CN112693323B - Zero-crossing control method and system for motor torque - Google Patents
Zero-crossing control method and system for motor torque Download PDFInfo
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Abstract
本发明涉及永磁同步电机技术，提供了一种电机转矩的过零控制方法及系统。该方法基于预设的状态观测器实时判断车辆当前状态是否为急加速状态或者急减速状态；当判断车辆当前状态为急加速状态或者急减速状态时，判断车辆的电机输出转矩值是否小于或等于预设的过零阈值；当判断所述电机输出转矩值小于或等于所述过零阈值时，将所述电机输出转矩值的输出斜率的额定值减小。本发明可以主动识别电机转矩过零状态，从而进入转矩过零控制，使主传动齿轮缓慢贴合从动轮，达到平缓过度。
The present invention relates to permanent magnet synchronous motor technology, and provides a method and system for controlling the zero crossing of motor torque. The method determines in real time whether the current state of the vehicle is a sudden acceleration state or a sudden deceleration state based on a preset state observer; when the current state of the vehicle is determined to be a sudden acceleration state or a sudden deceleration state, it determines whether the motor output torque value of the vehicle is less than or equal to a preset zero crossing threshold; when it is determined that the motor output torque value is less than or equal to the zero crossing threshold, the rated value of the output slope of the motor output torque value is reduced. The present invention can actively identify the zero crossing state of the motor torque, thereby entering the torque zero crossing control, so that the main drive gear slowly fits the driven wheel to achieve a smooth transition.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a zero crossing control method and system for motor torque.
Background
Under the national energy saving and emission reduction number call, new energy automobiles are greatly popularized, and the automobile is increasingly popularized in electric mode. The power on the pure electric automobile is changed into a motor driving system from a traditional engine, and the zero crossing control of the motor torque is a fundamental problem which must be considered on the motor driving system for the automobile. When the driver suddenly steps on the accelerator pedal, the whole vehicle controller outputs a corresponding torque demand command to the motor driving system according to the opening of the accelerator pedal under the condition of no limitation, and the motor driving system rapidly responds and outputs corresponding torque to drive the vehicle to accelerate. When the driver decelerates suddenly, the whole vehicle controller outputs a corresponding reverse torque command to the motor control system according to the brake pedal, and the motor control system rapidly responds and outputs negative torque to decelerate the vehicle. In the switching process of rapid acceleration and rapid deceleration, due to the limitation of the manufacturing technology level of a transmission mechanism, the transmission mechanism cannot be tightly matched, a certain space is reserved between gears in the transmission process, positive and negative torque continuously and rapidly switches zero crossing points, at the moment, the vehicle is easy to shake, the collision sound of the transmission gears is accompanied, bad experience is brought to driving, and the reduction gearbox gear is collided and damaged in a gear beating manner in severe cases. The transmission mechanism is tightly matched through improving the manufacturing process, and the scheme is very difficult, huge in investment and extremely low in effect due to the limitation of the manufacturing process at the present stage, and the whole vehicle controller slows down the opening of the response accelerator pedal, namely increases the filtering time of the response accelerator pedal, and further slows down the positive and negative torque switching slope.
Disclosure of Invention
In view of the above, the present invention provides a zero-crossing control method and method for motor torque, which aims to solve the above technical problems.
To achieve the above object, the present invention provides a zero-crossing control method of motor torque, the method comprising:
judging whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state in real time based on a preset state observer;
When the current state of the vehicle is judged to be a rapid acceleration state or a rapid deceleration state, judging whether the motor output torque value of the vehicle is smaller than or equal to a preset zero crossing threshold value;
And when the motor output torque value is judged to be smaller than or equal to the zero crossing threshold value, reducing the rated value of the output slope of the motor output torque value.
Preferably, after said reducing the nominal value of the output slope of the motor output torque value, the method further comprises:
and judging whether the motor output torque value is larger than a preset zero crossing threshold value or not in real time, and controlling the output slope to be restored to the rated value when judging that the motor output torque value is larger than the zero crossing threshold value.
Preferably, the real-time judging, based on the preset state observer, whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state includes:
When the gear of the vehicle is a forward gear, calculating a first change rate of an accelerator pedal signal of the vehicle in a preset time period, and when the first change rate is greater than or equal to a first preset threshold value and when the change rate of the signal is zero when a brake pedal of the vehicle is used, judging that the current state of the vehicle is a sudden acceleration state;
and when the gear of the vehicle is a reverse gear, calculating a second change rate of an accelerator pedal signal of the vehicle in a preset time period, and when the second change rate is greater than or equal to a second preset threshold value and when the change rate of the signal is zero when the brake pedal of the vehicle is, judging that the current state of the vehicle is a sudden acceleration state.
Preferably, the real-time judging, based on the preset state observer, whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state includes:
When the gear of the vehicle is a forward gear, calculating a third change rate of a brake pedal signal of the vehicle in a preset time period, and when the third change rate is greater than or equal to a third preset threshold value and when the change rate of the signal is zero when an accelerator pedal of the vehicle is used, judging that the current state of the vehicle is a rapid deceleration state;
And when the gear of the vehicle is a reverse gear, calculating a fourth change rate of a brake pedal signal of the vehicle in a preset time period, and when the fourth change rate is larger than or equal to a fourth preset threshold value and when the change rate of the signal is zero when the accelerator pedal of the vehicle is, judging that the current state of the vehicle is a rapid deceleration state.
Preferably, the zero crossing threshold = 10% of the motor torque rating of the vehicle.
To achieve the above object, the present invention further provides a zero-crossing control system for motor torque, the system further comprising:
The first judging unit is used for judging whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state in real time based on a preset state observer;
The second judging unit is used for judging whether the motor output torque value of the vehicle is smaller than or equal to a preset zero crossing threshold value when judging that the current state of the vehicle is a sudden acceleration state or a sudden deceleration state;
and the first control unit is used for reducing the rated value of the output slope of the motor output torque value when judging that the motor output torque value is smaller than or equal to the zero crossing threshold value.
Preferably, the system further comprises:
And the second control unit is used for judging whether the motor output torque value is larger than a preset zero crossing threshold value in real time, and controlling the output slope to be restored to the rated value when judging that the motor output torque value is larger than the zero crossing threshold value.
Preferably, the real-time judging, based on the preset state observer, whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state includes:
When the gear of the vehicle is a forward gear, calculating a first change rate of an accelerator pedal signal of the vehicle in a preset time period, and when the first change rate is greater than or equal to a first preset threshold value and when the change rate of the signal is zero when a brake pedal of the vehicle is used, judging that the current state of the vehicle is a sudden acceleration state;
and when the gear of the vehicle is a reverse gear, calculating a second change rate of an accelerator pedal signal of the vehicle in a preset time period, and when the second change rate is greater than or equal to a second preset threshold value and when the change rate of the signal is zero when the brake pedal of the vehicle is, judging that the current state of the vehicle is a sudden acceleration state.
Preferably, the real-time judging, based on the preset state observer, whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state includes:
When the gear of the vehicle is a forward gear, calculating a third change rate of a brake pedal signal of the vehicle in a preset time period, and when the third change rate is greater than or equal to a third preset threshold value and when the change rate of the signal is zero when an accelerator pedal of the vehicle is used, judging that the current state of the vehicle is a rapid deceleration state;
And when the gear of the vehicle is a reverse gear, calculating a fourth change rate of a brake pedal signal of the vehicle in a preset time period, and when the fourth change rate is larger than or equal to a fourth preset threshold value and when the change rate of the signal is zero when the accelerator pedal of the vehicle is, judging that the current state of the vehicle is a rapid deceleration state.
Preferably, the zero crossing threshold = 10% of the motor torque rating of the vehicle.
According to the zero crossing control method and system for the motor torque, the speed of reducing the zero crossing point of the motor torque is optimized from the control level, so that the main transmission gear is actively and slowly attached to the engagement surface of the driven gear, and the impact is reduced. The motor controller observes the running state of the vehicle in real time, pre-judges the rapid acceleration and deceleration commands in advance, actively recognizes the zero-crossing state of the motor torque, actively enters the zero-crossing control of the torque, and controls the main transmission gear to be slowly attached to the driven wheel so as to achieve gentle transition. And then identifying the zero crossing state of the exiting torque, exiting the zero crossing control of the torque, and rapidly responding to the torque command of the whole vehicle controller to achieve free switching of the vehicle addition and the subtraction. The control layer is used for processing, so that huge cost investment such as manufacturing process improvement, equipment replacement and the like can be saved, and the problem that the acceleration and deceleration power response of the vehicle is not timely caused by the traditional control method can be solved by the active torque zero-crossing control. The scheme has strong adaptability, can achieve more accurate identification control by changing parameters according to different vehicle type projects, improves the comfort of the vehicle and reduces the failure rate of the transmission mechanism.
Drawings
FIG. 1 is a flow chart of a zero crossing control method for motor torque provided by the invention;
FIG. 2 is a schematic diagram of a zero crossing control system structure for motor torque according to the present invention;
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a flowchart of a preferred embodiment of the zero crossing control method of motor torque according to the present invention. A zero-crossing control method of motor torque as shown in fig. 1, the method comprising:
s10, judging whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state in real time based on a preset state observer;
In this embodiment, the motor controller is preconfigured with a state observer, and the state observer can detect a current vehicle gear signal of the vehicle, an opening degree and a change rate of an accelerator pedal, and an opening degree and a change rate of a brake pedal, so as to determine whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state in real time. It should be noted that, the state observer refers to a customized mathematical model with the signals obtained by calculation in this embodiment.
In one embodiment, the determining, based on the preset state observer, whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state in real time includes:
When the gear of the vehicle is a forward gear, calculating a first change rate of an accelerator pedal signal of the vehicle in a preset time period, and when the first change rate is greater than or equal to a first preset threshold value and when the change rate of the signal is zero when a brake pedal of the vehicle is used, judging that the current state of the vehicle is a sudden acceleration state;
and when the gear of the vehicle is a reverse gear, calculating a second change rate of an accelerator pedal signal of the vehicle in a preset time period, and when the second change rate is greater than or equal to a second preset threshold value and when the change rate of the signal is zero when the brake pedal of the vehicle is, judging that the current state of the vehicle is a sudden acceleration state.
The preset time period may be within 0.5 seconds, the first preset threshold may be 50% of the accelerator opening range, and the second preset threshold may be 40% -60% of the accelerator opening range.
Further, when the first rate of change is less than a first preset threshold and when the rate of change of the signal is zero at the time of a brake pedal of the vehicle, it is determined that the vehicle is in a gentle state. And when the second change rate is smaller than a second preset threshold value and when the change rate of the signal is zero when the brake pedal of the vehicle is at the time, judging that the vehicle is in a gentle state. Zero-crossing control need not be performed in the gentle state.
In one embodiment, the determining, based on the preset state observer, whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state in real time includes:
When the gear of the vehicle is a forward gear, calculating a third change rate of a brake pedal signal of the vehicle in a preset time period, and when the third change rate is greater than or equal to a third preset threshold value and when the change rate of the signal is zero when an accelerator pedal of the vehicle is used, judging that the current state of the vehicle is a rapid deceleration state;
And when the gear of the vehicle is a reverse gear, calculating a fourth change rate of a brake pedal signal of the vehicle in a preset time period, and when the fourth change rate is larger than or equal to a fourth preset threshold value and when the change rate of the signal is zero when the accelerator pedal of the vehicle is, judging that the current state of the vehicle is a rapid deceleration state.
The preset time period may be within 0.5 seconds, the third preset threshold may be 50% of the brake opening range, and the fourth preset threshold may be 40% -60% of the brake opening range.
Further, when the third rate of change is less than a third preset threshold and when the rate of change of the signal is zero at the time of the accelerator pedal of the vehicle, it is determined that the vehicle is in a gentle state. And when the fourth change rate is smaller than a fourth preset threshold value and when the change rate of the signal is zero when the accelerator pedal of the vehicle is on, judging that the vehicle is in a gentle state. Zero-crossing control need not be performed in the gentle state.
S20, when the current state of the vehicle is judged to be a rapid acceleration state or a rapid deceleration state, judging whether the motor output torque value of the vehicle is smaller than or equal to a preset zero crossing threshold value;
In this embodiment, when the current state of the vehicle is determined to be the rapid acceleration state or the rapid deceleration state, whether the motor output torque value of the vehicle is smaller than or equal to the preset zero-crossing threshold value is determined, and whether the motor is in the zero-crossing state can be determined. Further, the zero crossing threshold is 10% of the motor rated torque value of the vehicle.
Specifically, when the motor is rotating forward (e.g., the gear is a forward gear), the motor output torque value is within a range (0 to zero crossing threshold), and the vehicle is in a rapid acceleration or rapid deceleration state, the motor is determined to be in a zero crossing state. When the motor is reversed (e.g., the gear is reverse), the motor output torque is (0 to zero crossing threshold), and the vehicle is in a rapid acceleration or rapid deceleration state, the motor is determined to be in a zero crossing state.
S30, when the motor output torque value is judged to be smaller than or equal to the zero crossing threshold value, reducing the rated value of the output slope of the motor output torque value;
in this embodiment, when the current state of the vehicle is determined to be the rapid acceleration state or the rapid deceleration state, and when the output torque value of the motor is determined to be less than or equal to the zero-crossing threshold value, the motor is determined to be in the zero-crossing state, and the motor torque zero-crossing control mode is entered, at this time, the rated value of the output slope of the output torque value of the motor can be reduced, so that the main transmission gear actively and slowly engages with the engagement surface of the driven gear, and the impact is reduced. For example, the motor torque output slope is adjusted from 1:1 to 0.5:1.
In one embodiment, after the output slope of the motor output torque value is reduced, the method further comprises:
and judging whether the motor output torque value is larger than a preset zero crossing threshold value or not in real time, and controlling the output slope to be restored to the rated value when judging that the motor output torque value is larger than the zero crossing threshold value.
And after the output slope of the motor output torque value is regulated, judging whether the motor output torque value is larger than a preset zero-crossing threshold value in real time, and controlling the output slope to be restored to a rated value when judging that the motor output torque value is larger than the zero-crossing threshold value. The motor torque zero crossing control mode is exited and the motor torque output command is normally responded to, for example, by adjusting the motor torque output slope from 0.5:1 to 1:1.
The speed of the zero crossing point of the motor torque can be optimally reduced from the control layer, so that the main transmission gear is actively and slowly attached to the meshing surface of the driven gear, and the impact is reduced.
Fig. 2 is a schematic diagram of a structure of a zero-crossing control system for motor torque according to the present invention. The zero-crossing control system of the motor torque comprises:
The first judging unit is used for judging whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state in real time based on a preset state observer;
The second judging unit is used for judging whether the motor output torque value of the vehicle is smaller than or equal to a preset zero crossing threshold value when judging that the current state of the vehicle is a sudden acceleration state or a sudden deceleration state;
and the first control unit is used for reducing the rated value of the output slope of the motor output torque value when judging that the motor output torque value is smaller than or equal to the zero crossing threshold value.
In one embodiment, the system further comprises:
And the second control unit is used for judging whether the motor output torque value is larger than a preset zero crossing threshold value in real time, and controlling the output slope to be restored to the rated value when judging that the motor output torque value is larger than the zero crossing threshold value.
In one embodiment, the determining, based on the preset state observer, whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state in real time includes:
When the gear of the vehicle is a forward gear, calculating a first change rate of an accelerator pedal signal of the vehicle in a preset time period, and when the first change rate is greater than or equal to a first preset threshold value and when the change rate of the signal is zero when a brake pedal of the vehicle is used, judging that the current state of the vehicle is a sudden acceleration state;
and when the gear of the vehicle is a reverse gear, calculating a second change rate of an accelerator pedal signal of the vehicle in a preset time period, and when the second change rate is greater than or equal to a second preset threshold value and when the change rate of the signal is zero when the brake pedal of the vehicle is, judging that the current state of the vehicle is a sudden acceleration state.
In one embodiment, the determining, based on the preset state observer, whether the current state of the vehicle is a rapid acceleration state or a rapid deceleration state in real time includes:
When the gear of the vehicle is a forward gear, calculating a third change rate of a brake pedal signal of the vehicle in a preset time period, and when the third change rate is greater than or equal to a third preset threshold value and when the change rate of the signal is zero when an accelerator pedal of the vehicle is used, judging that the current state of the vehicle is a rapid deceleration state;
And when the gear of the vehicle is a reverse gear, calculating a fourth change rate of a brake pedal signal of the vehicle in a preset time period, and when the fourth change rate is larger than or equal to a fourth preset threshold value and when the change rate of the signal is zero when the accelerator pedal of the vehicle is, judging that the current state of the vehicle is a rapid deceleration state.
In one embodiment, the zero crossing threshold = 10% of the motor torque rating of the vehicle.
The embodiment of the zero-crossing control system of the motor torque of the present invention is substantially the same as the embodiment of the zero-crossing control method of the motor torque described above, and will not be described herein.
It should be noted that, the foregoing reference numerals of the embodiments of the present invention are merely for describing the embodiments, and do not represent the advantages and disadvantages of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method 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, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, apparatus, article, or method that comprises the element.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
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| CN115333415B (en) * | 2022-10-12 | 2023-01-10 | 苏州亚太精睿传动科技股份有限公司 | Control method for zero crossing of rotating speed of generator of power split-flow type hybrid gearbox |
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| CN103381810A (en) * | 2012-05-04 | 2013-11-06 | 福特环球技术公司 | Method and system for starting engine |
| CN108602452A (en) * | 2015-11-25 | 2018-09-28 | 捷豹路虎有限公司 | Controller and method for motor vehicles |
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| CN109720213B (en) * | 2017-10-30 | 2020-11-03 | 河南森源重工有限公司 | Vehicle torque control method and device |
| JP7059790B2 (en) * | 2018-05-15 | 2022-04-26 | トヨタ自動車株式会社 | Vehicle drive device and vehicle control method |
| CN109353226B (en) * | 2018-09-04 | 2021-10-08 | 南京理工大学 | A torque filter control method for pure electric vehicles |
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| CN103381810A (en) * | 2012-05-04 | 2013-11-06 | 福特环球技术公司 | Method and system for starting engine |
| CN108602452A (en) * | 2015-11-25 | 2018-09-28 | 捷豹路虎有限公司 | Controller and method for motor vehicles |
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