CN111038281A - Active damping method and device of motor, storage medium, control method and automobile - Google Patents

Active damping method and device of motor, storage medium, control method and automobile Download PDF

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Publication number
CN111038281A
CN111038281A CN201911358045.5A CN201911358045A CN111038281A CN 111038281 A CN111038281 A CN 111038281A CN 201911358045 A CN201911358045 A CN 201911358045A CN 111038281 A CN111038281 A CN 111038281A
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current
value
predicted
rotating speed
electrical angle
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Inventor
金启前
张启亮
葛亮
曾沈岚
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Baoneng Automobile Co Ltd
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Baoneng Automobile Co Ltd
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Priority to CN201911358045.5A priority Critical patent/CN111038281A/en
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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
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses an active damping method and device of a motor, a storage medium, a control method and an automobile, wherein the active damping method of the motor comprises the following steps: acquiring the current rotating speed and the current electrical angle of the motor; predicting according to the current rotating speed and the current electrical angle to obtain a rotating speed predicted value; and generating a torque compensation value according to the predicted rotating speed value and the current rotating speed. Therefore, the active damping method can compensate the active damping torque of the motor in advance, and when the active damping method is used for a new energy automobile, the probability of vibration of a transmission system of the new energy automobile can be reduced, so that the driving experience of a driver is improved.

Description

Active damping method and device of motor, storage medium, control method and automobile
Technical Field
The invention relates to the technical field of vehicle motor control, in particular to an active damping method of a motor, a computer readable storage medium, an active damping device of the motor, a control method of the motor and a new energy automobile.
Background
In the driving process of the new energy automobile, as the torsional damping shock absorber on the traditional diesel locomotive is not arranged between the wheels, the vibration on the transmission system cannot be blocked and absorbed, and meanwhile, the vibration is coupled to the automobile body through the shell, the suspension and the like, so that the driving experience is influenced.
At present, an active damping scheme for vehicle vibration in the market is mainly that under the overall arrangement of a vehicle controller, a motor controller (or the vehicle controller) performs active damping torque compensation calculation, then the compensation torque is added to the torque requested by the vehicle controller, and finally the motor outputs the torque. However, such active damping schemes are generally based on post-hoc torque compensation implemented after an excessively fast increase or decrease in the motor speed, which can lead to hysteresis in the torque compensation.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide an active damping method for a motor, so as to compensate the active damping torque of the motor in advance and reduce the probability of the motor vibrating.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide an active damping device for an electric machine.
A fourth object of the present invention is to provide a control method of an electric motor.
The fifth purpose of the invention is to provide a new energy automobile.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides an active damping method for an electric machine, where the method includes the following steps: acquiring the current rotating speed and the current electrical angle of the motor; predicting according to the current rotating speed and the current electrical angle to obtain a rotating speed predicted value; and generating a torque compensation value according to the predicted rotating speed value and the current rotating speed.
According to the active damping method of the motor, the current rotating speed and the current electrical angle of the motor are firstly obtained, then a rotating speed predicted value is obtained according to the obtained current rotating speed and the current electrical angle, and finally a torque compensation value is generated according to the rotating speed predicted value and the current rotating speed. Therefore, the active damping torque of the motor can be compensated in advance, and when the active damping method is used for a new energy automobile, the probability of vibration of a transmission system of the new energy automobile can be reduced, so that the driving experience of a driver is improved.
In addition, the active damping method of the motor according to the above embodiment of the present invention may further have the following additional technical features:
in an embodiment of the present invention, the obtaining a predicted rotation speed value according to the current rotation speed and the current electrical angle prediction includes: obtaining an electrical angle predicted value according to the current electrical angle prediction; and predicting according to the current rotating speed and the predicted value of the electrical angle to obtain the predicted value of the rotating speed.
In one embodiment of the present invention, the predicted value of the electrical angle is predicted according to the following formula:
Figure BDA0002336466510000021
wherein y is the predicted value of the electrical angle, thetafdkIs the current electrical angle, θpred＝θpred_old+Ts*aθ，θpredFor the current prediction of the electrical angle, θpred_oldPredicted electrical angle, T, for the previous cyclesFor measuring the period of electrical angle, aθIs the electrical angular acceleration.
In one embodiment of the present invention, the predicted value of the rotation speed is predicted according to the following formula: w is apred＝wfdk+(θpred-θfdk)*2π*2π*wsWherein w ispredFor the predicted value of the rotational speed, wfdkIs the current rotational speed, wsIs according to wfdkAnd (5) looking up the table to obtain a rotating speed table look-up value.
In one embodiment of the present invention, the method is used for a new energy automobile, and the method further includes: acquiring the current wheel speed of the new energy automobile; judging whether the predicted rotating speed value is greater than the current wheel speed; and if the predicted rotating speed value is larger than the current wheel speed, taking the current wheel speed as the predicted rotating speed value.
In one embodiment of the present invention, the generating a torque compensation value according to the predicted rotation speed and the current rotation speed comprises: calculating a difference value between the predicted rotating speed value and the current rotating speed; the torque compensation value is generated by performing PI (Proportional Integral) adjustment or PID (Proportional Integral differentiation) adjustment on the difference value.
To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium, wherein when being executed by a processor, the computer program implements the active damping method for an electric machine according to the above embodiments.
According to the computer-readable storage medium of this embodiment, the active damping method of the motor according to the above-described embodiment can be implemented by executing the program stored with the active damping method of the motor according to the above-described embodiment, so that the active damping torque of the motor can be compensated in advance, and when the storage medium is used for a new energy vehicle, the probability of the new energy vehicle transmission system vibrating can be reduced, and the driving experience of a driver can be improved.
In order to achieve the above object, a third aspect of the present invention provides an active damping device for an electric machine, the device including: the acquisition module is used for acquiring the current rotating speed and the current electrical angle of the motor; the prediction module is used for obtaining a rotation speed prediction value according to the current rotation speed and the current electrical angle prediction; and the generating module is used for generating a torque compensation value according to the predicted rotating speed value and the current rotating speed.
According to the active damping device of the motor, the current rotating speed and the current electrical angle of the motor are obtained through the obtaining module; then, predicting a predicted value of the rotating speed by using a prediction module according to the current rotating speed and the current electrical angle of the motor; and finally, generating a torque compensation value according to the predicted rotating speed value and the current rotating speed through a generating module. Therefore, the active damping device can compensate the active damping torque of the motor in advance, and when the active damping device is used for a new energy automobile, the probability of vibration of a transmission system of the new energy automobile can be reduced, so that the driving experience of a driver is improved.
To achieve the above object, a fourth aspect of the present invention provides a method for controlling a motor, including: acquiring the current rotating speed and the current electrical angle of the motor; the active damping method of the motor according to the above embodiment generates the torque compensation value; acquiring a torque request value of the motor; and controlling the motor according to the torque compensation value and the torque request value.
According to the control method of the motor, the torque compensation value is generated through the active damping method of the motor in the embodiment, so that the active damping torque of the motor can be compensated in advance, and when the control method is used for a new energy automobile, the probability of vibration of a transmission system of the new energy automobile can be reduced, and the driving experience of a driver is improved.
In order to achieve the above object, a fifth embodiment of the present invention provides a new energy automobile, which includes the active damping device of the electric machine in the above embodiments.
According to the new energy automobile provided by the embodiment of the invention, the torque compensation value is generated through the active damping device of the motor in the embodiment, so that the active damping torque of the motor can be compensated in advance, the probability of vibration of a transmission system of the new energy automobile is reduced, and the driving experience of a driver is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of an active damping method of an electric machine according to one embodiment of the present invention;
FIG. 2 is a flow chart of an active damping method of an electric machine according to another embodiment of the present invention;
FIG. 3 is a flow chart of an active damping method of an electric machine according to yet another embodiment of the present invention;
FIG. 4 is a flow chart of an active damping method of an electric machine according to yet another embodiment of the present invention;
fig. 5 is a block diagram of the structure of an active damping device of a motor according to an embodiment of the present invention;
fig. 6 is a flowchart of a control method of the motor of the embodiment of the invention;
fig. 7 is a block diagram of a new energy vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An active damping method and apparatus, a storage medium, a control method, and an automobile of a motor according to an embodiment of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flow chart of an active damping method of an electric machine according to an embodiment of the present invention.
As shown in fig. 1, the active damping method includes the following steps:
and S1, acquiring the current rotating speed and the current electrical angle of the motor.
Specifically, after the motor is started, the current rotating speed (i.e., the actual rotating speed acquired in the current period) and the current electrical angle (i.e., the actual electrical angle acquired in the current period) of the motor are acquired, and the current rotating speed and the current electrical angle of the motor can be converted and filtered so as to be used for subsequent steps.
And S2, obtaining a predicted rotating speed value according to the current rotating speed and the current electrical angle.
Specifically, after the current rotation speed and the current electrical angle of the motor are obtained in step S1, a rotation speed prediction value is obtained by prediction based on the data.
In one example of the present invention, as shown in fig. 2, the obtaining of the predicted rotation speed value according to the current rotation speed and the current electrical angle prediction includes:
s201, obtaining an electrical angle predicted value according to the current electrical angle prediction.
In one example of the present invention, during operation of the motor, the predicted electrical angle value can be predicted according to the following formula:
Figure BDA0002336466510000041
wherein y is the predicted value of the electrical angle, thetafdkAt the present electrical angle, θpred＝θpred_old+Ts*aθ，θpredFor the current prediction of the electrical angle, θpred_oldPredicted electrical angle, T, for the previous cyclesFor measuring the period of electrical angle, aθIs the electrical angular acceleration.
Wherein, aθCan be calculated according to the current electrical angle, the actual electrical angle acquired in the last one or more periods and the electrical angle sampling period, such as in the calculation of aθThen, the difference between the current electrical angle and the actual electrical angle collected in the previous period can be calculated, and the difference is divided by the sampling period of the electrical angle to obtain aθ. Of course, the electrical angle sampling period should be equal to or less than the electrical angle prediction period.
And S202, predicting according to the current rotating speed and the predicted value of the electrical angle to obtain a predicted value of the rotating speed.
In one example of the present invention, the predicted rotation speed value can be predicted according to the following formula: w is apred＝wfdk+(θpred-θfdk)*2π*2π*wsWherein w ispredAs a predicted value of the rotational speed, wfdkIs the current rotational speed, wsIs according to wfdkAnd (5) looking up the table to obtain a rotating speed table look-up value.
Specifically, the current predicted electrical angle and the current electrical angle are subtracted, the difference is multiplied by 2 pi twice continuously, the obtained rotation speed table look-up value obtained by table look-up according to the current rotation speed is multiplied to obtain the rotation speed increment, and then the current rotation speed of the motor is added to obtain the rotation speed predicted value of the motor.
And S3, generating a torque compensation value according to the predicted rotating speed and the current rotating speed.
Specifically, after the predicted value of the rotation speed of the motor is calculated through the calculation formula, the torque compensation value can be generated through the predicted value of the rotation speed and the current rotation speed.
In one example of the present invention, as shown in fig. 3, the generating the torque compensation value according to the predicted rotation speed and the current rotation speed specifically includes:
and S301, calculating a difference value between the predicted rotating speed value and the current rotating speed.
And S302, carrying out PI regulation or PID regulation on the difference value to generate a torque compensation value.
Specifically, after the predicted value of the rotating speed is obtained through calculation, the predicted value is differed from the current rotating speed, and a difference value between the predicted value of the rotating speed and the current rotating speed is obtained. After the difference between the predicted rotating speed value and the current rotating speed is obtained, carrying out PI regulation on the difference so as to generate a torque compensation value; alternatively, the difference is PID-adjusted to generate a torque compensation value. After the torque compensation value is obtained, the torque request value can be actively compensated in advance, so that the hysteresis of torque compensation is solved, and vehicle vibration is prevented.
It should be noted that, when compensating the requested torque value, after calculating the compensated torque (i.e. the sum of the requested torque value and the torque compensation value), it may be further determined whether the compensated torque is greater than the motor torque limit value, if so, the motor may be controlled according to the motor torque limit value, and if not, the motor may be controlled according to the compensated torque.
Fig. 4 is a flowchart of an active damping method of a motor according to still another embodiment of the present invention.
In an example of the present invention, the active damping method of the motor is used for a new energy automobile, as shown in fig. 4, the method further includes:
and S10, acquiring the current wheel speed of the new energy automobile.
And S20, judging whether the predicted rotation speed value is larger than the current wheel speed.
And S30, if the rotating speed predicted value is larger than the current wheel speed, taking the current wheel speed as the rotating speed predicted value.
Specifically, when the new energy automobile starts to operate, the current wheel speed of the new energy automobile is obtained, then the rotating speed predicted value of the motor is compared with the current wheel speed, and in order to ensure that the rotating speed of the motor cannot exceed the rotating speed upper limit value of the motor, if the current rotating speed predicted value of the motor is larger than the current wheel speed, the current wheel speed is used as the rotating speed predicted value; and if the current rotating speed predicted value of the motor is not greater than the current wheel speed, taking the current rotating speed predicted value of the motor as the rotating speed predicted value.
In summary, according to the active damping method for the motor in the embodiment of the invention, the active damping torque of the motor can be compensated in advance by calculating the torque compensation value of the motor, and when the active damping method is used for a new energy automobile, the probability of vibration of a transmission system of the new energy automobile can be reduced, so that the driving experience of a driver is improved.
Further, the present invention also proposes a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the active damping method of the motor in the above embodiments.
According to the computer-readable storage medium of the embodiment of the invention, when the computer program corresponding to the active damping method of the motor stored on the storage medium is executed by the processor, the active damping torque of the motor can be compensated in advance, and when the storage medium is used for a new energy automobile, the probability of vibration of a transmission system of the new energy automobile can be reduced, so that the driving experience of a driver is improved.
Fig. 5 is a block diagram of the structure of the active damping device of the motor according to the embodiment of the present invention.
In this embodiment, as shown in fig. 5, the active damping device 100 of the motor includes: an acquisition module 10, a prediction module 20 and a generation module 30.
The obtaining module 10 is configured to obtain a current rotation speed and a current electrical angle of the motor; the prediction module 20 is used for obtaining a rotation speed prediction value according to the current rotation speed and the current electrical angle prediction; the generating module 30 is configured to generate a torque compensation value according to the predicted rotation speed and the current rotation speed.
Specifically, after the motor is started, the obtaining module 10 obtains the current rotation speed and the current electrical angle of the motor, and optionally, converts and filters the current rotation speed and the current electrical angle of the motor to improve the prediction accuracy. After the obtaining module 10 obtains the current rotating speed and the current electrical angle of the motor, the predicting module 20 predicts according to the data to obtain a rotating speed predicted value.
In one example of the present invention, the predicting module 20 obtains the predicted value of the rotation speed according to the current rotation speed and the current electrical angle prediction, including: obtaining an electrical angle predicted value according to the current electrical angle prediction; and predicting according to the current rotating speed and the predicted value of the electrical angle to obtain a predicted value of the rotating speed.
In one example of the present invention, during operation of the motor, the prediction module 20 may predict the predicted electrical angle according to the following formula:
Figure BDA0002336466510000061
wherein y is the predicted value of the electrical angle, thetafdkAt the present electrical angle, θpred＝θpred_old+Ts*aθ，θpredFor the current prediction of the electrical angle, θpred_oldPredicted electrical angle, T, for the previous cyclesFor measuring the period of electrical angle, aθIs the electrical angular acceleration.
Wherein, aθCan be calculated according to the current electrical angle, the actual electrical angle acquired in the last one or more periods and the electrical angle sampling period, such as in the calculation of aθThen, the difference between the current electrical angle and the actual electrical angle collected in the previous period can be calculated, and the difference is divided by the sampling period of the electrical angle to obtain aθ. Of course, the electrical angle sampling period should be equal to or less than the electrical angle prediction period.
In one example of the present invention, after obtaining the predicted value of the electrical angle, the prediction module 20 may predict the predicted value of the rotation speed according to the following formula: w is apred＝wfdk+(θpred-θfdk)*2π*2π*wsWherein w ispredAs a predicted value of the rotational speed, wfdkIs the current rotational speed, wsIs according to wfdkAnd (5) looking up the table to obtain a rotating speed table look-up value.
Specifically, the current predicted electrical angle and the current electrical angle are subtracted, the difference is multiplied by 2 pi twice continuously, the obtained rotation speed table look-up value obtained by table look-up according to the current rotation speed is multiplied to obtain the rotation speed increment, and then the current rotation speed of the motor is added to obtain the rotation speed predicted value of the motor.
In an example of the present invention, the generating module 30 specifically generates the torque compensation value according to the predicted rotation speed and the current rotation speed, including: calculating a difference value between the predicted rotating speed value and the current rotating speed; and carrying out PI regulation or PID regulation on the difference value to generate a torque compensation value.
Specifically, after the prediction module 20 predicts the predicted value of the rotation speed, the predicted value is differed from the current rotation speed to obtain a difference value, and then the generated torque compensation value is adjusted according to the difference value. After the difference between the predicted rotating speed value and the current rotating speed is obtained, carrying out PI regulation on the difference so as to generate a torque compensation value; alternatively, the difference is PID-adjusted to generate a torque compensation value. After the torque compensation value is obtained, the torque request value can be actively compensated in advance, so that the hysteresis of torque compensation is solved, and vehicle vibration is prevented in advance.
It should be noted that, when compensating the requested torque value, after calculating the compensated torque (i.e. the sum of the requested torque value and the torque compensation value), it may be further determined whether the compensated torque is greater than the motor torque limit value, if so, the motor may be controlled according to the motor torque limit value, and if not, the motor may be controlled according to the compensated torque.
In an example of the present invention, the active damping device 100 of the motor may be used for a new energy vehicle, and the obtaining module 10 in the device 100 may also be used for obtaining a current wheel speed of the new energy vehicle, determining whether a predicted rotation speed value is greater than the current wheel speed, and if the predicted rotation speed value is greater than the current wheel speed, taking the current wheel speed as the predicted rotation speed value.
Specifically, when the new energy vehicle starts to operate, the obtaining module 10 obtains a current wheel speed of the new energy vehicle, then compares a predicted value of a rotation speed of the motor with the current wheel speed, and in order to ensure that the rotation speed of the motor cannot exceed an upper limit value of the rotation speed of the motor, if the predicted value of the current rotation speed of the motor is greater than the current wheel speed, the current wheel speed is used as the predicted value of the rotation speed; and if the current rotating speed predicted value of the motor is not greater than the current wheel speed, taking the current rotating speed predicted value of the motor as the rotating speed predicted value.
In summary, the active damping device of the motor according to the embodiment of the present invention can compensate the active damping torque of the motor in advance by calculating the torque compensation value of the motor, and when the active damping device is used for a new energy vehicle, the probability of vibration of a transmission system of the new energy vehicle can be reduced, so as to improve the driving experience of a driver.
Fig. 6 is a flowchart of a control method of the motor of the embodiment of the invention.
As shown in fig. 6, the control method includes the steps of:
and S100, acquiring the current rotating speed and the current electrical angle of the motor.
And S200, generating a torque compensation value according to the active damping method of the motor in the embodiment.
S300, a torque request value of the motor is obtained.
Wherein step S300 may also occur before S100.
And S400, controlling the motor according to the torque compensation value and the torque request value.
Specifically, when a torque request is received, the control method of steps S100-S400 may begin to be executed. When the motor is controlled according to the torque compensation value and the torque request value, the sum of the torque compensation value and the torque request value is calculated, and the motor is controlled according to the sum. Wherein the requested value of torque for the electric machine is available based on the torque request.
According to the control method of the motor, the active damping torque of the motor can be compensated in advance through the active damping method of the motor in the embodiment, and when the control method is used for a new energy automobile, the probability of vibration of a transmission system of the new energy automobile can be reduced, so that the driving experience of a driver is improved.
Fig. 7 is a block diagram of a new energy vehicle according to an embodiment of the present invention.
As shown in fig. 7, the new energy vehicle 1000 includes the active damping device 100 of the motor in the above embodiment.
According to the new energy automobile with the motor, the active damping torque of the motor can be compensated in advance through the active damping device of the motor in the embodiment, the probability of vibration of the automobile is reduced, and therefore the driving experience of a driver is improved.
In addition, other structures and functions of the new energy vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail to reduce redundancy.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A method of active damping of an electric machine, the method comprising the steps of:
acquiring the current rotating speed and the current electrical angle of the motor;
predicting according to the current rotating speed and the current electrical angle to obtain a rotating speed predicted value;
and generating a torque compensation value according to the predicted rotating speed value and the current rotating speed.
2. The active damping method of an electric machine according to claim 1, wherein the predicting a predicted speed value according to the current speed and the current electrical angle comprises:
obtaining an electrical angle predicted value according to the current electrical angle prediction;
and predicting according to the current rotating speed and the predicted value of the electrical angle to obtain the predicted value of the rotating speed.
3. The active damping method of an electric machine according to claim 2, wherein the predicted value of the electrical angle is predicted according to the following formula:
Figure FDA0002336466500000011
wherein y is the predicted value of the electrical angle, thetafdkIs the current electrical angle, θpred＝θpred_old+Ts*aθ，θpredFor the current prediction of the electrical angle, θpred_oldPredicted electrical angle, T, for the previous cyclesFor measuring the period of electrical angle, aθIs the electrical angular acceleration.
4. The active damping method of an electric machine according to claim 2, wherein the predicted value of the rotation speed is predicted according to the following formula:
wpred＝wfdk+(θpred-θfdk)*2π*2π*ws，
wherein, wpredFor the predicted value of the rotational speed, wfdkIs the current rotational speed, wsIs according to wfdkAnd (5) looking up the table to obtain a rotating speed table look-up value.
5. The active damping method of an electric machine of claim 1, wherein the method is used in a new energy vehicle, the method further comprising:
acquiring the current wheel speed of the new energy automobile;
judging whether the predicted rotating speed value is greater than the current wheel speed;
and if the predicted rotating speed value is larger than the current wheel speed, taking the current wheel speed as the predicted rotating speed value.
6. The active damping method of an electric machine of claim 1, wherein said generating a torque compensation value based on said predicted speed and said current speed comprises:
calculating a difference value between the predicted rotating speed value and the current rotating speed;
and carrying out PI regulation or PID regulation on the difference value to generate the torque compensation value.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method for active damping of an electrical machine according to any one of claims 1-6.
8. An active damping device for an electric machine, comprising:
the acquisition module is used for acquiring the current rotating speed and the current electrical angle of the motor;
the prediction module is used for obtaining a rotation speed prediction value according to the current rotation speed and the current electrical angle prediction;
and the generating module is used for generating a torque compensation value according to the predicted rotating speed value and the current rotating speed.
9. A method of controlling a motor, comprising the steps of:
acquiring the current rotating speed and the current electrical angle of the motor;
generating the torque compensation value according to an active damping method of an electric machine according to any one of claims 1-6;
acquiring a torque request value of the motor;
and controlling the motor according to the torque compensation value and the torque request value.
10. A new energy automobile, characterized by comprising an active damping device of the motor according to claim 8.
CN201911358045.5A 2019-12-25 2019-12-25 Active damping method and device of motor, storage medium, control method and automobile Pending CN111038281A (en)

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