CN110171297A - Driving motor output torque control method, system and the vehicle of electric car - Google Patents
Driving motor output torque control method, system and the vehicle of electric car Download PDFInfo
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B60—VEHICLES IN GENERAL
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Abstract
The invention proposes driving motor output torque control method, system and the vehicles of a kind of electric car.Wherein, the driving motor output torque control method of electric car, comprising the following steps: obtain the current state information and environment affecting parameters of vehicle；The current state information of vehicle and environment affecting parameters are inputted into preset neural network, to pass through neural network output torque gradient limits value, wherein, torque gradient limits value is that the drive system of vehicle reaches corresponding change in torque gradient when critical torque vibrational state；According to the initial torque in this control period, the output torque and torque gradient limits value in a upper control period, the output torque in this control period was obtained.This method can play the fast feature of drive system of electric automobile dynamic response to the greatest extent, while well solve the torsional vibration problems of vehicle, and have no need to change vehicle drive system, and it is convenient, applied widely to have the characteristics that realize.
Description
Technical field
The present invention relates to automobile technical field, in particular to the driving motor output torque control side of a kind of electric car
Method, system and vehicle.
Background technique
Pure electric automobile realizes vehicle driving by motor driven wheel, has rapid dynamic response speed and base speed following
The characteristics of permanent torque exports.But there are the torsional vibration problems of drive system for electric car.For torsional vibration problems, such as
Fruit does not take preventive measures, then can cause the noise of drive system in accelerator, shake, aggravate parts depreciation, or even cause
The damage of drive system.
In existing control method, calculating compensation torque is the key that realize drive system Torsional Vibration Control.Wherein, electric
Output torque, motor output end revolving speed and the wheel output end revolving speed of machine are the necessary inputs for calculating compensation torque, and motor is defeated
Torque and motor output end revolving speed usually can accurately calculate or detect to obtain out, but wheel output end revolving speed cannot be obtained directly
, therefore, at present usually by design observer to estimate it in classic control, and controlled using estimated value.
Have the following problems: this method is established on the basis of simplified transmission system second order mass model, while being ignored between dead zone, gear
Influence of the factors such as gap to system, therefore the wheel output end revolving speed estimated on this basis, reliability is by very big shadow
It rings, and then can not control effectively to the twisting vibration of vehicle.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of driving motor output torque control side of electric car
Method.This method can play the fast feature of drive system of electric automobile dynamic response to the greatest extent, while well solve
The torsional vibration problems of vehicle, and vehicle drive system is had no need to change, it is convenient, applied widely to have the characteristics that realize.
Second object of the present invention is to propose a kind of driving motor output torque control system of electric car.
Third object of the present invention is to propose a kind of vehicle.
To achieve the goals above, the first aspect of the present invention embodiment disclose a kind of electric car driving motor it is defeated
Torque control method out, comprising the following steps: obtain the current state information and environment affecting parameters of vehicle；By the vehicle
Current state information and environment affecting parameters input preset neural network, to be limited by the neural network output torque gradient
Value processed, wherein the torque gradient limits value is that the drive system of vehicle reaches corresponding torque when critical torque vibrational state
Variable gradient；According to the initial torque in this control period, it is upper one control the period output torque and the torque gradient limits value,
Obtain the output torque in this control period.
The driving motor output torque control method of electric car according to an embodiment of the present invention, utilizes neural computing
Torque gradient limits value out, and according to the initial torque in this control period, the output torque and torque gradient in a upper control period
Limits value obtains the output torque in this control period, and then is controlled according to the output torque in this control period to driving motor
System to play the fast feature of drive system of electric automobile dynamic response to the greatest extent, while having well solved vehicle
Torsional vibration problems, and vehicle drive system is had no need to change, have the characteristics that realization is convenient, have a wide range of application.
In some instances, the current state information of the vehicle includes the current rotating speed of driving motor, current output torsion
The resistance of the current acceleration of square and vehicle, vehicle travel process is bigger, and the environment affecting parameters are bigger, and the environment shadow
Parameter is rung between (0,2).
In some instances, described that the current state information of the vehicle and environment affecting parameters are inputted into preset nerve
Network, to pass through the neural network output torque gradient limits value, comprising: by the current state information and environment of the vehicle
Affecting parameters input the neural network as input quantity；The neural network is by hidden layer to the current state of the vehicle
Information and environment affecting parameters are handled, to obtain the torque gradient limits value；The neural network is terraced by the torque
Limits value is spent to export as output quantity.
In some instances, the current state information of the vehicle and environment affecting parameters are being inputted into preset nerve net
Network, before through the neural network output torque gradient limits value, further includes: experimental data is obtained by experiment, wherein
The experimental data includes: the current shape that drive system reaches the corresponding vehicle of critical torque vibrational state under different driving states
State information, environment affecting parameters and change in torque gradient；The neural network is trained according to the experimental data.
In some instances, described according to the initial torque in this control period, the output torque in a upper control period and institute
Torque gradient limits value is stated, the output torque in this control period is obtained, comprising: obtains the initial torque and upper one in described period
Control the difference between the output torque in period；Judge whether the difference is greater than the torque gradient limits value；If it is,
The sum of the output torque in a upper control period and described torque gradient limits value are controlled to the output in period as described
Torque；If less than zero, the output in a upper control period was turned round for the sum of the difference and the torque gradient limits value
The difference of square and the torque gradient limits value controls the output torque in period as described；If the absolute value of the difference is small
In or equal to the torque gradient limits value, then the initial torque that described controls the period is controlled into the defeated of period as described
Torque out.
The embodiment of the second aspect of the present invention discloses a kind of driving motor output torque control system of electric car,
It include: acquisition module, for obtaining the current state information and environment affecting parameters of vehicle；Torque gradient limits value feeds back mould
Block, for the current state information of the vehicle and environment affecting parameters to be inputted preset neural network, to pass through the mind
Through network output torque gradient limits value, wherein the torque gradient limits value is that the drive system of vehicle reaches critical torque
Corresponding change in torque gradient when vibrational state；Torque management module, for the initial torque according to this control period, a upper control
The output torque in period processed and the torque gradient limits value, obtain the output torque in this control period.
The driving motor output torque control system of electric car according to an embodiment of the present invention, utilizes neural computing
Torque gradient limits value out, and according to the initial torque in this control period, the output torque and torque gradient in a upper control period
Limits value obtains the output torque in this control period, and then is controlled according to the output torque in this control period to driving motor
System to play the fast feature of drive system of electric automobile dynamic response to the greatest extent, while having well solved vehicle
Torsional vibration problems, and vehicle drive system is had no need to change, have the characteristics that realization is convenient, have a wide range of application.
In some instances, described that the current state information of the vehicle and environment affecting parameters are inputted into preset nerve
Network, to pass through the neural network output torque gradient limits value, comprising: by the current state information and environment of the vehicle
Affecting parameters input the neural network as input quantity；The neural network is by hidden layer to the current state of the vehicle
Information and environment affecting parameters are handled, to obtain the torque gradient limits value；The neural network is terraced by the torque
Limits value is spent to export as output quantity.
In some instances, in the torque gradient limits value feedback module by the current state information and ring of the vehicle
Border affecting parameters input preset neural network and are also used to before through the neural network output torque gradient limits value
Pass through experiment obtain experimental data, wherein the experimental data include: under different driving states drive system reach critical torque
Current state information, environment affecting parameters and the change in torque gradient of the corresponding vehicle of vibrational state, and according to the experiment
Data are trained the neural network.
In some instances, described according to the initial torque in this control period, the output torque in a upper control period and institute
Torque gradient limits value is stated, the output torque in this control period is obtained, comprising: obtains the initial torque and upper one in described period
Control the difference between the output torque in period；Judge whether the difference is greater than the torque gradient limits value；If it is,
The sum of the output torque in a upper control period and described torque gradient limits value are controlled to the output in period as described
Torque；If less than zero, the output in a upper control period was turned round for the sum of the difference and the torque gradient limits value
The difference of square and the torque gradient limits value controls the output torque in period as described；If the absolute value of the difference is small
In or equal to the torque gradient limits value, then the initial torque that described controls the period is controlled into the defeated of period as described
Torque out.
The embodiment of the third aspect of the present invention discloses a kind of vehicle, comprising: according to the implementation of above-mentioned second aspect
The driving motor output torque control system of electric car described in example.The vehicle goes out torque gradient limit using neural computing
Value processed, and according to the initial torque in this control period, the output torque and torque gradient limits value in a upper control period, obtain this
The output torque in period is controlled, and then driving motor is controlled according to the output torque in this control period, thus maximum journey
Degree plays the fast feature of drive system of electric automobile dynamic response, while having well solved the torsional vibration problems of vehicle,
And vehicle drive system is had no need to change, have the characteristics that realization is convenient, have a wide range of application.
The advantages of additional aspect of the invention, will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein
Fig. 1 is the driving motor output torque control method flow diagram of electric car according to an embodiment of the invention；
Fig. 2 is the driving motor output torque control functional block diagram of electric car according to an embodiment of the invention；
Fig. 3 is neural computing block diagram according to an embodiment of the invention；
Fig. 4 is the structural frames of the driving motor output torque control system of electric car according to an embodiment of the invention
Figure.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
The driving motor output torque control side of the electric car of embodiment according to the present invention is described below in conjunction with attached drawing
Method, system and vehicle.
Fig. 1 is the driving motor output torque control method flow diagram of electric car according to an embodiment of the invention.
As shown in Figure 1, the driving motor output torque control method of electric car according to an embodiment of the invention, packet
Include following steps:
S101: the current state information and environment affecting parameters of vehicle are obtained.
In specific example, the current state information of vehicle include the current rotating speed of driving motor, current output torque and
The current acceleration of vehicle.
Environment affecting parameters are for describing due to vehicle tire air pressure, road surface degree of roughness, ambient wind and road surface
Influence of the factors such as the gradient to vehicle runnability, the parameter is between (0,2), and the resistance of vehicle travel process is bigger, ring
Border affecting parameters are bigger.When environment affecting parameters are equal to 1, then show environment on vehicle movement performance without influence, such as vehicle at this time
Tire pressure is normal, environment is calm or gentle breeze, vehicle driving are in dry paved road；The value shows vehicle row less than 1
Resistance during sailing is smaller (movenent performance of vehicle is promoted), this may be since tire pressure is excessively high, vehicle sails with the wind
Or travel is caused by descending；Environment affecting parameters are larger greater than 1 resistance shown in vehicle travel process, this may
Be due to under-inflation, road surface is coarse, vehicle against the wind or up-hill journey, the movenent performance of vehicle reduces at this time.
S102: the current state information of vehicle and environment affecting parameters are inputted into preset neural network, to pass through nerve
Network output torque gradient limits value.
It specifically includes: inputting neural network using the current state information of vehicle and environment affecting parameters as input quantity；Mind
It is handled through network by current state information and environment affecting parameters of the hidden layer to vehicle, to obtain torque gradient limitation
Value；Neural network is exported the torque gradient limits value as output quantity.
As shown in figure 3, the present invention utilizes RBF (Radical Basis Function, radial basis function) neural network meter
Calculate torque gradient limits value KRBF, torque gradient limits value KRBFIt is related with the current state information of vehicle and environment affecting parameters,
Current output torque T including driving motorq, the current rotating speed ω of driving motor, the current acceleration V of vehicleaAnd environment shadow
Parameter F is rung, RBF neural is divided into three layers, input layer, hidden layer and output layer, the expression of neural network are as follows:Wherein, x is input quantity, x=[Tq ω VaF], y (x, w) is output quantity KRBF, KRBF
For torque gradient limits value, wiFor weight；L is the neuronal quantity of hidden layer, wherein l=9, ciFor center vector, | | x-ci|
| it is input quantity to the distance of center vector, φ is Gaussian radial basis function.
It should be noted that the drive system that torque gradient limits value here is vehicle reaches critical torque vibrational state
When corresponding change in torque gradient, critical torque vibrational state refers to will lead to driving system if further increasing torque output at this time
System " excessively torsion ", under critical torque vibrational state, vehicle can make full use of the elasticity of vehicle drive system, have vehicle
There is good power performance (i.e. the accelerating ability of vehicle), while the torsional vibration problems of vehicle will not be caused again.
In specific example, the current state information of vehicle and environment affecting parameters are inputted into preset neural network,
By before neural network output torque gradient limits value, further includes: obtain experimental data by experiment, wherein experiment number
According to include: under different driving states drive system reach the current state information of the corresponding vehicle of critical torque vibrational state, ring
Border affecting parameters and change in torque gradient；The neural network is trained according to experimental data.
That is, the driver with rich experiences is allowed to find facing for drive system torque vibration under different driving states
Boundary's point, the i.e., (T under varying environment and vehicle-stateq、ω、Va, F), driver by control driving motor power output make to drive
System reaches " critical torque vibrational state ", obtains torque gradient limits value K at that time with thisRBF.It is obtained according to above method
A large amount of test data group, is represented by [Tq ω Va F KRBF], using the data as basic data to RBF neural into
Row training, is finally used for calculated torque gradient limits value K for the neural network that training is completedRBF。
S103: controlling the output torque and torque gradient limits value in period according to the initial torque in this control period, upper one,
Obtain the output torque in this control period.
In specific example, the difference between the initial torque in this period and the output torque in a upper control period was obtained
Value；Judge whether difference is greater than torque gradient limits value；If it is, by the output torque and torque gradient in a upper control period
Output torque of the sum of the limits value as this control period；If the sum of difference and torque gradient limits value, will be upper less than zero
The output torque of the output torque in one control period and the difference of torque gradient limits value as this control period；If difference is exhausted
Torque gradient limits value is less than or equal to value, then is turned round the initial torque in this control period as the output in this control period
Square.
Specifically, as shown in Fig. 2, calculating torque gradient limits value using RBF neural, the limits value is utilized later
Initial torque is limited, obtains output torque, and then control driving motor according to output torque, is eliminated with reaching
The purpose of twisting vibration.Output torque calculation formula is as follows:
Wherein, the TintFor initial torque, TrFor output torque, n is this control period.It can be seen that the control method
The torsional vibration problems of vehicle are solved indeed through the change rate of limitation driving motor output torque.
The driving motor output torque control method of electric car according to an embodiment of the present invention, utilizes neural computing
Torque gradient limits value out, and according to the initial torque in this control period, the output torque and torque gradient in a upper control period
Limits value obtains the output torque in this control period, and then is controlled according to the output torque in this control period to driving motor
System to play the fast feature of drive system of electric automobile dynamic response to the greatest extent, while having well solved vehicle
Torsional vibration problems, and vehicle drive system is had no need to change, have the characteristics that realization is convenient, have a wide range of application.
Fig. 4 is the structural frames of the driving motor output torque control system of electric car according to an embodiment of the invention
Figure.As shown in figure 4, the driving motor output torque control system 400 of electric car according to an embodiment of the invention, packet
It includes: obtaining module 410, torque gradient limits value feedback module 420 and torque management module 430.
Wherein, current state information and environment affecting parameters that module 410 is used to obtain vehicle are obtained；Torque gradient limitation
It is worth feedback module 420 to be used to the current state information of vehicle and environment affecting parameters inputting preset neural network, to pass through
Neural network output torque gradient limits value, wherein torque gradient limits value is that the drive system of vehicle reaches critical torque vibration
Corresponding change in torque gradient when dynamic state；Torque management module 430 is used for the initial torque according to this control period, a upper control
The output torque and torque gradient limits value in period processed, obtain the output torque in this control period.
In one embodiment of the invention, the current state information of vehicle and environment affecting parameters are inputted into preset mind
Through network, to pass through neural network output torque gradient limits value, comprising: the current state information of vehicle and environment are influenced ginseng
Number inputs neural network as input quantity；Neural network is by hidden layer to the current state information and environment affecting parameters of vehicle
It is handled, to obtain the torque gradient limits value；The neural network is using the torque gradient limits value as output quantity
Output.
In one embodiment of the invention, the current state of vehicle is believed in torque gradient limits value feedback module 420
Breath and environment affecting parameters input preset neural network, by also using before neural network output torque gradient limits value
In by experiment obtain experimental data, wherein experimental data include: under different driving states drive system reach critical torque vibration
Current state information, environment affecting parameters and the change in torque gradient of the dynamic corresponding vehicle of state, and according to experimental data pair
Neural network is trained.
In one embodiment of the invention, torque management module is according to the initial torque in this control period, a upper control
The output torque and torque gradient limits value in period, the output torque for obtaining this control period includes: the initial of this period of acquisition
Difference between torque and the output torque in a upper control period；Judge whether difference is greater than torque gradient limits value；If so,
The then output torque by the sum of the output torque in a upper control period and torque gradient limits value as this control period；If poor
The sum of value and torque gradient limits value then made the difference of the output torque in a upper control period and torque gradient limits value less than zero
For the output torque in this control period；If the absolute value of difference is less than or equal to torque gradient limits value, by this control week
Output torque of the initial torque of phase as this control period.
The driving motor output torque control system of electric car according to an embodiment of the present invention, utilizes neural computing
Torque gradient limits value out, and according to the initial torque in this control period, the output torque and torque gradient in a upper control period
Limits value obtains the output torque in this control period, and then is controlled according to the output torque in this control period to driving motor
System to play the fast feature of drive system of electric automobile dynamic response to the greatest extent, while having well solved vehicle
Torsional vibration problems, and vehicle drive system is had no need to change, have the characteristics that realization is convenient, have a wide range of application.
It should be noted that the specific reality of the driving motor output torque control system of the electric car of the embodiment of the present invention
Existing mode is similar with the specific implementation of driving motor output torque control method of the electric car of the embodiment of the present invention, tool
Body refers to the description of method part, is not repeated herein.
Further, embodiment of the invention discloses a kind of vehicles, comprising: according to any one above-mentioned embodiment
Electric car driving motor output torque control system.The vehicle goes out torque gradient limits value using neural computing,
And according to the initial torque in this control period, the output torque and torque gradient limits value in a upper control period, this control was obtained
The output torque in period, and then driving motor is controlled according to the output torque in this control period, thus to the greatest extent
The fast feature of drive system of electric automobile dynamic response is played, while having well solved the torsional vibration problems of vehicle, and not
It needs to change vehicle drive system, has the characteristics that realization is convenient, has a wide range of application.
In addition, other compositions of vehicle according to an embodiment of the present invention and effect are for those of ordinary skill in the art
For be all it is known, in order to reduce redundancy, be not repeated herein.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of driving motor output torque control method of electric car, which comprises the following steps:
Obtain the current state information and environment affecting parameters of vehicle；
The current state information of the vehicle and environment affecting parameters are inputted into preset neural network, to pass through the nerve net
Network output torque gradient limits value, wherein the torque gradient limits value is that the drive system of vehicle reaches critical torque vibration
Corresponding change in torque gradient when state；
According to the initial torque in this control period, the output torque in a upper control period and the torque gradient limits value, obtained
The output torque in this control period.
2. the driving motor output torque control method of electric car according to claim 1, which is characterized in that the vehicle
Current state information include the current rotating speed of driving motor, the current acceleration of current output torque and vehicle, vehicle row
The resistance for crossing journey is bigger, and the environment affecting parameters are bigger, and the environment affecting parameters are between (0,2).
3. according to claim 1 or the driving motor output torque control method of electric car as claimed in claim 2, feature
It is, it is described that the current state information of the vehicle and environment affecting parameters are inputted into preset neural network, by described
Neural network output torque gradient limits value, comprising:
The neural network is inputted using the current state information of the vehicle and environment affecting parameters as input quantity；
The neural network is handled by current state information and environment affecting parameters of the hidden layer to the vehicle, with
To the torque gradient limits value；
The neural network is exported the torque gradient limits value as output quantity.
4. the driving motor output torque control method of electric car according to claim 3, which is characterized in that by institute
The current state information and environment affecting parameters for stating vehicle input preset neural network, are turned round with being exported by the neural network
Before square gradient limits value, further includes:
Pass through experiment obtain experimental data, wherein the experimental data include: under different driving states drive system reach critical
Current state information, environment affecting parameters and the change in torque gradient of the corresponding vehicle of torque vibration state；
The neural network is trained according to the experimental data.
5. the driving motor output torque control method of electric car according to claim 1, which is characterized in that described
According to the initial torque in this control period, the output torque in a upper control period and the torque gradient limits value, this control was obtained
The output torque in period, comprising:
Obtained the difference between the initial torque and the output torque in a upper control period in described period；
Judge whether the difference is greater than the torque gradient limits value；
If it is, by the sum of the output torque in a upper control period and described torque gradient limits value as described control
The output torque in period processed；
If the sum of the difference and the torque gradient limits value are less than zero, by the output torque in a upper control period
And the difference of the torque gradient limits value controls the output torque in period as described；
If the absolute value of the difference is less than or equal to the torque gradient limits value, the initial of period is controlled by described
Torque controls the output torque in period as described.
6. a kind of driving motor output torque control system of electric car characterized by comprising
Module is obtained, for obtaining the current state information and environment affecting parameters of vehicle；
Torque gradient limits value feedback module, it is default for inputting the current state information of the vehicle and environment affecting parameters
Neural network, to pass through the neural network output torque gradient limits value, wherein the torque gradient limits value be vehicle
Drive system reach corresponding change in torque gradient when critical torque vibrational state；
Torque management module, for the initial torque according to this control period, the output torque and the torsion in a upper control period
Square gradient limits value, obtains the output torque in this control period.
7. the driving motor output torque control system of electric car according to claim 6, which is characterized in that described to incite somebody to action
The current state information and environment affecting parameters of the vehicle input preset neural network, to be exported by the neural network
Torque gradient limits value, comprising:
The neural network is inputted using the current state information of the vehicle and environment affecting parameters as input quantity；
The neural network is handled by current state information and environment affecting parameters of the hidden layer to the vehicle, with
To the torque gradient limits value；
The neural network is exported the torque gradient limits value as output quantity.
8. the driving motor output torque control system of electric car according to claim 7, which is characterized in that described
The current state information of the vehicle and environment affecting parameters are inputted preset nerve net by torque gradient limits value feedback module
Network is also used to obtain experimental data by experiment before through the neural network output torque gradient limits value, wherein
The experimental data includes: the current shape that drive system reaches the corresponding vehicle of critical torque vibrational state under different driving states
State information, environment affecting parameters and change in torque gradient, and the neural network is trained according to the experimental data.
9. the driving motor output torque control system of electric car according to claim 6, which is characterized in that described
According to the initial torque in this control period, the output torque in a upper control period and the torque gradient limits value, this control was obtained
The output torque in period, comprising:
Obtained the difference between the initial torque and the output torque in a upper control period in described period；
Judge whether the difference is greater than the torque gradient limits value；
If it is, by the sum of the output torque in a upper control period and described torque gradient limits value as described control
The output torque in period processed；
If the sum of the difference and the torque gradient limits value are less than zero, by the output torque in a upper control period
And the difference of the torque gradient limits value controls the output torque in period as described；
If the absolute value of the difference is less than or equal to the torque gradient limits value, the initial of period is controlled by described
Torque controls the output torque in period as described.
10. a kind of vehicle characterized by comprising according to the driving motor of the described in any item electric cars of claim 6-9
Output torque control system.
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