CN114161942A - Double-drive wheel-side switch reluctance motor driving system for miniature electric vehicle and control method - Google Patents
Double-drive wheel-side switch reluctance motor driving system for miniature electric vehicle and control method Download PDFInfo
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- CN114161942A CN114161942A CN202111400353.7A CN202111400353A CN114161942A CN 114161942 A CN114161942 A CN 114161942A CN 202111400353 A CN202111400353 A CN 202111400353A CN 114161942 A CN114161942 A CN 114161942A
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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
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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
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0009—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
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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
- B60L2240/421—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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- 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
- B60L2240/425—Temperature
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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
- B60L2240/429—Current
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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
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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
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- Transportation (AREA)
- Mechanical Engineering (AREA)
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- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
A double-drive wheel-side switch reluctance motor driving system for a miniature electric vehicle belongs to the technical field of electric vehicle driving, and comprises a main controller and two wheel-side motors; the main controller is responsible for electric energy conversion and control of the double-drive wheel-side switched reluctance motor, and the double-drive wheel-side switched reluctance motor provides power for the whole vehicle; the main controller comprises a main power unit, a DSP control unit, an electronic differential control unit and a peripheral circuit; the invention adopts the switched reluctance motor as the double-drive wheel-side motor, thereby effectively improving the energy efficiency of the whole vehicle; the whole vehicle structure is effectively simplified by adopting the electronic differential control system, so that the transmission efficiency is improved; the electronic differential system has the advantages that the master control and three-layer electronic differential control are adopted, the fault detection function is achieved, the electronic differential system is controlled more accurately, the whole system is safer, the actual vehicle running condition can be adapted, and the electronic differential system has good innovation.
Description
Technical Field
A double-drive wheel-side switch reluctance motor driving system for a miniature electric vehicle and a control method belong to the technical field of electric vehicle driving.
Background
The miniature electric automobile is one of the current research directions of the sustainable development of the electric automobile due to the advantages of energy conservation, environmental protection and miniature and small size. The wheel side motor driving is a more advanced automobile driving mode, and the traditional transmission structure is abandoned, so that the motor is directly connected with the wheels through the speed reducer, the wheel side motor driving has strong technical advantages in the aspects of transmission efficiency, control performance and the like, and the wheel side motor driving is very suitable for the energy conservation and emission reduction concept. Meanwhile, the traditional automobile motor control system mainly adopts an asynchronous motor and a permanent magnet synchronous motor as power drive, the traditional motor has the defects of large starting current, large impact on a battery, poor low-speed running performance and the like, the problems of poor climbing performance and high power consumption of the miniature electric automobile can be caused, and the permanent magnet synchronous motor needs a permanent magnet material, is poor in anti-seismic performance, is easily influenced by temperature, has the risk of demagnetization caused by high temperature or occasional short-circuit current and is slightly low in reliability. The switched reluctance motor as a novel motor has the advantages of small starting current, high starting torque, wide high-efficiency range, high power saving rate and the like, and is very suitable for the operating condition of a miniature electric automobile.
Disclosure of Invention
The invention aims to solve the problems of complex structure, high energy consumption and low reliability of a driving system of a miniature electric vehicle, and designs a driving system of a double-drive wheel-side switch reluctance motor for the miniature electric vehicle and a control method thereof.
The purpose of the invention can be realized by the following technical scheme:
a double-drive wheel-side switch reluctance motor driving system for a miniature electric vehicle is characterized by comprising a main controller and a double-drive wheel-side motor; the main controller comprises an electronic differential control unit, a DSP control unit, a main power unit, a signal acquisition unit and a peripheral circuit, and the double-drive wheel-side motor comprises two wheel-side switch reluctance motors.
The electronic differential control unit recalculates and sends the feedback signal to the DSP control unit according to the feedback signal sent by the signal acquisition unit to realize the control of the double-drive wheel-side motor to finish the actions of straight movement, turning and the like of the whole vehicle;
specifically, the electronic differential control unit adopts a total control and three-layer control strategy, an electronic differential total control module can detect the fault condition of a double-drive wheel-side motor on line after obtaining a finished automobile control signal, if no fault information exists, the finished automobile control signal is transmitted to upper-layer control, and if the fault condition exists, the finished automobile control signal is blocked, the fault information is transmitted, and the alarm is given out to stop the automobile;
the upper-layer control comprises a total driving torque calculation module (10) and a yaw moment related numerical value calculation module, wherein the total driving torque calculation module calculates the expected total driving torque T of the vehicle through a whole vehicle control instructionmThe yaw moment related numerical value calculation module is used for solving the related numerical value Q, s, and then the upper layer control transmits the calculation result to the middle layer control;
in the middle-level control, the torque optimization distribution module is used for calculating the expected torques T of the left motor and the right motorA_req，TB_reqAnd a sliding mode approach law parameter K, in order to improve the motor efficiency, the approach law parameter K and the yaw moment distribution parameter Q and s in the sliding mode control algorithm are used as real-time optimization variables, and the wheel center speed calculation module can calculate the expected yaw moment T in real time according to two values Q and s of the expected yaw moment and the sliding mode approach law parameter KA_req，TB_reqBased on the Ackerman steering model taking into account the wheel slip angle and the desired yaw moment TA_req，TB_reqObtaining the expected wheel center speed V of the left and right rear wheelsA_req，VB_reqThen the optimal desired wheel center speeds V of the left and right rear wheelsA_req，VB_reqTransmitting to a lower layer control;
in the lower layer control, the motor expected rotating speed module is based on the expected torque T of the left motor and the right motorA_req，TB_reqAnd desired wheel center velocity VA_req，VB_reqCalculating the expected rotating speed omega of the left and the right rear wheelsA_req，ωB_reqThen the current and rotating speed double closed loop control module calculates, processes and transmits the data to the DSP control unit;
the control steps of the electronic differential control unit are as follows:
s1: the whole vehicle control instruction is transmitted to an electronic differential master control module of the electronic differential control unit;
s2: the electronic differential master control module detects fault information of the double-drive wheel-side motor, if no fault information exists, a whole vehicle control signal is transmitted to an upper control area, and if a fault condition exists, the whole vehicle control signal is blocked, fault information is transmitted, and the vehicle is shut down in an alarm manner;
s3: the total driving torque calculation module of the upper control area calculates and obtains expected total driving torque T of the vehicle according to the whole vehicle control instructionm(ii) a Meanwhile, a yaw moment related value calculation module calculates a vehicle state function value Q and a sliding mode switching function value s and transmits the vehicle state function value Q and the sliding mode switching function value s to a middle-layer control area;
s4: the torque optimization distribution module of the middle-layer control area calculates expected torques T of the left motor and the right motorA_req，TB_req(ii) a Meanwhile, the wheel center speed calculation module calculates expected wheel center speeds V of the left and right rear wheelsA_req，VB_reqAnd transmitting to the lower layer control;
s5: the motor expected rotating speed module of the lower control area is used for controlling the left and right motors according to the expected torque TA_req，TB_reqDesired wheel center velocity V of the left and right rear wheelsA_req，VB_reqCalculating the expected rotating speed omega of the left and the right rear wheelsA_req，ωB_reqAnd then the driving signal is transmitted to the current rotating speed double closed-loop control module, and the current rotating speed double closed-loop control module converts the driving signal into a driving signal and transmits the driving signal to the DSP control unit.
The DSP control unit takes one TMS320F28335 as a core control chip and controls twelve paths of driving signals of the IGBT of the main power unit according to the processing signals of the signal acquisition unit and the electronic differential control signals;
the main power unit consists of 12 IGBTs, a filter capacitor, a diode and the like, and rectifies and converts the electric energy of the storage battery into an electric energy form required by the double-drive wheel-side motor according to the driving signal;
the signal acquisition unit is used for acquiring and processing a finished automobile control signal, a main power unit drive control signal and torque, rotating speed, current and temperature signals of the double-drive wheel-side motor and transmitting the processed information to the DSP control unit and the electronic differential control unit;
the double-drive wheel-side motor consists of two wheel-side switch reluctance motors, and the two motors are designed by adopting the same parameters and manufactured by the same process;
a control method of a double-drive wheel-side switch reluctance motor driving system for a miniature electric vehicle comprises the following steps:
s1: starting the vehicle and starting the main controller;
s2: the whole vehicle control signal sends an execution command to the electronic differential control unit;
s3: the electronic differential control unit sends a control signal to the DSP control unit;
s4: the DSP control unit sends a driving signal to the main power unit;
s5: the main power unit provides electric energy for the double-drive wheel-side motor;
s6: the double-drive wheel side motor drives the vehicle to run according to the control command of the whole vehicle;
s7: the double-drive wheel side motor feeds back state information, and the state information is fed back to the electronic differential control unit and the DSP control unit through the signal acquisition unit, so that closed-loop control is realized.
Drawings
FIG. 1 is a structural diagram of a driving system of a double-drive wheel-side switch reluctance motor for a miniature electric vehicle according to the present invention;
fig. 2 is a structural block diagram of an electronic differential control system of a double-drive wheel-side switched reluctance motor driving system for a miniature electric vehicle.
In the figure: 1-a main controller; 2-an electronic differential control unit; 3-a DSP control unit; 4-a main power unit; 5-a signal acquisition processing unit; 6-peripheral circuitry; 7-wheel edge switch reluctance motor A; 8-wheel edge switch reluctance motor B; 9-double-drive wheel-side motor; 10-total drive torque calculation module; 11-a yaw moment correlation value calculation module; 12-a torque optimization distribution module; 13-wheel center speed calculation module; 14-motor desired speed module; 15-current rotating speed double closed-loop control module; 16-an electronic differential master control module.
Detailed Description
For the convenience of those skilled in the art, the present invention will be further described with reference to the accompanying drawings
Fig. 1 is a structural diagram of a driving system of a double-drive wheel-side switched reluctance motor for a miniature electric vehicle according to the present invention. As can be seen from the figure: the whole system comprises a main controller (1) and a double-drive wheel-side motor (9); the main controller (1) comprises an electronic differential control unit (2), a DSP control unit (3), a main power unit (4), a signal acquisition unit (5) and a peripheral circuit (6), and the double-drive wheel-side motor (9) comprises two wheel-side switch reluctance motors (7) and (8). The main controller and the wheel-side switch reluctance motor are connected with strong current and weak current signals.
The electronic differential control unit (2) recalculates and sends the feedback signal to the DSP control unit (3) according to the feedback signal sent by the signal acquisition unit (5) to realize the control of the double-drive wheel-side motor (9) to finish the behaviors of straight movement, turning and the like of the whole vehicle;
the DSP control unit (3) takes one TMS320F28335 as a core control chip, and controls twelve paths of driving signals of the IGBT of the main power unit (4) according to the processing signals of the signal acquisition unit and the electronic differential control signals;
the main power unit (4) is composed of 12 IGBTs, a filter capacitor, a diode and the like, and rectifies and converts the electric energy of the storage battery into an electric energy form required by the double-drive wheel-side motor (9) according to a driving signal;
the signal acquisition unit (5) is used for acquiring and processing a whole vehicle control signal, a main power unit (4) driving control signal and a torque, rotating speed, current and temperature signal of the double-drive wheel side motor (9), and transmitting the processed information to the DSP control unit (3) and the electronic differential control unit (4);
the double-drive wheel-side motor (9) consists of two wheel-side switched reluctance motors (7) and (8), and the two motors are designed by adopting the same parameters and manufactured by the same process; the control method comprises the following steps:
s1: a vehicle starting and starting main controller (1);
s2: the whole vehicle control signal sends an execution command to the electronic differential control unit (2);
s3: the electronic differential control unit (2) sends a control signal to the DSP control unit (3);
s4: the DSP control unit (3) sends a driving signal to the main power unit (4);
s5: the main power unit (4) supplies electric energy to the double-drive wheel-side motor (9);
s6: the double-drive wheel-side motor (9) drives the vehicle to operate according to the control command of the whole vehicle;
s7: the double-drive wheel side motor (9) feeds back state information, and the state information is fed back to the electronic differential control unit (2) and the DSP control unit (3) through the signal acquisition unit (5), so that closed-loop control is realized.
Fig. 2 is a structural block diagram of an electronic differential control system of a double-drive wheel-side switched reluctance motor driving system for a miniature electric vehicle. As can be seen from the figure: the electronic differential control unit (2) adopts a main control and three-layer control strategy, an electronic differential main control module (16) can detect the fault condition of a double-drive wheel side motor (9) on line after obtaining a finished automobile control signal, if no fault information exists, the finished automobile control signal is transmitted to upper-layer control, and if the fault condition exists, the finished automobile control signal is blocked, the fault information is transmitted, and the alarm is given out to stop the automobile;
the upper-layer control comprises a total driving torque calculation module (10) and a yaw moment related numerical value calculation module (11), wherein the total driving torque calculation module (10) calculates the expected total driving torque T of the vehicle through a whole vehicle control instructionmThe yaw moment correlation value calculation module (11) is used for solving the value Q, s related to the yaw moment correlation value calculation module, and then the upper layer control transmits the calculation result to the middle layer control;
in the middle-level control, a torque optimization distribution module (12) is used for calculating expected torques T of a left motor and a right motorA_req，TB_reqAnd an approximation rule parameter K of the sliding mode, wherein the approximation rule parameter K and the yaw force in the sliding mode control algorithm are used for improving the efficiency of the motorMoment distribution parameters Q and s are used as real-time optimization variables, and a wheel center speed calculation module (13) can calculate the expected yaw moment T in real time according to two values Q and s related to the expected yaw moment and a sliding mode approach law parameter KA_req，TB_reqBased on the Ackerman steering model taking into account the wheel slip angle and the desired yaw moment TA_req，TB_reqObtaining the expected wheel center speed V of the left and right rear wheelsA_req，VB_reqThen the optimal desired wheel center speeds V of the left and right rear wheelsA_req，VB_reqTransmitting to a lower layer control;
in the lower layer control, a motor expected rotating speed module (14) is used for controlling the lower layer according to expected torques T of the left motor and the right motorA_req，TB_reqDesired wheel center velocity V of the left and right rear wheelsA_req，VB_reqCalculating the expected rotating speed omega of the left and the right rear wheelsA_req，ωB_reqThen the driving signal is transmitted to a current rotating speed double closed-loop control module (15), and the current rotating speed double closed-loop control module (15) converts the driving signal into a driving signal and transmits the driving signal to a DSP control unit (3).
The control steps of the electronic differential control unit (2) are as follows:
s1: the whole vehicle control instruction is transmitted to an electronic differential master control module (16) of the electronic differential control unit (2);
s2: the electronic differential master control module (16) detects fault information of the double-drive wheel-side motor, if no fault information exists, a whole vehicle control signal is transmitted to an upper layer control area, and if a fault condition exists, the whole vehicle control signal is blocked, fault information is transmitted, and the vehicle is shut down by alarming;
s3: a total driving torque calculation module (10) of the upper control area calculates and obtains expected total driving torque T of the vehicle according to the control instruction of the whole vehiclem(ii) a Meanwhile, a yaw moment related value calculation module (11) calculates a vehicle state function value Q and a sliding mode switching function value s and transmits the vehicle state function value Q and the sliding mode switching function value s to a middle-layer control area;
s4: the torque optimization distribution module (12) of the middle-layer control area calculates expected torques T of the left motor and the right motorA_req，TB_req(ii) a Meanwhile, the wheel center speed calculating module (13) calculates the period of obtaining the left and right rear wheelsSpeed V of wheel centerA_req，VB_reqAnd transmitting to the lower layer control;
s5: the motor expected rotating speed module (14) of the lower control area is used for controlling the left and right motors according to the expected torque TA_req，TB_reqDesired wheel center velocity V of the left and right rear wheelsA_req，VB_reqCalculating the expected rotating speed omega of the left and the right rear wheelsA_req，ωB_reqThen the driving signal is transmitted to a current rotating speed double closed-loop control module (15), and the current rotating speed double closed-loop control module (15) converts the driving signal into a driving signal and transmits the driving signal to a DSP control unit (3).
Claims (8)
1. A double-drive wheel-side switch reluctance motor driving system for a miniature electric vehicle is characterized by comprising a main controller (1) and a double-drive wheel-side motor (9); the main controller (1) comprises an electronic differential control unit (2), a DSP control unit (3), a main power unit (4), a signal acquisition unit (5) and a peripheral circuit (6), and the double-drive wheel-side motor (9) comprises two wheel-side switch reluctance motors (7) and (8).
2. The double-drive wheel-side switch reluctance motor driving system for the micro electric vehicle as claimed in claim 1, wherein the electronic differential control unit (2) recalculates and sends the feedback signal sent by the signal acquisition unit (5) to the DSP control unit (3) to realize the control of the double-drive wheel-side motor (9) to complete the behaviors of straight running, turning and the like of the whole vehicle;
specifically, the electronic differential control unit (2) adopts a total control + three-layer control strategy, an electronic differential total control module (16) can detect the fault condition of a double-drive wheel-side motor (9) on line after obtaining a finished automobile control signal, if no fault information exists, the finished automobile control signal is transmitted to upper-layer control, and if the fault condition exists, the finished automobile control signal is blocked, the fault information is transmitted, and the alarm is given out to stop;
the upper-layer control comprises a total driving torque calculation module (10) and a yaw moment related numerical value calculation module (11), wherein the total driving torque calculation module (10) calculates the expected total driving torque T of the vehicle through a whole vehicle control instructionmThe value of the yaw moment correlationThe calculation module (11) is used for solving the numerical value Q, s related to the calculation module, and then the upper layer control transmits the calculation result to the middle layer control;
in the middle-level control, a torque optimization distribution module (12) is used for calculating expected torques T of a left motor and a right motorA_req，TB_reqAnd a sliding mode approach law parameter K, in order to improve the motor efficiency, the approach law parameter K and the yaw moment distribution parameter Q and s in the sliding mode control algorithm are used as real-time optimization variables, and the wheel center speed calculation module (13) can calculate the expected yaw moment T in real time according to the two values Q and s of the expected yaw moment and the sliding mode approach law parameter KA_req，TB_reqBased on the Ackerman steering model taking into account the wheel slip angle and the desired yaw moment TA_req，TB_reqObtaining the expected wheel center speed V of the left and right rear wheelsA_req，VB_reqThen the optimal desired wheel center speeds V of the left and right rear wheelsA_req，VB_reqTransmitting to a lower layer control;
in the lower layer control, a motor expected rotating speed module (14) is used for controlling the lower layer according to expected torques T of the left motor and the right motorA_req，TB_reqDesired wheel center velocity V of the left and right rear wheelsA_req，VB_reqCalculating the expected rotating speed omega of the left and the right rear wheelsA_req，ωB_reqThen the driving signal is transmitted to a current rotating speed double closed-loop control module (15), and the current rotating speed double closed-loop control module (15) converts the driving signal into a driving signal and transmits the driving signal to a DSP control unit (3).
3. The driving system of the double-drive wheel-side switch reluctance motor for the micro electric vehicle as claimed in claim 1, the control steps of the electronic differential control unit (2) are as follows:
s1: the whole vehicle control instruction is transmitted to an electronic differential master control module (16) of the electronic differential control unit (2);
s2: the electronic differential master control module (16) detects fault information of the double-drive wheel-side motor, if no fault information exists, a whole vehicle control signal is transmitted to an upper layer control area, and if a fault condition exists, the whole vehicle control signal is blocked, fault information is transmitted, and the vehicle is shut down by alarming;
s3: a total driving torque calculation module (10) of the upper control area calculates and obtains expected total driving torque T of the vehicle according to the control instruction of the whole vehiclem(ii) a Meanwhile, a yaw moment related value calculation module (11) calculates a vehicle state function value Q and a sliding mode switching function value s and transmits the vehicle state function value Q and the sliding mode switching function value s to a middle-layer control area;
s4: the torque optimization distribution module (12) of the middle-layer control area calculates expected torques T of the left motor and the right motorA_req，TB_req(ii) a Meanwhile, the wheel center speed calculation module (13) calculates expected wheel center speeds V of the left and right rear wheelsA_req，VB_reqAnd transmitting to the lower layer control;
s5: the motor expected rotating speed module (14) of the lower control area is used for controlling the left and right motors according to the expected torque TA_req，TB_reqDesired wheel center velocity V of the left and right rear wheelsA_req，VB_reqCalculating the expected rotating speed omega of the left and the right rear wheelsA_req，ωB_reqThen the driving signal is transmitted to a current rotating speed double closed-loop control module (15), and the current rotating speed double closed-loop control module (15) converts the driving signal into a driving signal and transmits the driving signal to a DSP control unit (3).
4. The double-drive-wheel-side switched reluctance motor driving system for the micro electric vehicle as claimed in claim 1, wherein the DSP control unit (3) uses a TMS320F28335 as a core control chip, and controls the driving signals of the twelve IGBTs of the main power unit (4) according to the processing signals of the signal acquisition unit and the electronic differential control signals.
5. The driving system of the double-drive wheel-side switched reluctance motor for the micro electric vehicle as claimed in claim 1, wherein the main power unit (4) is composed of 12 IGBTs, filter capacitors, diodes and the like, and rectifies and converts the electric energy of the storage battery into the electric energy form required by the double-drive wheel-side motor (9) according to the driving signal.
6. The driving system of the double-drive wheel-side switch reluctance motor for the micro electric vehicle as claimed in claim 1, wherein the signal acquisition unit (5) is used for acquiring and processing the whole vehicle control signal, the main power unit (4) driving control signal, the torque, the rotating speed, the current and the temperature signal of the double-drive wheel-side motor (9), and transmitting the processed information to the DSP control unit (3) and the electronic differential control unit (4).
7. The driving system of the double-drive wheel-side switched reluctance motor for the miniature electric vehicle as claimed in claim 1, wherein the double-drive wheel-side motor (9) is composed of two wheel-side switched reluctance motors (7), (8), and the two motors are designed by using the same parameters and manufactured by the same process.
8. The overall control method of the double-drive wheel-side switched reluctance motor driving system for the miniature electric vehicle as claimed in claim 1 comprises the following steps:
s1: a vehicle starting and starting main controller (1);
s2: the whole vehicle control signal sends an execution command to the electronic differential control unit (2);
s3: the electronic differential control unit (2) sends a control signal to the DSP control unit (3);
s4: the DSP control unit (3) sends a driving signal to the main power unit (4);
s5: the main power unit (4) supplies electric energy to the double-drive wheel-side motor (9);
s6: the double-drive wheel-side motor (9) drives the vehicle to operate according to the control command of the whole vehicle;
s7: the double-drive wheel side motor (9) feeds back state information, and the state information is fed back to the electronic differential control unit (2) and the DSP control unit (3) through the signal acquisition unit (5), so that closed-loop control is realized.
The invention has the following effective effects:
according to the driving system and the control method of the double-drive wheel-side switched reluctance motor for the miniature electric automobile, the double-drive wheel-side motor is controlled through the main controller, the switched reluctance motor is used as the double-drive wheel-side motor, the power efficiency can be effectively improved, and the problems of high energy consumption and safety of the traditional motor are solved; the electronic differential system is adopted to replace the traditional differential device, so that the transmission structure is simplified, and the transmission efficiency is improved; the electronic differential system control method adopting the autonomous optimization design enables the electronic differential system to be controlled more accurately, has a fault detection function, enables the whole system to be safer, and is more suitable for the actual vehicle running condition.
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