CN113472243B - Synchronous control method and system for rotating speeds of coaxial double motors - Google Patents
Synchronous control method and system for rotating speeds of coaxial double motors Download PDFInfo
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- CN113472243B CN113472243B CN202110700331.6A CN202110700331A CN113472243B CN 113472243 B CN113472243 B CN 113472243B CN 202110700331 A CN202110700331 A CN 202110700331A CN 113472243 B CN113472243 B CN 113472243B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- 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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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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
- Y02T10/64—Electric machine technologies 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
- 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)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a synchronous control method and a synchronous control system for rotating speeds of coaxial double motors, which are used for controlling a left wheel end motor and a right wheel end motor which respectively drive two wheels on the same shaft, wherein the left wheel end motor and the right wheel end motor respectively synchronously execute the following steps: obtaining the current respective states of the wheel end motors according to the actual rotation speed of the motors and the expected rotation speed of the motors; updating the target rotating speed of the wheel end motor according to the current state of the wheel end motor and the rotating speed slope required value; judging whether the target rotating speed of the motor exceeds a motor rotating speed limiting value, and if so, responding to the motor rotating speed limiting value; otherwise, torque arbitration output is carried out.
Description
Technical Field
The invention belongs to the technical field of driving systems, and particularly relates to a coaxial double-motor rotating speed synchronous control method and system based on a double-motor controller.
Background
The independent driving control of four wheels in a new energy passenger car is an important technical direction of a driving system, a single-to-single hardware scheme is adopted for a motor and an inverter in the existing control, the problem of the coordination of coaxial double motors in a full life cycle needs to be solved in the four-wheel independent control, namely, when two motors respectively drive two wheels on one shaft of the car, the problem of the coordination of the rotating speeds under different working conditions can be the same requirement speed, and the problem of the coordination of the rotating speeds can be responded when the rotating speeds are different. When the whole vehicle system is on a high-speed or complex adhesive pavement, the whole vehicle control cooperation provides high standard requirements for communication, and the stability of the whole vehicle under complex working conditions and limit working conditions is difficult to ensure on the basis of functional design due to the interaction of the driving system state and the whole vehicle state.
Disclosure of Invention
The invention aims to: in order to solve the problem of the rotation speed synergy of the coaxial double motors under the four-wheel independent control mode under the complex road surface condition, the invention provides a coaxial double-motor rotation speed synchronous control method and system based on a master-slave architecture of a double-motor controller.
The technical scheme is as follows: a synchronous control method of the rotational speed of coaxial double motors, respectively drive the left and right wheel end motors of two wheels on the coaxial, respectively and synchronously execute the following steps:
step 1: obtaining the current respective states of the wheel end motors according to the actual rotation speed of the motors and the expected rotation speed of the motors;
step 2: updating the target rotating speed of the wheel end motor according to the current state of the wheel end motor and the rotating speed slope required value;
step 3: judging whether the target rotating speed of the motor exceeds a motor rotating speed limiting value, and if so, responding to the motor rotating speed limiting value; otherwise, executing the step 4;
step 4: and judging whether the required torque corresponding to the target rotating speed of the motor exceeds a motor torque response limit value, if so, taking the motor torque response limit value as an execution value, otherwise, taking the required torque corresponding to the target rotating speed of the motor as an execution value, and taking the motor torque response limit value as a calibration value.
Further, before executing step 1, the method further comprises the following steps:
collecting the actual motor rotation speed of a wheel end motor;
and (3) judging whether the actual rotating speed of the motor exceeds a motor rotating speed limiting value, if so, setting the motor torque response limiting value to 0, otherwise, executing the step (1).
Further, the step 1 specifically includes:
if the expected rotating speed of the motor is larger than the actual rotating speed of the motor, the wheel end motor is in a slip state;
if the expected rotating speed of the motor is smaller than the actual rotating speed of the motor, the wheel end motor is in a slipping state;
if the expected rotating speed of the motor is equal to the actual rotating speed of the motor, the wheel end motor is in a normal state.
Further, the step 2 specifically includes:
judging whether the difference value between the actual rotating speed of the motor and the expected rotating speed of the motor is larger than a rotating speed slope required value, if so, updating the target rotating speed of the motor by taking the rotating speed slope required value as a single adjustment step length on the basis of the actual rotating speed of the motor/the expected rotating speed of the motor; otherwise, the motor target rotating speed is updated by adopting the motor expected rotating speed.
Furthermore, on the basis of the actual rotation speed of the motor/the expected rotation speed of the motor, the step length is adjusted for a single time by taking the rotation speed slope requirement value, and the method for updating the target rotation speed of the motor specifically comprises the following steps:
if the expected rotating speed of the motor is larger than the actual rotating speed of the motor, updating the target rotating speed of the motor by adopting the sum of the actual rotating speed of the motor and the rotating speed slope required value;
if the expected rotating speed of the motor is smaller than the actual rotating speed of the motor, the target rotating speed of the motor is updated by the difference between the actual rotating speed of the motor and the rotating speed slope required value.
The invention also discloses a coaxial double-motor rotating speed synchronous control system which is used for synchronously driving two wheels on a coaxial line and comprises a double-motor controller, a left wheel end motor for driving a left wheel and a right wheel end motor for driving a right wheel, wherein the left wheel and the right wheel are positioned on the same shaft, and the left wheel end motor and the right wheel end motor are controlled by the double-motor controller; the double-motor controller is internally provided with a coaxial double-motor rotating speed synchronous control method.
The beneficial effects are that: compared with the prior art, the invention has the following advantages:
(1) When the whole vehicle runs, the wheel end is in slip and slippage which are starting points of unstable states of the vehicle, and the invention controls and eliminates the unstable states when the vehicle is in the two states, so that the key problem of ensuring stable running is solved;
(2) The invention adopts a double-motor control method to realize high-precision active control of shaft end output torque under the working condition, and changes the precision and response speed of shaft end torque distribution from passive uncontrollable to active controllable;
(3) The invention realizes the redistribution of the coaxial torque response by the redistribution of the drive cooperative control right, namely the redistribution of the coaxial torque response by independently controlling the left motor and the right motor according to the actual state of the left motor and the right motor, and solves the problem of the rotation speed cooperation of the coaxial double motors under the condition of complex pavement.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a software system scheme schematic;
FIG. 3 is a schematic diagram of a hardware system scheme of the system of the present invention;
fig. 4 is a schematic diagram of a communication scheme.
Detailed Description
The technical scheme of the invention is further described with reference to the accompanying drawings and the embodiments.
In the four-wheel independent control mode, the embodiment adopts a control target for supporting the control electronic differential decomposition of the whole vehicle, and the dual-motor control motor is used for carrying out the response of the coaxial power system in a cooperative mode. A method for synchronously controlling the rotational speeds of two coaxial motors according to this embodiment will now be described with reference to fig. 1 and 2, wherein the method is used for controlling the motors at the left and right wheel ends for respectively driving two wheels coaxially positioned, and the motors at the left and right wheel ends synchronously perform the following steps:
s100: collecting the actual rotating speed of a motor of the wheel end motor and the expected rotating speed of the motor of the wheel end motor; and judging whether the actual rotation speed of the motor exceeds a motor rotation speed limit value, if so, setting the motor torque response limit value to 0, and if so, setting the motor torque response limit value to 0, otherwise, executing S200.
S200: updating left and right wheel end states based on an actual motor speed and an expected motor speed of the wheel end motor, the wheel end states including, but not limited to, slip rate; the method comprises the following steps:
when the expected rotating speed of the motor is larger than the actual rotating speed of the motor, dividing the actual rotating speed of the motor by the expected rotating speed of the motor to obtain the slip rate, wherein the wheel end motor is in a slip state;
when the expected rotating speed of the motor is smaller than the actual rotating speed of the motor, dividing the actual rotating speed of the motor by the expected rotating speed of the motor to obtain the slip rate, wherein the wheel end motor is in a slip state;
the states of the two motors are not necessarily the same, so each motor needs to independently perform the above-mentioned step calculation.
S300: calibrating the rotating speed of the slope according to the load conditions of the left wheel end and the right wheel end of the whole vehicle to obtain a rotating speed slope requirement value;
s400: updating the target rotating speed of the wheel end motor according to the current state of the wheel end motor and the rotating speed slope required value; the method comprises the following steps:
judging whether the difference value between the actual rotating speed of the motor and the expected rotating speed of the motor is larger than a rotating speed slope required value, if not, updating the target rotating speed of the motor by adopting the expected rotating speed of the motor, otherwise, when the wheel end is in a slipping or sliding state, updating the rotating speed target value of the wheel end according to the difference value between the expected rotating speed of the motor and the actual rotating speed of the motor, wherein the upper limit and the lower limit of single updating adjustment are limited by the rotating speed slope, namely, when the expected rotating speed of the motor is larger than the actual rotating speed of the motor, updating the target rotating speed of the motor by adopting the sum of the actual rotating speed of the motor and the rotating speed slope required value; and when the expected rotating speed of the motor is smaller than the actual rotating speed of the motor, updating the target rotating speed of the motor by adopting the difference between the actual rotating speed of the motor and the rotating speed slope required value.
S500: judging whether the target rotating speed of the motor exceeds a motor rotating speed limiting value, and if so, responding to the motor rotating speed limiting value; otherwise, executing S600 to perform torque arbitration output;
s600: and judging whether the required torque corresponding to the target rotating speed of the motor exceeds a motor torque response limit value, if so, taking the motor torque response limit value as an execution value, otherwise, taking the required torque corresponding to the target rotating speed of the motor as an execution value, and taking the motor torque response limit value as a calibration value.
The hardware design is now performed based on the control method described above, and the hardware design scheme of this embodiment will now be described with reference to fig. 3 and 4.
Under the four-wheel independent control mode, the coaxial double-motor driving adopts a hardware scheme of a double-motor controller, the double-motor controller can meet the dragging of a coaxial left double motor and a coaxial right double motor, and the chip selection scheme can adopt, but is not limited to, two groups of English flying 27X chips for control hardware integration.
When the whole vehicle system is on a high-speed or complex adhesive pavement, the whole vehicle control coordination puts forward a high-standard requirement for communication, so that the communication scheme of the embodiment is as follows: the whole vehicle control message and CAN1 of two chips adopt a common network scheme, the two chips adopt CAN2 to carry out inter-chip communication, namely, a motor controller acquires actual motor rotation speeds of the left and right wheel end motors through rotation signals, and receives expected motor rotation speeds of the left and right wheel end motors through CAN.
Claims (3)
1. A synchronous control method for the rotation speed of a coaxial double motor is characterized in that: the control device is used for controlling a left wheel end motor and a right wheel end motor which respectively drive two wheels on the same shaft, and the left wheel end motor and the right wheel end motor respectively synchronously execute the following steps:
step 1: obtaining the current respective states of the wheel end motors according to the actual rotation speed of the motors and the expected rotation speed of the motors; if the expected rotating speed of the motor is larger than the actual rotating speed of the motor, the wheel end motor is in a slip state; if the expected rotating speed of the motor is smaller than the actual rotating speed of the motor, the wheel end motor is in a slipping state; if the expected rotating speed of the motor is equal to the actual rotating speed of the motor, the wheel end motor is in a normal state;
step 2: updating the target rotating speed of the wheel end motor according to the current state of the wheel end motor and the rotating speed slope required value; the method specifically comprises the following steps:
calibrating the rotating speed of the slope according to the load conditions of the left wheel end and the right wheel end of the whole vehicle to obtain a rotating speed slope requirement value;
judging whether the difference value between the actual rotating speed of the motor and the expected rotating speed of the motor is larger than a rotating speed slope required value, if so, updating the target rotating speed of the motor by taking the rotating speed slope required value as a single adjustment step length on the basis of the actual rotating speed of the motor/the expected rotating speed of the motor; otherwise, updating the target rotating speed of the motor by adopting the expected rotating speed of the motor;
based on the actual rotation speed of the motor/the expected rotation speed of the motor, the step length is adjusted for a single time by taking a rotation speed slope requirement value, and the target rotation speed of the motor is updated, and the method specifically comprises the following steps:
if the expected rotating speed of the motor is larger than the actual rotating speed of the motor, updating the target rotating speed of the motor by adopting the sum of the actual rotating speed of the motor and the rotating speed slope required value;
if the expected rotating speed of the motor is smaller than the actual rotating speed of the motor, updating the target rotating speed of the motor by adopting the difference between the actual rotating speed of the motor and the rotating speed slope required value;
step 3: judging whether the target rotating speed of the motor exceeds a motor rotating speed limiting value, and if so, responding to the motor rotating speed limiting value; otherwise, executing the step 4;
step 4: and judging whether the required torque corresponding to the target rotating speed of the motor exceeds a motor torque response limit value, if so, taking the motor torque response limit value as an execution value, otherwise, taking the required torque corresponding to the target rotating speed of the motor as an execution value, and taking the motor torque response limit value as a calibration value.
2. The coaxial double-motor rotation speed synchronous control method according to claim 1, characterized by comprising the following steps: before executing step 1, the method further comprises the following steps:
collecting the actual motor rotation speed of a wheel end motor;
and (3) judging whether the actual rotating speed of the motor exceeds a motor rotating speed limiting value, if so, setting the motor torque response limiting value to 0, otherwise, executing the step (1).
3. The utility model provides a coaxial bi-motor rotational speed synchronous control system for synchronous drive is located two wheels on coaxial, its characterized in that: the device comprises a double-motor controller, a left wheel end motor for driving a left wheel and a right wheel end motor for driving a right wheel, wherein the left wheel and the right wheel are positioned on the same shaft, and the left wheel end motor and the right wheel end motor are controlled by the double-motor controller; the synchronous control method for the rotation speeds of the coaxial double motors according to claim 1 or 2 is arranged in the double-motor controller.
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| CN202110700331.6A CN113472243B (en) | 2021-06-23 | 2021-06-23 | Synchronous control method and system for rotating speeds of coaxial double motors |
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| CN202110700331.6A CN113472243B (en) | 2021-06-23 | 2021-06-23 | Synchronous control method and system for rotating speeds of coaxial double motors |
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