CN110001417B - Control system and method for preventing vehicle body from overturning through electronic differential of double direct current motor drivers - Google Patents
Control system and method for preventing vehicle body from overturning through electronic differential of double direct current motor drivers Download PDFInfo
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- CN110001417B CN110001417B CN201910332889.6A CN201910332889A CN110001417B CN 110001417 B CN110001417 B CN 110001417B CN 201910332889 A CN201910332889 A CN 201910332889A CN 110001417 B CN110001417 B CN 110001417B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
The invention relates to the field of intelligent speed control, in particular to a control system and a control method for preventing an automobile body from overturning through electronic differential of a double-direct-current motor driver. In order to solve the problem of safety of vehicle body steering under the drive of a dual-motor direct-current mode, the invention quantizes the load characteristics of two paths of motors by real-time control in the vehicle body steering process, and analyzes whether the vehicle body has overturning danger or not according to the quantized data by using a formula according to the acquired data; speed of vehicle body operation is reduced by f (delta X) when vehicle body is about to overturn 1 And Speed 2 Speed, with the addition of the parameter calculated for Δ X; and in the differential process, the stability of the vehicle body can be optimized according to the change of the data parameters. The stability of the running of the vehicle body obtained in the double-motor direct-current driver using the algorithm can be improved, and the risk of vehicle body overturning is reduced. The invention provides the maximum advancing speed and simultaneously ensures the overturn prevention during turning, so that the vehicle body is safer, more flexible and more efficient. The invention is mainly applied to the intelligent control of the speed of the vehicle body.
Description
Technical Field
The invention relates to the field of intelligent speed control, in particular to a control system and a control method for preventing an automobile body from overturning through electronic differential of a double-direct-current motor driver.
Background
In the running process of the vehicle body, how to ensure that the vehicle body does not overturn when turning becomes an important safety index of the dual-motor direct current drive; particularly, when the center of the vehicle body changes, the balance between the advancing speed and the quick turning is difficult to obtain by adopting a fixed parameter setting mode; particularly, after a part of wheeled vehicles and tracked vehicle platforms are installed and installed, the running road surface condition is complex, and overturning accidents are more easily caused; especially, when the vehicle body is controlled in a human remote control mode in the applications of explosion elimination, fire fighting, danger source detection and the like, the safety of turning is more difficult to ensure.
The invention patent with the patent application number of CN 105490594A discloses a double brushless low-voltage direct current motor driving control system and a method, wherein the method adopts the method of directly calculating and distributing two motor speeds SpeedA and SpeedB according to a given speed signal SSP and a differential signal SSD, according to the formula, when the vehicle is subjected to turning control, when the SSP given speed exceeds a certain vehicle speed, after the SSD given value exceeds a zero point value by a certain value, the SpeedA and the SpeedB can generate a large speed difference, and the large speed difference can cause a very small turning radius r; since the center of gravity of the vehicle body is higher than the ground, a very large centrifugal force F will be generated, according to the centrifugal force calculation formula: r is turning radius, V: current linear vehicle speed, M: vehicle body mass, F: the centrifugal force is applied to the material to be processed,
it can be seen that when the speed V reaches a certain value and r is less than a certain value, the F value reaches or even exceeds a critical value causing the vehicle body to overturn, resulting in vehicle body toppling or even rollover accidents. Therefore, the differential speed control method disclosed by the invention patent No. CN 105490594A and the patent name 'double brushless low-voltage direct current motor drive control system and method' has great potential safety hazard.
In view of the above, there is a need for improvement of differential speed control in the hybrid control mode of the prior patent application CN 105490594A.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a control system and a control method for preventing the vehicle body from overturning through the electronic differential of a double-direct-current motor driver.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
two direct current motor driver electronic differential prevent automobile body control system that topples, including core control ware CPU, power, motor A and motor B, core control CPU is connected with user input output interface, communication interface, motor A control and drive module and motor B control and drive module, motor A is connected with motor A control and drive module, motor B is connected with motor B control and drive module, be provided with motor A speed feedback device on the motor A, be provided with motor B speed feedback device on the motor B, motor A speed feedback device is connected with motor A speed detection module, motor B speed feedback device is connected with motor B speed detection module.
The core controller CPU is connected with a motor A current and voltage detection module and a motor B current and voltage detection module.
The power supply is connected with a detection control power supply module and a power supply module.
The power supply module is connected with the motor A control and drive module, the motor A, the motor B control and drive module and the motor B.
The speed feedback device of the motor A and the speed feedback device of the motor B can be one of a Hall encoder, an incremental encoder, an absolute position encoder or a tachogenerator.
The control method for preventing the vehicle body from overturning by the electronic differential of the double direct current motor drivers comprises the following steps:
a. a user accesses a power supply into the equipment through the power supply module, the power supply module is detected and controlled, the power supply module and the power supply module convert the power supply into various grades of power supplies required by the equipment, and the equipment starts to be started;
b. a user sends an operation instruction to the equipment through a user output and input interface or a communication interface and transmits the operation instruction to a core controller CPU, and the core controller CPU realizes power output on a motor A control and drive module and a motor B control and drive module according to the user instruction;
c. after the motor A and the motor B start to work, the current and voltage detection module of the motor A detects the running voltage V of the motor A in real time 1 (the voltage signal is not a voltage value, but a plurality of voltage data sets), a current signal I 1 (the current signal is not a current value, but a plurality of current data sets), the motor A Speed feedback device transmits a motor rotating Speed signal to the motor A Speed detection module, the motor A Speed detection module transmits the motor A Speed signal to the core controller CPU, and the core controller CPU analyzes the current real-time Speed 1 (ii) a The current and voltage detection module part of the motor B detects the running voltage V of the motor B in real time 2 (the voltage signal is not a voltage value, but a plurality of voltage data sets), a current signal I 2 (the current signal is not a current value but a plurality of current data sets), the motor B Speed feedback device transmits a motor rotating Speed signal to the motor B Speed detection module, the motor B Speed detection module transmits a motor A Speed signal to the core controller CPU, and the core controller CPU analyzes the current real-time Speed 2 ；
d. And the core controller CPU processes the current motor working feedback signal and controls the motor A and the motor B according to a control algorithm.
In the step d, the core controller CPU calculates the difference between the equation Δ X = K and the equation Δ X = K 1 ×|K 2 ×X 1 -(1-K 2 )×X 2 L + L, whether the vehicle body has a risk of overturning is analyzed, the formula Δ X = K 1 ×|K 2 ×X 1 -(1-K 2 )×X 2 L + L in X 1 For the operating output characteristic variable, X, of the electric machine 1 1 ＝f(V 1 ,I 1 ,Speed 1 ) A power calculation function of; x 2 For the operating output characteristic variable, X, of the electric machine 2 2 ＝f(V 2 ,I 2 ,Speed 2 ) A power calculation function of (a); k 1 Coefficient of operation for speed difference of two motors，
K 2 Calculating coefficients for the turning load changes of the two motors; according to a floating point number arranged in the center of the vehicle body, L is a compensation amount adjusted when the loads of the two motors are not uniform during operation; and delta X is data obtained after the difference value of the two motor parameters is quantized.
The formula Δ X = K 1 ×|K 2 ×X 1 -(1-K 2 )×X 2 L + L and
available formula
Can be used in proper Speed 1 And Speed 2 When the running Speed difference is within the allowable range delta Speed, delta X does not exceed the required regulation range; when DeltaX exceeds a safe value, according to the formula
Performing differential speed regulation, wherein T is a signal processing period, S is a signal required superposition amount in one period, and F i Filter coefficient of signal, Δ X i For the Δ X value obtained at time i, P is the calculated coefficient between Δ X and speed.
Said formula
F (Δ X) in (1) is a transfer function for converting Δ X into a velocity correction, and is expressed by
Compared with the prior art, the invention has the beneficial effects that:
the device can simultaneously drive two motors and realize open-loop, speed closed-loop and position closed-loop control on the two motors;
when the equipment drives two motors, the turning of the vehicle body is realized according to the different speeds of controlling the two motors:
the device has a control algorithm for ensuring the stable operation of the vehicle body;
when the control algorithm drives the two motors to carry out electronic differential turning, the overturning accident can be avoided during the running of the vehicle body according to the load change condition of the two motors;
the method can obtain the fastest advancing speed on the premise of ensuring the turning safety of the vehicle body, and can effectively avoid the major potential safety hazard of the vehicle body overturning.
Drawings
FIG. 1 is a schematic diagram of a dual DC motor driver electronic differential anti-overturn control system of the present invention;
fig. 2 is a flow chart of the software operation of the present invention.
In the figure: the system comprises a core controller CPU1, a user output and input interface 2, a communication interface 3, a monitoring and control power module 4, a power supply 5, a power supply module 6, a motor A speed detection module 7, a motor A control and drive module 8, a motor A current and voltage detection module 9 and a motor B current and voltage detection module 10. The device comprises a motor B control and drive module 11, a motor B speed detection module 12, a motor A and 14, a motor A speed feedback device 13, a motor B and 16, and a motor B speed feedback device 15.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection of the present invention.
As shown in fig. 1, the double-dc motor driver electronic differential anti-vehicle-body-overturning control system comprises a core controller CPU1, a power supply 5, a motor a13 and a motor B15, wherein the core controller CPU1 is connected with a user input/output interface 2, a communication interface 3, a motor a control and drive module 8 and a motor B control and drive module 11, the user input/output interface 2 realizes control of two drivers, the communication interface 3 realizes control of reading, starting, stopping and speed of drive parameters, the core controller CPU1 controls sending instructions to the motor a control and drive module 8 and the motor B control and drive module 11, the motor a13 is connected with the motor a control and drive module 8, the motor B15 is connected with the motor B control and drive module 11, the control and drive module controls the operation of the motor, a13 is provided with a motor a speed feedback device 14, a motor B speed feedback device 16 is arranged on the motor B15, the motor a speed feedback device is connected with a motor a speed detection module 7, the motor B speed feedback device is connected with a motor B speed detection module 12, the speed detection module feeds back speed information of the motor a13 and the motor B15 to the core controller CPU1 and the motor B control module 11, and the motor B control module processes the information and transmits the information to the CPU a closed-loop control module 11.
Preferably, the core controller CPU1 is connected to a motor a current and voltage detection module 9 and a motor B current and voltage detection module 10, and the current and voltage detection module detects the motor a13 and the motor B15 in real time to provide a current feedback signal for the CPU control strategy.
Preferably, the power supply 5 is connected with a detection control power supply module 4 and a power supply module 6, the detection control power supply module 4 is connected with the user input/output interface 2, the communication interface 3, a motor A speed detection module 7, a motor A current and voltage detection module 9, a motor B current and voltage detection module 10 and a motor B speed detection module 12 to realize power supply for controlling the current of a detection part, the power supply module 6 is connected with a motor A control and drive module 8, a motor A13, a motor B control and drive module 11 and a motor B15 to realize the functions of power supply for driving the power part of the motor and power supply filtering processing, and the influence on power supply fluctuation in the operation of the motor is reduced.
Preferably, the motor a speed feedback device 14 and the motor B speed feedback device 16 may be one of a hall encoder, an incremental encoder, an absolute position encoder, or a tachogenerator.
As shown in fig. 2, the method for controlling the electronic differential speed of the dual dc motor driver to prevent the vehicle body from overturning comprises the following steps:
a. a user accesses a power supply into the equipment through the power supply module 5, the detection control power supply module 4 and the power supply module 6 convert the power supply into various grades of power supplies required by the equipment, power is supplied to all units, the equipment starts to be started, and after self-checking of the equipment is completed, the equipment is in a state of waiting for user control.
b. A user sends an operation instruction to equipment through the user input and output interface 2 or the communication interface 3 to be transmitted to the core controller CPU1, the core controller CPU1 starts to output PWM signals through a software algorithm according to the user instruction, the PWM signals realize power output to the motor A control and driving module (8) and the motor B control and driving module 11, and the motor A control and driving module 8 and the motor B control and driving module 13 respectively drive the motor A13 and the motor B15.
c. After the motor A13 and the motor B15 start to work, the motor A current and voltage detection module 9 detects the running voltage V of the motor A13 in real time 1 (the voltage signal is not a voltage value, but a plurality of voltage data sets), a current signal I 1 (the current signal is not a current value, but a plurality of current data sets), the motor A Speed feedback device 14 transmits a motor rotating Speed signal to the motor A Speed detection module 7, the motor A Speed detection module 7 transmits a motor A13 Speed signal to the core controller CPU1, and the core controller CPU1 analyzes the current real-time Speed 1 (ii) a The current and voltage detection module 10 part of the motor B detects the running voltage V of the motor B15 in real time 2 (the voltage signal is not a voltage value, but a plurality of voltage data sets), a current signal I 2 (the current signal is not a current value, but a plurality of current data sets), the motor B Speed feedback device 16 transmits a motor rotating Speed signal to the motor B Speed detection module 12, the motor B Speed detection module 12 transmits a motor A13 Speed signal to the core controller CPU1, and the core controller CPU1 analyzes the current real-time Speed 2 。
d. The core controller CPU1 processes the current motor working feedback signal and controls the motor A13 and the motor B15 according to a control algorithm.
In step d, the core controller CPU1 calculates Δ X = K according to the formula 1 ×|K 2 ×X 1 -(1-K 2 )×X 2 L + L, whether the vehicle body has a risk of overturning is analyzed, and the formula Δ X = K 1 ×|K 2 ×X 1 -(1-K 2 )×X 2 X in | + L 1 For the operating output characteristic variable, X, of the electric machine 1 1 ＝f(V 1 ,I 1 ,Speed 1 ) A power calculation function of; x 2 For the operating output characteristic variable, X, of the electric machine 2 2 ＝f(V 2 ,I 2 ,Speed 2 ) A power calculation function of (a); k 1 Is an operation coefficient of the speed difference of the two motors,
K 2 the operation coefficient is changed for the turning load of the two motors, and a floating point number is set according to the center of the vehicle body. L is the adjustment compensation amount when the loads are uneven when the two motors run; and delta X is data obtained after the difference value of the two motor parameters is quantized.
When the equipment runs to a differential state, calculating a delta X value, when the equipment firstly enters differential calculation, because the detected voltage current value is data under non-differential, the delta X value in the first calculation can not trigger delta X overproof, but directly enters differential Speed calculation, and a given Speed value Speed is set according to a given Speed value V And differential Speed value Speed D Calculating a new Speed currently required for a given motor 1 And Speed 2 Obtaining the speed value, then giving two motor speeds according to the differential speed to finish the motor giving data, and then running to 'updating two motor speed values'.
Then the equipment enters a motor control state, enters a voltage and current detection program after the control state program is executed, and then enters a motor speed detection part program; after the voltage, the current and the speed are detected, the motor enters a part for judging whether a start-stop instruction exists or not; if the plant has no stop instruction, the plant continues execution and then enters the differential control portion again.
Formula Δ X = K 1 ×|K 2 ×X 1 -(1-K 2 )×X 2 L + L and
available formula
Can be used in proper Speed 1 And Speed 2 When the running Speed difference is within the allowable range delta Speed, the delta X does not exceed the range needing to be adjusted, and differential Speed reduction adjustment is not needed to be carried out on the motor; when DeltaX exceeds a safe value, according to the formula
Performing differential speed regulation, wherein T is a signal processing period, S is a signal required superposition amount in one period, and F i Filter coefficient of signal, Δ X i For the Δ X value obtained at time i, P is the calculated coefficient between Δ X and speed.
Formula (II)
F (Δ X) in (1) is a transfer function for converting Δ X into a velocity correction, and is expressed by
The speed of the two motors is given by calculating the differential speed, then the speed values of the two motors are updated, and the speed closed-loop control is realized on the two motors. Speed of vehicle body operation is reduced by f (delta X) when vehicle body is about to overturn 1 And Speed 2 Speed, with the addition of the parameter calculated for Δ X; and in the differential process, the stability of the vehicle body can be optimized according to the change of the data parameters. The stability of the running of the vehicle body obtained in the double-motor direct-current driver using the algorithm can be improved, and the risk of vehicle body overturning is reduced.
Although only the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art, and all changes are encompassed in the scope of the present invention.
Claims (1)
1. The control method for preventing the vehicle body from overturning through the electronic differential of the double direct current motor drivers is characterized by comprising the following steps of:
a. a user accesses a power supply into the equipment through the power supply module (5), the power supply is converted into various grades of power supplies required by the equipment through the detection control power supply module (4) and the power supply module (6), and the equipment starts to be started;
b. a user sends an operation instruction to equipment through a user input/output interface (2) or a communication interface (3) and transmits the operation instruction to a core controller CPU (1), and the core controller CPU (1) realizes power output to a motor A control and drive module (8) and a motor B control and drive module (11) according to the user instruction;
c. after the motor A (13) and the motor B (15) start to work, the motor A current and voltage detection module (9) detects the running voltage V of the motor A (13) in real time 1 Current signal I 1 The motor A Speed feedback device (14) transmits a motor rotating Speed signal to the motor A Speed detection module (7), the motor A Speed detection module (7) transmits a motor A (13) Speed signal to the core controller CPU (1), and the core controller CPU (1) analyzes the current real-time Speed 1 (ii) a The current and voltage detection module (10) part of the motor B detects the running voltage V of the motor B (15) in real time 2 Current signal I 2 The motor B Speed feedback device (16) transmits a motor rotating Speed signal to the motor B Speed detection module (12), the motor B Speed detection module (12) transmits a motor A (13) Speed signal to the core controller CPU (1), and the core controller CPU (1) analyzes the current real-time Speed 2 ；
d. The core controller CPU (1) processes a current motor working feedback signal and controls a motor A (13) and a motor B (15) according to a control algorithm;
in the step d, the core controller CPU (1) is used for controlling the core according to a formula delta X = K 1 ×|K 2 ×X 1 -(1-K 2 )×X 2 L + L, whether the vehicle body has a risk of overturning is analyzed, the formula Δ X = K 1 ×|K 2 ×X 1 -(1-K 2 )×X 2 L + L in X 1 For the operating output characteristic variable, X, of the electric machine 1 1 ＝f(V 1 ,I 1 ,Speed 1 ) A power calculation function of (a); x 2 For the operating output characteristics of the motor 2Amount, X 2 ＝f(V 2 ,I 2 ,Speed 2 ) A power calculation function of; k 1 Is an operation coefficient of the speed difference of the two motors,
K 2 the turning load change operation coefficients of the two motors are calculated, and the compensation amount is adjusted when the loads are uneven when the two motors run according to a floating point number arranged at the center of the vehicle body; delta X is data obtained after difference between two motor parameters is quantized;
the formula Δ X = K 1 ×|K 2 ×X 1 -(1-K 2 )×X 2 L + L and
available formula
Can be properly sped 1 And Speed 2 When the running Speed difference is within the allowable range delta Speed, delta X does not exceed the required regulation range; when DeltaX exceeds a safe value, according to the formula
Carrying out differential Speed regulation, speed V For a given Speed value, speed D For differential speed values, said formula
F (Δ X) in (1) is a transfer function for converting Δ X into a velocity correction, and is expressed by
T is the signal processing period, S is the signal required superposition in one period, F i Filter coefficient of signal, Δ X i For the Δ X value obtained at time i, P is the calculated coefficient between Δ X and speed.
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