CN111559367A - Method and system for eliminating automobile gear-engaging jitter based on motor controller - Google Patents

Method and system for eliminating automobile gear-engaging jitter based on motor controller Download PDF

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Publication number
CN111559367A
CN111559367A CN202010448714.4A CN202010448714A CN111559367A CN 111559367 A CN111559367 A CN 111559367A CN 202010448714 A CN202010448714 A CN 202010448714A CN 111559367 A CN111559367 A CN 111559367A
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China
Prior art keywords
preset time
gear
motor
torque
controlling
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Pending
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CN202010448714.4A
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Chinese (zh)
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韦福松
刘刚
潘文武
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Shenzhen Times Energy Technology Co ltd
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Shenzhen Times Energy Technology Co ltd
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Priority to CN202010448714.4A priority Critical patent/CN111559367A/en
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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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • 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
    • B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to the technical field of motor control, in particular to a method and a system for eliminating automobile gear-engaging jitter based on a motor controller, wherein the method comprises the steps of controlling the output torque of a motor to be gradually increased to a starting torque at a constant change rate within a first preset time when a gear-engaging signal is detected, then controlling the output torque of the motor to be kept for a second preset time in a starting torque state, and controlling the output torque of the motor to be gradually increased to an idle torque at a constant change rate within a third preset time to complete gear engagement. By the method and the system, under the condition of not increasing the equipment cost of the system, the impact jitter of the gear during the gear shifting starting torque is reduced by controlling the change of the output torque of the motor, so that the jitter of the whole vehicle is eliminated, and the comfort of the whole vehicle is improved.

Description

Method and system for eliminating automobile gear-engaging jitter based on motor controller
Technical Field
The invention relates to the technical field of motor control, in particular to a method and a system for eliminating automobile gear-engaging jitter based on a motor controller.
Background
The power system of the electric automobile consists of a motor controller, a motor and a transmission speed reducing mechanism. As shown in fig. 1, when the electric vehicle starts in a gear, the motor controller controls the motor to output torque, and the transmission speed reducing mechanism drives wheels to realize the starting operation of the whole vehicle. In engineering application, due to the influence of the machining precision of the transmission speed reducing mechanism, a large gap exists between the mechanical gears, the rigidity of the mechanical gears is large, when the motor outputs torque during gear starting, the mechanical transmission gears are impacted to cause shaking, and further the shaking of the whole automobile is caused, so that the comfort of automobile driving is influenced.
Disclosure of Invention
The invention mainly solves the technical problem that the automobile has larger shake when starting in a gear.
A method for eliminating automobile gear-shifting jitter based on a motor controller comprises the following steps:
when a gear engaging signal is detected, controlling the output torque of the motor to be gradually increased to a starting torque at a constant change rate within a first preset time;
controlling the output torque of the motor to keep a second preset time in the state of the starting torque;
and controlling the output torque of the motor to gradually increase to the idle torque at a constant change rate within a third preset time so as to finish the gear shifting.
Further, the method also comprises the following steps:
and simultaneously controlling the motor controller to reduce the PI regulation response time of the current loop within the first preset time, the second preset time and the third preset time.
In one embodiment, the proportional gain Kp of the PI parameter of Id is adjusted from 0.10 to 0.05 and the integral gain Ki is adjusted from 10.00 to 14.00 during the time period 0-T3; the PI parameter proportional gain Kp of Iq is adjusted to 0.50 from 0.68, and the integral gain Ki is adjusted to 25.00 from 20.00, and tests show that the adjustment can further inhibit the jitter when the automobile is in gear.
In one embodiment, the first predetermined time is 0.8 to 1.2 seconds, the second predetermined time is 0.5 to 1 second, and the third predetermined time is 0.2 to 0.4 seconds.
In one embodiment, the first preset time is 1 second, the second preset time is 0.7 second, the third preset time is 0.3 second, and the starting torque is 2 n.m.
A system for removing vehicle gear judder based on a motor controller, the system comprising:
the detection module is used for detecting a gear engaging signal;
the first control module is used for controlling the output torque of the motor to be gradually increased to the starting torque at a constant change rate within a first preset time when the gear engaging signal is detected;
the second control module is used for controlling the output torque of the motor to keep a second preset time in the starting torque state;
and the third control module is used for controlling the output torque of the motor to be gradually increased to the idle torque at a constant change rate within a third preset time so as to finish the gear shifting.
And the fourth control module is used for simultaneously controlling the motor controller to reduce the PI regulation response time of the current loop within the first preset time, the second preset time and the third preset time.
In one embodiment, the proportional gain Kp of the PI parameter of Id is adjusted from 0.10 to 0.05 and the integral gain Ki is adjusted from 10.00 to 14.00 during the time period 0-T3; the PI parameter proportional gain Kp of Iq is adjusted to 0.50 from 0.68, and the integral gain Ki is adjusted to 25.00 from 20.00, and tests show that the adjustment can further inhibit the jitter when the automobile is in gear.
In one embodiment, the first predetermined time is 0.8 to 1.2 seconds, the second predetermined time is 0.5 to 1 second, and the third predetermined time is 0.2 to 0.4 seconds.
In one embodiment, the first preset time is 1 second, the second preset time is 0.7 second, and the third preset time is 0.3 second; the starting torque is 2 n.m.
A motor controller for a vehicle comprising a system for eliminating vehicle gear judder based on a motor controller as described above.
A computer readable storage medium comprising a program executable by a processor to implement the method as described above.
According to the method and the system for eliminating the vehicle gear-shifting jitter based on the motor controller of the embodiment, when the gear-shifting signal is detected, the output torque of the motor is controlled to be gradually increased to the starting torque at a constant change rate within the first preset time, then the output torque of the motor is controlled to be kept in the starting torque state for the second preset time, and the output torque of the motor is controlled to be gradually increased to the idle torque at a constant change rate within the third preset time so as to finish gear shifting. By the method and the system, under the condition of not increasing the equipment cost of the system, the impact jitter of the gear during the gear shifting starting torque is reduced by controlling the change of the output torque of the motor, so that the jitter of the whole vehicle is eliminated, and the comfort of the whole vehicle is improved.
Drawings
FIG. 1 is a schematic structural diagram of an automotive control system according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a method for eliminating vehicle gear-shifting jitter according to an embodiment of the present application;
FIG. 3 is a schematic diagram of the output torque of the motor according to the embodiment of the present application;
FIG. 4 is a block diagram of a current loop control according to an embodiment of the present application;
FIG. 5 is a graph of feedback voltage and current levels without the method of the present application;
FIG. 6 is a graph of feedback voltage and current magnitude using the method of the present application;
FIG. 7 is a flow chart of the method of the present application;
fig. 8 is a schematic structural diagram of the system of the present application.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
In the embodiment of the invention, the change of the output torque of the motor is controlled to reduce the impact jitter of the gear when the gear starting torque is engaged, so that the jitter of the whole vehicle is eliminated, and the comfort of the whole vehicle is improved.
The first embodiment is as follows:
referring to fig. 2, the present embodiment provides a method for eliminating vehicle gear shift judder based on a motor controller, the method includes:
step 101: when a gear engaging signal is detected, controlling the output torque of the motor to be gradually increased to a starting torque at a constant change rate within a first preset time;
step 102: controlling the output torque of the motor to keep a second preset time in the state of the starting torque;
step 103: and controlling the output torque of the motor to gradually increase to the idle torque at a constant change rate within a third preset time so as to finish the gear shifting.
For example, when the user engages the D-gear or the R-gear from the N-gear, the vehicle controller sends an idle torque to the motor controller. As shown in fig. 3, the whole control process is completed in three stages;
the first stage is as follows: when starting in a gear, the motor controller slowly increases the output Torque of the motor, and the output Torque of the motor is controlled to slowly increase to a preset starting Torque Start _ Torque at a constant change rate within a first preset time T1;
and a second stage: controlling the motor to be kept at the output Start _ Torque for a second preset time, namely, for a time period from T2 to T1;
and a third stage: and slowly increasing the output Torque of the motor at a constant change rate, so that the output Torque of the motor is increased to the idle Torque Run _ Torque within a third preset time (T3-T2), and finishing the gear starting stage control.
The control flow of the method is shown in fig. 7, and comprises the following steps:
1. the motor controller receives information of the whole vehicle controller, judges whether the vehicle is started by an N gear D gear or an N gear R gear, and enters a starting control module if the vehicle is started, otherwise, the vehicle responds to normal accelerator setting;
2. entering a starting control module, and increasing the output Torque of the motor to a starting Torque Start _ Torque within the time T1; adjusting the PI parameter of the current loop;
3. controlling the motor to output the Start _ Torque all the time within the time from T2 to T1, ensuring the stability of the system and ensuring the gear to be fully attached;
4. and switching and adjusting the PI parameter equivalent value within the time from T3 to T2, and exiting the starting module after switching is finished so as to normally respond to the given torque of the accelerator.
Wherein, because the transmission mechanical gear has a gap, the output Torque of the motor is slowly increased in the time T1, the gear slowly eliminates the gap and is tightly attached, the output Torque of the motor is increased to the starting Torque Start _ Torque, and the Torque can not rotate the vehicle wheel because of the influence of the resistance. The breakaway Torque Start _ Torque is maintained for a time period T2-T1 to allow the system to settle more quickly. And the control of the gear starting stage is finished by switching to the normal torque response within the time from T3 to T2, so that the shaking of the vehicle body is avoided.
Further, to reduce the impact of the mechanical gear, during the start-up (i.e., 0-T3 time period) phase, as shown in fig. 4, the motor controller also reduces the PI regulation response time of the current loops Id and Iq, i.e., reduces the proportional gain, and increases the integral gain. Therefore, the influence of mechanical impact current loop control can be weakened, and the regulated Ud and Uq are more stable.
For example, in one embodiment, the proportional gain Kp of the PI parameter for Id is adjusted from 0.10 to 0.05 and the integral gain Ki is adjusted from 10.00 to 14.00 over a time period of 0-T3; the PI parameter proportional gain Kp of Iq is adjusted to 0.50 from 0.68, and the integral gain Ki is adjusted to 25.00 from 20.00, and tests show that the adjustment can further inhibit the jitter when the automobile is in gear.
The method is obtained through multiple tests, and when a common electric automobile is started in a gear-shifting mode, the first preset time is set to be 0.8-1.2 seconds, the second preset time is set to be 0.5-1 seconds, and the third preset time is set to be 0.2-0.4 seconds. Within the range, the purpose of reducing the vehicle body shake can be achieved by making small adjustments according to different vehicles.
For example, in the embodiment, a test is performed on an MPV vehicle model, and it is found that if the time T1 is set to 1s, the time T2-T1 is 0.7s, the time T3-T2 is 0.3s, and the starting Torque Start _ Torque is 2n.m, the hunting condition at the time of starting when the vehicle is in a gear is obviously reduced. In order to more accurately show the effect of the method of the embodiment, the current of the motor is collected by the motor controller in the embodiment, the current is subjected to conversion processing, the followability of Iq giving and Iq feedback is observed, and the stability of the adjusted Uq is also observed. As shown in fig. 5, when the method of this embodiment is not used, both Iq feedback and Uq of the motor have large jitter, and significant jitter can be sensed in the entire vehicle; fig. 6 shows that Iq feedback and Uq are stable, and there is no jitter, and the user does not feel the jitter in the vehicle when the method of the present embodiment is used. The abscissa of fig. 5 and 6 is time t, and the ordinate is voltage (in V) and current (in a).
Therefore, the effect of eliminating the gear-shifting jitter is achieved by changing the control method of the motor controller under the condition that the equipment cost is not increased, and the comfort of the whole vehicle is improved.
Example two
Referring to fig. 8, the present embodiment provides a system for eliminating vehicle gear shift judder based on a motor controller, which includes a detection module 201, a first control module 202, a second control module 203, a third control module 204, and a fourth control module 205.
The detection module 201 is configured to detect a gear engaging signal.
The first control module 202 is configured to control the motor output torque to gradually increase to the breakaway torque at a constant rate of change over a first preset time when the gear signal is detected.
The second control module 203 is configured to control the output torque of the motor to be maintained for a second preset time in the starting torque state.
The third control module 204 is configured to control the motor output torque to gradually increase to the idle torque at a constant rate of change for a third preset time to complete the gear shift.
The fourth control module 205 is configured to simultaneously control the motor controller to reduce the PI regulation response time of the current loop within the first preset time, the second preset time, and the third preset time. For example, in one embodiment, the proportional gain Kp of the PI parameter for Id is adjusted from 0.10 to 0.05 and the integral gain Ki is adjusted from 10.00 to 14.00 over a time period of 0-T3; the PI parameter proportional gain Kp of Iq is adjusted to 0.50 from 0.68, and the integral gain Ki is adjusted to 25.00 from 20.00, and tests show that the adjustment can further inhibit the jitter when the automobile is in gear.
In one embodiment, the first predetermined time is 0.8-1.2 seconds, the second predetermined time is 0.5-1 seconds, and the third predetermined time is 0.2-0.4 seconds.
In another embodiment, the first preset time is 1 second, the second preset time is 0.7 second, and the third preset time is 0.3 second; the starting torque is 2 n.m.
EXAMPLE III
The present embodiment provides a motor controller for a vehicle, which includes a system for eliminating vehicle gear-shifting judder based on the motor controller as provided in the second embodiment.
Example four
The embodiment provides a computer-readable storage medium, which comprises a program, wherein the program can be executed by a processor to realize the method for eliminating the automobile gear-shifting jitter provided by the first embodiment.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.

Claims (10)

1. A method for eliminating automobile gear-shifting jitter based on a motor controller is characterized by comprising the following steps:
when a gear engaging signal is detected, controlling the output torque of the motor to be gradually increased to a starting torque at a constant change rate within a first preset time;
controlling the output torque of the motor to keep a second preset time in the state of the starting torque;
and controlling the output torque of the motor to gradually increase to the idle torque at a constant change rate within a third preset time so as to finish the gear shifting.
2. The method for eliminating vehicle gear judder of claim 1, further comprising:
and simultaneously controlling the motor controller to reduce the PI regulation response time of the current loop within the first preset time, the second preset time and the third preset time.
3. The method for eliminating the gear shift jitter of the automobile according to claim 2, wherein the proportional gain Kp of the PI parameter of Id is adjusted from 0.10 to 0.05, and the integral gain Ki is adjusted from 10.00 to 14.00 within the first preset time, the second preset time and the third preset time; the proportional gain Kp of the PI parameter of Iq is adjusted from 0.68 to 0.50, and the integral gain Ki is adjusted from 20.00 to 25.00.
4. The method for eliminating the gear shift shock of the car according to claim 1, wherein said first predetermined time is 0.8-1.2 seconds, said second predetermined time is 0.5-1 seconds, and said third predetermined time is 0.2-0.4 seconds.
5. The method for eliminating the gear shift judder in automobiles according to claim 1, wherein the first predetermined time is 1 second, the second predetermined time is 0.7 second, the third predetermined time is 0.3 second, and the starting torque is 2 n.m.
6. A system for eliminating automobile gear-shifting jitter based on a motor controller is characterized by comprising:
the detection module is used for detecting a gear engaging signal;
the first control module is used for controlling the output torque of the motor to be gradually increased to the starting torque at a constant change rate within a first preset time when the gear engaging signal is detected;
the second control module is used for controlling the output torque of the motor to keep a second preset time in the starting torque state;
and the third control module is used for controlling the output torque of the motor to be gradually increased to the idle torque at a constant change rate within a third preset time so as to finish the gear shifting.
7. The system for eliminating vehicle gear shifting judder of claim 6, further comprising a fourth control module for simultaneously controlling the motor controller to reduce the PI regulation response time of the current loop during the first preset time, the second preset time and the third preset time.
8. The system for eliminating the gear shift shock of the automobile according to claim 6, wherein the first preset time is 1 second, the second preset time is 0.7 second, and the third preset time is 0.3 second; the starting torque is 2 n.m.
9. A motor controller for a vehicle, comprising a system for removing vehicle gear judder based on a motor controller according to any of claims 6-8.
10. A computer-readable storage medium, characterized by comprising a program executable by a processor to implement the method of any one of claims 1-5.
CN202010448714.4A 2020-05-25 2020-05-25 Method and system for eliminating automobile gear-engaging jitter based on motor controller Pending CN111559367A (en)

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CN202010448714.4A CN111559367A (en) 2020-05-25 2020-05-25 Method and system for eliminating automobile gear-engaging jitter based on motor controller

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CN202010448714.4A CN111559367A (en) 2020-05-25 2020-05-25 Method and system for eliminating automobile gear-engaging jitter based on motor controller

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010246307A (en) * 2009-04-08 2010-10-28 Aisin Ai Co Ltd Power transmission control device for vehicle
CN105197006A (en) * 2015-10-14 2015-12-30 重庆长安汽车股份有限公司 Pure electric drive start control method for hybrid electric vehicle
CN106904158A (en) * 2017-03-02 2017-06-30 中国第汽车股份有限公司 A kind of electric automobile slope starting auxiliary control method
CN107539165A (en) * 2017-08-25 2018-01-05 苏州汇川联合动力系统有限公司 A kind of Control of Electric Vehicles method, electric machine controller and drive system
CN110422057A (en) * 2019-06-27 2019-11-08 东南（福建）汽车工业有限公司 A kind of pure electric automobile starting anti-vibration control method
CN110588363A (en) * 2018-06-13 2019-12-20 蔚来汽车有限公司 Method and device for restraining starting shake of electric automobile and storage medium

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010246307A (en) * 2009-04-08 2010-10-28 Aisin Ai Co Ltd Power transmission control device for vehicle
CN105197006A (en) * 2015-10-14 2015-12-30 重庆长安汽车股份有限公司 Pure electric drive start control method for hybrid electric vehicle
CN106904158A (en) * 2017-03-02 2017-06-30 中国第汽车股份有限公司 A kind of electric automobile slope starting auxiliary control method
CN107539165A (en) * 2017-08-25 2018-01-05 苏州汇川联合动力系统有限公司 A kind of Control of Electric Vehicles method, electric machine controller and drive system
CN110588363A (en) * 2018-06-13 2019-12-20 蔚来汽车有限公司 Method and device for restraining starting shake of electric automobile and storage medium
CN110422057A (en) * 2019-06-27 2019-11-08 东南（福建）汽车工业有限公司 A kind of pure electric automobile starting anti-vibration control method

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