CN110525233B - Vehicle driving motor gear shifting and speed regulating optimization system and method with transition link - Google Patents
Vehicle driving motor gear shifting and speed regulating optimization system and method with transition link Download PDFInfo
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- 230000007704 transition Effects 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 12
- 238000005457 optimization Methods 0.000 title claims abstract description 10
- 230000008569 process Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000007363 regulatory process Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2054—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed by controlling transmissions or clutches
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
- F16H2061/0078—Linear control, e.g. PID, state feedback or Kalman
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention provides a vehicle driving motor gear shifting and speed regulating optimization system with a transition link and a method thereof, wherein the system comprises a proportional control quantity P calculation module, an integral control quantity I calculation module, a PI regulation module and a transition rotating speed calculation module; the transition rotating speed calculating module is used for adding the feedback rotating speed and a first proportional quantity of a first error of a speed loop in the previous period to obtain a transition rotating speed; the first error is obtained by subtracting the given rotating speed from the transitional rotating speed; the proportional control quantity P calculation module is used for taking a second proportional quantity of the first error of the speed loop in the current period as a proportional control quantity P; the integral control quantity I calculation module is used for integrating the second error to obtain a current integral control quantity I; the second error is the error of the transition rotating speed and the feedback rotating speed; and the PI regulating module is used for regulating the proportional control quantity P and the current integral control quantity I together to obtain a given current. The transitional rotating speed of the invention eases the speed regulation process, thereby obviously reducing the overshoot of the motor during speed increase and decrease.
Description
Technical Field
The invention belongs to the technical field of electric automobiles, and particularly relates to a system and a method for optimizing gear shifting and speed regulating of an automobile driving motor with a transition link.
Background
If the gear of the electric automobile with the gearbox needs to be changed in the normal running process, a Vehicle Control Unit (VCU) firstly gives an instruction to a gear shifting execution mechanism to disengage the gear, then a Motor Control Unit (MCU) controls a driving Motor to regulate the speed to a target rotating speed in a short time, and the VCU gives an instruction to the gear shifting execution mechanism to push the gear. The whole process requires rapid speed regulation, the rotating speeds of two ends of the gearbox are guaranteed to be consistent as much as possible when the gears are pushed, and the speed regulation is smooth as much as possible so as to reduce gear shifting noise. At present, the classic PI is still the mainstream in the speed regulation control of the vehicle motor, but the gear shifting effect can be seriously influenced by the overshoot during the PI speed regulation, and the abrasion to a gearbox is also large.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the system and the method for optimizing the gear shifting and speed regulating of the vehicle driving motor with the transition link are provided to smooth the speed regulating process, so that the overshoot of the speed regulating process is reduced, and the gear shifting effect is ensured.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a take automobile-used driving motor speed governing optimization system that shifts of transition link, includes proportional control volume P calculation module, integral control volume I calculation module and PI regulating module, its characterized in that: the device also comprises a transition rotating speed calculating module; wherein,
the transition rotating speed calculating module is used for adding the feedback rotating speed and the first proportional quantity of the first error of the speed loop in the previous period to obtain the transition rotating speed; the first error is obtained by subtracting the given rotating speed from the transition rotating speed;
the proportional control quantity P calculation module is used for taking a second proportional quantity of the first error of the speed loop in the current period as the proportional control quantity P;
the integral control quantity I calculation module is used for integrating the second error to obtain a current integral control quantity I; the second error is the error of the transition rotating speed and the feedback rotating speed;
and the PI adjusting module is used for adjusting the proportional control quantity P and the current integral control quantity I together to obtain a given current.
According to the system, in the initial state, the given speed and the feedback speed are zero or are stable values of the last speed regulation period, and the feedback rotating speed, the given rotating speed and the transition rotating speed are equal; the first error of the last periodic velocity loop is 0.
A vehicle driving motor gear-shifting speed-regulating optimization method with a transition link is characterized in that: adding a transitional speed between the feedback speed signal and the given speed command; the transition rotating speed is obtained by adding the feedback rotating speed and a first proportional quantity of a first error of a last period of the speed loop; the first error is obtained by subtracting the given rotating speed from the transitional rotating speed;
taking a second proportional quantity of the first error of the speed loop in the current period as a proportional control quantity P;
integrating the second error to obtain a current integral control quantity I; the second error is the error of the transition rotating speed and the feedback rotating speed;
and jointly adjusting the proportional control quantity P and the current integral control quantity I to obtain the given current.
According to the method, in the initial state, the given speed and the feedback speed are zero or are stable values of the previous speed regulation period, and the feedback rotating speed, the given rotating speed and the transition rotating speed are equal; the first error of the last cycle speed loop is 0.
According to the method, when a new given rotating speed is received, the transitional rotating speed acts firstly, as the first error of the speed loop of the previous period is zero, the transitional rotating speed is equal to the feedback rotating speed, the first error of the speed loop of the current period is larger after being compared with the given rotating speed, and as the first error is not zero in the next period, the transitional rotating speed is larger than the feedback rotating speed and is reduced with the error of the given rotating speed, namely the first error is reduced, meanwhile, the feedback rotating speed gradually starts to approach the given rotating speed, the transitional rotating speed is always larger than the feedback rotating speed and is smaller than the given rotating speed, the integral I also enables the feedback rotating speed to gradually follow the transitional rotating speed, and the motor starts smoothly;
when the feedback rotating speed is close to the given rotating speed, the first error and the second error are reduced until the feedback rotating speed is equal to the given rotating speed, and the first error and the second error are zero at the moment.
The invention has the beneficial effects that: adding transitional rotation speed between the feedback rotation speed and the given rotation speed, and respectively utilizing the error between the transitional rotation speed and the given rotation speed and the error between the transitional rotation speed and the given rotation speed to adjust the output current in corresponding proportion and integral; the transitional rotating speed eases the speed regulation process, thereby obviously reducing the overshoot of the motor during speed increase and speed reduction. And the acceleration process of the motor and the deceleration process when the target rotating speed is reached are smoothed, and the noise is reduced to a certain extent.
Drawings
Fig. 1 is a structural diagram of a speed regulation optimization system according to an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following specific examples and figures.
The invention provides a vehicle driving motor gear shifting and speed regulating optimization system with a transition link, which comprises a proportional control quantity P calculation module, an integral control quantity I calculation module, a PI regulation module and a transition rotating speed calculation module, wherein the transition link is arranged in a frame as shown in figure 1. The transition rotating speed calculating module is used for adding the feedback rotating speed and a first proportional quantity K1 of a first error of a speed loop in the previous period to obtain a transition rotating speed; the first error is obtained by subtracting the given rotating speed from the transition rotating speed; the proportional control quantity P calculation module is used for taking a second proportional quantity K2 of the first error of the speed loop in the current period as a proportional control quantity P; the integral control quantity I calculation module is used for integrating the second error to obtain a current integral control quantity I; the second error is the error of the transition rotating speed and the feedback rotating speed; and the PI regulating module is used for regulating the proportional control quantity P and the current integral control quantity I together to obtain a given current.
After receiving a given rotating speed given by a vehicle control unit or an upper computer, the vehicle driving motor controller firstly obtains a transitional rotating speed, the transitional rotating speed is obtained by adding a feedback rotating speed and a first proportional quantity K1 of a first error of a speed loop in the previous period, then the given rotating speed is subtracted from the transitional rotating speed to obtain the first error of the current period, the first error is used for multiplying a second proportional quantity K2 to obtain a proportional control quantity P of the current, meanwhile, a second error obtained by the transitional rotating speed and the feedback rotating speed is used for obtaining a current integral control quantity I, and finally, the P and the I jointly obtain the given current. The speed regulation optimization method adds transitional rotating speed between the feedback speed signal and the given speed command to moderate the jump of the given speed command and ensure that the actual rotating speed of the motor can smoothly increase or decrease the speed. The given speed and the feedback speed are zero or stable values of the last speed regulation period in the initialization state, at the moment, the feedback rotating speed, the given rotating speed and the transition rotating speed are equal, and the system is in a constant state. When receiving new given rotational speed, the transition rotational speed moves at first, because first error is initial zero, the transition rotational speed equals the feedback rotational speed, first error is great after comparing with the given rotational speed this moment, because first error is not zero during next cycle, the transition rotational speed is greater than the feedback rotational speed, and reduce with the given rotational speed error, first error reduces promptly, motor feedback rotational speed begins to be close to the given rotational speed gradually simultaneously, the transition rotational speed is greater than the feedback rotational speed all the time and is less than the given rotational speed, integral I also makes the feedback rotational speed can in time keep up with the transition rotational speed simultaneously, motor smooth start. When the feedback rotating speed is close to the given rotating speed, the first error and the second error are reduced until the feedback rotating speed is equal to the given rotating speed, and the first error and the second error are zero at the moment.
The invention adds transitional rotation speed between the feedback rotation speed and the given rotation speed, and respectively utilizes the error between the transitional rotation speed and the given rotation speed and the error between the transitional rotation speed and the given rotation speed to correspondingly adjust the proportion and the integral of the output current. The effect of the transition link is that the transition rotating speed is required to be smoothly close to the given rotating speed, and the feedback rotating speed can keep up with the transition rotating speed.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (5)
1. The utility model provides a take automobile-used driving motor speed governing optimization system that shifts of transition link, includes proportional control volume P calculation module, integral control volume I calculation module and PI regulating module, its characterized in that: the device also comprises a transition rotating speed calculating module; wherein,
the transition rotating speed calculating module is used for adding the feedback rotating speed and the first proportional quantity of the first error of the speed loop in the previous period to obtain the transition rotating speed; the first error is obtained by subtracting the given rotating speed from the transition rotating speed;
the proportional control quantity P calculation module is used for taking a second proportional quantity of the first error of the speed loop in the current period as the proportional control quantity P;
the integral control quantity I calculation module is used for integrating the second error to obtain a current integral control quantity I; the second error is obtained by subtracting the transition rotating speed and the feedback rotating speed;
and the PI adjusting module is used for adjusting the proportional control quantity P and the current integral control quantity I together to obtain a given current.
2. The system of claim 1, wherein: in the initial state, the given speed and the feedback speed are zero or are stable values of the last speed regulation period, and the feedback rotating speed, the given rotating speed and the transition rotating speed are equal; the first error of the last cycle speed loop is 0.
3. A vehicle driving motor gear-shifting speed-regulating optimization method with a transition link is characterized in that: adding a transitional speed between the feedback speed signal and the given speed command; the transition rotating speed is obtained by adding the feedback rotating speed and a first proportional quantity of a first error of a speed loop in the previous period; the first error is obtained by subtracting the given rotating speed from the transition rotating speed;
taking a second proportional quantity of the first error of the speed loop in the current period as a proportional control quantity P;
integrating the second error to obtain a current integral control quantity I; the second error is obtained by subtracting the transition rotating speed from the feedback rotating speed;
and jointly adjusting the proportional control quantity P and the current integral control quantity I to obtain the given current.
4. The method of claim 3, wherein: in the initial state, the given speed and the feedback speed are zero or are stable values of the last speed regulation period, and the feedback rotating speed, the given rotating speed and the transition rotating speed are equal; the first error of the last cycle speed loop is 0.
5. The method of claim 4, wherein: when the motor starts, a new given rotating speed is received, the transitional rotating speed acts firstly, as the first error of the speed loop of the last period is zero, the transitional rotating speed is equal to the feedback rotating speed, the first error of the speed loop of the current period is larger after being compared with the given rotating speed, and as the first error is not zero in the next period, the transitional rotating speed is larger than the feedback rotating speed and is reduced with the error of the given rotating speed, namely the first error is reduced, meanwhile, the feedback rotating speed gradually starts to approach the given rotating speed, the transitional rotating speed is always larger than the feedback rotating speed and is smaller than the given rotating speed, the integral I also enables the feedback rotating speed to gradually follow the transitional rotating speed, and the motor starts smoothly;
when the feedback rotating speed is close to the given rotating speed, the first error and the second error are reduced until the feedback rotating speed is equal to the given rotating speed, and the first error and the second error are zero at the moment.
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