CN110138304A - A kind of electric drive system stabilization control method, device and vehicle - Google Patents
A kind of electric drive system stabilization control method, device and vehicle Download PDFInfo
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- CN110138304A CN110138304A CN201910336917.1A CN201910336917A CN110138304A CN 110138304 A CN110138304 A CN 110138304A CN 201910336917 A CN201910336917 A CN 201910336917A CN 110138304 A CN110138304 A CN 110138304A
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to new-energy automobile fields, propose a kind of electric drive system stabilization control method, device and vehicle, the electric drive system stabilization control method sample motor revolving speed, by calculating difference twice, and to the mode of the difference averaged of difference twice, whether the shake for judging electric drive system is more than preset threshold, to calculate compensation torque, carry out torque compensation, first difference is the difference between the motor speed of each sampling instant and the motor speed of previous sampling instant, second difference is the difference between the first difference of each sampling instant and the first difference of previous sampling instant, method of the present invention introduces the second difference as one of judgment basis, it can be to the quick response to fluctuate widely, and inhibit fluctuation in time, the erroneous judgement to the fluctuation of speed in error range is avoided simultaneously.
Description
Technical field
The present invention relates to new-energy automobile field more particularly to a kind of electric drive system stabilization control methods, device and vehicle.
Background technique
New-energy automobile is received significant attention with the characteristic of its environmental protection and energy saving, wherein pure electric automobile or mixed dynamic vapour
Vehicle has been put into practical application.For the new-energy automobile being driven by electricity, battery and driving motor are that its is important
Component part.The battery and driving motor are able to carry out vehicle starting, under the electric model of driving motor, battery and driving
Motor can provide power for vehicle, drive vehicle driving.The driving motor can also be switched to power generation mode simultaneously, pass through
Driving motor charges to battery, or the energy that recycling is extra.
The new-energy automobile being driven by motor is compared with orthodox car, due to using motor as drive system, torque responsive
Fastly, electric machine operation state switches frequently between electric model and power generation mode, the transmission that motor, reduction gearbox and drive shaft are constituted
System show as inertia and elasticity based on underdamping system.When vehicle is the case where low rate start, acceleration and operating condition switch,
Motor speed change is larger, therefore the phenomenon that will appear shake, this shake seriously affects the driving experience that vehicle multiplies personnel, simultaneously
Also result in the damage of electric drive system.
The jitter problem of electric drive system, on the one hand can be because of the noise of shake and drive system, and it is smooth to influence driving
Property and riding comfort, on the other hand, the lasting shake of drive system also will increase the fatigue damage of axis, reduces drive system
Service life.Therefore needs are larger in motor speed change, when electric drive system is shaken, carry out adjusting appropriate to output torque,
Inhibit the fluctuation of revolving speed, is injured so as to improve driving experience and to the stress of axis.
Summary of the invention
The problem of the technical problem to be solved by the present invention is to electric drive system shakes.To solve the above-mentioned problems, the present invention mentions
A kind of electric drive system stabilization control method, device and vehicle are gone out.The present invention is specifically to be realized with following technical solution:
The first aspect of the invention proposes a kind of electric drive system stabilization control method, which comprises
According to preset time interval, motor speed signal is sampled to obtain the motor of each sampling instant and turn
Speed；
Calculate corresponding first difference of each sampling instant, first difference be the sampling instant motor speed with
Difference between the motor speed of previous sampling instant；
Calculate corresponding second difference of each sampling instant, second difference be the sampling instant the first difference with
Difference between first difference of previous sampling instant；
According to the first difference and the second difference of each sampling instant, fluctuation of speed value is calculated；
Judge whether the fluctuation of speed value is greater than fluctuation threshold；
If so, calculating compensation torque；
According to the compensation torque, demand torque is adjusted.
Further, first difference and the second difference according to each sampling instant calculates fluctuation of speed value
Further include:
The average value of the first difference of each sampling instant is calculated to obtain the first mean difference；
The average value of the second difference of each sampling instant is calculated to obtain the second mean difference；
According to first mean difference and second mean difference, fluctuation of speed value is calculated.
Further, after the calculating compensation torque, further includes:
Judge to compensate whether torque is greater than preset threshold；
If so, exporting compensation torque according to preset threshold.
Further, described according to preset time interval, before being sampled to motor speed signal, further includes:
According to preset filtering parameter, low-pass filtering is carried out to motor speed signal.
Specifically, the sampling of motor speed signal is carried out according to the preset sampling period.And be filtered before sampling,
The filtering parameter of the motor speed signal needs to debug.
The difference between the motor speed signal of each sampling instant and the motor speed information of previous sampling instant is calculated,
Obtain the first difference of each sampling instant.Calculate the first difference of each sampling instant and the first difference of previous sampling instant
Between difference, obtain the second difference of each sampling instant.
Repeatedly cumulative averaging is carried out according to first difference of the default sampling number to each sampling instant, it is flat to obtain first
Equal difference carries out repeatedly cumulative averaging according to second difference of the preset times to each sampling instant, obtains the second mean difference
Value.
According to the fluctuation of speed value, judge whether fluctuation of speed value is greater than fluctuation threshold.The fluctuation threshold is preparatory
The threshold value of calibration
If fluctuation of speed value is greater than fluctuation threshold, active damping functional switch is opened, the active damping switchs not open
Qi Shi prevents frequent torque adjusting from making to system the common acceptable small size fluctuation of speed without torque compensation
At certain concussion.And according to fluctuation of speed value, compensation torque is calculated.
When fluctuation of speed value is positive value, compensation torque is positive value, i.e. revolving speed rises too fast, and demand torque subtracts compensation and turns round
Square reduces the torque of reality output.When fluctuation of speed value is negative value, compensation torque is negative value, i.e. revolving speed declines too fast, demand
Torque subtracts compensation torque, increases the torque of reality output.
The second aspect of the invention proposes a kind of electric drive system stabilization control device, and described device includes: revolving speed letter
Number sampling module, the first difference calculating module, the second difference calculating module, fluctuation of speed judgment module and compensation torque calculating mould
Block；
The tach signal sampling module is used to sample to obtain motor speed signal according to preset time interval
Obtain motor speed；
First difference calculating module is used to calculate first difference at each moment, and first difference is each sampling
Difference between first difference at moment and the first difference of previous sampling instant；
Second difference calculating module is used to calculate second difference at each moment, and second difference is each sampling
Difference between first difference at moment and the first difference of previous sampling instant；
The fluctuation of speed judgment module is used to judge that the fluctuation of speed is according to first difference and second difference
No is more than preset threshold；
The compensation torque calculating module is used to calculate compensation torque when the fluctuation of speed is more than preset threshold.
Further, first difference calculating module further include: the first mean difference computing unit
The first mean difference computing unit is used to calculate the average value of the first difference of each sampling instant, obtains the
One mean difference；
Second difference calculating module further include: the first mean difference computing unit
The second mean difference computing unit is used to calculate the average value of the second difference of each sampling instant, obtains the
Two mean differences.
Further, the fluctuation of speed judgment module includes that fluctuation of speed value computing unit and fluctuation of speed value are more single
Member；
The fluctuation of speed value computing unit is used to calculate the fluctuation of speed according to the first mean difference and the second mean difference
Value；
Whether the fluctuation of speed value comparing unit is greater than preset fluctuation threshold for the fluctuation of speed value.
Further, described device further includes tach signal filter module, and the tach signal filter module is used for electricity
Machine tach signal is filtered.
Further, described device further includes compensation torque clipping module；
The compensation torque clipping module compensates whether torque is more than preset threshold for judging, and compensates torque in judgement
When more than preset threshold, compensation torque is exported according to preset threshold.
Specifically, the sampling of motor speed signal is carried out according to the preset sampling period.And be filtered before sampling,
The filtering parameter of the motor speed signal needs to debug.
The difference between the motor speed signal of each sampling instant and the motor speed information of previous sampling instant is calculated,
Obtain the first difference of each sampling instant.Calculate the first difference of each sampling instant and the first difference of previous sampling instant
Between difference, obtain the second difference of each sampling instant.
Repeatedly cumulative averaging is carried out according to first difference of the default sampling number to each sampling instant, it is flat to obtain first
Equal difference carries out repeatedly cumulative averaging according to second difference of the preset times to each sampling instant, obtains the second mean difference
Value.
According to the fluctuation of speed value, judge whether fluctuation of speed value is greater than fluctuation threshold.The fluctuation threshold is preparatory
The threshold value of calibration.
If fluctuation of speed value is greater than fluctuation threshold, active damping functional switch is opened, the active damping switchs not open
Qi Shi prevents frequent torque adjusting from making to system the common acceptable small size fluctuation of speed without torque compensation
At certain concussion.And according to fluctuation of speed value, compensation torque is calculated.
When fluctuation of speed value is positive value, compensation torque is positive value, i.e. revolving speed rises too fast, and demand torque subtracts compensation and turns round
Square reduces the torque of reality output.When fluctuation of speed value is negative value, compensation torque is negative value, i.e. revolving speed declines too fast, demand
Torque subtracts compensation torque, increases the torque of reality output.
The third aspect of the invention proposes a kind of vehicle, and the vehicle includes electric drive system stabilization control described above
Device processed.
By adopting the above technical scheme, a kind of electric drive system stabilization control method, device and vehicle of the present invention, have
It is following the utility model has the advantages that
1) a kind of electric drive system stabilization control method proposed by the present invention, the electric drive system stabilization control method sampling electricity
Machine revolving speed judges whether the shake of electric drive system is more than preset threshold, to carry out torque by way of calculating difference twice
Compensation, first difference are the difference between the motor speed of each sampling instant and the motor speed of previous sampling instant,
Second difference is the difference between the first difference of each sampling instant and the first difference of previous sampling instant, introduces the
Two differences can be to the quick response to fluctuate widely, and inhibits fluctuation in time, while avoiding to the revolving speed in error range
The erroneous judgement of fluctuation；
2) a kind of electric drive system stabilization control method proposed by the present invention, the electric drive system stabilization control method are sampling
Before motor speed, motor speed signal is filtered, has not only guaranteed the real-time of the revolving speed calculated, but also guarantees to filter
Fall the fluctuation of speed of high frequency；
3) a kind of electric drive system stabilization control device proposed by the present invention, described device is switched with active damping, when trembling
When traverse degree is more than preset threshold, active damping switch is opened, and starts active damping function, for it is common it is acceptable slightly
The fluctuation of speed, can be set prevents frequent torque adjusting from causing certain concussion to system without torque compensation.
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
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow chart of electric drive system stabilization control method provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of electric drive system stabilization control device provided in an embodiment of the present invention；
Fig. 3 is a kind of knot of the fluctuation of speed judgment module of electric drive system stabilization control device provided in an embodiment of the present invention
Structure schematic diagram.
It remarks additionally below to attached drawing:
201- tach signal sampling module, the first difference calculating module of 202-, the second difference calculating module of 203-, 204- turn
Speed fluctuation judgment module, 205- compensation torque calculating module, 2001- fluctuation of speed value computing unit, 2002- fluctuation of speed value ratio
Compared with unit.
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.Obviously, 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, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
In several embodiments provided herein, described system embodiment is only schematical, such as institute
The division of module is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple moulds
Block or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point,
Shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces, module or unit
Indirect coupling or communication connection, can be electrically or other forms.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, it can and it is in one place, or may be distributed over multiple
On network module.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
Embodiment 1:
A kind of electric drive system stabilization control method is provided in the embodiment of the present invention, as shown in Figure 1, which comprises
S1. according to preset time interval, motor speed signal is sampled to obtain the motor of each sampling instant
Revolving speed；
S2. calculate the first difference of each sampling instant, first difference be each sampling instant motor speed with
Difference between the motor speed of previous sampling instant；
S3. cumulative averaging is carried out repeatedly to the first difference of each sampling instant, obtains the first mean difference.
S4. calculate the second difference of each sampling instant, second difference be each sampling instant the first difference with
Difference between first difference of previous sampling instant；
S5. cumulative averaging is carried out repeatedly to the second difference of each sampling instant, obtains the second mean difference；
S6. according to first mean difference and second mean difference, fluctuation of speed value is calculated, judges the fluctuation of speed
Whether value is greater than fluctuation threshold；
S7. demand torque is adjusted according to the compensation torque if so, calculating compensation torque.
Further, before the motor speed for obtaining each moment, low-pass filtering is carried out to motor speed signal.Selection
Suitable parameter carries out the low-pass filtering of certain condition to motor speed signal.
Further, after calculating compensation torque, to compensation torque progress clipping, preventing compensation torque is more than that electric drive is
The limit of system.
Further, when fluctuation of speed value is positive value, compensation torque is positive value, i.e. revolving speed rises too fast, demand torque
Compensation torque is subtracted, the torque of reality output is reduced.When fluctuation of speed value is negative value, compensation torque is negative value, i.e., under revolving speed
Drop too fast, demand torque subtracts compensation torque, increases the torque of reality output.
Specifically, the sampling of motor speed signal is carried out according to the preset sampling period.It is every to pass through preset time interval,
Obtain the motor speed signal of sampling instant.The filtering parameter of the motor speed signal needs to debug, and the filtering parameter is wanted
Guarantee filters the fluctuation of speed of some high frequencies, while keeping the real-time of revolving speed again, prevents the torque lag of compensation.
The difference between the motor speed signal of each sampling instant and the motor speed information of previous sampling instant is calculated,
Obtain the first difference of each sampling instant.Calculate the first difference of each sampling instant and the first difference of previous sampling instant
Between difference, obtain the second difference of each sampling instant.It can judge what motor speed rose according to second difference
Trend ensure that the quick response to fluctuate widely, and inhibit fluctuation in time.And the introducing of second difference can be to avoid
Erroneous judgement to common motor speed fluctuation, the common motor speed fluctuation can be because motor speed itself is unsmooth
Caused fluctuation, it is also possible to caused fluctuation when active damping function point analysis.
Repeatedly cumulative averaging is carried out according to first difference of the default sampling number to each sampling instant, it is flat to obtain first
Equal difference carries out repeatedly cumulative averaging according to second difference of the preset times to each sampling instant, obtains the second mean difference
Value.The first difference and the second difference are handled by way of seeking the first mean difference and the second mean difference, it can be with
Common fuctuation within a narrow range is filtered, avoids judging by accident.
According to first mean difference and second mean difference, fluctuation of speed value is calculated.The fluctuation of speed value
Formula it is as follows:
S=Davg1*a+Davg2*b
Wherein, S is fluctuation of speed value, Davg1For the first mean difference, Davg2For the second mean difference, a is calibrating parameters, b
For calibrating parameters.
According to the fluctuation of speed value, judge whether fluctuation of speed value is greater than fluctuation threshold.The fluctuation threshold is preparatory
The threshold value of calibration
If fluctuation of speed value is greater than fluctuation threshold, active damping functional switch is opened, the active damping switchs not open
Qi Shi prevents frequent torque adjusting from making to system the common acceptable small size fluctuation of speed without torque compensation
At certain concussion.And according to fluctuation of speed value, compensation torque is calculated.The calculation formula of the compensation torque are as follows:
Tadd=Davg1*c+Davg2*d
Wherein, TaddTo compensate torque, Davg1For the first mean difference, Davg2For the second mean difference, c is calibrating parameters, d
For calibrating parameters.This parameter belong to can calibrating parameters, can carry out fast verification in different automobile types project, accelerate debugging progress.
The compensation torque can also take other calculation methods to be calculated.
Clipping is carried out to compensation torque, preventing compensation torque is more than the restrictive condition of system.
It will compensate on torque compensation to demand torque, the demand torque is input to electric machine controller by entire car controller
In, the electric machine controller torque control motors can rotate according to demand.When fluctuation of speed value is timing, i.e. revolving speed rose
When fast, compensation torque be also it is positive, demand torque subtracts compensation torque, reduces the torque of reality output, inhibits revolving speed quick
Rise.When fluctuation of speed value is negative, i.e., revolving speed decline it is too fast when, compensation torque be also it is negative, demand torque subtracts compensation torque,
The torque of reality output is increased, revolving speed is inhibited quickly to decline.
A kind of electric drive system stabilization control method described in the embodiment of the present invention, the method pass through rotating speed difference and each
Difference between moment rotating speed difference and last moment rotating speed difference calculates fluctuation of speed value, judges whether to be more than fluctuation threshold.
When being more than fluctuation threshold, then compensation torque is calculated, demand torque is compensated.Each moment turn is introduced in the method
Difference between speed difference value and last moment rotating speed difference, can be to the quick response to fluctuate widely, and inhibits fluctuation in time,
The erroneous judgement to the fluctuation of speed in error range is avoided simultaneously.In addition, the method is to motor speed before obtaining difference
Signal is filtered, and has not only guaranteed the real-time of the revolving speed calculated, but also guarantees to filter out the fluctuation of speed of high frequency.
Embodiment 2:
A kind of electric drive system stabilization control device is provided in the embodiment of the present invention, as shown in Fig. 2, described device includes:
Tach signal sampling module 201, the first difference calculating module 202, the second difference calculating module 203, fluctuation of speed judgment module
204 and compensation torque calculating module 205.
The tach signal sampling module 201 is used to sample motor speed signal according to preset time interval,
Obtain the motor rotaring signal at each moment.
First difference calculating module 202 is used to calculate first difference at each moment, and first difference is each
The difference of moment motor speed and previous moment motor speed.First difference calculating module further includes the first mean difference meter
Unit is calculated, the first mean difference computing unit is used to repeatedly add up to first difference at each moment and be averaging, obtains
Obtain the first mean difference.
Second difference calculating module 203 is used to calculate second difference at each moment, and second difference is each
Difference between first difference at moment and the first difference of previous moment.Second difference calculating module further includes second flat
Equal difference computational unit, the second mean difference computing unit are used to carry out repeatedly cumulative ask to second difference at each moment
It is average, obtain the second mean difference.
The fluctuation of speed judgment module 204 includes fluctuation of speed value computing unit 2001 and fluctuation of speed value comparing unit
2002.The fluctuation of speed value computing unit is used to calculate fluctuation of speed value according to the first mean difference and the second mean difference.
Whether the fluctuation of speed value comparing unit is greater than preset fluctuation threshold for the fluctuation of speed value.
The compensation torque calculating module 205 is used to calculate compensation when fluctuation of speed value is greater than preset fluctuation threshold
Torque.
Further, described device further includes tach signal filter module, and the tach signal filter module is used for electricity
Machine tach signal is filtered.By filtering the fluctuation of speed of some high frequencies, while the real-time of revolving speed is kept, prevents from mending
The torque lag repaid.
Specifically, the sampling of motor speed signal is carried out according to the preset sampling period.It is every to pass through preset time interval,
Obtain the motor speed signal of sampling instant.The filtering parameter of the motor speed signal needs to debug, and the filtering parameter is wanted
Guarantee filters the fluctuation of speed of some high frequencies, while keeping the real-time of revolving speed again, prevents the torque lag of compensation.
The difference between the motor speed signal of each sampling instant and the motor speed information of previous sampling instant is calculated,
Obtain the first difference of each sampling instant.Calculate the first difference of each sampling instant and the first difference of previous sampling instant
Between difference, obtain the second difference of each sampling instant.It can judge what motor speed rose according to second difference
Trend ensure that the quick response to fluctuate widely, and inhibit fluctuation in time.And the introducing of second difference can be to avoid
Erroneous judgement to common motor speed fluctuation, the common motor speed fluctuation can be because motor speed itself is unsmooth
Caused fluctuation, it is also possible to caused fluctuation when active damping function point analysis.
Repeatedly cumulative averaging is carried out according to first difference of the preset times to each sampling instant, obtains the first mean difference
Value carries out repeatedly cumulative averaging according to second difference of the preset times to each sampling instant, obtains the second mean difference.It is logical
It crosses and seeks the mode of the first mean difference and the second mean difference the first difference and the second difference are handled, can filter general
Logical fuctuation within a narrow range avoids judging by accident.
According to first mean difference and second mean difference, fluctuation of speed value is calculated.The fluctuation of speed value
Formula it is as follows:
S=Davg1*a+Davg2*b
Wherein, S is fluctuation of speed value, Davg1For the first mean difference, Davg2For the second mean difference, a is calibrating parameters, b
For calibrating parameters.
According to the fluctuation of speed value, judge whether fluctuation of speed value is greater than fluctuation threshold.The fluctuation threshold is preparatory
The threshold value of calibration
If fluctuation of speed value is greater than fluctuation threshold, open active damping functional switch, the active damping function for
The common acceptable small size fluctuation of speed prevents frequent torque adjusting from causing to system certain without torque compensation
Concussion.And according to fluctuation of speed value, compensation torque is calculated.The calculation formula of the compensation torque are as follows:
Tadd=Davg1*c+Davg2*d
Wherein, TaddTo compensate torque, Davg1For the first mean difference, Davg2For the second mean difference, c is calibrating parameters, d
For calibrating parameters.This parameter belong to can calibrating parameters, can carry out fast verification in different automobile types project, accelerate debugging progress.
The compensation torque can also take other calculation methods to be calculated.
Clipping is carried out to compensation torque, preventing compensation torque is more than the restrictive condition of system.
Compensation torque is added on demand torque, the demand torque is input to electric machine controller by entire car controller
In, the electric machine controller torque control motors can rotate according to demand.When fluctuation of speed value is timing, i.e. revolving speed rose
When fast, compensation torque be also it is positive, demand torque subtracts compensation torque, reduces the torque of reality output, inhibits revolving speed quick
Rise.When fluctuation of speed value is negative, i.e., revolving speed decline it is too fast when, compensation torque be also it is negative, demand torque subtracts compensation torque,
The torque of reality output is increased, revolving speed is inhibited quickly to decline.
A kind of electric drive system stabilization control device described in the embodiment of the present invention, described device pass through rotating speed difference and each
Difference between moment rotating speed difference and last moment rotating speed difference calculates fluctuation of speed value, judges whether to be more than fluctuation threshold.
When being more than fluctuation threshold, then compensation torque is calculated, demand torque is compensated.Each moment turn is introduced in the method
Difference between speed difference value and last moment rotating speed difference, can be to the quick response that fluctuates widely, and inhibits fluctuation in time, together
When avoid the erroneous judgement to the fluctuation of speed in error range.In addition, described device believes motor speed before obtaining difference
It number is filtered, has not only guaranteed the real-time of the revolving speed calculated, but also guarantee to filter out the fluctuation of speed of high frequency.Described device
Active damping switch is also added, for the common acceptable small size fluctuation of speed, can be set without torque compensation, prevent
Only frequent torque adjusting causes certain concussion to system.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of electric drive system stabilization control method, which is characterized in that the described method includes:
According to preset time interval, motor speed signal is sampled to obtain the motor speed of each sampling instant；
Calculate corresponding first difference of each sampling instant, first difference be the sampling instant motor speed with it is previous
Difference between the motor speed of sampling instant；
Calculate corresponding second difference of each sampling instant, second difference be the sampling instant the first difference with it is previous
Difference between first difference of sampling instant；
According to the first difference and the second difference of each sampling instant, fluctuation of speed value is calculated；
Judge whether the fluctuation of speed value is greater than fluctuation threshold；
If so, calculating compensation torque；
According to the compensation torque, demand torque is adjusted.
2. a kind of electric drive system stabilization control method according to claim 1, which is characterized in that described according to described each
The first difference and the second difference of sampling instant calculate fluctuation of speed value, comprising:
The average value of the first difference of each sampling instant is calculated to obtain the first mean difference；
The average value of the second difference of each sampling instant is calculated to obtain the second mean difference；
According to first mean difference and second mean difference, fluctuation of speed value is calculated.
3. a kind of electric drive system stabilization control method according to claim 1, which is characterized in that the calculating compensates torque
Later, further includes:
Judge to compensate whether torque is greater than preset threshold；
If so, exporting compensation torque according to preset threshold.
4. a kind of electric drive system stabilization control method according to claim 1, which is characterized in that it is described according to it is preset when
Between be spaced, before being sampled to motor speed signal, further includes:
According to preset filtering parameter, low-pass filtering is carried out to motor speed signal.
5. a kind of electric drive system stabilization control device, which is characterized in that described device includes: tach signal sampling module, first
Difference calculating module, the second difference calculating module, fluctuation of speed judgment module and compensation torque calculating module；
The tach signal sampling module is used to sample to obtain electricity motor speed signal according to preset time interval
Machine revolving speed；
First difference calculating module is used to calculate first difference at each moment, and first difference is each sampling instant
The first difference and previous sampling instant the first difference between difference；
Second difference calculating module is used to calculate second difference at each moment, and second difference is each sampling instant
The first difference and previous sampling instant the first difference between difference；
The fluctuation of speed judgment module is used to judge whether the fluctuation of speed surpasses according to first difference and second difference
Cross preset threshold；
The compensation torque calculating module is used to calculate compensation torque when the fluctuation of speed is more than preset threshold.
6. a kind of electric drive system stabilization control device according to claim 5, which is characterized in that first difference calculates
Module further include: the first mean difference computing unit
The first mean difference computing unit is used to calculate the average value of the first difference of each sampling instant, and it is flat to obtain first
Equal difference；
Second difference calculating module further include: the first mean difference computing unit
The second mean difference computing unit is used to calculate the average value of the second difference of each sampling instant, and it is flat to obtain second
Equal difference.
7. a kind of electric drive system stabilization control device according to claim 6, which is characterized in that the fluctuation of speed judgement
Module includes fluctuation of speed value computing unit and fluctuation of speed value comparing unit；
The fluctuation of speed value computing unit is used to calculate fluctuation of speed value according to the first mean difference and the second mean difference；
Whether the fluctuation of speed value comparing unit is greater than preset fluctuation threshold for the fluctuation of speed value.
8. a kind of electric drive system stabilization control device according to claim 5, which is characterized in that described device further includes turning
Fast signal filter module, the tach signal filter module is for being filtered motor speed signal.
9. a kind of electric drive system stabilization control device according to claim 5, which is characterized in that described device further includes mending
Repay torque clipping module；
The compensation torque clipping module compensates whether torque is more than preset threshold for judging, and is more than in judgement compensation torque
When preset threshold, compensation torque is exported according to preset threshold.
10. a kind of vehicle, which is characterized in that the vehicle includes electric drive system stabilization described in claim 5 to 9 any one
Control device.
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| CN110843550A (en) * | 2019-11-14 | 2020-02-28 | 深圳市福瑞电气有限公司 | Method for eliminating low-speed jitter of electric automobile |
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