CN113002318B - Control method and control device for electromechanical dual-source auxiliary drive motor system - Google Patents

Control method and control device for electromechanical dual-source auxiliary drive motor system Download PDF

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Publication number
CN113002318B
CN113002318B CN201911316670.3A CN201911316670A CN113002318B CN 113002318 B CN113002318 B CN 113002318B CN 201911316670 A CN201911316670 A CN 201911316670A CN 113002318 B CN113002318 B CN 113002318B
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value
drive motor
auxiliary drive
current
power generation
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CN113002318A (en
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汪伟
彭再武
熊维富
何亮
陈慧民
杨洪波
梁松
胡其丰
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CRRC Electric Vehicle Co Ltd
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CRRC Electric Vehicle Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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

Abstract

The application provides a control method and a control device of an electromechanical double-source auxiliary drive motor system, the control method combines the auxiliary drive motor system with the operation of the whole vehicle, and realizes the self power generation function by recycling mechanical energy under the condition of deep mechanical braking of the vehicle, thereby greatly reducing the consumption of a power battery of the whole vehicle, and the larger the hydraulic flow during the mechanical braking of the vehicle is, the larger the rotating speed of the auxiliary drive motor is, and the larger the power generation current is.

Description

Control method and control device for electromechanical dual-source auxiliary drive motor system
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method and a control device of an electromechanical dual-source auxiliary drive motor system.
Background
With the continuous development of science and technology, various automobiles are widely applied to daily life and work of people, and great convenience is brought to the life of people.
An auxiliary driving motor in the existing electric automobile belongs to an auxiliary power part of the electric automobile and is mainly used for the aspects of steering wheel driving, compressed gas, water cooling assistance and the like.
The auxiliary driving motor is basically in a standby running state in the running process of the vehicle because the auxiliary driving motor can relate to the running safety; in addition, the conventional auxiliary drive motor can only obtain electric energy from the power battery of the whole vehicle, so that the consumption of the power battery of the whole vehicle is large.
Disclosure of Invention
In view of the above, in order to solve the above problems, the present invention provides a control method and a control device for an electromechanical dual-source auxiliary drive motor system, and the technical scheme is as follows:
a control method of an electromechanical dual-source auxiliary drive motor system comprises the following steps:
receiving a power generation control instruction under the working condition of deep mechanical braking of the vehicle;
estimating the estimated value of the rotating speed of the current auxiliary driving motor;
obtaining brake hydraulic energy under the condition of deep braking of the vehicle;
obtaining the maximum current value of power generation according to the brake hydraulic energy and the performance parameters of the auxiliary drive motor system;
obtaining a generating current instruction value according to the maximum current value and the rotating speed estimated value;
and controlling the power generation current of the auxiliary drive motor system according to the power generation current instruction value.
Preferably, in the above control method, the obtaining a maximum current value of power generation according to the brake hydraulic energy and the performance parameter of the auxiliary drive motor system includes:
evaluating mechanical power according to the brake hydraulic energy;
acquiring the maximum current capacity value and the power generation utilization efficiency of the auxiliary drive motor system;
and calculating the maximum current value according to the mechanical power, the maximum current capacity value and the power generation utilization efficiency.
Preferably, in the above control method, the obtaining a generation current command value based on the maximum current value and the estimated rotation speed value includes:
obtaining a rotating speed-current curve according to the maximum current value and the maximum rotating speed value;
and obtaining a generating current instruction value by combining the rotating speed-current curve according to the rotating speed estimated value.
Preferably, in the control method, the controlling the auxiliary drive motor system to generate power in accordance with the generated current command value includes:
and carrying out dq axis current closed-loop control according to the generating current instruction value so as to control the generating current of the auxiliary drive motor system.
Preferably, in the control method, the receiving of the power generation control command includes:
and receiving the power generation control instruction through CAN communication of the vehicle.
A control device for an electromechanical dual-source auxiliary drive motor system, the control device comprising:
the receiving module is used for receiving a power generation control instruction under the working condition of deep mechanical braking of the vehicle;
the estimation module is used for estimating the estimated value of the rotating speed of the current auxiliary drive motor;
the acquisition module is used for acquiring brake hydraulic energy under the condition of deep braking of the vehicle;
the first obtaining module is used for obtaining the maximum current value of power generation according to the brake hydraulic energy and the performance parameters of the auxiliary drive motor system;
the second obtaining module is used for obtaining a generating current instruction value according to the maximum current value and the rotating speed estimated value;
and the control module is used for controlling the power generation current of the auxiliary drive motor system according to the power generation current instruction value.
Preferably, in the above control apparatus, the first obtaining module is specifically configured to:
evaluating mechanical power according to the brake hydraulic energy;
acquiring the maximum current capacity value and the power generation utilization efficiency of the auxiliary drive motor system;
and calculating the maximum current value according to the mechanical power, the maximum current capacity value and the power generation utilization efficiency.
Preferably, in the above control device, the second obtaining module is specifically configured to:
obtaining a rotating speed-current curve according to the maximum current value and the maximum rotating speed value;
and obtaining a generating current instruction value by combining the rotating speed-current curve according to the rotating speed estimated value.
Preferably, in the above control device, the control module is specifically configured to:
and carrying out dq axis current closed-loop control according to the generating current instruction value so as to control the generating current of the auxiliary drive motor system.
Preferably, in the above control device, the receiving module is specifically configured to:
and receiving the power generation control instruction through CAN communication of the vehicle.
Compared with the prior art, the invention has the following beneficial effects:
the control method combines the auxiliary drive motor system with the operation of the whole vehicle, realizes the self power generation function by recycling the mechanical energy under the condition of deep mechanical braking of the vehicle, greatly reduces the consumption of a power battery of the whole vehicle, and increases the higher the hydraulic flow during the mechanical braking of the vehicle, the higher the rotating speed of the auxiliary drive motor, and the higher the power generation current.
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 structural diagram of an electromechanical dual-source auxiliary drive motor system according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a control method of an electromechanical dual-source auxiliary drive motor system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a speed-current curve according to an embodiment of the present invention;
fig. 4 is an experimental data diagram of a control method of an electromechanical dual-source auxiliary drive motor system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control device of an electromechanical dual-source auxiliary drive motor system according to an embodiment of the present invention.
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 order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an electromechanical dual-source auxiliary drive motor system according to an embodiment of the present invention, which mainly includes an auxiliary drive motor controller, an auxiliary drive motor, a load, and a mechanical brake system.
The auxiliary driving motor adopts electric energy as a power source to enter an operation working condition to drive the operation of loads such as a steering pump, a compressor and the like.
When the electric automobile gives a depth brake pedal signal, the auxiliary drive motor utilizes mechanical energy as a power source to enter a power generation working condition so as to repeatedly utilize the braking energy of the automobile.
Firstly, the operation mode of the auxiliary drive motor system is briefly explained when the automobile normally operates.
The auxiliary drive motor controller receives the control instruction, controls the auxiliary drive motor to start and enters an operation condition;
an observer algorithm module in the auxiliary drive motor controller estimates the rotating speed of the auxiliary drive motor;
adjusting a driving current instruction value of the auxiliary drive motor through the rotating speed of the auxiliary drive motor and a rotating speed instruction value contained in the control instruction;
and carrying out closed-loop control on the drive current instruction value and other parameters to control the output torque of the auxiliary drive motor so as to control the operation of the load.
When the electric automobile emergency brake enters deep mechanical braking, namely the core technical scheme disclosed by the application, the detailed explanation is provided below.
Referring to fig. 2, fig. 2 is a schematic flowchart of a control method of an electromechanical dual-source auxiliary drive motor system according to an embodiment of the present invention.
The control method is applied to an auxiliary drive motor controller, and comprises the following steps:
s101: and receiving a power generation control command under the working condition of deep mechanical braking of the vehicle.
In the step, when the vehicle is converted into the working condition of deep mechanical braking from the normal running state, the auxiliary drive motor controller receives the power generation control instruction through the CAN communication of the vehicle, and the auxiliary drive motor is immediately switched to the power generation running working condition.
S102: and estimating the estimated value of the rotating speed of the current auxiliary driving motor.
In the step, an observer algorithm module in the auxiliary drive motor controller is also adopted to estimate the estimated value of the rotating speed of the auxiliary drive motor in real time, and the estimated value is determined by the hydraulic flow of the mechanical brake.
S103: and obtaining the brake hydraulic energy under the condition of deep mechanical braking of the vehicle.
In this step, the brake hydraulic energy represents the hydraulic flow when the vehicle is mechanically braked.
S104: and obtaining the maximum current value of the power generation according to the brake hydraulic energy and the performance parameters of the auxiliary drive motor system.
In this step, the mechanical power is evaluated according to the braking hydraulic energy;
acquiring a maximum current capacity value and power generation utilization efficiency of an auxiliary drive motor controller in the auxiliary drive motor system;
and calculating the maximum current value according to the mechanical power, the maximum current capacity value and the power generation utilization efficiency.
It should be noted that the performance parameters of the auxiliary drive motor system include, but are not limited to, the maximum current capacity value and the power generation utilization efficiency of the auxiliary drive motor controller in the auxiliary drive motor system.
S105: and obtaining a generating current instruction value according to the maximum current value and the rotating speed estimated value.
In this step, referring to fig. 3, fig. 3 is a schematic diagram of a rotation speed-current curve according to the maximum value according to an embodiment of the present inventionCurrent value i q_max And a maximum rotation speed value omega r_max Obtaining a rotating speed-current curve;
and obtaining a generating current instruction value by combining the rotating speed-current curve according to the rotating speed estimated value.
The maximum rotational speed value is here set to a constant rotational speed of the auxiliary drive motor in the case of normal operation, for example, the auxiliary drive motor is operated at a nominal rotational speed of 1000rpm, i.e., the maximum rotational speed value.
S106: and controlling the power generation current of the auxiliary drive motor system according to the power generation current instruction value.
In the step, according to the generated current instruction value, combining with some actually required parameters, carrying out dq axis current closed-loop control so as to control the generated current of the auxiliary drive motor system.
Preferably, the generated current of the sub-drive motor system is the same as the generated current command value.
Referring to fig. 4, fig. 4 is an experimental data chart of a control method of an electromechanical dual-source auxiliary drive motor system according to an embodiment of the present invention, where parameter errors of each item of data are within an allowable range.
Wherein, I d 、I q Representing the feedback value of the dq-axis current of the auxiliary drive motor, I d_ref 、I q_ref Indicating the auxiliary drive motor dq-axis current command value.
According to the control method, the auxiliary drive motor system is combined with the operation of the whole vehicle, the mechanical energy under the condition of deep mechanical braking of the vehicle is repeatedly utilized, the self power generation function is realized, the consumption of a power battery of the whole vehicle is greatly reduced, and the larger the hydraulic flow during the mechanical braking of the vehicle is, the larger the rotating speed of the auxiliary drive motor is, the larger the generated current is.
Further, based on all the above embodiments of the present invention, in another embodiment of the present invention, a control device of an electromechanical dual-source auxiliary drive motor system is further provided, referring to fig. 5, and fig. 5 is a schematic structural diagram of the control device of the electromechanical dual-source auxiliary drive motor system provided in the embodiment of the present invention.
The control device includes:
the receiving module is used for receiving a power generation control instruction under the working condition of deep mechanical braking of the vehicle;
the estimation module is used for estimating the estimated value of the rotating speed of the current auxiliary drive motor; it should be noted that the estimation module is embodied as an observer.
The acquisition module is used for acquiring brake hydraulic energy under the condition of deep mechanical braking of the vehicle;
the first obtaining module is used for obtaining the maximum current value of power generation according to the brake hydraulic energy and the performance parameters of the auxiliary drive motor system;
the second obtaining module is used for obtaining a generating current instruction value according to the maximum current value and the rotating speed estimated value;
and the control module is used for controlling the power generation current of the auxiliary drive motor system according to the power generation current instruction value.
Further, the first obtaining module is specifically configured to:
evaluating mechanical power according to the brake hydraulic energy;
acquiring the maximum current capacity value and the power generation utilization efficiency of the auxiliary drive motor system;
and calculating the maximum current value according to the mechanical power, the maximum current capacity value and the power generation utilization efficiency.
Further, the second obtaining module is specifically configured to:
obtaining a rotating speed-current curve according to the maximum current value and the maximum rotating speed value;
and obtaining a generating current instruction value by combining the rotating speed-current curve according to the rotating speed estimated value.
Further, the control module is specifically configured to:
and carrying out dq axis current closed-loop control according to the generating current instruction value so as to control the generating current of the auxiliary drive motor system.
Further, the receiving module is specifically configured to:
and receiving the power generation control instruction through CAN communication of the vehicle.
It should be noted that the principle of a control device provided by the embodiment of the present invention is the same as that of the control method provided by the above embodiment, and details are not repeated here.
The detailed description of the control method and the control device of the electromechanical dual-source auxiliary drive motor system provided by the invention is provided above, and a specific example is applied in the description to explain the principle and the implementation of the invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It should be noted that, in this specification, each embodiment is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same as and similar to each other in each embodiment may be referred to. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, 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 or 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 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 control method of an electromechanical dual-source auxiliary drive motor system is applied to an auxiliary drive motor controller, and comprises the following steps:
receiving a power generation control instruction under the working condition of deep mechanical braking of the vehicle;
estimating the estimated value of the rotating speed of the current auxiliary driving motor;
obtaining brake hydraulic energy under the condition of deep mechanical braking of the vehicle;
obtaining the maximum current value of power generation according to the brake hydraulic energy and the performance parameters of the auxiliary drive motor system;
obtaining a generating current instruction value according to the maximum current value and the rotating speed estimated value;
and controlling the power generation current of the auxiliary drive motor system according to the power generation current instruction value.
2. The control method according to claim 1, wherein the obtaining of the maximum current value of the power generation depending on the brake hydraulic energy and the performance parameter of the auxiliary drive motor system includes:
evaluating mechanical power according to the brake hydraulic energy;
acquiring the maximum current capacity value and the power generation utilization efficiency of the auxiliary drive motor system;
and calculating the maximum current value according to the mechanical power, the maximum current capacity value and the power generation utilization efficiency.
3. The control method according to claim 1, wherein said obtaining a generation current command value based on the maximum current value and the estimated rotation speed value includes:
obtaining a rotating speed-current curve according to the maximum current value and the maximum rotating speed value;
and obtaining a generating current instruction value by combining the rotating speed-current curve according to the rotating speed estimated value.
4. The control method according to claim 1, wherein the controlling the auxiliary drive motor system to generate power in accordance with the generated current command value includes:
and carrying out dq axis current closed-loop control according to the generating current instruction value so as to control the generating current of the auxiliary drive motor system.
5. The control method according to claim 1, wherein the receiving of the power generation control instruction includes:
and receiving the power generation control instruction through CAN communication of the vehicle.
6. The utility model provides a controlling means of electromechanical two source auxiliary drive motor system which characterized in that, the device is applied to auxiliary drive motor controller, controlling means includes:
the receiving module is used for receiving a power generation control instruction under the working condition of deep mechanical braking of the vehicle;
the estimation module is used for estimating the estimated value of the rotating speed of the current auxiliary drive motor;
the acquisition module is used for acquiring brake hydraulic energy under the condition of deep mechanical braking of the vehicle;
the first obtaining module is used for obtaining the maximum current value of power generation according to the brake hydraulic energy and the performance parameters of the auxiliary drive motor system;
the second obtaining module is used for obtaining a generating current instruction value according to the maximum current value and the rotating speed estimated value;
and the control module is used for controlling the power generation current of the auxiliary drive motor system according to the power generation current instruction value.
7. The control device according to claim 6, wherein the first obtaining module is specifically configured to:
evaluating mechanical power according to the brake hydraulic energy;
acquiring the maximum current capacity value and the power generation utilization efficiency of the auxiliary drive motor system;
and calculating the maximum current value according to the mechanical power, the maximum current capacity value and the power generation utilization efficiency.
8. The control device according to claim 6, wherein the second obtaining module is specifically configured to:
obtaining a rotating speed-current curve according to the maximum current value and the maximum rotating speed value;
and obtaining a generating current instruction value by combining the rotating speed-current curve according to the rotating speed estimated value.
9. The control device of claim 6, wherein the control module is specifically configured to:
and carrying out dq axis current closed-loop control according to the generating current instruction value so as to control the generating current of the auxiliary drive motor system.
10. The control device according to claim 6, wherein the receiving module is specifically configured to:
and receiving the power generation control instruction through CAN communication of the vehicle.
CN201911316670.3A 2019-12-19 2019-12-19 Control method and control device for electromechanical dual-source auxiliary drive motor system Active CN113002318B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102092307B (en) * 2011-01-19 2012-12-05 重庆大学 CVT (Continuously Variable Transmission) drive regulation system for pure electric vehicle
JP5866817B2 (en) * 2011-06-24 2016-02-24 株式会社アドヴィックス Brake device for vehicle
CN105074232B (en) * 2013-05-24 2017-09-05 日立建机株式会社 Engineering machinery
CN104626958A (en) * 2015-01-29 2015-05-20 深圳市索阳新能源科技有限公司 High-power solar intelligent hybrid power automobile
CN107351670B (en) * 2017-08-02 2020-10-16 李振河 Multi-energy hybrid power energy-saving vehicle
CN108365676B (en) * 2018-02-23 2020-08-28 阳光电源股份有限公司 Emergency power supply control method and device for high-speed power supply fault of electric automobile
CN109624723B (en) * 2018-11-07 2020-11-17 吉利汽车研究院（宁波）有限公司 Energy recovery control method and device for hybrid electric vehicle

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