CN114347801A - Motor torque control method and control device - Google Patents
Motor torque control method and control device Download PDFInfo
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Abstract
The invention provides a motor torque control method and a motor torque control device, and belongs to the technical field of motor torque control. The motor torque control method includes: pre-estimating a harmonic corresponding to a specific frequency of a motor according to the actual rotating speed of the motor, and acquiring the amplitude and the phase of the harmonic of the specific frequency; when the amplitude of the harmonic wave of the specific frequency exceeds a set amplitude threshold value, calculating correction torque by using the phase and the amplitude of the harmonic wave of the specific frequency; the invention also provides a control device for executing the motor torque control method, which takes the sum of the current request torque and the correction torque as the total request torque of the motor when the vehicle meets the preset condition of allowing anti-shake, and controls the motor to operate according to the total request torque. The motor torque control method and the motor torque control device can improve the driving comfort, the driving performance and the safety of the vehicle.
Description
Technical Field
The invention belongs to the technical field of motor torque control, and particularly relates to a motor torque control method and a motor torque control device.
Background
For vehicles including an electric motor and a gear system, the electric motor generates an injected pulse when the stator and rotor are aligned at low speeds, and the gear system is composed of several gears and shafts, which typically have a resonant frequency of the transmission system. The drive system of the vehicle can generate vibration under specific conditions due to the pulsation and the working frequency of the gear transmission system, and the vibration can seriously affect the driving comfort, the driving performance and the safety of the whole vehicle.
Disclosure of Invention
It is an object of the first aspect of the invention to provide a motor torque control method capable of improving the ride comfort, drivability, and safety of a vehicle.
It is a further object of the invention to ensure the rationality of the correction torque.
An object of the second aspect of the invention is to provide a control apparatus for implementing the above-described motor torque control method.
In particular, the present invention provides a motor torque control method comprising:
pre-estimating a harmonic corresponding to a specific frequency of a motor according to the actual rotating speed of the motor, and acquiring the amplitude and the phase of the harmonic of the specific frequency;
when the amplitude of the harmonic wave of the specific frequency exceeds a set amplitude threshold value, calculating correction torque by using the phase and the amplitude of the harmonic wave of the specific frequency;
and when the vehicle meets the preset condition of allowing anti-shake, taking the sum of the current request torque and the correction torque as the total request torque of the motor, and controlling the motor to operate according to the total request torque.
Optionally, when the vehicle meets a preset condition for allowing anti-shake, the step of taking the sum of the current requested torque and the correction torque as the total requested torque of the motor and controlling the motor to operate according to the total requested torque is preceded by the steps of:
comparing the absolute value of the correction torque with the absolute value of a preset torque limit value;
the smaller of the absolute value of the torque limit value and the absolute value of the corrective torque is taken as a final corrective torque, so that the sum of the current requested torque and the final corrective torque is taken as the total requested torque of the electric machine.
Optionally, the torque limit is any value between 8% and 12% of the maximum output torque of the electric machine.
Optionally, the step of predicting a harmonic corresponding to a specific frequency of the motor according to the actual rotation speed of the motor, and obtaining the amplitude and the phase of the harmonic of the specific frequency comprises:
obtaining a linear combination of sine functions of specific frequencies through Fourier transformation of the actual rotating speed of the motor, wherein the sine functions of the specific frequencies correspond to 1 st harmonic and 6 th harmonic;
and estimating the amplitude and the phase of the sine function of the specific frequency by using a least square method.
Optionally, when the amplitude of the harmonic wave of the specific frequency exceeds a set amplitude threshold, the step of calculating the correction torque by using the phase and the amplitude of the harmonic wave of the specific frequency comprises:
judging whether the amplitude of the 1-order harmonic is larger than a first amplitude and whether the time that the actual rotating speed of the motor exceeds a first speed threshold exceeds a first preset time, if so, calculating a first correction torque by using the phase and the amplitude of the 1-order harmonic, and if not, the first correction torque is 0;
judging whether the amplitude of the 6 th harmonic is larger than a second amplitude and whether the time that the actual rotating speed of the motor exceeds a second speed threshold exceeds a second preset time, if so, calculating a second correction torque by using the phase and the amplitude of the 6 th harmonic, and if not, the second correction torque is 0;
taking the sum of the first correction torque and the second correction torque as the correction torque.
Optionally, the step of calculating a first correction torque using the phase and magnitude of the 1 st harmonic comprises:
calculating a first torque by taking an amplitude difference as an input of a proportional-integral controller, wherein the amplitude difference is a difference value between the amplitude of the 1 st harmonic and a preset first target amplitude;
and taking the product of the smaller of the absolute value of the first torque and the absolute value of a preset first torque limit and the sine function value of which the 1 st harmonic does not include the amplitude as the first correction torque.
Optionally, the step of calculating a second correction torque using the phase and magnitude of the 6 th harmonic comprises:
calculating a second torque by taking an amplitude difference as an input of a proportional-integral controller, wherein the amplitude difference is a difference value between the amplitude of the 6 th harmonic and a preset second target amplitude;
and taking the product of the smaller of the absolute value of the second torque and the absolute value of a preset second torque limit value and the sine function value of which the 6 th harmonic does not include the amplitude as the second correction torque.
Optionally, the step of obtaining a linear combination of sine functions of specific frequencies by fourier transform of the actual rotation speed of the motor further comprises:
and judging whether the actual rotating speed of the motor is within a preset speed interval or not, and if so, performing Fourier transform.
Optionally, the preset conditions include a clutch between the electric machine and the gear system being closed, the clutch not being in a self-learning process, the vehicle not being in a power mode switching process and the electric machine being in a torque control mode.
In particular, the invention also provides a control device comprising a memory and a processor, wherein the memory stores a control program, and the control program is used for realizing the motor torque control method according to any one of the above items when being executed by the processor.
According to one embodiment of the invention, based on the fact that the harmonic wave of the specific frequency of the motor related to the resonance is obtained according to the actual rotating speed of the motor, the corresponding amplitude and phase are estimated, whether the torque correction is carried out or not is determined through the amplitude, and when the torque correction is needed, the corresponding harmonic wave phase and amplitude of the specific frequency are used for carrying out the torque correction. The corrected total requested torque can eliminate or weaken pulsation when the rotor and the stator of the motor are aligned and resonance frequency from a gear transmission system, reduce the rotating speed jitter of the motor under the working conditions of low speed, zero crossing of the torque and the like, and improve the driving performance, the comfort and the safety of a vehicle.
According to one embodiment of the invention, the torque limit value is set, so that the abnormal torque of the motor caused by the fact that the corrected torque exceeds a reasonable range can be prevented, and the torque of the motor is always in the reasonable torque range.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a flow chart of a motor torque control method according to one embodiment of the present invention;
FIG. 2 is a flow chart of a motor torque control method according to another embodiment of the present invention;
fig. 3 is a flowchart of a motor torque control method according to still another embodiment of the present invention.
Detailed Description
FIG. 1 is a flow chart of a motor torque control method according to one embodiment of the present invention. In one embodiment, as shown in fig. 1, the motor torque control method of the present invention comprises:
and S100, pre-estimating the amplitude and the phase of the harmonic corresponding to the specific frequency of the motor according to the actual rotating speed of the motor, and acquiring the amplitude and the phase of the harmonic of the specific frequency. Harmonics of a particular frequency herein may be used to reflect the resonant frequency of the motor or gear system. In one embodiment, a time domain to frequency domain transformation may be achieved by fourier transforming the actual rotational speed of the motor, which is decomposed into a linear combination of sinusoidal functions of specific frequencies, wherein the sinusoidal functions of specific frequencies correspond to the 1 st harmonic and the 6 th harmonic. The 1 st harmonic corresponds to the pulsation injected when the stator and rotor of the motor are aligned, corresponding to the resonant frequency of the motor, which is approximately 6.6Hz for the motor of one embodiment and occurs at a rotational speed around 100 rpm. The 6 th harmonic comes from the resonance frequency of the gear system, which consists of several gears and shafts, with a frequency of mutual induction, and the harmonic frequency of the gear system at a motor speed of 30rpm is approximately 12Hz, so that the gear system corresponds to the 6 th harmonic. The formula of the harmonic order can be seen in the following formula (1):
where f is the frequency, n is the motor speed, m is the harmonic order, p is the pole pair number of the motor, f, n are measurable and p is known.
Then, the amplitude and phase of the sine function of the specific frequency are estimated by using the least square method, namely the amplitude A1 of the 1 st harmonic and the amplitude A6 and phase phi 6 of the phase phi 1 and the 6 th harmonic. The expression for the 1 st harmonic is a1 sin (ω t + Φ 1), the expression for the 6 th harmonic is a6 (ω t + Φ 6), and ω t is a time-varying angular variable.
And step S200, when the amplitude of the harmonic wave of the specific frequency exceeds a set amplitude threshold value, calculating correction torque by using the phase and the amplitude of the harmonic wave of the specific frequency. The corrective torque is calculated using the respective phase and amplitude, for example, when the amplitude a1 of the 1 th harmonic and/or the amplitude a6 of the 6 th harmonic exceeds the respective amplitude threshold.
That is, A1 > B1, the corrective torque is calculated using φ 1, or A6 > B6, the corrective torque is calculated using φ 6. Alternatively, B1 is 5 and B6 is 4, which may be empirical from real vehicle experimental data.
And step S300, when the vehicle meets the preset condition of allowing anti-shake, taking the sum of the current request torque and the correction torque as the total request torque of the motor, and controlling the motor to operate according to the total request torque. Optionally, the preset conditions include a clutch between the electric machine and the gear system being closed, the clutch not being in a self-learning process, the vehicle not being in a power mode switching process (as is the case for vehicles comprising multiple power modes) and the electric machine being in a torque control mode. In step S300, the motor may be controlled by a closed-loop control method.
The embodiment is based on that the harmonic wave of the specific frequency of the motor related to the resonance is obtained according to the actual rotating speed of the motor, the corresponding amplitude and phase are estimated, whether the torque correction is carried out or not is determined according to the amplitude, and when the torque correction is needed, the corresponding harmonic phase and amplitude of the specific frequency are used for carrying out the torque correction. The corrected total requested torque can eliminate or weaken pulsation when the rotor and the stator of the motor are aligned and resonance frequency from a gear transmission system, reduce the rotating speed jitter of the motor under the working conditions of low speed, zero crossing of the torque and the like, and improve the driving performance, the comfort and the safety of a vehicle.
Fig. 2 is a flowchart of a motor torque control method according to another embodiment of the present invention. In another embodiment, as shown in fig. 2, step S300 further includes:
step S250, comparing the absolute value of the correction torque with the absolute value of a preset torque limit value;
in step S252, the smaller of the absolute value of the torque limit value and the absolute value of the correction torque is taken as the final correction torque, so that the sum of the current requested torque and the final correction torque is taken as the total requested torque of the motor. Optionally, the torque limit is any value between 8% and 12% of the maximum output torque of the electric machine, for example the torque limit is taken to be 8%, 10% or 12% of the maximum output torque of the electric machine. Of course, the torque limit includes positive and negative values, alternatively, the torque limit is 25 Nm.
This embodiment can prevent that the correction torque from surpassing reasonable range and leading to motor torque unusual through setting up the moment of torsion limit value for the moment of torsion of motor is in reasonable torque range all the time.
In a further embodiment, as shown in fig. 2, step S200 includes:
step S150, judging whether the amplitude of the 1 st harmonic is larger than a first amplitude and whether the time t when the actual rotating speed n of the motor exceeds a first speed threshold n1 exceeds a first preset time t1, if so, entering step S152; otherwise, the process proceeds to step S154. Here, the first speed threshold n1 may be 30rpm, and the first preset time t1 may be 1s, which are all set values.
In step S152, a first correction torque is calculated using the phase and amplitude of the 1 st harmonic. Specifically, the step of calculating the first correction torque using the phase and amplitude of the 1 st harmonic includes:
and calculating the first torque by taking the amplitude difference as an input of a proportional-integral controller, wherein the amplitude difference is the difference value between the amplitude of the 1 st harmonic and a preset first target amplitude, and the first target amplitude is an empirical value obtained according to a real vehicle test and can be 3. The proportional integral controller corresponds to a PID controller in which the D term is 0, and the I term coefficient of the proportional integral controller may be 0.003 and the P term coefficient may be 0.002.
The product of the smaller of the absolute value of the first torque and the absolute value of the preset first torque limit and the sine function value (i.e., sin (ω t + Φ 1)) whose 1 st harmonic does not include the amplitude is taken as the first correction torque. That is, first, the absolute value of the first torque and the absolute value of the first torque limit value are made small, and then the product of the small value and sin (ω t + Φ 1) is taken as the first correction torque. The first torque limit may be taken to be 10% of the maximum output torque of the electric machine.
In step S154, the first correction torque is set to 0.
Step S156, judging whether the amplitude of the 6 th harmonic is larger than a second amplitude and whether the time t when the actual rotating speed n of the motor exceeds a second speed threshold n2 exceeds a second preset time t2, if so, entering step S158; otherwise, the process proceeds to step S160. Here, the second speed threshold n2 may be 10rpm, and the second preset time t2 may be 1s, which are all set values.
In step S158, a second correction torque is calculated using the phase and amplitude of the 6 th harmonic. Specifically, the step of calculating the second correction torque using the phase and amplitude of the 6 th harmonic includes:
and calculating the second torque by taking the amplitude difference as an input of the proportional-integral controller, wherein the amplitude difference is a difference value between the amplitude of the 6 th harmonic and a preset second target amplitude, and the second target amplitude is an empirical value obtained according to a real vehicle test and can be 3.
The product of the smaller of the absolute value of the second torque and the absolute value of the preset second torque limit and the sine function value of which the 6 th harmonic does not include the amplitude (i.e., sin (ω t + Φ 6)) is taken as the second correction torque. The second torque limit may be taken to be 10% of the maximum output torque of the electric machine.
In step S160, the second correction torque is set to 0.
In step S162, the sum of the first correction torque and the second correction torque is used as the correction torque.
The embodiment can start torque correction when the motor is in a determined torque compensation required state instead of sudden motor rotating speed abnormity by double judgment of the amplitude and the motor rotating speed.
Fig. 3 is a flowchart of a motor torque control method according to still another embodiment of the present invention. In another embodiment, as shown in fig. 3, the steps of calculating the first corrective torque and the second corrective torque may be performed simultaneously. The order of calculating the first correction torque and the second correction torque is not limited herein.
In a further embodiment, as shown in fig. 2, the step of obtaining the linear combination of the sine functions of the specific frequencies by fourier transform of the actual rotation speed of the motor further comprises:
and step S50, judging whether the actual rotating speed of the motor is in a preset speed interval, if so, entering a Fourier transform step, namely step S100, otherwise, returning to step S50. The preset speed interval here may be taken as [10rpm, 400rpm ], since the 1 st harmonic and the 6 th harmonic generally occur in the low speed interval.
The invention also provides a control device which comprises a memory and a processor, wherein the memory stores a control program, and the control program is used for realizing the motor torque control method in any one embodiment and the combination of the embodiments when being executed by the processor. The processor may be a Central Processing Unit (CPU), a digital processing unit, or the like. The processor receives and transmits data through the communication interface. The memory is used for storing programs executed by the processor. The memory is any medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by the computer, or a combination of memories. The above-described computing program may be downloaded from a computer-readable storage medium to a corresponding computing/processing device or to a computer or external storage device via a network (e.g., the internet, a local area network, a wide area network, and/or a wireless network).
The control device obtains the harmonic wave of the specific frequency of the motor related to the resonance according to the actual rotating speed of the motor, estimates the corresponding amplitude and phase, determines whether to carry out torque correction or not according to the amplitude, and carries out torque correction on the corresponding harmonic phase and amplitude of the specific frequency when the torque correction is needed. The corrected total requested torque can eliminate or weaken pulsation when the rotor and the stator of the motor are aligned and resonance frequency from a gear transmission system, reduce the rotating speed jitter of the motor under the working conditions of low speed, zero crossing of the torque and the like, and improve the driving performance, the comfort and the safety of a vehicle.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (10)
1. A motor torque control method, comprising:
pre-estimating a harmonic corresponding to a specific frequency of a motor according to the actual rotating speed of the motor, and acquiring the amplitude and the phase of the harmonic of the specific frequency;
when the amplitude of the harmonic wave of the specific frequency exceeds a set amplitude threshold value, calculating correction torque by using the phase and the amplitude of the harmonic wave of the specific frequency;
and when the vehicle meets the preset condition of allowing anti-shake, taking the sum of the current request torque and the correction torque as the total request torque of the motor, and controlling the motor to operate according to the total request torque.
2. The motor torque control method according to claim 1, wherein the step of taking a sum of a current requested torque and a correction torque as a total requested torque of the motor when the vehicle satisfies a preset condition that allows anti-shake, and controlling the motor to operate in accordance with the total requested torque is further preceded by the step of:
comparing the absolute value of the correction torque with the absolute value of a preset torque limit value;
the smaller of the absolute value of the torque limit value and the absolute value of the corrective torque is taken as a final corrective torque, so that the sum of the current requested torque and the final corrective torque is taken as the total requested torque of the electric machine.
3. The motor torque control method according to claim 2,
the torque limit value is any value between 8% and 12% of the maximum output torque of the motor.
4. The motor torque control method according to any one of claims 1 to 3, wherein the step of predicting a harmonic corresponding to a specific frequency of the motor based on an actual rotation speed of the motor and acquiring an amplitude and a phase of the harmonic of the specific frequency comprises:
obtaining a linear combination of sine functions of specific frequencies through Fourier transformation of the actual rotating speed of the motor, wherein the sine functions of the specific frequencies correspond to 1 st harmonic and 6 th harmonic;
and estimating the amplitude and the phase of the sine function of the specific frequency by using a least square method.
5. The motor torque control method according to claim 4, wherein the step of calculating the correction torque using the phase and the amplitude of the harmonic of the specific frequency when the amplitude of the harmonic of the specific frequency exceeds a set amplitude threshold includes:
judging whether the amplitude of the 1-order harmonic is larger than a first amplitude and whether the time that the actual rotating speed of the motor exceeds a first speed threshold exceeds a first preset time, if so, calculating a first correction torque by using the phase and the amplitude of the 1-order harmonic, and if not, the first correction torque is 0;
judging whether the amplitude of the 6 th harmonic is larger than a second amplitude and whether the time that the actual rotating speed of the motor exceeds a second speed threshold exceeds a second preset time, if so, calculating a second correction torque by using the phase and the amplitude of the 6 th harmonic, and if not, the second correction torque is 0;
taking the sum of the first correction torque and the second correction torque as the correction torque.
6. The motor torque control method of claim 5, wherein the step of calculating a first correction torque using the phase and magnitude of the 1 st harmonic comprises:
calculating a first torque by taking an amplitude difference as an input of a proportional-integral controller, wherein the amplitude difference is a difference value between the amplitude of the 1 st harmonic and a preset first target amplitude;
and taking the product of the smaller of the absolute value of the first torque and the absolute value of a preset first torque limit and the sine function value of which the 1 st harmonic does not include the amplitude as the first correction torque.
7. The motor torque control method of claim 5, wherein the step of calculating a second correction torque using the phase and magnitude of the 6 th harmonic comprises:
calculating a second torque by taking an amplitude difference as an input of a proportional-integral controller, wherein the amplitude difference is a difference value between the amplitude of the 6 th harmonic and a preset second target amplitude;
and taking the product of the smaller of the absolute value of the second torque and the absolute value of a preset second torque limit value and the sine function value of which the 6 th harmonic does not include the amplitude as the second correction torque.
8. The motor torque control method of claim 4, wherein the step of fourier transforming the actual rotational speed of the motor to a linear combination of sine functions of specific frequencies is preceded by the step of:
and judging whether the actual rotating speed of the motor is within a preset speed interval or not, and if so, performing Fourier transform.
9. The motor torque control method according to claim 1,
the preset conditions include a clutch between the electric machine and the gear system being closed, the clutch not being in a self-learning process, the vehicle not being in a power mode switching process and the electric machine being in a torque control mode.
10. A control apparatus comprising a memory and a processor, the memory having stored therein a control program, the control program when executed by the processor being for implementing a motor torque control method according to any one of claims 1 to 9.
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| WO2018154733A1 (en) * | 2017-02-24 | 2018-08-30 | 三菱電機株式会社 | Electric motor torque pulsation correction device and correction method, and elevator control device |
| CN113459824A (en) * | 2020-03-31 | 2021-10-01 | 安徽威灵汽车部件有限公司 | Electric vehicle shake suppression method and device, electric vehicle and storage medium |
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| US20160226409A1 (en) * | 2013-10-23 | 2016-08-04 | Mitsubishi Electric Corporation | Motor control device and motor control method |
| CN104993766A (en) * | 2015-08-05 | 2015-10-21 | 南京埃斯顿自动控制技术有限公司 | Two-mass system resonance suppression method |
| CN106655940A (en) * | 2016-12-28 | 2017-05-10 | 广东美芝制冷设备有限公司 | Air conditioner and harmonic torque compensation method and control method and device of compressor |
| WO2018154733A1 (en) * | 2017-02-24 | 2018-08-30 | 三菱電機株式会社 | Electric motor torque pulsation correction device and correction method, and elevator control device |
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