CN110262576A - A kind of rack control method and device - Google Patents
A kind of rack control method and device Download PDFInfo
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- CN110262576A CN110262576A CN201910582490.3A CN201910582490A CN110262576A CN 110262576 A CN110262576 A CN 110262576A CN 201910582490 A CN201910582490 A CN 201910582490A CN 110262576 A CN110262576 A CN 110262576A
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- motor
- transmission shaft
- power assembly
- torque
- rotating speed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
This application provides a kind of rack control method and device, this method comprises: reading to the current rotating speed for dragging motor, and according to the current rotating speed for dragging motor, determine the resistive torque of transmission shaft；The output torque of motor in power assembly, and the output torque according to motor in the resistive torque of transmission shaft and the power assembly are obtained, determines the angular acceleration of transmission shaft；The result that the angular acceleration of transmission shaft is multiplied with setting time is added with to the current rotating speed for dragging motor, the result of addition is as target requirement revolving speed；Control returns to the step of execution is read to the current rotating speed for dragging motor to dragging motor to run according to target requirement revolving speed, until terminate to the test of power assembly.In this application, the deployment that the test environment of simulation vehicle operating condition may be implemented in the above manner, improves the reliability of test environment, the reliability test for power assembly.
Description
Technical field
This application involves automobile technical field, in particular to a kind of rack control method and device.
Background technique
In the development process for carrying out products such as power assembly (e.g., driving motor+gearboxes), product can generally be carried out
Test.
Wherein, the deployment for testing environment will affect the test effect of product, therefore how carry out being deployed to for test environment
For problem.
Summary of the invention
In order to solve the above technical problems, the embodiment of the present application provides a kind of rack control method and device, realized with reaching
The deployment for simulating the test environment of vehicle operating condition, improves the purpose of the reliability of test environment, and technical solution is as follows:
A kind of rack control method, is based on rack, and the rack includes: to dragging motor, electric machine controller, transmission shaft and platform
Frame controller, described pair is dragged motor and the power assembly that need to test by the transmission axis connection, and the power assembly is used to drive
Move described pair drag motor or it is described motor is dragged, for power assembly described in towing astern, this method is applied to the stage controller,
This method comprises:
The described pair of current rotating speed for dragging motor is read, and drags the current rotating speed of motor according to described pair, determines the transmission
The resistive torque of axis；
The output torque of motor in the power assembly is obtained, and according to the resistive torque of the transmission shaft and the power
The output torque of motor in assembly, determines the angular acceleration of the transmission shaft；
Result that the angular acceleration of the transmission shaft is multiplied with setting time is dragged with described Dui to the current rotating speed phase of motor
Add, the result of addition is as target requirement revolving speed；
Controlling described pair drags motor to run according to the target requirement revolving speed, and returns to described pair of execution reading and drag motor
The step of current rotating speed, until terminating to the test of the power assembly.
Preferably, the current rotating speed that motor is dragged according to described pair, determines the resistive torque of the transmission shaft, comprising:
The current rotating speed and pre-set whole-car parameters and road parameters for dragging motor according to described pair calculate traveling resistance
Power；
The running resistance is scaled to the resistive torque of the transmission shaft.
Preferably, the output torque according to motor in the resistive torque of the transmission shaft and the power assembly, really
The angular acceleration of the fixed transmission shaft, comprising:
According to the output torque of motor in the power assembly, the driving torque of the transmission shaft is determined；
The difference of the resistive torque of the driving torque of the transmission shaft and the transmission shaft is turned divided by the vehicle equivalent of setting
Dynamic inertia, obtains the angular acceleration of the transmission shaft.
Preferably, the output torque according to motor in the power assembly, determines the driving torque of the transmission shaft,
Include:
The output torque of motor in the power assembly is multiplied with the current gear speed ratio of motor in the power assembly,
Driving torque of the result of multiplication as the transmission shaft.
Preferably, the output torque according to motor in the power assembly, determines the driving torque of the transmission shaft,
Include:
Output torque and institute from acquisition in preset gear efficiency MAP chart with motor in the power assembly
State the corresponding transmission efficiency value of revolving speed of motor in power assembly；
The output torque of motor in the power assembly is multiplied with the current gear speed ratio of motor in the power assembly
As a result, be multiplied with the transmission efficiency value, driving torque of the result of multiplication as the transmission shaft.
A kind of rack control device, is based on rack, and the rack includes: to dragging motor, electric machine controller, transmission shaft and platform
Frame controller, described pair is dragged motor and the power assembly that need to test by the transmission axis connection, and the power assembly is used to drive
Move described pair drag motor or it is described motor is dragged, for power assembly described in towing astern, the device is applied to the stage controller,
The device includes:
First determining module drags the current of motor for reading the described pair of current rotating speed for dragging motor, and according to described pair
Revolving speed determines the resistive torque of the transmission shaft；
Second determining module, for obtaining the output torque of motor in the power assembly, and according to the transmission shaft
The output torque of motor, determines the angular acceleration of the transmission shaft in resistive torque and the power assembly；
Third determining module, the result for the angular acceleration of the transmission shaft to be multiplied with setting time are dragged with described Dui
The current rotating speed of motor is added, and the result of addition is as target requirement revolving speed；
Control module drags motor to run according to the target requirement revolving speed, and returns and execute reading for controlling described pair
Described pair of the step of dragging the current rotating speed of motor, until terminating to the test of the power assembly.
Preferably, first determining module, comprising:
First computational submodule, for dragging the current rotating speed and pre-set whole-car parameters and road of motor according to described pair
Road parameter calculates running resistance；
Convert submodule, for the running resistance to be scaled to the resistive torque of the transmission shaft.
Preferably, second determining module, comprising:
First determines that submodule determines the transmission shaft for the output torque according to motor in the power assembly
Driving torque；
Second computational submodule, for removing the difference of the resistive torque of the driving torque of the transmission shaft and the transmission shaft
With the vehicle equivalent rotary inertia of setting, the angular acceleration of the transmission shaft is obtained.
Preferably, it described first determines submodule, is specifically used for:
The output torque of motor in the power assembly is multiplied with the current gear speed ratio of motor in the power assembly,
Driving torque of the result of multiplication as the transmission shaft.
Preferably, it described first determines submodule, is specifically used for:
Output torque and institute from acquisition in preset gear efficiency MAP chart with motor in the power assembly
State the corresponding transmission efficiency value of revolving speed of motor in power assembly；
The output torque of motor in the power assembly is multiplied with the current gear speed ratio of motor in the power assembly
As a result, be multiplied with the transmission efficiency value, driving torque of the result of multiplication as the transmission shaft.
Compared with prior art, the application has the beneficial effect that
In this application, a kind of rack is provided, for testing power assembly, and by controlling rack,
Complete the deployment for the environment tested power assembly.The current rotating speed of motor is dragged especially by described pair of reading, and according to described
To the current rotating speed for dragging motor, the resistive torque of the transmission shaft is determined, and obtain the output torsion of motor in the power assembly
Square, and the output torque according to motor in the resistive torque of the transmission shaft and the power assembly, determine the transmission shaft
Angular acceleration, and result that the angular acceleration of the transmission shaft is multiplied with setting time is dragged with described Dui to the current rotating speed of motor
It being added, the result of addition drags motor to run according to the target requirement revolving speed as target requirement revolving speed, and described pair of control, and
It returns and executes the step of current rotating speed of motor is dragged in described pair of reading, until terminating to the test of the power assembly, realize mould
The deployment of the test environment of quasi- vehicle operating condition, improves the reliability of test environment, the reliability test for power assembly.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of structural schematic diagram of rack provided by the present application；
Fig. 2 is a kind of flow chart of rack control method provided by the present application；
Fig. 3 is the flow chart of another rack control method provided by the present application；
Fig. 4 is the flow chart of another rack control method provided by the present application；
Fig. 5 is the flow chart of another rack control method provided by the present application；
Fig. 6 is the flow chart of another rack control method provided by the present application；
Fig. 7 is the flow chart of another rack control method provided by the present application；
Fig. 8 is the flow chart of another rack control method provided by the present application；
Fig. 9 is the flow chart of another rack control method provided by the present application；
Figure 10 is a kind of logical construction schematic diagram of rack control device provided by the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
The embodiment of the present application discloses a kind of rack control method, is based on rack, and the rack includes: electric mechanical, electrical to dragging
Machine controller, transmission shaft and stage controller, described pair is dragged motor and the power assembly that need to test by the transmission axis connection,
The power assembly for drive described pair drag motor or it is described drag motor for power assembly described in towing astern, this method application
In the stage controller, this method comprises: read the described pair of current rotating speed for dragging motor, and according to described to dragging motor to work as
Preceding revolving speed determines the resistive torque of the transmission shaft；The output torque of motor in the power assembly is obtained, and according to the biography
The output torque of motor, determines the angular acceleration of the transmission shaft in the resistive torque of moving axis and the power assembly；It will be described
The result that the angular acceleration of transmission shaft is multiplied with setting time drags the current rotating speed of motor to be added with described pair, and the result of addition is made
For target requirement revolving speed；Controlling described pair drags motor to run according to the target requirement revolving speed, and it is described right to return to execution reading
The step of dragging the current rotating speed of motor, until terminating to the test of the power assembly.In this application, it may be implemented to simulate whole
The deployment of the test environment of turner condition, improves the reliability of test environment, the reliability test for power assembly.
Before rack control method is introduced disclosed in the embodiment of the present application, rack is introduced first, rack packet
It includes: to dragging motor, transmission shaft, electric machine controller and stage controller.Wherein, to the company for dragging motor, transmission shaft and power assembly
The relationship of connecing may refer to Fig. 1, as shown in Figure 1, to dragging motor 11 to connect by transmission shaft 12 with power assembly 13.
Electric machine controller is for controlling to dragging motor.
To dragging motor to can be ac three-phase asynchronous motor, permanent magnet synchronous motor etc. can be.This passes through journey to dragging motor
The power electronic system of control is connected with power grid.This has electric model and power generation mode to the main operation modes for dragging motor.When this
To in power generation mode, power assembly driving is to dragging the mechanical energy of motor to be converted to electric energy feed-in when motor simulation vehicle being dragged to load
In power grid.When this is to dragging motor simulation vehicle inertial time to be in electric model, electric energy is obtained from power grid and is converted to mechanical energy
Towing astern power assembly.
Power assembly can be motor+retarder, can make motor+gearbox (such as AMT), be also possible to individual electricity
Machine directly drives.
Rack is not limited to include: that can also include: to motor, transmission shaft, electric machine controller and stage controller is dragged
Cooling system and test platform etc..
Based on the above-mentioned introduction to rack, next rack control method disclosed in the embodiment of the present application is introduced,
As shown in Figure 2, it is a kind of flow chart of rack control method embodiment 1 provided by the present application, method includes the following steps:
Step S11, the described pair of current rotating speed for dragging motor is read, and drags the current rotating speed of motor according to described pair, is determined
The resistive torque of the transmission shaft.
After to motor operation is dragged, read to the current rotating speed for dragging motor.
The resistive torque of transmission shaft, it is possible to understand that are as follows: influence the torque of the resistance of transmission shaft rotation.
Step S12, obtain the output torque of motor in the power assembly, and according to the resistive torque of the transmission shaft and
The output torque of motor in the power assembly, determines the angular acceleration of the transmission shaft.
After power assembly operation, the output torque of motor in power assembly is read.
Output torque due to motor in power assembly can be turned round for driving transmission shaft according to the resistance of transmission shaft
The output torque of motor in square and power assembly, determines the angular acceleration of transmission shaft.
Step S13, by result that the angular acceleration of the transmission shaft is multiplied with setting time with described to dragging motor to work as
Preceding revolving speed is added, and the result of addition is as target requirement revolving speed.
Result that the angular acceleration of the transmission shaft is multiplied with setting time is dragged with described Dui to the current rotating speed phase of motor
Add, the result of addition is the transmitting torque of transmission shaft, as target requirement revolving speed.
Step S14, controlling described pair drags motor to run according to the target requirement revolving speed, and it is described right to return to execution reading
The step of dragging the current rotating speed of motor, until terminating to the test of the power assembly.
Controlling described pair drags motor to run according to the target requirement revolving speed, and returns to described pair of execution reading and drag motor
The step of current rotating speed, realizes that guarantee can be just to the test of power assembly to the maintenance of the test environment of simulation vehicle operating condition
Often carry out.
It should be noted that control to drag motor according to target requirement revolving speed operation after, since there are machine errors etc.
Factor returns after executing the step of reading to the current rotating speed for dragging motor, and what is read is different to the current rotating speed for dragging motor
Surely it is equal to target requirement revolving speed, but can guarantee that is read exists to the difference of the current rotating speed and target requirement revolving speed of dragging motor
In error range.
In this application, a kind of rack is provided, for testing power assembly, and by controlling rack,
Complete the deployment for the environment tested power assembly.The current rotating speed of motor is dragged especially by described pair of reading, and according to described
To the current rotating speed for dragging motor, the resistive torque of the transmission shaft is determined, and obtain the output torsion of motor in the power assembly
Square, and the output torque according to motor in the resistive torque of the transmission shaft and the power assembly, determine the transmission shaft
Angular acceleration, and result that the angular acceleration of the transmission shaft is multiplied with setting time is dragged with described Dui to the current rotating speed of motor
It being added, the result of addition drags motor to run according to the target requirement revolving speed as target requirement revolving speed, and described pair of control, and
It returns and executes the step of current rotating speed of motor is dragged in described pair of reading, until terminating to the test of the power assembly, realize mould
The deployment of the test environment of quasi- vehicle operating condition, improves the reliability of test environment, the reliability test for power assembly.
As another alternative embodiment of the application, referring to Fig. 3, for a kind of rack control method embodiment provided by the present application
2 flow diagram, the present embodiment is mainly the refinement scheme of the rack control method described to above-described embodiment 1, such as Fig. 3 institute
Show, this method may include but be not limited to following steps:
Step S21, the described pair of current rotating speed for dragging motor is read, the current rotating speed of dragging motor according to described pair and is set in advance
The whole-car parameters and road parameters set calculate running resistance.
Whole-car parameters may include but be not limited to: complete vehicle quality, running resistance coefficient, base ratio, wheel rolling half
Diameter etc..
Road parameters may include but be not limited to: gradient parameter.
Step S22, the running resistance is scaled to the resistive torque of the transmission shaft.
Step S21-S22 is a kind of specific embodiment of step S11 in embodiment 1.
Step S23, obtain the output torque of motor in the power assembly, and according to the resistive torque of the transmission shaft and
The output torque of motor in the power assembly, determines the angular acceleration of the transmission shaft.
Step S24, by result that the angular acceleration of the transmission shaft is multiplied with setting time with described to dragging motor to work as
Preceding revolving speed is added, and the result of addition is as target requirement revolving speed.
Step S25, controlling described pair drags motor to run according to the target requirement revolving speed, and it is described right to return to execution reading
The step of dragging the current rotating speed of motor, until terminating to the test of the power assembly.
The detailed process of step S23-S25 may refer to the related introduction of step S12-S14 in embodiment 1, herein no longer
It repeats.
As another alternative embodiment of the application, referring to Fig. 4, for a kind of rack control method embodiment provided by the present application
3 flow diagram, the present embodiment is mainly the refinement scheme of the rack control method described to above-described embodiment 1, such as Fig. 4 institute
Show, this method may include but be not limited to following steps:
Step S31, the described pair of current rotating speed for dragging motor is read, and drags the current rotating speed of motor according to described pair, is determined
The resistive torque of the transmission shaft.
The detailed process of step S31 may refer to the related introduction of step S11 in embodiment 1, and details are not described herein.
Step S32, the output torque of motor in the power assembly, the output according to motor in the power assembly are obtained
Torque determines the driving torque of the transmission shaft.
The driving torque of transmission shaft is it is to be understood that be used to drive the torque of the power of transmission shaft.
In the case where power assembly is for driving to motor is dragged, power assembly can output driving force to transmission shaft, therefore
The driving torque of transmission shaft can be determined according to the output torque of motor in power assembly.
Step S33, by the difference of the resistive torque of the driving torque of the transmission shaft and the transmission shaft divided by the whole of setting
Vehicle equivalent rotary inertia, obtains the angular acceleration of the transmission shaft.
The vehicle equivalent rotary inertia of setting, which can according to need, to be configured, in the present embodiment with no restrictions.
Step S32-S33 is a kind of specific embodiment of step S12 in embodiment 1.
Step S34, by result that the angular acceleration of the transmission shaft is multiplied with setting time with described to dragging motor to work as
Preceding revolving speed is added, and the result of addition is as target requirement revolving speed.
Step S35, controlling described pair drags motor to run according to the target requirement revolving speed, and it is described right to return to execution reading
The step of dragging the current rotating speed of motor, until terminating to the test of the power assembly.
The detailed process of step S34-S35 may refer to the related introduction of step S13-S14 in embodiment 1, herein no longer
It repeats.
As another alternative embodiment of the application, referring to Fig. 5, for a kind of rack control method embodiment provided by the present application
4 flow diagram, the present embodiment is mainly the refinement scheme of the rack control method described to above-described embodiment 2, such as Fig. 5 institute
Show, this method may include but be not limited to following steps:
Step S41, the described pair of current rotating speed for dragging motor is read, the current rotating speed of dragging motor according to described pair and is set in advance
The whole-car parameters and road parameters set calculate running resistance.
Step S42, the running resistance is scaled to the resistive torque of the transmission shaft.
The detailed process of step S41-S42 may refer to the related introduction of step S21-S22 in embodiment 2, herein no longer
It repeats.
Step S43, the output torque of motor in the power assembly, the output according to motor in the power assembly are obtained
Torque determines the driving torque of the transmission shaft.
Step S44, by the difference of the resistive torque of the driving torque of the transmission shaft and the transmission shaft divided by the whole of setting
Vehicle equivalent rotary inertia, obtains the angular acceleration of the transmission shaft.
Step S45, by result that the angular acceleration of the transmission shaft is multiplied with setting time with described to dragging motor to work as
Preceding revolving speed is added, and the result of addition is as target requirement revolving speed.
Step S46, controlling described pair drags motor to run according to the target requirement revolving speed, and it is described right to return to execution reading
The step of dragging the current rotating speed of motor, until terminating to the test of the power assembly.
The detailed process of step S43-S46 may refer to the related introduction of step S32-S35 in embodiment 3, herein no longer
It repeats.
As another alternative embodiment of the application, referring to Fig. 6, for a kind of rack control method embodiment provided by the present application
5 flow diagram, the present embodiment is mainly the refinement scheme of the rack control method described to above-described embodiment 3, such as Fig. 6 institute
Show, this method may include but be not limited to following steps:
Step S51, the described pair of current rotating speed for dragging motor is read, and drags the current rotating speed of motor according to described pair, is determined
The resistive torque of the transmission shaft.
The detailed process of step S51 may refer to the related introduction of step S31 in embodiment 3, and details are not described herein.
Step S52, the output torque for obtaining motor in the power assembly turns round the output of motor in the power assembly
Square is multiplied with the current gear speed ratio of motor in the power assembly, driving torque of the result of multiplication as the transmission shaft.
The driving torque of transmission shaft is it is to be understood that be used to drive the torque of the power of transmission shaft.
In the case where power assembly is for driving to motor is dragged, power assembly can output driving force to transmission shaft, therefore
The driving torque of transmission shaft can be determined according to the output torque of motor in power assembly.
Step S52 is a kind of specific embodiment of step S32 in embodiment 3.
Step S53, by the difference of the resistive torque of the driving torque of the transmission shaft and the transmission shaft divided by the whole of setting
Vehicle equivalent rotary inertia, obtains the angular acceleration of the transmission shaft.
The vehicle equivalent rotary inertia of setting, which can according to need, to be configured, in the present embodiment with no restrictions.
Step S54, by result that the angular acceleration of the transmission shaft is multiplied with setting time with described to dragging motor to work as
Preceding revolving speed is added, and the result of addition is as target requirement revolving speed.
Step S55, controlling described pair drags motor to run according to the target requirement revolving speed, and it is described right to return to execution reading
The step of dragging the current rotating speed of motor, until terminating to the test of the power assembly.
The detailed process of step S53-S55 may refer to the related introduction of step S33-S35 in embodiment 3, herein no longer
It repeats.
As another alternative embodiment of the application, referring to Fig. 7, for a kind of rack control method embodiment provided by the present application
6 flow diagram, the present embodiment is mainly the refinement scheme of the rack control method described to above-described embodiment 4, such as Fig. 7 institute
Show, this method may include but be not limited to following steps:
Step S61, the described pair of current rotating speed for dragging motor is read, the current rotating speed of dragging motor according to described pair and is set in advance
The whole-car parameters and road parameters set calculate running resistance.
Step S62, the running resistance is scaled to the resistive torque of the transmission shaft.
The resistive torque of transmission shaft can be expressed as Tf。
The detailed process of step S61-S62 may refer to the related introduction of step S41-S42 in embodiment 4, herein no longer
It repeats.
Step S63, the output torque for obtaining motor in the power assembly turns round the output of motor in the power assembly
Square is multiplied with the current gear speed ratio of motor in the power assembly, driving torque of the result of multiplication as the transmission shaft.
The output torque of motor can be expressed as T in power assemblyM.The driving torque of transmission shaft can be expressed as TP。
Step S63 is a kind of specific embodiment of step S43 in embodiment 4.
Step S64, by the difference of the resistive torque of the driving torque of the transmission shaft and the transmission shaft divided by the whole of setting
Vehicle equivalent rotary inertia, obtains the angular acceleration of the transmission shaft.
In the present embodiment, relational expression (T can useP-Tf)/JVCalculate the angular acceleration of transmission shaft.
Wherein, TPIndicate the driving torque of transmission shaft, TfIndicate the resistive torque of transmission shaft, JVIndicate that the vehicle of setting is worked as
Measure rotary inertia.
Step S65, by result that the angular acceleration of the transmission shaft is multiplied with setting time with described to dragging motor to work as
Preceding revolving speed is added, and the result of addition is as target requirement revolving speed.
In the present embodiment, relational expression nreq can use, dyna=n+ α * △ t calculates target requirement revolving speed.
Wherein, nreq, dyna indicate that target requirement revolving speed, n indicate that, to the current rotating speed for dragging motor, α indicates transmission shaft
Angular acceleration, △ t indicate setting time.
Step S66, controlling described pair drags motor to run according to the target requirement revolving speed, and it is described right to return to execution reading
The step of dragging the current rotating speed of motor, until terminating to the test of the power assembly.
The detailed process of step S64-S66 may refer to the related introduction of step S44-S46 in embodiment 4, herein no longer
It repeats.
As another alternative embodiment of the application, referring to Fig. 8, for a kind of rack control method embodiment provided by the present application
7 flow diagram, the present embodiment is mainly the refinement scheme of the rack control method described to above-described embodiment 3, such as Fig. 8 institute
Show, this method may include but be not limited to following steps:
Step S71, the described pair of current rotating speed for dragging motor is read, and drags the current rotating speed of motor according to described pair, is determined
The resistive torque of the transmission shaft.
The detailed process of step S71 may refer to the related introduction of step S31 in embodiment 3, and details are not described herein.
Step S72, the output torque for obtaining motor in the power assembly, from preset gear efficiency MAP
Transmission corresponding with the revolving speed of motor in the power assembly with the output torque of motor in the power assembly is obtained in figure
Efficiency value.
Preset transmission device MAP chart can be determined according to test of many times.In preset transmission device MAP chart
Record be the revolving speed of motor and transmission efficiency value in the output torque of motor and power assembly in power assembly corresponding relationship.
Step S73, by the current gear of motor in the output torque of motor in the power assembly and the power assembly
Speed ratio be multiplied as a result, be multiplied with the transmission efficiency value, driving torque of the result of multiplication as the transmission shaft.
The output torque of motor in the power assembly is multiplied with the current gear speed ratio of motor in the power assembly
As a result, being multiplied with the transmission efficiency value, transmission shaft can be improved in driving torque of the result of multiplication as the transmission shaft
Driving torque precision.
Step S72-S73 is a kind of specific embodiment of step S32 in embodiment 3.
Step S74, by the difference of the resistive torque of the driving torque of the transmission shaft and the transmission shaft divided by the whole of setting
Vehicle equivalent rotary inertia, obtains the angular acceleration of the transmission shaft.
The vehicle equivalent rotary inertia of setting, which can according to need, to be configured, in the present embodiment with no restrictions.
Step S75, by result that the angular acceleration of the transmission shaft is multiplied with setting time with described to dragging motor to work as
Preceding revolving speed is added, and the result of addition is as target requirement revolving speed.
Step S76, controlling described pair drags motor to run according to the target requirement revolving speed, and it is described right to return to execution reading
The step of dragging the current rotating speed of motor, until terminating to the test of the power assembly.
The detailed process of step S74-S76 may refer to the related introduction of step S33-S35 in embodiment 3, herein no longer
It repeats.
As another alternative embodiment of the application, referring to Fig. 9, for a kind of rack control method embodiment provided by the present application
8 flow diagram, the present embodiment is mainly the refinement scheme of the rack control method described to above-described embodiment 4, such as Fig. 9 institute
Show, this method may include but be not limited to following steps:
Step S81, the described pair of current rotating speed for dragging motor is read, the current rotating speed of dragging motor according to described pair and is set in advance
The whole-car parameters and road parameters set calculate running resistance.
Step S82, the running resistance is scaled to the resistive torque of the transmission shaft.
The resistive torque of transmission shaft can be expressed as Tf。
The detailed process of step S61-S62 may refer to the related introduction of step S41-S42 in embodiment 4, herein no longer
It repeats.
Step S83, the output torque for obtaining motor in the power assembly, from preset gear efficiency MAP
Transmission corresponding with the revolving speed of motor in the power assembly with the output torque of motor in the power assembly is obtained in figure
Efficiency value.
The output torque of motor can be expressed as T in power assemblyM.The driving torque of transmission shaft can be expressed as TP。
In the present embodiment, relational expression η=MAP (T can useM, N) and obtain transmission efficiency value.
Wherein, η indicates transmission efficiency value, MAP (TM, N) and it indicates to obtain from preset gear efficiency MAP chart
With the output torque T of motor in the power assemblyMTransmission efficiency corresponding with the revolving speed N of motor in the power assembly
Value.
Step S84, by the current gear of motor in the output torque of motor in the power assembly and the power assembly
Speed ratio be multiplied as a result, be multiplied with the transmission efficiency value, driving torque of the result of multiplication as the transmission shaft.
In the present embodiment, relational expression T can useP=η (TM×RTrans) calculate transmission shaft driving torque.
Wherein, RTransIndicate the current gear speed ratio of motor in power assembly.
Step S83-S84 is a kind of specific embodiment of step S43 in embodiment 4.
Step S85, by the difference of the resistive torque of the driving torque of the transmission shaft and the transmission shaft divided by the whole of setting
Vehicle equivalent rotary inertia, obtains the angular acceleration of the transmission shaft.
In the present embodiment, relational expression (T can useP-Tf)/JVCalculate the angular acceleration of transmission shaft.
Wherein, TPIndicate the driving torque of transmission shaft, TfIndicate the resistive torque of transmission shaft, JVIndicate that the vehicle of setting is worked as
Measure rotary inertia.
Step S86, by result that the angular acceleration of the transmission shaft is multiplied with setting time with described to dragging motor to work as
Preceding revolving speed is added, and the result of addition is as target requirement revolving speed.
In the present embodiment, relational expression nreq can use, dyna=n+ α * △ t calculates target requirement revolving speed.
Wherein, nreq, dyna indicate that target requirement revolving speed, n indicate that, to the current rotating speed for dragging motor, α indicates transmission shaft
Angular acceleration, △ t indicate setting time.
Step S87, controlling described pair drags motor to run according to the target requirement revolving speed, and it is described right to return to execution reading
The step of dragging the current rotating speed of motor, until terminating to the test of the power assembly.
The detailed process of step S85-S87 may refer to the related introduction of step S44-S46 in embodiment 4, herein no longer
It repeats.
Next rack control device provided by the present application is introduced, the rack control device being introduced below and above
The rack control method of introduction can correspond to each other reference.
Rack control device is based on rack, and the rack includes: to dragging motor, electric machine controller, transmission shaft and rack control
Device processed, described pair is dragged motor and the power assembly that need to test by the transmission axis connection, and the power assembly is used to drive institute
It states to dragging motor or described the device is applied to the stage controller, please join for power assembly described in towing astern motor is dragged
See that Figure 10, rack control device include: the first determining module 21, the second determining module 22, third determining module 23 and control mould
Block 24.
First determining module 21, for reading the described pair of current rotating speed for dragging motor, and according to described to dragging motor to work as
Preceding revolving speed determines the resistive torque of the transmission shaft；
Second determining module 22, for obtaining the output torque of motor in the power assembly, and according to the transmission shaft
Resistive torque and the power assembly in motor output torque, determine the angular acceleration of the transmission shaft；
Third determining module 23, result for the angular acceleration of the transmission shaft to be multiplied with setting time with it is described right
The current rotating speed of motor is dragged to be added, the result of addition is as target requirement revolving speed；
Control module 24 drags motor to run according to the target requirement revolving speed, and returns and execute reading for controlling described pair
The step of taking the described pair of current rotating speed for dragging motor, until terminating to the test of the power assembly.
In the present embodiment, first determining module 21 may include:
First computational submodule, for dragging the current rotating speed and pre-set whole-car parameters and road of motor according to described pair
Road parameter calculates running resistance；
Convert submodule, for the running resistance to be scaled to the resistive torque of the transmission shaft.
In the present embodiment, second determining module 22 may include:
First determines that submodule determines the transmission shaft for the output torque according to motor in the power assembly
Driving torque；
Second computational submodule, for removing the difference of the resistive torque of the driving torque of the transmission shaft and the transmission shaft
With the vehicle equivalent rotary inertia of setting, the angular acceleration of the transmission shaft is obtained.
In the present embodiment, described first determines submodule, specifically can be used for:
The output torque of motor in the power assembly is multiplied with the current gear speed ratio of motor in the power assembly,
Driving torque of the result of multiplication as the transmission shaft.
In the present embodiment, described first determines submodule, specifically can be used for:
Output torque and institute from acquisition in preset gear efficiency MAP chart with motor in the power assembly
State the corresponding transmission efficiency value of revolving speed of motor in power assembly；
The output torque of motor in the power assembly is multiplied with the current gear speed ratio of motor in the power assembly
As a result, be multiplied with the transmission efficiency value, driving torque of the result of multiplication as the transmission shaft.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For device class embodiment, since it is basically similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit can be realized in the same or multiple software and or hardware when application.
As seen through the above description of the embodiments, those skilled in the art can be understood that the application can
It realizes by means of software and necessary general hardware platform.Based on this understanding, the technical solution essence of the application
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment of the application or embodiment
Method described in part.
A kind of rack control method and device provided herein are described in detail above, it is used herein
The principle and implementation of this application are described for specific case, and the above embodiments are only used to help understand originally
The method and its core concept of application；At the same time, for those skilled in the art, according to the thought of the application, specific
There will be changes in embodiment and application range, in conclusion the content of the present specification should not be construed as to the application's
Limitation.
Claims (10)
1. a kind of rack control method, which is characterized in that be based on rack, the rack include: to drag motor, electric machine controller,
Transmission shaft and stage controller, the described pair of power assembly that drags motor and need to test pass through the transmission axis connection, the power
Assembly is for driving described pair to drag motor or described this method is applied to described for power assembly described in towing astern motor is dragged
Frame controller, this method comprises:
The described pair of current rotating speed for dragging motor is read, and drags the current rotating speed of motor according to described pair, determines the transmission shaft
Resistive torque；
The output torque of motor in the power assembly is obtained, and according to the resistive torque of the transmission shaft and the power assembly
The output torque of middle motor determines the angular acceleration of the transmission shaft；
The current rotating speed of motor is dragged to be added with described pair the result that the angular acceleration of the transmission shaft is multiplied with setting time, phase
The result added is as target requirement revolving speed；
Controlling described pair drags motor to run according to the target requirement revolving speed, and returns to described pair of execution reading and drag the current of motor
The step of revolving speed, until terminating to the test of the power assembly.
2. the method according to claim 1, wherein the current rotating speed for dragging motor according to described pair, determines
The resistive torque of the transmission shaft, comprising:
The current rotating speed and pre-set whole-car parameters and road parameters for dragging motor according to described pair calculate running resistance；
The running resistance is scaled to the resistive torque of the transmission shaft.
3. method according to claim 1 or 2, which is characterized in that the resistive torque and institute according to the transmission shaft
The output torque for stating motor in power assembly determines the angular acceleration of the transmission shaft, comprising:
According to the output torque of motor in the power assembly, the driving torque of the transmission shaft is determined；
The difference of the resistive torque of the driving torque of the transmission shaft and the transmission shaft is rotated divided by the vehicle equivalent of setting and is used to
Amount, obtains the angular acceleration of the transmission shaft.
4. according to the method described in claim 3, it is characterized in that, the output according to motor in the power assembly is turned round
Square determines the driving torque of the transmission shaft, comprising:
The output torque of motor in the power assembly is multiplied with the current gear speed ratio of motor in the power assembly, is multiplied
Driving torque of the result as the transmission shaft.
5. according to the method described in claim 3, it is characterized in that, the output according to motor in the power assembly is turned round
Square determines the driving torque of the transmission shaft, comprising:
It is moved from being obtained in preset gear efficiency MAP chart with the output torque of motor in the power assembly with described
The corresponding transmission efficiency value of the revolving speed of motor in power assembly；
The knot that the output torque of motor in the power assembly is multiplied with the current gear speed ratio of motor in the power assembly
Fruit is multiplied with the transmission efficiency value, driving torque of the result of multiplication as the transmission shaft.
6. a kind of rack control device, which is characterized in that be based on rack, the rack include: to drag motor, electric machine controller,
Transmission shaft and stage controller, the described pair of power assembly that drags motor and need to test pass through the transmission axis connection, the power
Assembly is for driving described pair to drag motor or described the device is applied to described for power assembly described in towing astern motor is dragged
Frame controller, the device include:
First determining module for reading the described pair of current rotating speed for dragging motor, and drags according to described pair the current rotating speed of motor,
Determine the resistive torque of the transmission shaft；
Second determining module, for obtaining the output torque of motor in the power assembly, and the resistance according to the transmission shaft
The output torque of motor, determines the angular acceleration of the transmission shaft in torque and the power assembly；
Third determining module, the result for the angular acceleration of the transmission shaft to be multiplied with setting time drag motor with described pair
Current rotating speed be added, the result of addition is as target requirement revolving speed；
Control module drags motor to run according to the target requirement revolving speed for controlling described pair, and returns described in execution reading
The step of to the current rotating speed for dragging motor, until terminating to the test of the power assembly.
7. device according to claim 6, which is characterized in that first determining module, comprising:
First computational submodule, for drag according to described Dui motor current rotating speed and pre-set whole-car parameters and road ginseng
Number calculates running resistance；
Convert submodule, for the running resistance to be scaled to the resistive torque of the transmission shaft.
8. device according to claim 6 or 7, which is characterized in that second determining module, comprising:
First determines that submodule determines the driving of the transmission shaft for the output torque according to motor in the power assembly
Torque；
Second computational submodule, for by the difference of the resistive torque of the driving torque of the transmission shaft and the transmission shaft divided by setting
Fixed vehicle equivalent rotary inertia, obtains the angular acceleration of the transmission shaft.
9. device according to claim 8, which is characterized in that described first determines submodule, is specifically used for:
The output torque of motor in the power assembly is multiplied with the current gear speed ratio of motor in the power assembly, is multiplied
Driving torque of the result as the transmission shaft.
10. device according to claim 8, which is characterized in that described first determines submodule, is specifically used for:
It is moved from being obtained in preset gear efficiency MAP chart with the output torque of motor in the power assembly with described
The corresponding transmission efficiency value of the revolving speed of motor in power assembly；
The knot that the output torque of motor in the power assembly is multiplied with the current gear speed ratio of motor in the power assembly
Fruit is multiplied with the transmission efficiency value, driving torque of the result of multiplication as the transmission shaft.
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| CN201910582490.3A CN110262576A (en) | 2019-06-29 | 2019-06-29 | A kind of rack control method and device |
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| CN201910582490.3A CN110262576A (en) | 2019-06-29 | 2019-06-29 | A kind of rack control method and device |
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Application publication date: 20190920 |