CN111038514A - Vehicle speed control method and related device - Google Patents

Vehicle speed control method and related device Download PDF

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CN111038514A
CN111038514A CN201911391923.3A CN201911391923A CN111038514A CN 111038514 A CN111038514 A CN 111038514A CN 201911391923 A CN201911391923 A CN 201911391923A CN 111038514 A CN111038514 A CN 111038514A
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moment
measured value
time
motor
value
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CN111038514B (en
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苗强
朱鲁明
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The application provides a vehicle speed control method and a related device; the vehicle speed control method comprises the following steps: respectively acquiring a measured value at a first moment and a measured value at a second moment; wherein the measured value is obtained by measuring a rotor position angle of the motor; determining an actual rotational speed of the motor based on a rate of change of the measured values from the first time to the second time; wherein the change rate is the quotient of the change amount from the measurement value at the first time to the measurement value at the second time and the time difference between the second time and the first time; and inputting the actual rotating speed of the motor into a speed control module, and controlling the vehicle speed by the speed control module. Therefore, the method for directly determining the rotating speed of the motor of the vehicle through the acquired measured value at the first moment and the acquired measured value at the second moment and accurately controlling the speed of the vehicle according to the determined rotating speed of the motor is realized.

Description

Vehicle speed control method and related device
Technical Field
The present disclosure relates to the field of vehicle speed control technologies, and in particular, to a method and a related device for controlling a vehicle speed.
Background
Since speed is one of the most important parameters of an automobile, there is a need to obtain vehicle speed, whether during performance testing or normal use of the vehicle. Particularly in the field of automatic driving technology which is hot at present, it is more necessary to acquire the precise speed of the vehicle in real time so as to realize effective control of the vehicle speed.
The acquisition of the vehicle speed can be detected by external devices, such as radar speed measurement, camera speed measurement or measurement by special speed measurement devices. However, some of these methods have high precision, but are not suitable for measurement during normal running of the vehicle, such as speed measurement equipment, and can only be used for vehicle performance test at a fixed position. For some methods, the vehicle speed cannot be accurately controlled due to relatively large measurement error or too long delay.
Therefore, a high-precision speed measurement mode which can accurately control the speed of the vehicle in the normal running process of the vehicle and has high precision and timeliness is needed.
Disclosure of Invention
Based on the defects of the prior art, the invention provides a vehicle speed control method and a related device, so as to solve the problem that a speed measurement mode with high precision and timeliness is urgently needed in the prior art to realize accurate control of the vehicle speed.
In order to achieve the purpose, the invention provides the following technical scheme:
a first aspect of the invention provides a method of controlling a vehicle speed, comprising:
respectively acquiring a measured value at a first moment and a measured value at a second moment; wherein the measured value is obtained by measuring a rotor position angle of the motor;
determining an actual rotational speed of the motor based on a rate of change of the measured values from the first time to the second time; wherein the change rate is the quotient of the change amount from the measurement value at the first time to the measurement value at the second time and the time difference between the second time and the first time;
and inputting the actual rotating speed of the motor into a speed control module, and controlling the vehicle speed by the speed control module.
Optionally, in the above control method, the obtaining the measured value at the first time and the measured value at the second time respectively includes:
acquiring a position signal of a rotary transformer at a first moment, and inputting the position signal of the first moment into a rotary transformer decoding chip for analysis to obtain a measured value of the first moment;
after a preset sampling period is spaced, acquiring a position signal of a second moment measured by the rotary transformer, and inputting the position signal of the second moment into the rotary transformer decoding chip for analysis to obtain a measured value of the second moment; wherein the preset sampling period is not more than half of the variation period of the measured value; the measurement value varies from 0 to 4096 by one variation cycle.
Optionally, in the above control method, the determining an actual rotation speed of the motor based on a rate of change of the measured value from the first time to the second time includes:
judging whether the measured value at the second moment is greater than the measured value at the first moment;
if the measured value at the second moment is judged to be larger than the measured value at the first moment, subtracting the difference value of the measured value at the first moment from the measured value at the second moment, dividing the difference value by the preset sampling period to obtain the change rate of the measured value from the first moment to the second moment, and multiplying the change rate by a target constant corresponding to the motor to obtain the actual rotating speed of the motor; the target constant corresponding to the motor is a constant generated by variable conversion and unit conversion;
and if the measured value at the second moment is judged not to be larger than the measured value at the first moment, adding a difference value obtained by subtracting the measured value at the first moment from 4096 to the measured value at the second moment to obtain the measured value variation from the measured value at the first moment to the measured value at the second moment, dividing the measured value variation by a quotient obtained by the preset sampling period, and multiplying the quotient by a target constant corresponding to the motor to obtain the actual rotating speed of the motor.
Optionally, in the above control method, the determining an actual rotation speed of the motor based on a rate of change of the measured value from the first time to the second time includes:
determining a variation amount of a variation period of the measurement value from the first time to the second time; wherein the measurement value is changed from 0 to 4096 in a change period;
according to the increment of the change period, the measured value at the first moment and the measured value at the second moment, determining the change amount of the measured value from the measured value at the first moment to the measured value at the second moment, dividing the measured value variable by a quotient obtained by dividing the time difference value between the first moment and the second moment, and multiplying the quotient by a target constant corresponding to the motor to obtain the actual rotating speed of the motor; the target constant corresponding to the motor is a constant generated by performing variable conversion and unit conversion.
A second aspect of the present application provides a vehicle speed control apparatus, characterized by comprising:
the first acquisition unit is used for respectively acquiring the measurement value at the first moment and the measurement value at the second moment; wherein the measured value is obtained by measuring a rotor position angle of the motor;
a determination unit for determining an actual rotational speed of the motor based on a rate of change of the measured value from the first time to the second time; wherein the change rate is the quotient of the change amount from the measurement value at the first time to the measurement value at the second time and the time difference between the second time and the first time;
and the input unit is used for inputting the actual rotating speed of the motor into the speed control module, and the speed control module controls the speed of the vehicle.
Optionally, in the above control device, the first obtaining unit includes:
the second acquisition unit is used for acquiring a position signal of a first moment measured by a rotary transformer, and inputting the position signal of the first moment into a rotary transformer decoding chip for analysis to obtain a measured value of the first moment;
the third acquisition unit is used for acquiring a position signal of a second moment measured by the rotary transformer after a preset sampling period is separated, and inputting the position signal of the second moment into the rotary transformer decoding chip for analysis to obtain a measured value of the second moment; wherein the preset sampling period is not more than half of the variation period of the measured value; the measurement value varies from 0 to 4096 by one variation cycle.
Optionally, in the above control apparatus, the determination unit includes:
the judging unit is used for judging whether the measured value at the second moment is larger than the measured value at the first moment;
the first calculating unit is used for subtracting the difference value of the measured value at the first moment from the measured value at the second moment when the judging unit judges that the measured value at the second moment is greater than the measured value at the first moment, dividing the difference value by the preset sampling period to obtain the change rate of the measured value from the first moment to the second moment, and multiplying the change rate by a target constant corresponding to the motor to obtain the actual rotating speed of the motor; the target constant corresponding to the motor is a constant generated by variable conversion and unit conversion;
and the second calculating unit is used for adding a difference value obtained by subtracting the measured value at the first moment from 4096 to the measured value at the second moment when the judging unit judges that the measured value at the second moment is not greater than the measured value at the first moment, obtaining the variation of the measured value from the measured value at the first moment to the measured value at the second moment, dividing the variation of the measured value by a quotient obtained by dividing the variation of the measured value by the preset sampling period, and multiplying the quotient by a target constant corresponding to the motor to obtain the actual rotating speed of the motor.
Optionally, in the above control apparatus, the determination unit includes:
a determination subunit configured to determine a variation amount of a variation cycle of the measurement value from the first time to the second time; wherein the measurement value is changed from 0 to 4096 in a change period;
a third calculating unit, configured to determine, according to the increment of the change period, the measured value at the first time, and the measured value at the second time, a change amount of the measured value from the measured value at the first time to the measured value at the second time, and multiply a quotient obtained by dividing the measured value variable by a time difference between the first time and the second time by a target constant corresponding to the motor to obtain an actual rotation speed of the motor; the target constant corresponding to the motor is a constant generated by performing variable conversion and unit conversion.
A third aspect of the application provides a computer readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a method of controlling a vehicle speed as in any one of the above.
A fourth aspect of the present application provides an apparatus comprising:
one or more processors;
a storage device having one or more programs stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement a method of controlling vehicle speed as in any one of the above.
The application provides a vehicle speed control method, which obtains a measured value at a first moment and a measured value at a second moment by measuring a rotor position angle of a motor. Since the rotor of the motor of the vehicle is directly measured, the timeliness of the obtained speed can be effectively guaranteed. The actual rotational speed of the motor is then directly determined based on the rate of change of the measured values from the first time to the second time. The change rate is the quotient of the change amount from the measurement value at the first moment to the measurement value at the second moment and the time difference between the second moment and the first moment. Then, the actual rotation speed of the motor is input into the speed control module, the speed of the vehicle is calculated by the speed control module, and the speed of the vehicle is controlled. Therefore, the rotating speed of the motor is directly determined through the measured value, the accuracy of the rotating speed of the motor is guaranteed, and the accurate control of the speed is guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for controlling a vehicle speed according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram illustrating another method for controlling vehicle speed according to another embodiment of the present application;
FIG. 3 is a schematic flow chart diagram illustrating another method for controlling vehicle speed according to another embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle speed control method according to another embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this application, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiment of the application provides a vehicle speed control method, as shown in fig. 1, including:
s101, respectively obtaining a measurement value at a first moment and a measurement value at a second moment.
Wherein the measured value is obtained by measuring a rotor position angle of the electric machine.
It should be noted that, in the embodiment of the present invention, a resolver is used to measure the angle change of the motor. The primary winding and the secondary winding of the rotary transformer change relative positions along with the angular displacement of the rotor, so that the output voltage changes along with the angular displacement of the rotor. The rotation speed can be determined by the voltage signal output from the resolver.
The measured value refers to a voltage signal output by the rotary transformer obtained through a rotary transformer decoding chip (RDC) and analyzed to obtain a corresponding numerical value. In particular, the invention adopts a rotary transformer decoder, and the conversion precision is 12 bits. Therefore, the electrical angle of the rotor rotates for one circle (0-2 pi), and the measured value just changes for one period. Wherein the measured value changes from 0 to 4096 to a period of change, i.e. the measured value will change from 0 to 4096 once per revolution of the electrical angle. Therefore, the measured value is related to the electrical angle by:
Figure BDA0002345226720000061
where θ is the electrical angle and x is the measured value.
And S102, determining the actual rotating speed of the motor based on the change rate of the measured value from the first time to the second time.
The change rate is the quotient of the change amount from the measurement value at the first moment to the measurement value at the second moment and the time difference between the second moment and the first moment.
Since the measured value has a one-to-one correspondence with the electrical angle of one rotation of the rotor, the rate of change of the measured value from the first timing to the second timing is equal to the rate of change of the electrical angle from the first timing to the second timing. And since the rate of change of the electrical angle is the electrical angular velocity, the number of pairs of electrical angular velocity multiplied by the poles of the motor is equal to the mechanical angular velocity, known as the angular velocity. Therefore, the relationship between the electrical speed and the mechanical speed is: n ismec＝ne/PR(ii) a Wherein n ismecIs an electrical rotational speed, neIs the mechanical speed, PRThe number of extremum pairs. Because the mechanical angular velocity is related to the mechanical rotational speed by: ω 2 π ne(ii) a Wherein ω is a mechanical angular velocity; and is
Figure BDA0002345226720000062
Wherein, the variation of the delta theta rotor electrical angle and delta t is the time variation. Therefore, the expression of the electrical rotation speed obtained from the relationship between the electrical rotation speed and the mechanical rotation speed is:
Figure BDA0002345226720000063
therefore, based on the relationship between the measured value and the electrical angle, if the measured values at the first time and the second time are in the same variation cycle, the expression of the actual rotation speed of the motor in the time period from the first time to the second time can be obtained as follows:
Figure BDA0002345226720000064
wherein, t2At a point in time of the second moment, t1A point in time of the first time, x2Is a measured value at a second time, x1Is a measured value at a first time. It can therefore be seen that the actual rotational speed of the electric machine can be determined from the first to the second instant on the basis of the rate of change of the measured values from the first to the second instant.
Optionally, in an embodiment of the present invention, the measured value at the first time, the measured value at the second time, and the time point of the first time and the time point of the second time are input into a pre-constructed calculation model, and the calculation model outputs the actual rotation speed of the motor in one step based on the above expression in which the measured value at the first time, the measured value at the second time, and the time point of the first time and the time point of the second time are substituted into the actual rotation speed of the motor.
The electric angle is not required to be calculated according to the measured value, the electric angular speed is calculated according to the electric angle, the electric angular speed is converted into the mechanical angular speed, and finally the rotating speed reaching the motor is calculated according to the mechanical angular speed, so that the time of instruction execution is avoided being increased, and the motor magnetic field orientation error is avoided being increased. Meanwhile, because the calculation process needs to be chosen or rejected, unnecessary intermediate errors are brought, and the final calculation result is inaccurate.
It should be noted that, since the measured values are periodically changed, the change from the measured value at the first time to the measured value at the second time is equal to the change from the measured value at the second time minus the change at the first time only when the measured values belong to a change period. For example, when the measurement value at the first time is 100 of the first variation cycle, the measurement value at the second time is 80 of the first variation cycle. It can be seen that the amount of change from the measurement at the first time to the measurement at the second time is not 80 minus 100. Since two change periods are spanned, and one change period is 0-4096, the change from the measurement value at the first time to the measurement value at the second time should be the sum of the difference of 4096 minus 100 and 80.
Therefore, in consideration of the situation that the measured value at the first time and the measured value at the second time are no longer the same variation period, in another embodiment of the present application, as shown in fig. 2, an implementation manner of step S102 includes:
s201, determining the variation of the variation cycle of the measurement value from the first time to the second time.
Wherein the measurement value is changed from 0 to 4096 in a change period.
The variation of the variation period of the measurement value from the first time to the second time can be understood as how many variation periods are changed in the process of changing from the variation period at the first time to the variation period at the second time, that is, if each variation period is numbered in sequence, the variation of the variation period of the measurement value from the first time to the second time is equal to the difference obtained by subtracting the number of the variation period at the first time from the number of the variation period at the second time. For example, if the first time and the second time are in the same cycle, the variation of the variation cycle is 0; if the second time is in the next change period of the first time, the change amount of the change period is 1.
S202, according to the increment of the change period, the measured value at the first moment and the measured value at the second moment, determining the change amount of the measured value from the measured value at the first moment to the measured value at the second moment, dividing the measured value variable by the quotient obtained by the time difference value between the first moment and the second moment, and multiplying the quotient by a target constant corresponding to the motor to obtain the actual rotating speed of the motor.
The target constant corresponding to the motor is a constant generated by performing variable conversion and unit conversion. Specifically, the measurement value of the variable conversion finger is changed into an electrical angle, and the unit conversion is to convert the unit of the time point from a minute to a second or millisecond. Specifically, the 2 pi in the expression of the actual rotation speed mentioned in the step S102 is reduced, the unit of time is converted into milliseconds, and after the result is agreed, the simple expression of the actual rotation speed is obtained as follows:
Figure BDA0002345226720000081
when the variation of the first time and the variation of the second time are not in the same period, the variation of the measured value from the first time to the second time is no longer the difference of the measured value of the second time minus the measured value of the first time. Since the variation of the measured value is 4096 every time a complete variation cycle is spanned, based on the above-mentioned simplified expression of the actual rotational speed, a general expression applicable to the actual rotational speed in any case is obtained as follows:
Figure BDA0002345226720000082
wherein N is from the first moment toThe variation amount of the variation cycle of the measurement value at the second timing. Since the number of extreme value pairs of the motor is determined when the motor is determined, the number of extreme value pairs of the motor is determined when the motor is determined
Figure BDA0002345226720000083
The constant value is taken as a target constant value corresponding to the motor.
Also in the embodiment of the present invention, the specific implementation process of step S202 may also be directly substituting the measured value at the first time, the measured value at the second time, the time point at the first time, the time point at the second time, and the variation of the corresponding conversion period into the above general formula of the actual rotational speed, so as to directly output the actual rotational speed of the motor.
And S103, inputting the actual rotating speed of the motor into a speed control module, and controlling the vehicle speed by the speed control module.
Specifically, the actual rotating speed of the motor is input into a speed control module, the current speed is calculated, and the closed-loop control of the speed is realized through a PI regulator.
Another embodiment of the present application provides another vehicle speed control method, as shown in fig. 3, including:
s301, a position signal at a first moment measured by the rotary transformer is obtained, and the position signal at the first moment is input into a rotary transformer decoding chip for analysis, so that a measured value at the first moment is obtained.
It should be noted that, the specific implementation manner of step S301 may refer to step S101 in the foregoing method embodiment, and details are not described here.
And S302, after a preset sampling period is spaced, acquiring a position signal at a second moment measured by the rotary transformer, and inputting the position signal at the second moment into the rotary transformer decoding chip for analysis to obtain a measured value at the second moment.
Wherein the preset sampling period is not more than half of the variation period of the measured value. The measured value varies from 0 to 4096 for one variation period.
That is, in the embodiment of the present invention, the time difference between the first time and the second time is fixed, i.e., equal to the preset sampling period. Since the sampling frequency should be higher than the highest frequency of the signal to recover the original signal from the sampled signal without distortion according to the nyquist sampling theorem, the preset sampling period is not more than half the variation period of the measured value.
S303, judging whether the measured value at the second moment is larger than the measured value at the first moment.
Since the preset sampling period is not more than half of the variation period of the measured value, when the measured value at the first moment is less than 2048, and the second moment is in the same variation period with the first moment, the measured value at the first moment is necessarily less than the measured value at the second moment, so that the variation of the measured value from the first moment to the second moment is the difference of the measured value at the second moment minus the first moment. Therefore, if it is determined that the measured value at the second time is greater than the measured value at the first time, step S304 is performed.
The second time and the first time may be in two variation periods when the measured value at the first time is greater than or equal to 2048. However, since the predetermined sampling period is not greater than half of the variation period of the measured value, when the second time and the first time are within two variation periods, the measured value at the second time is not greater than 2048, that is, not greater than the measured value at the first time, and the variation of the measured value from the first time to the second time is 4096 minus the difference of the measured value at the first time plus the sum of the measured values at the first time. Therefore, when it is determined that the measured value at the second timing is not greater than the measured value at the first timing, step S305 is performed.
S304, subtracting the difference value of the measured value at the first moment from the measured value at the second moment, dividing the difference value by the preset sampling period to obtain the change rate of the measured value from the first moment to the second moment, and multiplying the change rate by a target constant corresponding to the motor to obtain the actual rotating speed of the motor.
The target constant corresponding to the motor is a constant generated by variable conversion and unit conversion.
Similarly, the specific implementation manner of step S304 may be to substitute the time point of the first time, the time point of the second time, the measured value of the first time, and the measured value of the second time into a formula through a calculation model to implement step S304, so as to directly output the actual rotation speed of the motor.
Since the amount of change of the measured value from the first time to the second time at this time is the difference obtained by subtracting the first time from the measured value at the second time, the expression of the actual rotational speed substituted in this step is obtained based on the simplified expression of the actual rotational speed in step S202 as follows:
Figure BDA0002345226720000101
and S305, adding the difference value obtained by subtracting the measured value at the first moment from 4096 to the measured value at the second moment to obtain the measured value variation from the measured value at the first moment to the measured value at the second moment, dividing the measured value variation by a quotient obtained by a preset sampling period, and multiplying the quotient by a target constant corresponding to the motor to obtain the actual rotating speed of the motor.
Similarly, the specific implementation manner of step S305 may be to substitute the time point of the first time, the time point of the second time, the measured value of the first time, and the measured value of the second time into the formula through the calculation model to implement step S304, so as to directly output the actual rotation speed of the motor.
Since the amount of change in the measured value from the first time to the second time at this time is 4096 minus the difference in the measured value at the first time plus the sum of the measured values at the first time, the expression of the actual rotational speed substituted in this step is obtained based on the simplified expression of the actual rotational speed in step S202 as follows:
Figure BDA0002345226720000102
and S306, inputting the actual rotating speed of the motor into a speed control module, and controlling the vehicle speed by the speed control module.
It should be noted that, the specific implementation process of this step may refer to step S103 in the above method embodiment accordingly.
The embodiment of the application provides a vehicle speed control method, which obtains a measured value at a first moment and a measured value at a second moment by measuring a rotor position angle of a motor. Since the rotor of the motor of the vehicle is directly measured, the timeliness of the obtained speed can be effectively guaranteed. The actual rotational speed of the motor is then directly determined based on the rate of change of the measured values from the first time to the second time. The change rate is the quotient of the change amount from the measurement value at the first moment to the measurement value at the second moment and the time difference between the second moment and the first moment. Then, the actual rotation speed of the motor is input into the speed control module, the speed of the vehicle is calculated by the speed control module, and the speed of the vehicle is controlled. Therefore, the rotating speed of the motor is directly determined through the measured value, the accuracy of the rotating speed of the motor is guaranteed, and the accurate control of the speed is guaranteed.
Another embodiment of the present application provides a vehicle speed control apparatus, as shown in fig. 4, including:
a first obtaining unit 401, configured to obtain a measurement value at a first time and a measurement value at a second time, respectively.
Wherein the measured value is obtained by measuring a rotor position angle of the electric machine.
A determination unit 402 for determining an actual rotational speed of the motor based on a rate of change of the measured values from the first time to the second time.
The change rate is the quotient of the change amount from the measurement value at the first moment to the measurement value at the second moment and the time difference between the second moment and the first moment.
An input unit 403 for inputting the actual rotation speed of the motor to the speed control module, which controls the vehicle speed.
It should be noted that, the specific working process of the above-mentioned unit may refer to step S101 to step S103 in the above-mentioned method embodiment, which is not described herein again.
Optionally, in another embodiment of the present application, the first obtaining unit 401 includes:
and the second acquisition unit is used for acquiring the position signal of the rotary transformer at the first moment, inputting the position signal of the first moment into the rotary transformer decoding chip for analysis, and obtaining the measured value of the first moment.
And the third acquisition unit is used for acquiring a position signal of a second moment measured by the rotary transformer after a preset sampling period is separated, and inputting the position signal of the second moment into the rotary transformer decoding chip for analysis to obtain a measured value of the second moment.
Wherein the preset sampling period is not more than half of the variation period of the measured value; the measured value varies from 0 to 4096 for one variation period.
It should be noted that, the specific working process of the above-mentioned unit may refer to step S301 to step S302 in the above-mentioned method embodiment, which is not described herein again.
Optionally, in another embodiment of the present application, the determining unit 402 includes:
and the judging unit is used for judging whether the measured value at the second moment is greater than the measured value at the first moment.
And the first calculating unit is used for subtracting the difference value of the measured value at the first moment from the measured value at the second moment when the judging unit judges that the measured value at the second moment is greater than the measured value at the first moment, dividing the difference value by the preset sampling period to obtain the change rate of the measured value from the first moment to the second moment, and multiplying the change rate by the target constant corresponding to the motor to obtain the actual rotating speed of the motor.
The target constant corresponding to the motor is a constant generated by variable conversion and unit conversion.
And the second calculating unit is used for adding the difference value obtained by subtracting the measured value at the first moment from 4096 to the measured value at the second moment when the judging unit judges that the measured value at the second moment is not greater than the measured value at the first moment, obtaining the measured value variation from the measured value at the first moment to the measured value at the second moment, dividing the measured value variation by the quotient obtained by the preset sampling period, and multiplying the quotient by the target constant corresponding to the motor to obtain the actual rotating speed of the motor.
It should be noted that, the specific working process of the above-mentioned unit may refer to step S303 to step S305 in the above-mentioned method embodiment, which is not described herein again.
Optionally, in another embodiment of the present application, the determining unit 402 includes:
a determining subunit, configured to determine a variation amount of a variation period of the measurement value from the first time to the second time.
Wherein the measurement value is changed from 0 to 4096 in a change period.
And the third calculating unit is used for determining the change amount of the measured value from the measured value at the first moment to the measured value at the second moment according to the increment of the change period, the measured value at the first moment and the measured value at the second moment, dividing the measured value variable by a quotient obtained by the time difference value between the first moment and the second moment, and multiplying the quotient by a target constant corresponding to the motor to obtain the actual rotating speed of the motor.
The target constant corresponding to the motor is a constant generated by performing variable conversion and unit conversion. It should be noted that, the specific working process of the above-mentioned unit may refer to step S201 to step S202 in the above-mentioned method embodiment, which is not described herein again.
Another embodiment of the present application provides a computer readable medium having a computer program stored thereon. Wherein the computer program, when being executed by a processor, implements the method of controlling velocity as provided in any one of the method embodiments described above.
Another embodiment of the present application provides an apparatus, comprising:
one or more processors.
A storage device having one or more programs stored thereon.
The one or more programs, when executed by the one or more processors, cause the one or more processors to implement a method of controlling speed as provided in any one of the method embodiments described above.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A method of controlling a speed of a vehicle, comprising:
respectively acquiring a measured value at a first moment and a measured value at a second moment; wherein the measured value is obtained by measuring a rotor position angle of the motor;
determining an actual rotational speed of the motor based on a rate of change of the measured values from the first time to the second time; wherein the change rate is the quotient of the change amount from the measurement value at the first time to the measurement value at the second time and the time difference between the second time and the first time;
and inputting the actual rotating speed of the motor into a speed control module, and controlling the vehicle speed by the speed control module.
2. The control method according to claim 1, wherein the obtaining the measurement value at the first time and the measurement value at the second time respectively comprises:
acquiring a position signal of a rotary transformer at a first moment, and inputting the position signal of the first moment into a rotary transformer decoding chip for analysis to obtain a measured value of the first moment;
after a preset sampling period is spaced, acquiring a position signal of a second moment measured by the rotary transformer, and inputting the position signal of the second moment into the rotary transformer decoding chip for analysis to obtain a measured value of the second moment; wherein the preset sampling period is not more than half of the variation period of the measured value; the measurement value varies from 0 to 4096 by one variation cycle.
3. The control method according to claim 2, wherein the determining an actual rotation speed of the motor based on the rate of change of the measurement value from the first timing to the second timing includes:
judging whether the measured value at the second moment is greater than the measured value at the first moment;
if the measured value at the second moment is judged to be larger than the measured value at the first moment, subtracting the difference value of the measured value at the first moment from the measured value at the second moment, dividing the difference value by the preset sampling period to obtain the change rate of the measured value from the first moment to the second moment, and multiplying the change rate by a target constant corresponding to the motor to obtain the actual rotating speed of the motor; the target constant corresponding to the motor is a constant generated by variable conversion and unit conversion;
and if the measured value at the second moment is judged not to be larger than the measured value at the first moment, adding a difference value obtained by subtracting the measured value at the first moment from 4096 to the measured value at the second moment to obtain the measured value variation from the measured value at the first moment to the measured value at the second moment, dividing the measured value variation by a quotient obtained by the preset sampling period, and multiplying the quotient by a target constant corresponding to the motor to obtain the actual rotating speed of the motor.
4. The control method according to claim 1, wherein the determining an actual rotation speed of the motor based on the rate of change of the measurement value from the first timing to the second timing includes:
determining a variation amount of a variation period of the measurement value from the first time to the second time; wherein the measurement value is changed from 0 to 4096 in a change period;
according to the increment of the change period, the measured value at the first moment and the measured value at the second moment, determining the change amount of the measured value from the measured value at the first moment to the measured value at the second moment, dividing the measured value variable by a quotient obtained by dividing the time difference value between the first moment and the second moment, and multiplying the quotient by a target constant corresponding to the motor to obtain the actual rotating speed of the motor; the target constant corresponding to the motor is a constant generated by performing variable conversion and unit conversion.
5. A control apparatus of a vehicle speed, characterized by comprising:
the first acquisition unit is used for respectively acquiring the measurement value at the first moment and the measurement value at the second moment; wherein the measured value is obtained by measuring a rotor position angle of the motor;
a determination unit for determining an actual rotational speed of the motor based on a rate of change of the measured value from the first time to the second time; wherein the change rate is the quotient of the change amount from the measurement value at the first time to the measurement value at the second time and the time difference between the second time and the first time;
and the input unit is used for inputting the actual rotating speed of the motor into the speed control module, and the speed control module controls the speed of the vehicle.
6. The control device according to claim 5, wherein the first acquisition unit includes:
the second acquisition unit is used for acquiring a position signal of a first moment measured by a rotary transformer, and inputting the position signal of the first moment into a rotary transformer decoding chip for analysis to obtain a measured value of the first moment;
the third acquisition unit is used for acquiring a position signal of a second moment measured by the rotary transformer after a preset sampling period is separated, and inputting the position signal of the second moment into the rotary transformer decoding chip for analysis to obtain a measured value of the second moment; wherein the preset sampling period is not more than half of the variation period of the measured value; the measurement value varies from 0 to 4096 by one variation cycle.
7. The control device according to claim 6, wherein the determination unit includes:
the judging unit is used for judging whether the measured value at the second moment is larger than the measured value at the first moment;
the first calculating unit is used for subtracting the difference value of the measured value at the first moment from the measured value at the second moment when the judging unit judges that the measured value at the second moment is greater than the measured value at the first moment, dividing the difference value by the preset sampling period to obtain the change rate of the measured value from the first moment to the second moment, and multiplying the change rate by a target constant corresponding to the motor to obtain the actual rotating speed of the motor; the target constant corresponding to the motor is a constant generated by variable conversion and unit conversion;
and the second calculating unit is used for adding a difference value obtained by subtracting the measured value at the first moment from 4096 to the measured value at the second moment when the judging unit judges that the measured value at the second moment is not greater than the measured value at the first moment, obtaining the variation of the measured value from the measured value at the first moment to the measured value at the second moment, dividing the variation of the measured value by a quotient obtained by dividing the variation of the measured value by the preset sampling period, and multiplying the quotient by a target constant corresponding to the motor to obtain the actual rotating speed of the motor.
8. The control device according to claim 5, wherein the determination unit includes:
a determination subunit configured to determine a variation amount of a variation cycle of the measurement value from the first time to the second time; wherein the measurement value is changed from 0 to 4096 in a change period;
a third calculating unit, configured to determine, according to the increment of the change period, the measured value at the first time, and the measured value at the second time, a change amount of the measured value from the measured value at the first time to the measured value at the second time, and multiply a quotient obtained by dividing the measured value variable by a time difference between the first time and the second time by a target constant corresponding to the motor to obtain an actual rotation speed of the motor; the target constant corresponding to the motor is a constant generated by performing variable conversion and unit conversion.
9. A computer-readable medium, characterized in that a computer program is stored thereon, wherein the computer program, when being executed by a processor, realizes a control method of a vehicle speed according to any one of claims 1 to 4.
10. An apparatus, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of controlling vehicle speed of any of claims 1-4.
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