CN114368291A - Self-adaptive active damping control method for pure electric vehicle - Google Patents

Self-adaptive active damping control method for pure electric vehicle Download PDF

Info

Publication number
CN114368291A
CN114368291A CN202111605047.7A CN202111605047A CN114368291A CN 114368291 A CN114368291 A CN 114368291A CN 202111605047 A CN202111605047 A CN 202111605047A CN 114368291 A CN114368291 A CN 114368291A
Authority
CN
China
Prior art keywords
rotating speed
torque
self
electric vehicle
control method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111605047.7A
Other languages
Chinese (zh)
Other versions
CN114368291B (en
Inventor
张博
严鉴铂
刘义
任帅
陈鹏辉
茹强
高庆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xian Fast Auto Drive Co Ltd
Original Assignee
Xian Fast Auto Drive Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xian Fast Auto Drive Co Ltd filed Critical Xian Fast Auto Drive Co Ltd
Priority to CN202111605047.7A priority Critical patent/CN114368291B/en
Publication of CN114368291A publication Critical patent/CN114368291A/en
Application granted granted Critical
Publication of CN114368291B publication Critical patent/CN114368291B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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

Landscapes

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

Abstract

The invention discloses a self-adaptive active damping control method for a pure electric vehicle, which belongs to the technical field of a pure electric vehicle power system.

Description

Self-adaptive active damping control method for pure electric vehicle
Technical Field
The invention belongs to the field of new energy electric vehicles, and particularly relates to a self-adaptive active damping control method for a pure electric vehicle.
Background
The pure electric vehicle is different from the traditional fuel vehicle in the aspect of power transmission, damping equipment such as a clutch is omitted, and the output of the motor is directly and rigidly connected with the rear end. This connection results in a direct output of motor torque to the wheels due to the lack of damping. The motor torque responds quickly, resulting in vehicle vibration. On the other hand, because the transmission system has a certain clearance, when the transmission system is in a non-coupling state and a coupling state, the transmission system can generate a shake to the vehicle.
Active damping is relatively few in research at present, and aiming at the jitter generated by the electric automobile, additional compensation is mainly added to a torque command to offset the jitter. At present, for the shaking of the electric automobile, the shaking generated by the electric automobile is offset by increasing the compensation torque. However, because the vehicle speed is different, the vibration amplitude generated by acceleration and deceleration or gear shifting is different, and if a single compensation torque is adopted, it is difficult to adopt a fixed value to adapt to the working condition. Sometimes if compensated too much, it may cause the jitter to be more noticeable.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a self-adaptive active damping control method for a pure electric vehicle, so as to solve the problems that in the prior art, the vehicle adopts a single compensation torque under different vehicle speeds, a fixed value is difficult to adapt to the used working condition, and the shake is more obvious due to excessive compensation.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
the invention discloses a self-adaptive active damping control method for a pure electric vehicle, which comprises the following steps:
the method comprises the following steps: collecting the rotating speed of a motor;
step two: filtering the collected motor rotating speed to generate a filtering rotating speed, and transmitting the filtering rotating speed to a rotating speed ring; extracting a rotating speed jitter component of the collected motor rotating speed through a self-adaptive rotating speed jitter filtering algorithm and inputting the rotating speed jitter component into a torque compensation module;
step three: the rotating speed ring outputs driving torque to the torque ring; the torque compensation module generates a torque compensation command to the torque ring; the output end of the inverter feeds back the current of the torque loop;
step four: the torque loop outputs the superimposed torque to the inverter, which inputs it to the motor.
Preferably, in the second step, the high-frequency component of the motor speed is filtered by a filter.
Preferably, the filtered rotation speed ω is filtered in the second step0According to ω0Obtaining the rotating speed jitter frequency omega1And the original rotating speed omega is used as input, and a rotating speed jitter component is extracted through a self-adaptive rotating speed jitter filtering algorithm.
Preferably, the adaptive speed jitter filtering algorithm is as follows:
Figure BDA0003433418770000021
wherein, ω is1According to the filtered rotation speed omega0Derived dither frequency, ωrTo output the rotational speed jitter component, ω is the original rotational speed, ωcIs the filter bandwidth.
Preferably, the bandwidth ω of the adaptive speed jitter extraction module is determined by real-vehicle calibrationc。
Preferably, the torque compensation module in step three generates the torque compensation command by multiplying the rotational speed jitter amount by a calibration coefficient k and performing amplitude limiting.
Preferably, the rotational speed jitter component is input to the torque compensation module, and a torque coefficient k and a limiting value in the torque compensation module are determined through real vehicle calibration.
Preferably, the superimposed torque is generated by superimposing the torque compensation command and the given phase of the rotating speed ring torque.
Preferably, in step two, the filtered rotation speed and the given rotation speed are superposed to input the rotation speed ring.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a self-adaptive active damping control method for a pure electric vehicle. The invention filters the frequency omega of the rotational speed jitter1And the original rotation speed of the motor as the inputThe gain of the filtering algorithm at the rotating speed jitter frequency point is large, and the rotating speed jitter can be obtained by adjusting the bandwidth. The extracted rotating speed shaking amount is used as the input of a torque compensation module, and a torque compensation command is generated through a torque coefficient and a proper amplitude limiting value. The torque compensation command is superposed with the driving torque command value output by the speed ring and is input to the torque ring as a compensated torque command, so that the appropriate compensation torque is generated to counteract the vibration for different vehicle speeds and different vibration amplitudes.
Drawings
FIG. 1 is a block diagram of a control algorithm system of the present invention;
FIG. 2 is a diagram of an adaptive speed jitter filtering algorithm of the present invention;
FIG. 3 is a graph comparing the results of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, which is a control algorithm system block diagram of the present invention, a pure electric vehicle adaptive active damping control method includes:
the method comprises the following steps: the rotating speed of the motor needs to be collected, and the rotating speed of the motor is divided into two parts.
Step two: and processing the collected motor rotating speed. Part of the fundamental component omega of the rotation speed is extracted by a low-pass filter0Filtering the high-frequency component of the rotating speed of the motor by a common filter, and then feeding the filtered rotating speed to a rotating speed ring; and the other part of the rotating speed extracts a rotating speed shaking component through a self-adaptive rotating speed shaking filtering algorithm and inputs the rotating speed shaking component into a torque compensation module. At this time, the rotation speed omega after filtering is required to be used0Derived dither frequency ω1And the original rotating speed omega is used as input, and the jitter component in the rotating speed is extracted through a self-adaptive rotating speed jitter filtering algorithm.
Step three: the rotating speed ring outputs driving torque to the torque ring; the torque compensation module generates a torque compensation command to the torque ring; the output end of the inverter feeds back the current of the torque loop;
step four: the torque loop outputs the superimposed torque to the inverter, which inputs it to the motor.
Further, the torque compensation module mainly outputs a speed jitter component omegarMultiplying by a torque coefficient k and then performing a clipping process on the compensated torque.
And further, the rotating speed jitter component is input to a torque compensation module, and a torque coefficient k and an amplitude limiting value in the torque compensation module are determined through real vehicle calibration.
Further, related parameters of the self-adaptive active damping control method of the pure electric vehicle are determined through calibration.
Referring to fig. 2, the adaptive speed jitter filtering algorithm is:
Figure BDA0003433418770000041
wherein, ω is1According to the filtered rotation speed omega0Derived dither frequency, ωrTo output the rotational speed jitter component, ω is the original rotational speed, ωcIs the filter bandwidth.
According to the filtered rotation speed omega0Derived dither frequency ω1Squaring by a multiplier, then dividing ω by1Square of and output omega of adaptive speed jitter filtering algorithmrMultiplying, by an integration module; on the other hand, the feedback motor rotation speed omega and the output omega of the self-adaptive rotation speed jitter filter algorithmrSubtracted, the resulting difference multiplied by the filter bandwidth ωcThe obtained value is compared with the output of the first part of integration module to obtain a difference value, and the obtained difference value is used as the output omega of the self-adaptive rotating speed jitter filtering algorithm through the integration modulerOmega obtainedrIs the jitter component in the rotation speed, and the rotation speed is jittered by the jitter component omegarThe input is to the torque compensation module.
Furthermore, in the step, the bandwidth omega of the self-adaptive speed jitter extraction module needs to be determined through real vehicle calibrationr。
Examples
In order to verify the feasibility of the method, a simulink simulation model is built, and a permanent magnet synchronous motor control system with the rated rotating speed of 1500r/min and the rated power of 20kw is adopted to simulate the condition of inhibiting the rotating speed jitter when the load suddenly changes.
The method comprises the following steps: setting the rotating speed of the motor to be 1500 r/min;
step two: and processing the collected motor rotating speed. Part of the fundamental component omega of the rotation speed is extracted by a low-pass filter0And calculating the filtered rotational speed jitter frequency omega1Filtering the high-frequency component of the rotating speed of the motor by a common filter, and then feeding the filtered rotating speed to a rotating speed ring; and the other part of the rotating speed extracts a rotating speed shaking component through a self-adaptive rotating speed shaking filtering algorithm and inputs the rotating speed shaking component into a torque compensation module. At this time, the rotation speed omega after filtering is required to be used0Derived dither frequency ω1And the original speed omega as input, by means of an adaptive speed-jitter filtering algorithm, i.e.
Figure BDA0003433418770000051
Finally, the amplitude of the jitter component in the extracted rotation speed is 38 r/min.
Step three: the rotating speed ring outputs driving torque 50N m to the torque ring; the torque compensation module generates a torque compensation command to the torque ring; the output end of the inverter feeds back the current of the torque loop;
step four: the torque loop outputs the superimposed torque to the inverter, which inputs it to the motor.
Referring to fig. 3, through comparative analysis, under the condition that the algorithm is not used, the rotating speed vibration amplitude caused by load sudden change is about 38r/min, and after the method provided by the invention is added, the rotating speed vibration amplitude caused by load sudden change can be reduced to be within 5 r/min.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (9)

1. A self-adaptive active damping control method for a pure electric vehicle is characterized by comprising the following steps:
the method comprises the following steps: collecting the rotating speed of a motor;
step two: filtering the collected motor rotating speed to generate a filtered rotating speed, and transmitting the filtered rotating speed to a rotating speed ring; extracting a rotating speed jitter component of the collected motor rotating speed through a self-adaptive rotating speed jitter filtering algorithm and inputting the rotating speed jitter component into a torque compensation module;
step three: the rotating speed ring outputs driving torque to the torque ring; the torque compensation module generates a torque compensation command to the torque ring; the output end of the inverter feeds back the current of the torque loop;
step four: the torque loop outputs the superimposed torque to the inverter, which inputs it to the motor.
2. The self-adaptive active damping control method for the pure electric vehicle according to claim 1, wherein in the second step, the high-frequency component of the rotating speed of the motor is filtered through a filter.
3. The self-adaptive active damping control method for pure electric vehicle according to claim 1, wherein in the second step, the filtered rotation speed ω is filtered0And the original rotating speed omega is used as input, and a rotating speed jitter component is extracted through a self-adaptive rotating speed jitter filtering algorithm.
4. The self-adaptive active damping control method for the pure electric vehicle according to claim 3, wherein the self-adaptive rotating speed jitter filtering algorithm is as follows:
Figure FDA0003433418760000011
wherein, ω is1According to the filtered rotation speed omega0Derived dither frequency, ωrIs the output rotational speed jitter component, omega is the original rotational speed, omegacIs the filter bandwidth.
5. The adaptive active damping control method for pure electric vehicle according to claim 4, wherein the bandwidth ω of the adaptive speed jitter extraction module is determined through real vehicle calibrationc。
6. The adaptive active damping control method for the pure electric vehicle according to claim 1, wherein the torque compensation module in step three generates the torque compensation command by multiplying the rotational speed jitter amount by a calibration coefficient k and performing amplitude limiting.
7. The self-adaptive active damping control method for the pure electric vehicle according to claim 6, wherein the rotation speed jitter component is input to the torque compensation module, and a torque coefficient k and a limiting value in the torque compensation module are determined through real vehicle calibration.
8. The adaptive active damping control method for the pure electric vehicle according to claim 1, wherein the superposition torque is generated by superposing a torque compensation command and a given rotation speed loop torque.
9. The self-adaptive active damping control method for the pure electric vehicle according to claim 1, wherein in the step two, the filtering rotating speed and the given rotating speed are superposed to form an input rotating speed ring.
CN202111605047.7A 2021-12-24 2021-12-24 Self-adaptive active damping control method for pure electric vehicle Active CN114368291B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111605047.7A CN114368291B (en) 2021-12-24 2021-12-24 Self-adaptive active damping control method for pure electric vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111605047.7A CN114368291B (en) 2021-12-24 2021-12-24 Self-adaptive active damping control method for pure electric vehicle

Publications (2)

Publication Number Publication Date
CN114368291A true CN114368291A (en) 2022-04-19
CN114368291B CN114368291B (en) 2024-04-12

Family

ID=81141401

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111605047.7A Active CN114368291B (en) 2021-12-24 2021-12-24 Self-adaptive active damping control method for pure electric vehicle

Country Status (1)

Country Link
CN (1) CN114368291B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016132443A (en) * 2015-01-22 2016-07-25 スズキ株式会社 Vehicle damping controller
CN105946623A (en) * 2016-05-23 2016-09-21 北京新能源汽车股份有限公司 Anti-shake control method and system for electric automobile and electric automobile
CN106915278A (en) * 2017-02-27 2017-07-04 中国第汽车股份有限公司 A kind of pure electric automobile suddenly accelerates the Adaptive Suppression method of shake
CN111267636A (en) * 2019-11-14 2020-06-12 浙江零跑科技有限公司 New energy electric vehicle anti-shake control method based on PR filter
CN113183771A (en) * 2021-04-14 2021-07-30 山东宝雅新能源汽车股份有限公司 Anti-shake control method for electric drive system
CN113459823A (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

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016132443A (en) * 2015-01-22 2016-07-25 スズキ株式会社 Vehicle damping controller
CN105946623A (en) * 2016-05-23 2016-09-21 北京新能源汽车股份有限公司 Anti-shake control method and system for electric automobile and electric automobile
CN106915278A (en) * 2017-02-27 2017-07-04 中国第汽车股份有限公司 A kind of pure electric automobile suddenly accelerates the Adaptive Suppression method of shake
CN111267636A (en) * 2019-11-14 2020-06-12 浙江零跑科技有限公司 New energy electric vehicle anti-shake control method based on PR filter
CN113459823A (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
CN113183771A (en) * 2021-04-14 2021-07-30 山东宝雅新能源汽车股份有限公司 Anti-shake control method for electric drive system

Also Published As

Publication number Publication date
CN114368291B (en) 2024-04-12

Similar Documents

Publication Publication Date Title
CN108068659B (en) Method, device and system for inhibiting electric vehicle shaking
CN111267636A (en) New energy electric vehicle anti-shake control method based on PR filter
CN109379006B (en) Torque control method, device and equipment of permanent magnet synchronous motor and electric automobile
US20170217332A1 (en) Control apparatus for rotary electric machines
CN106945568B (en) Anti-flutter method
DE102007025210A1 (en) Motor controller for hybrid vehicle, has voltage difference reduction control unit implementing supply voltage variation when motors are driven to vary voltage for actuating motors to reduce difference between phase and reference voltages
CN107539133B (en) A kind of generation method and device of control strategy for regenerative braking
CN109638881B (en) Virtual synchronization method and system for energy storage inverter with power grid strength self-adaptive optimization
CN108583366A (en) A kind of control method of electric vehicle low jitter
CN110661273A (en) Damping control method and system for inhibiting low-frequency oscillation and subsynchronous oscillation
CN104627237A (en) EPS-based pavement high frequency interference damping suppression method and system
CN102751935B (en) Method for suppressing asynchronous motor interference under rotating speed open loop of electric car
CN114368291B (en) Self-adaptive active damping control method for pure electric vehicle
CN112448633B (en) Flywheel energy storage machine side control system and method based on improved ADRC
WO2024087768A1 (en) Grid forming type wind generating set and control method therefor, and controller
CN113098335A (en) Permanent magnet synchronous motor harmonic suppression method based on fuzzy QPR control and voltage compensation
JP6877873B2 (en) Systems for controlling the rotational speed of electric motors in automobiles and corresponding methods
CN102651628B (en) Method for restraining torsional vibration of rotor of motor closed-loop speed control system and circuit thereof
CN107161032A (en) driving motor of electric vehicle vibration suppression control method and system
JP7107385B2 (en) ELECTRIC VEHICLE CONTROL METHOD AND CONTROL DEVICE
CN114123234B (en) Subsynchronous oscillation suppression method, system and storage medium based on active oscillation current blocking
Xiangyang et al. Event-triggered robust control of an integrated motor-gearbox powertrain system for a connected vehicle under CAN and DOS-induced delays
CN110768272B (en) STATCOM and generator excitation system coordination control method
CN201167238Y (en) Power system stabilizer
CN111251901B (en) PR (pulse repetition) jitter suppression method based on stationary point calibration

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant