshoot occurs.
In order to solve the above technical problems, present invention employs following technical solutions:
A kind of rotating-speed tracking method, comprising:
According to the rotating speed of target and current rotating speed of electric dynamometer, the initial target for calculating the electric dynamometer is turned round
Square；
According to the current rotating speed, the inertia compensation torque of the electric dynamometer is calculated；
Torque is compensated according to the initial target torque and the inertia, calculates the target torque of the electric dynamometer,
So that frequency converter adjusts the output torque of the electric dynamometer to the target torque, so that the electric dynamometer
The revolving speed of rotating-speed tracking driving motor.
Preferably, comprising: by PI control algolithm, calculate the initial target torque TPI；
The PI control algolithm are as follows:
KP=f (ntar,nact)
KI=f (ntar,nact)
Wherein, KpFor scale factor, KIFor integrating factor, ntarFor the rotating speed of target, nactFor the current rotating speed,For PI control algolithm output peak torque,For the minimal torque of PI control algolithm output.
Preferably, according to the current rotating speed, the inertia compensation torque of the electric dynamometer is calculated, comprising:
Obtain the device data of axis of gantry rotation and the rotor moment of inertia of the driving motor；
Based on the device data, the rotor moment of inertia and the current rotating speed, calculates inertia and compensate torque
Tcompensati on；Inertia compensates torque Tcompensati onCalculation formula are as follows:
Wherein, A is the static friction of axis of gantry rotation, and B is the damped coefficient of the axis of gantry rotation, J1It is rack rotation
Shaft rotary inertia, J2It is the rotor moment of inertia of driving motor, nactFor the current rotating speed.
Preferably, according to the current rotating speed, after the inertia compensation torque for calculating the electric dynamometer, further includes:
Obtain the torque ripple data of the driving motor；
According to the torque ripple data and the current rotating speed, feedforward torque T is calculatedForward；Feedover torque arithmetic
Formula is TForward=f (TTM)；TTMFor in torque ripple data torque and the current rotating speed.
Preferably, after the torque ripple data for obtaining the driving motor, further includes:
The torque ripple data are filtered.
Preferably, torque is compensated according to the initial target torque and the inertia, calculates the mesh of the electric dynamometer
Mark torque, comprising:
The target torque TcmdCalculation formula are as follows:
Tcmd=TPI+TCompensation+TForward；
Wherein, TcmdFor the target torque, TPIFor the initial target torque, Tcompensati onFor inertia compensation
Torque, TForwardFor the feedforward torque.
A kind of rotating-speed tracking device, comprising:
Initial target torque arithmetic module calculates institute for the rotating speed of target and current rotating speed according to electric dynamometer
State the initial target torque of electric dynamometer；
Inertia compensation calculation module, for according to the current rotating speed, the inertia compensation for calculating the electric dynamometer to be turned round
Square；
Target torque computing module, for compensating torque according to the initial target torque and the inertia, described in calculating
The target torque of electric dynamometer, so that frequency converter adjusts the output torque of the electric dynamometer to the target torque, into
And make the revolving speed of the rotating-speed tracking driving motor of the electric dynamometer.
Preferably, initial target torque arithmetic module is used for rotating speed of target and current rotating speed according to electric dynamometer,
When calculating the initial target torque of the electric dynamometer, it is specifically used for:
By PI control algolithm, the initial target torque T is calculatedPI；
The PI control algolithm are as follows:
KP=f (ntar,nact)
KI=f (ntar,nact)
Wherein, KpFor scale factor, KIFor integrating factor, ntarFor the rotating speed of target, nactFor the current rotating speed,For PI control algolithm output peak torque,For the minimal torque of PI control algolithm output.
Preferably, the inertia compensation calculation module includes:
Inertia data acquisition submodule, for obtaining the device data of axis of gantry rotation and the rotor of the driving motor
Rotary inertia；
Inertia compensation calculation submodule, for based on the device data, the rotor moment of inertia and described working as forward
Speed calculates inertia and compensates torque Tcompensati on；Inertia compensates torque Tcompensati onCalculation formula are as follows:
Wherein, A is the static friction of axis of gantry rotation, and B is the damped coefficient of the axis of gantry rotation, J1It is rack rotation
Shaft rotary inertia, J2It is the rotor moment of inertia of driving motor, nactFor the current rotating speed.
Preferably, further includes:
Torque data acquisition submodule, for obtaining the torque ripple data of the driving motor；
Feedover torque arithmetic submodule, for calculating feedforward according to the torque ripple data and the current rotating speed
Torque TForward；Feedforward torque arithmetic formula is TForward=f (TTM)；TTMFor torque in torque ripple data and described current
Revolving speed.
Compared to the prior art, the invention has the following advantages:
The present invention provides a kind of rotating-speed tracking method and devices, in the rotating speed of target for obtaining electric dynamometer and currently
After revolving speed, in addition to the initial mesh of the electric dynamometer can be calculated according to the rotating speed of target and the current rotating speed
It marks except torque, additionally it is possible to according to the current rotating speed, calculate the inertia compensation torque of the electric dynamometer, final target
Torque includes inertia compensation torque, and inertia compensation torque can offset the lag of PI adjusting, i.e., the revolving speed provided through the invention
Tracking and device can be eliminated and only carry out the existing lag of PI adjusting.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of road load simulation system provided in an embodiment of the present invention；
Fig. 2 is a kind of method flow diagram of rotating-speed tracking method provided in an embodiment of the present invention；
Fig. 3 is the method flow diagram of another rotating-speed tracking method provided in an embodiment of the present invention；
Fig. 4 is the torque comparison diagram of a kind of pair of mapping provided in an embodiment of the present invention examination；
Fig. 5 is the speed comparison diagram of a kind of pair of mapping provided in an embodiment of the present invention examination；
Fig. 6 is a kind of structural schematic diagram of rotating-speed tracking device provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of another rotating-speed tracking device provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of rotating-speed tracking methods, can be applied to road load simulation system, referring to figure
1, road load simulation system may include pedestal control system 10, frequency converter 11, electric dynamometer 12, torquemeter 13, driving
Motor 14, drive motor controller MCU 15, entire car controller VCU 16, power battery 18 (can be replaced with battery simulator),
Battery management system BMS 17.Wherein, pedestal control system 10 mainly contains real-time system and input/output IO communication board
Card, real-time system is for running pilot model, I/O model, road vehicle model 20, rotating-speed tracking model 21, IO Communication Card
It is communicated for operating in the algorithm model in real-time system with external device.Pilot model and I/O model are referred to as model
19。
Entire car controller VCU 16, drive motor controller MCU 15, driving motor 14, power battery 18, battery management
System BMS 17 constitutes three electric systems of new-energy automobile.When bench run, road vehicle model 20 passes through I/O model and three
Electric system carries out information exchange, provides real vehicle working environment for three electric controllers, forms the closed loop control of controller, vehicle and road
System.Pilot model carries out information exchange by I/O model and VCU 16 and BMS 17, complete vehicle high-low pressure power on, accelerate and
The operating conditions such as braking form the closed-loop control of people, controller, vehicle and road.It can be in reality by the road load simulation system
It tests in room and completes building for vehicle environment, three electric systems can individually be tested, also be able to carry out joint test.
Frequency converter 11, electric dynamometer 12 constitute the load system of the rack, and pedestal control system 10 calculates road
Resistance, and it is converted into the 14 output end moment of resistance of driving motor, it is loaded on 14 output end of driving motor by load system,
Form road load simulation.
Pedestal control system 10 is the control core of entire rack, and road load simulation is the core of rack control algolithm
When the simulation of algorithm, only road load is accurate enough, which could reappear operating condition of three electric systems under real vehicle environment,
Vehicle performance assessment could be carried out to three electric systems.
In order to realize accurately road load simulation, torquemeter 13 measures the output torque of driving motor 14, and is input to
It is driven shaft model 201, then passes through transmission shaft model 201, main reducing gear model 202, differential mechanism model 203, half shaft model 204
It is ultimately transferred to wheel model 209.Steering torque is passed to wheel by pilot model manipulation steering system model 206.Vehicle body
Windage, inertia resistance and self gravity are passed into wheel by suspension system model 207.When vehicle braking, braking system
Model 208, as braking moment is passed to wheel by brake disc or brake drum by brake.Meanwhile roadnet model 205
The reaction force in tri- directions X, Y, Z is passed into wheel by ground and the contact point of tire.Semiaxis driving force, steering system
Steering moment, suspension active force, brake system torque and the reaction force collective effect on ground are in wheel model 209
Tire model obtains tire rotational speed.Tire rotational speed by half shaft model 204, differential mechanism model 203, main reducing gear model 202 with
And transmission shaft model 201 obtains rotating speed of transmission shaft.The rotation axis revolving speed is the rotating speed of target of driving motor 14, due to driving electricity
Machine 14 and electric dynamometer 12 are coaxially connected, which is also the rotating speed of target of electric dynamometer 12.In order to allow electric dynamometer
12 pairs of revolving speeds track, using rotating-speed tracking model 21 as shown in Figure 1.Rotating-speed tracking provided in an embodiment of the present invention
Method can be applied to rotating-speed tracking model 21.The purpose of rotating-speed tracking model 21 is that frequency converter 11 is allowed to control electric dynamometer 12
The rotating speed of target that tracking road vehicle model 20 calculates.Rotating-speed tracking model 21 includes PI control module 211, inertia compensation
213 3 modules of module 212 and torque feed-forward module, three modules calculate the mesh that the sum of torque of output is electric dynamometer 12
Torque is marked, frequency converter 11 controls electric dynamometer 12 by direct moment of torsion control DTC (Direct torque control) and responds
The target torque.
It should be noted that business prototype currently on the market can be used in road vehicle model 20, as IPG, DYNA4,
CarSim, AmeSim, VSM, ASM, SCANER, VTD etc., since the rotating speed of target of electric dynamometer 12 is by road vehicle model 20
It is calculated, therefore the precision of road vehicle model 20 largely determines the precision of road load simulation.Usual vehicle road
Road model 20 is very high to parameter request, and the meeting of parameter configuration inaccuracy is so that very big deviation occurs in test result, by vehicle road
Road model 20 is introduced into before the platform system preferably first off-line verification model accuracy.
Referring to Fig. 2, rotating-speed tracking method may include:
S11, the rotating speed of target and current rotating speed for obtaining electric dynamometer.
Wherein, the rotating speed of target of electric dynamometer 12 is that the target of the calculated driving motor 14 of road vehicle model 20 turns
Speed, the also as rotating speed of target of electric dynamometer 12.The current rotating speed of electric dynamometer 12 refers to the electric power that frequency converter 11 is fed back
The current rotating speed of dynamometer machine 12.
S12, according to rotating speed of target and current rotating speed, calculate the initial target torque of electric dynamometer.
Optionally, on the basis of the present embodiment, step S12 may include:
By PI control algolithm, initial target torque is calculated.
Specifically, the PI control module 211 that can be used in Fig. 1 executes this step, PI control is common rotating-speed tracking
Algorithm, in order to the realization rotating-speed tracking of fast and stable, it usually needs using control algolithms such as segmentation PI, integral saturations.
KP=f (ntar,nact)
KI=f (ntar,nact)
In formula, KpFor scale factor, KIFor integrating factor, ntarFor the calculated electric dynamometer 12 of road vehicle model 20
Rotating speed of target, nactFor the current rotating speed for the electric dynamometer 12 that frequency converter 11 is fed back, KpAnd KIIt is ntar、nactFunction,For PI control algolithm output peak torque,For PI control algolithm output minimal torque,WithIt is scalar quantity.
By above-mentioned formula, initial target revolving speed can be calculated.
S13, according to current rotating speed, calculate the inertia compensation torque of electric dynamometer.
Specifically, due to only carrying out PI adjusting inside frequency converter 11 in the prior art, but PI, which adjusts itself, has lag,
When 14 torque ripple of driving motor is larger, lag is more serious, or even biggish overshoot occurs.Therefore, it is necessary to calculate inertia
Torque is compensated to compensate the part of the rotation tracking response velocity lag of electric dynamometer 12.It is for offsetting that inertia, which compensates torque,
Axis of gantry rotation inertia leads to the torque of the rotation tracking response velocity lag of electric dynamometer 12.
Optionally, on the basis of the present embodiment, step S13 may include:
The rotor moment of inertia of S21, the device data for obtaining axis of gantry rotation and driving motor.
Specifically, the device data of axis of gantry rotation may include static friction A, the axis of gantry rotation of axis of gantry rotation
Damped coefficient B and axis of gantry rotation rotary inertia J1。
The rotor moment of inertia of driving motor 14 can use J2It indicates.
The device data of axis of gantry rotation and the rotor moment of inertia of driving motor 14 be it is quantitative, directly from rack rotate
It is obtained in the device parameter list of axis and driving motor 14.
S22, it is based on device data, rotor moment of inertia and current rotating speed, calculates inertia and compensates torque.
Specifically, inertia compensation torque can use Tcompensati onIt indicates, is counted using the inertia compensating module 212 in Fig. 1
It calculates inertia and compensates torque, the main function of inertia compensating module 212 is to offset axis of gantry rotation inertia to by frequency converter 11 and electricity
The influence that the load system rotating-speed tracking that power dynamometer machine 12 forms generates.In order to consider installation, damping, lubrication and heat dissipation, drive
Need to increase bearing block, shaft coupling, damper between the rotor of motor 14 and the rotor of electric dynamometer 12, this revolves rack
Shaft inertia is much larger than the rotor inertia of driving motor 14, this part additionally increased inertia can reduce the revolving speed of load system with
Track response speed, inertia compensating module 212 can detect rotating speed of target and current rotating speed, in advance calculated torque compensation rate, i.e. inertia
Torque is compensated, and inertia compensation torque compensation is added in the target torque of frequency converter 11, inertia compensation torque calculating is public
Formula is as follows:
In formula, A is the static friction of axis of gantry rotation, and B is the damped coefficient of axis of gantry rotation, J1It is axis of gantry rotation
Rotary inertia, J2It is the rotor moment of inertia of driving motor 14, nactFor axis of gantry rotation revolving speed, it is also equal to electric dynamometer 12
Current rotating speed, equal to the current rotating speed of driving motor 14.
S14, torque is compensated according to initial target torque and inertia, the target torque of electric dynamometer is calculated, so that frequency conversion
Device adjusts the output torque of electric dynamometer to target torque, so that the rotating-speed tracking driving motor of electric dynamometer turns
Speed.
In the present embodiment, after the rotating speed of target and current rotating speed for obtaining electric dynamometer 12, in addition to being capable of basis
The rotating speed of target and the current rotating speed, except the initial target torque for calculating the electric dynamometer 12, additionally it is possible to root
According to the current rotating speed, the inertia compensation torque of the electric dynamometer 12 is calculated, final target torque includes inertia compensation
Torque, inertia compensation torque can offset the lag of PI adjusting, i.e., the rotating-speed tracking method and device provided through the invention can
The existing lag of PI adjusting is only carried out to eliminate.
Optionally, on the basis of the embodiment of any of the above-described rotating-speed tracking method, step S13 may include:
1) the torque ripple data of driving motor 14 are obtained.
Optionally, on the basis of the present embodiment, after the torque ripple data for obtaining driving motor 14, further includes:
Torque ripple data are filtered.
Specifically, the torque ripple data of driving motor 14 can be measured by the torquemeter 13 in Fig. 1, but torquemeter 13
Directly measurement torque burr is too big, cannot directly use, it is therefore desirable to be filtered, time constant filter needs pass through examination
Test determination, the time is too short cannot effectively to remove burr, the time too long effect that can reduce torque feedforward.
2) according to torque ripple data and current rotating speed, feedforward torque is calculated.
Feedforward torque can use TForwardIt indicates, feedforward torque causes electric power to be surveyed for offsetting 14 torque ripple of driving motor
The torque of the rotating-speed tracking response speed lag of function machine 12.
Specifically, the torque feed-forward module 213 that can be used in Fig. 1 calculates feedforward torque, the work of torque feed-forward module 213
The influence that 12 rotating-speed tracking of electric dynamometer is generated with the torque ripple for being counteracting driving motor 14.By taking constant speed control as an example
Illustrate that Motor torque fluctuates the influence to rotating-speed tracking, the stabilized (steady-state) speed of original state electric dynamometer 12 is 1000rpm, driving
The torque of motor 14 is 100Nm, and the torque of electric dynamometer 12 is about -100Nm, when driving motor 14 torque suddenly from
When 100Nm jump is 200Nm, axis of gantry rotation revolving speed can increase rapidly under the effect of 100N net moment of torsion, and electric dynamometer 12 is
The revolving speed for continuing to 1000rpm, needs to constantly regulate output torque, final the result is that the output of electric dynamometer 12 is turned round
Square is -200Nm, and stabilization of speed is in 1000rpm.This process usually requires to take a long time.Torque feed-forward module 213 can be with
The torque ripple of awareness driven motor 14, and the torque ripple direct compensation is shortened torque adjustment and adjusted to electric dynamometer 12
The whole time keeps rotating-speed tracking more quickly accurate.
TForward=f (TTM)
Feedover torque TForwardThe function of torque T M is measured for torquemeter 13, what torquemeter 13 measured is driving motor 14
Output torque that is to say a torque value in torque ripple data.In addition, feedforward torque TForwardIt is also the letter of current rotating speed
Number.
Optionally, on the basis of the present embodiment, step S14 may include:
The target torque TcmdCalculation formula are as follows:
Tcmd=TPI+TCompensation+TForward
Wherein, TcmdFor the target torque for being sent to frequency converter 11, TPIIt is turned round for the initial target that PI control algolithm is calculated
Square, Tcompensati onTorque, T are compensated for inertiaForwardFor the torque that feedovers.
In order to verify the precision of the road load analogy method in the present embodiment, done using a pure electric vehicle to mapping
Examination, does dynamic property test on a straight road, obtains the full load acceleration curve of target carriage.Simultaneously using the vehicle parameter with
And road environment parameter initialization road vehicle model 20 obtains full load acceleration curve in the enterprising action edge test of rack.
Rack result and real steering vectors are compared as a result, Fig. 4 is Motor torque curve comparison, Fig. 5 is speed curves, can by Fig. 4 and Fig. 5
To find out, rack data and real vehicle data are identical.
In the present embodiment, using new rotating-speed tracking method, so that the in vitro test result of three electric systems is approached
Real steering vectors are as a result, user can complete major part in laboratory environments to the progress functional performance test of three electric systems
The calibration of three electric systems is tested, and can be assessed in advance vehicle performance.
In addition, the rotating-speed tracking method has stronger expansion and applicability.By appropriate reconstruction, it can be used in all kinds of biographies
System vehicle and the test of new-energy automobile dynamical system and braking system.In conjunction with other testing algorithms and device, additionally it is possible in laboratory
In whole vehicle functions, performance are tested, can complete most of to demarcate test in the lab.
Optionally, on the basis of the embodiment of above-mentioned rotating-speed tracking method, another embodiment of the present invention provides one
Kind rotating-speed tracking device, reference Fig. 6 may include:
Initial target torque arithmetic module 101 is calculated for the rotating speed of target and current rotating speed according to electric dynamometer
The initial target torque of the electric dynamometer；
Inertia compensation calculation module 102, for calculating the inertia compensation of the electric dynamometer according to the current rotating speed
Torque；
Target torque computing module 103 calculates institute for compensating torque according to the initial target torque and the inertia
The target torque of electric dynamometer is stated, so that frequency converter adjusts the output torque of the electric dynamometer to the target torque,
So that the revolving speed of the rotating-speed tracking driving motor of the electric dynamometer.
Optionally, on the basis of the present embodiment,
Initial target torque arithmetic module is used for according to the rotating speed of target and current rotating speed of electric dynamometer, described in calculating
When the initial target torque of electric dynamometer, it is specifically used for:
By PI control algolithm, the initial target torque T is calculatedPI；
The PI control algolithm are as follows:
KP=f (ntar,nact)
KI=f (ntar,nact)
Wherein, KpFor scale factor, KIFor integrating factor, ntarFor the rotating speed of target, nactFor the current rotating speed,For PI control algolithm output peak torque,For the minimal torque of PI control algolithm output.
Optionally, on the basis of the present embodiment, referring to Fig. 7, the inertia compensation calculation module 103 may include:
Inertia data acquisition submodule 1031, for obtaining the device data and the driving motor of axis of gantry rotation
Rotor moment of inertia；
Inertia compensation calculation submodule 1032, for based on the device data, the rotor moment of inertia and described working as
Preceding revolving speed calculates inertia and compensates torque Tcompensati on；Inertia compensates torque Tcompensati onCalculation formula are as follows:
Wherein, A is the static friction of axis of gantry rotation, and B is the damped coefficient of the axis of gantry rotation, J1It is rack rotation
Shaft rotary inertia, J2It is the rotor moment of inertia of driving motor, nactFor the current rotating speed.
In the present embodiment, after the rotating speed of target and current rotating speed for obtaining electric dynamometer 12, in addition to being capable of basis
The rotating speed of target and the current rotating speed, except the initial target torque for calculating the electric dynamometer 12, additionally it is possible to root
According to the current rotating speed, the inertia compensation torque of the electric dynamometer 12 is calculated, final target torque includes inertia compensation
Torque, inertia compensation torque can offset the lag of PI adjusting, i.e., the rotating-speed tracking method and device provided through the invention can
The existing lag of PI adjusting is only carried out to eliminate.
It should be noted that the course of work of the modules in the present embodiment, please refers to corresponding in above-described embodiment
Illustrate, details are not described herein.
Optionally, on the basis of the embodiment of upper rotating-speed tracking device, further includes:
Torque data acquisition submodule, for obtaining the torque ripple data of the driving motor；
Feedover torque arithmetic submodule, for calculating feedforward according to the torque ripple data and the current rotating speed
Torque TForward；Feedforward torque arithmetic formula is TForward=f (TTM)；TTMFor torque in torque ripple data and described current
Revolving speed.
Optionally, on the basis of the present embodiment, can also include:
Submodule is filtered, after the torque ripple data that driving motor is obtained for the second data acquisition submodule, to torsion
Square fluctuation data are filtered.
Optionally, on the basis of the present embodiment, the target torque computing module is used to be turned round according to the initial target
Square and inertia compensation torque are specifically used for when calculating the target torque of the electric dynamometer:
The target torque TcmdCalculation formula are as follows:
Tcmd=TPI+TCompensation+TForward；
Wherein, TcmdFor the target torque, TPIFor the initial target torque, Tcompensati onFor inertia compensation
Torque, TForwardFor the feedforward torque.
In the present embodiment, using new rotating-speed tracking method, so that the in vitro test result of three electric systems is approached
Real steering vectors are as a result, user can complete major part in laboratory environments to the progress functional performance test of three electric systems
The calibration of three electric systems is tested, and can be assessed in advance vehicle performance.
In addition, the rotating-speed tracking method has stronger expansion and applicability.By appropriate reconstruction, it can be used in all kinds of biographies
System vehicle and the test of new-energy automobile dynamical system and braking system.In conjunction with other testing algorithms and device, additionally it is possible in laboratory
In whole vehicle functions, performance are tested, can complete most of to demarcate test in the lab.
It should be noted that the course of work of modules and submodule in the present embodiment, please refers to above-described embodiment
In respective description, details are not described herein.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of rotating-speed tracking method characterized by comprising
According to the rotating speed of target and current rotating speed of electric dynamometer, the initial target torque of the electric dynamometer is calculated；
According to the current rotating speed, the inertia compensation torque of the electric dynamometer is calculated；
Torque is compensated according to the initial target torque and the inertia, calculates the target torque of the electric dynamometer, so that
Frequency converter adjusts the output torque of the electric dynamometer to the target torque, so that the revolving speed of the electric dynamometer
Track the revolving speed of driving motor.
2. rotating-speed tracking method according to claim 1 characterized by comprising by PI control algolithm, described in calculating
Initial target torque TPI；
The PI control algolithm are as follows:
KP=f (ntar,nact)
KI=f (ntar,nact)
Wherein, KpFor scale factor, KIFor integrating factor, ntarFor the rotating speed of target, nactFor the current rotating speed, TpI_maxFor
The peak torque of PI control algolithm output, TpI_minFor the minimal torque of PI control algolithm output.
3. rotating-speed tracking method according to claim 1, which is characterized in that according to the current rotating speed, calculate the electricity
The inertia of power dynamometer machine compensates torque, comprising:
Obtain the device data of axis of gantry rotation and the rotor moment of inertia of the driving motor；
Based on the device data, the rotor moment of inertia and the current rotating speed, calculates inertia and compensate torque
Tcompensation；Inertia compensates torque TcompensationCalculation formula are as follows:
Wherein, A is the static friction of axis of gantry rotation, and B is the damped coefficient of the axis of gantry rotation, J1It is axis of gantry rotation
Rotary inertia, J2It is the rotor moment of inertia of driving motor, nactFor the current rotating speed.
4. rotating-speed tracking method according to claim 3, which is characterized in that according to the current rotating speed, calculate the electricity
After the inertia compensation torque of power dynamometer machine, further includes:
Obtain the torque ripple data of the driving motor；
According to the torque ripple data and the current rotating speed, feedforward torque T is calculatedForward；Feedforward torque arithmetic formula be
TForward=f (TTM)；
TTMFor in torque ripple data torque and the current rotating speed.
5. rotating-speed tracking method according to claim 4, which is characterized in that in the torque ripple for obtaining the driving motor
After data, further includes:
The torque ripple data are filtered.
6. rotating-speed tracking method according to claim 4, which is characterized in that according to the initial target torque and described used
Amount compensation torque, calculates the target torque of the electric dynamometer, comprising:
The target torque TcmdCalculation formula are as follows:
Tcmd=TPI+TCompensation+TForward；
Wherein, TcmdFor the target torque, TPIFor the initial target torque, TcompensationTorque is compensated for the inertia,
TForwardFor the feedforward torque.
7. a kind of rotating-speed tracking device characterized by comprising
Initial target torque arithmetic module calculates the electricity for the rotating speed of target and current rotating speed according to electric dynamometer
The initial target torque of power dynamometer machine；
Inertia compensation calculation module, for calculating the inertia compensation torque of the electric dynamometer according to the current rotating speed；
Target torque computing module calculates the electric power for compensating torque according to the initial target torque and the inertia
The target torque of dynamometer machine so that frequency converter adjusts the output torque of the electric dynamometer to the target torque, and then makes
Obtain the revolving speed of the rotating-speed tracking driving motor of the electric dynamometer.
8. rotating-speed tracking device according to claim 7, which is characterized in that initial target torque arithmetic module is used for basis
The rotating speed of target and current rotating speed of electric dynamometer are specifically used for when calculating the initial target torque of the electric dynamometer:
By PI control algolithm, the initial target torque T is calculatedPI；
The PI control algolithm are as follows:
KP=f (ntar,nact)
KI=f (ntar,nact)
Wherein, KpFor scale factor, KIFor integrating factor, ntarFor the rotating speed of target, nactFor the current rotating speed, TpI_maxFor
The peak torque of PI control algolithm output, TpI_minFor the minimal torque of PI control algolithm output.
9. rotating-speed tracking device according to claim 7, which is characterized in that the inertia compensation calculation module includes:
Inertia data acquisition submodule, the rotor rotation of device data and the driving motor for obtaining axis of gantry rotation
Inertia；
Inertia compensation calculation submodule, for being based on the device data, the rotor moment of inertia and the current rotating speed, meter
It calculates inertia and compensates torque Tcompensation；
Inertia compensates torque TcompensationCalculation formula are as follows:
Wherein, A is the static friction of axis of gantry rotation, and B is the damped coefficient of the axis of gantry rotation, J1It is axis of gantry rotation
Rotary inertia, J2It is the rotor moment of inertia of driving motor, nactFor the current rotating speed.
10. rotating-speed tracking device according to claim 9, which is characterized in that further include:
Torque data acquisition submodule, for obtaining the torque ripple data of the driving motor；
Feedover torque arithmetic submodule, for calculating feedforward torque according to the torque ripple data and the current rotating speed
TForward；Feedforward torque arithmetic formula is TForward=f (TTM)；TTMFor the torque in torque ripple data and described work as forward
Speed.
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