CN111634197A - Electric vehicle motor control method with jitter suppression and control device - Google Patents
Electric vehicle motor control method with jitter suppression and control device Download PDFInfo
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- CN111634197A CN111634197A CN202010602493.1A CN202010602493A CN111634197A CN 111634197 A CN111634197 A CN 111634197A CN 202010602493 A CN202010602493 A CN 202010602493A CN 111634197 A CN111634197 A CN 111634197A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000001629 suppression Effects 0.000 title claims abstract description 22
- 230000001133 acceleration Effects 0.000 claims abstract description 38
- 238000001914 filtration Methods 0.000 claims description 21
- 238000005070 sampling Methods 0.000 claims description 19
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 6
- 238000013016 damping Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
-
- 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
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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
- 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
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention relates to a motor control method of an electric automobile with jitter suppression, which comprises the following steps: acquiring a motor rotating speed signal of the electric automobile; obtaining the actual rotating speed of the motor and the estimated ideal rotating speed of the motor; calculating the actual angular acceleration and the ideal angular acceleration of the motor; calculating an angular acceleration jitter component; calculating anti-shake compensation torque; the required torque is obtained through the VCU of the whole vehicle controller, and then the anti-shake compensation torque and the required torque are combined to complete the anti-shake control of the motor of the electric vehicle with shake suppression. The invention also relates to a motor control device which comprises a first data acquisition module, a first filter, a second filter, a main controller, a second data acquisition module, a memory, a motor controller and a power supply, wherein the motor control method is embedded in the main controller and is used for realizing motor control with jitter suppression. Compared with the prior art, the anti-shake torque compensation method has the advantages of effectively and quickly performing anti-shake torque compensation, simplicity, easiness in implementation and the like.
Description
Technical Field
The invention relates to the technical field of electric vehicle motor jitter suppression, in particular to a control method and a control device for an electric vehicle motor with jitter suppression.
Background
In hybrid and electric vehicle drive systems, the drive shaft of the electric machine is typically connected to the wheels by a rigid system such as a clutch or a reducer. And the motor can generate obvious rotation speed vibration under a specific torque input condition or in a certain specific operation rotation speed interval, and the vibration can be coupled to a vehicle body through a transmission system and is sensed by drivers and passengers, so that the comfort of the whole vehicle is influenced.
Currently, various methods have been used to suppress such vibrations. Two main categories can be distinguished: one is by installing the torsional damping damper in a manner that requires the addition of additional physical components, adding additional design complexity and cost. The other type is to suppress the vibration of the rotational speed by actively applying a damping torque in the opposite direction to the vibration of the rotational speed. At present, the latter type of application is more common, and the implementation of specific damping torque generally includes obtaining an ideal motor rotation speed in a vibration-free state by establishing a model, comparing the ideal motor rotation speed with a real motor rotation speed to obtain the fluctuation of the rotation speed, and then applying reverse damping torque in proportion to the fluctuation amplitude of the rotation speed. Or by means of filtering, a rotation speed fluctuation of a specific frequency is detected and then a damping torque is applied, also depending on the rotation speed fluctuation amplitude. For example, chinese patent CN105946623A discloses an anti-shake control method and system for an electric vehicle, and an electric vehicle, which performs proportional-differential adjustment on a rotation speed difference to obtain a compensation torque. The effect of such active anti-shake control depends on the accuracy of the model or the performance of the filter, and sometimes the desired effect cannot be obtained. In addition, these strategies compensate for the change in speed, and often do not inhibit the first fluctuation since the compensation can be started after the fluctuation occurs.
Disclosure of Invention
The present invention aims to overcome the defects of the prior art and provide a control method and a control device for an electric vehicle motor with jitter suppression, which can effectively perform torque compensation and is simple and easy to implement.
The purpose of the invention can be realized by the following technical scheme:
a motor control method of an electric vehicle with jitter suppression comprises the following steps:
step 1: acquiring a motor rotating speed signal of the electric automobile;
step 2: filtering the rotating speed of the motor, filtering sampling noise and obtaining the actual rotating speed of the motor; meanwhile, the rotating speed of the motor is filtered, and the fluctuation of the rotating speed is filtered to obtain the ideal rotating speed of the motor;
and step 3: calculating the actual angular acceleration and the ideal angular acceleration of the motor;
and 4, step 4: calculating an angular acceleration jitter component;
and 5: filtering the angular acceleration shaking component, and then calculating anti-shaking compensation torque according to the filtered angular acceleration shaking component;
step 6: the vehicle control unit VCU obtains the required torque, then combines the anti-shake compensation torque and the required torque to obtain the motor control torque, and transmits the motor control torque to the motor controller, so that the anti-shake control of the motor of the electric vehicle with shake suppression is completed.
Preferably, the step 2 specifically comprises:
performing low-pass filtering on the motor rotating speed MotSpdRaw acquired in the step 1, filtering out sampling noise, and obtaining the actual rotating speed MotSpdFiltered of the motor;
and meanwhile, low-pass filtering is carried out on the motor rotating speed MotSpdRaw acquired in the step 1, fluctuation in the rotating speed is filtered, and the ideal rotating speed MotSpdExpected of the motor is obtained.
Preferably, the actual angular acceleration α of the motor in the step 3rThe calculation method comprises the following steps:
wherein MotSpdFiltered is the actual rotating speed of the motor in the sampling period; MotSpdFilterLast is the actual rotating speed of the motor in the last sampling period; t issIs the sampling period.
Preferably, the motor ideal angular acceleration α in the step 3eThe calculation method comprises the following steps:
wherein MotSpdExpected is the ideal rotating speed of the motor in the sampling period; MotSpdExpectedLast is the ideal rotating speed of the motor in the previous period; t issIs the sampling period.
Preferably, the method for calculating the angular acceleration shake component Δ α in step 4 is as follows:
Δα＝αr-αe
wherein, αrα being actual angular accelerationeIs the ideal angular acceleration.
Preferably, the step 5 specifically comprises:
low-pass filtering the angular acceleration shaking component delta α to obtain a filtered angular acceleration shaking component delta αfilteredThen calculating the anti-shake compensation torque TcorrThe specific calculation method comprises the following steps:
Tcorr＝kp*Δαfiltered
wherein k ispIs the torque gain.
The electric automobile motor control device using the electric automobile motor control method with the jitter suppression function is connected with an existing electric automobile motor and comprises a first data acquisition module, a first filter, a second filter, a main controller, a second data acquisition module, a memory, a motor controller and a power supply; the first data acquisition module and the motor controller are respectively connected with a motor of the electric automobile; the first data acquisition module, the first filter and the second filter are connected in sequence; the first data acquisition module, the first filter, the second data acquisition module, the memory and the motor controller are respectively connected with the main controller; the main controller and the motor controller are respectively connected with a power supply.
Preferably, the first data acquisition module is a rotation speed sensor; the second data acquisition module is a VCU (vehicle control unit).
Preferably, the first filter and the second filter are both low-pass filters.
Preferably, the power supply is a power battery.
Compared with the prior art, the invention has the following advantages:
firstly, effectively compensating the anti-shake torque: compared with the mode of carrying out anti-shake compensation by using the rotating speed in the prior art, the motor control method has the advantages that the change of the angular acceleration is earlier than the change of the speed when the shake occurs, so that the anti-shake torque can be more effectively compensated earlier.
Secondly, the algorithm process is simple and easy to realize: the motor control method has low requirement on the estimation of the ideal rotating speed MotSpdExpected of the motor, and can achieve better effect by using simple first-order low-pass filtering, because only the approximate angular acceleration needs to be known, while in other anti-shake methods in the prior art, the estimation of the ideal rotating speed of the motor directly influences the final anti-shake torque, and because a more complex model needs to be designed or a more complex filter needs to be designed, the compensation of the anti-shake torque can be realized.
Thirdly, the motor control device has simple structure and is easy to realize: the motor control device for the anti-shake control of the motor of the electric automobile mainly depends on the rotating speed of the motor, has low requirements on other signals of the motor, can realize the anti-shake control of the motor only by acquiring the rotating speed of the motor and the required torque information output by the VCU of the vehicle controller, and has a simple structure and is easy to realize.
Drawings
FIG. 1 is a schematic flow chart of a motor control method according to the present invention;
fig. 2 is a schematic structural diagram of the motor control device of the present invention.
The reference numbers in the figures indicate:
1. the device comprises a first data acquisition module, a first filter, a second filter, a main controller, a second data acquisition module, a first data acquisition module, a second data acquisition module, a first filter, a second filter, a main controller, a second data acquisition module, a first data acquisition module, a second data acquisition module, a first filter, a second data acquisition module.
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 some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
A motor control method of an electric vehicle with jitter suppression, the flow of which is shown in figure 1, comprises the following steps:
step 1: acquiring a motor rotating speed signal of the electric automobile according to the rotating speed sensor
Step 2: performing low-pass filtering on the motor rotating speed MotSpdRaw acquired in the step 1, filtering out sampling noise, and obtaining the actual rotating speed MotSpdFiltered of the motor;
meanwhile, low-pass filtering is carried out on the motor rotating speed MotSpdRaw acquired in the step 1, fluctuation in the rotating speed is filtered, and the ideal motor rotating speed MotSpdExpected is obtained and is an estimated value;
and step 3: calculating the actual angular acceleration and the ideal angular acceleration of the motor;
actual angular acceleration α of motorrThe calculation method comprises the following steps:
ideal angular acceleration α of motoreThe calculation method comprises the following steps:
wherein MotSpdFiltered is the actual rotating speed of the motor in the sampling period; MotSpdFilterLast is the actual rotating speed of the motor in the last sampling period; t issIs a sampling period; MotSpdExpected is the ideal rotating speed of the motor in the sampling period; MotSpdExpectedLast is the ideal rotating speed of the motor in the previous period;
and 4, step 4: calculating an angular acceleration shake component Δ α:
Δα＝αr-αe
wherein, αrα being actual angular accelerationeIdeal angular acceleration;
Tcorr＝kp*Δαfiltered
wherein k ispAs a torque gain, kpThe specific value needs to be obtained by debugging on site, and the obtaining mode is mature, so that the detailed description is omitted in this embodiment.
When actual angular acceleration αrGreater than ideal angular acceleration αeWhen the motor rotates at a speed which causes the motor to generate acceleration vibration, a negative anti-shake torque is output, so kpShould be negative, otherwise kpPositive values. Finally compensating the anti-shake torque TcorrAnd amplitude limiting is carried out to obtain the final anti-shake compensation torque.
Step 6: the method comprises the steps of obtaining a required torque through a VCU signal of a vehicle controller, then combining an anti-shake compensation torque and the required torque to obtain a motor control torque, transmitting the motor control torque to a motor controller, and finishing anti-shake control of the motor of the electric vehicle with shake suppression.
The embodiment also relates to a motor control device, which is connected with an existing electric vehicle motor 9, and the structure of the motor control device is shown in fig. 2, and the motor control device comprises a first data acquisition module 1, a first filter 2, a second filter 3, a main controller 4, a second data acquisition module 5, a memory 6, a motor controller 7 and a power supply 8. The first data acquisition module 1 and the motor controller 7 are respectively connected with a motor 9 of the electric automobile. The first data acquisition module 1, the first filter 2 and the second filter 3 are sequentially connected, and the first data acquisition module 1, the first filter 2, the second filter 3, the second data acquisition module 5, the memory 6 and the motor controller 7 are respectively connected with the main controller 4. The main controller 4 and the motor controller 7 are respectively connected with a power supply 8.
The motor control method in this embodiment is embedded in the main controller 4, and is used to realize motor control with jitter suppression.
In this embodiment, the first data acquisition module 1 is specifically a rotation speed sensor, and the second data acquisition module 5 is specifically a vehicle control unit VCU.
The first filter 2 and the second filter 3 are both low-pass filters, wherein the cut-off frequency of the first filter 2 is 30Hz, and the cut-off frequency of the second filter 3 is 2 Hz.
The power supply 8 in this embodiment is a power battery.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A motor control method of an electric vehicle with jitter suppression is characterized by comprising the following steps:
step 1: acquiring a motor rotating speed signal of the electric automobile;
step 2: filtering the rotating speed of the motor, filtering sampling noise and obtaining the actual rotating speed of the motor; meanwhile, the rotating speed of the motor is filtered, and the fluctuation of the rotating speed is filtered to obtain the ideal rotating speed of the motor;
and step 3: calculating the actual angular acceleration and the ideal angular acceleration of the motor;
and 4, step 4: calculating an angular acceleration jitter component;
and 5: filtering the angular acceleration shaking component, and then calculating anti-shaking compensation torque according to the filtered angular acceleration shaking component;
step 6: the vehicle control unit VCU obtains the required torque, then combines the anti-shake compensation torque and the required torque to obtain the motor control torque, and transmits the motor control torque to the motor controller, so that the anti-shake control of the motor of the electric vehicle with shake suppression is completed.
2. The method for controlling the motor of the electric vehicle with the jitter suppression function according to claim 1, wherein the step 2 specifically comprises:
performing low-pass filtering on the motor rotating speed MotSpdRaw acquired in the step 1, filtering out sampling noise, and obtaining the actual rotating speed MotSpdFiltered of the motor;
and meanwhile, low-pass filtering is carried out on the motor rotating speed MotSpdRaw acquired in the step 1, fluctuation in the rotating speed is filtered, and the ideal rotating speed MotSpdExpected of the motor is obtained.
3. The method for controlling the motor of the electric vehicle with the jitter suppression function according to claim 1, wherein the actual angular acceleration α of the motor in the step 3 isrThe calculation method comprises the following steps:
wherein MotSpdFiltered is the actual rotating speed of the motor in the sampling period; MotSpdFilterLast is the actual rotating speed of the motor in the last sampling period; t issIs the sampling period.
4. The method for controlling the motor of the electric vehicle with the jitter suppression function according to claim 1, wherein the motor ideal angular acceleration α in the step 3 is obtainedeThe calculation method comprises the following steps:
wherein MotSpdExpected is the ideal rotating speed of the motor in the sampling period; MotSpdExpectedLast is the ideal rotating speed of the motor in the previous period; t issIs the sampling period.
5. The method for controlling the motor of the electric vehicle with the shake suppression function according to claim 1, wherein the method for calculating the shake component Δ α of the angular acceleration in the step 4 comprises:
Δα＝αr-αe
wherein, αrα being actual angular accelerationeIs the ideal angular acceleration.
6. The method for controlling the motor of the electric vehicle with the jitter suppression function according to claim 1, wherein the step 5 specifically comprises:
low-pass filtering the angular acceleration shaking component delta α to obtain a filtered angular acceleration shaking component delta αfilteredThen calculating the anti-shake compensation torque TcorrThe specific calculation method comprises the following steps:
Tcorr＝kp*Δαfiltered
wherein k ispIs the torque gain.
7. An electric vehicle motor control device using the electric vehicle motor control method with jitter suppression according to claim 1, the device being connected to an existing electric vehicle motor (9), characterized by comprising a first data acquisition module (1), a first filter (2), a second filter (3), a main controller (4), a second data acquisition module (5), a memory (6), a motor controller (7) and a power supply (8); the first data acquisition module (1) and the motor controller (7) are respectively connected with a motor (9); (ii) a The first data acquisition module (1), the first filter (2) and the second filter (3) are connected in sequence; the first data acquisition module (1), the first filter (2), the second filter (3), the second data acquisition module (5), the memory (6) and the motor controller (7) are respectively connected with the main controller (4); the main controller (4) and the motor controller (7) are respectively connected with a power supply (8).
8. A motor control device according to claim 7, characterized in that the first data acquisition module (1) is a rotational speed sensor; the second data acquisition module (5) is a VCU (vehicle control unit).
9. A motor control device according to claim 7, characterized in that the first filter (2) and the second filter (3) are low-pass filters.
10. A motor control device according to claim 7, characterized in that the power source (8) is a power battery.
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| CN202010602493.1A CN111634197B (en) | 2020-06-29 | 2020-06-29 | Electric automobile motor control method and control device with jitter suppression function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112356683A (en) * | 2020-11-10 | 2021-02-12 | 深圳市英威腾电动汽车驱动技术有限公司 | Anti-shaking method, device and equipment based on electric automobile and storage medium |
| CN113415173A (en) * | 2021-06-04 | 2021-09-21 | 浙江零跑科技股份有限公司 | New energy automobile shake suppression control method based on LPF-HPF rotating speed filtering |
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