CN115817207A - Torque distribution control method for motor of dumper with E-power architecture - Google Patents
Torque distribution control method for motor of dumper with E-power architecture Download PDFInfo
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Abstract
The application discloses a motor torque distribution control method for an E-power-architecture dumper, mainly relates to the technical field of motor torque distribution control, and is used for solving the problem that the existing method cannot effectively distribute motor torque. The method comprises the following steps: calculating a torque limiting coefficient of the electric drive bridge; determining the optimal motor efficiency required torque of the corresponding motor; determining an original value of the motor required torque corresponding to the motor; determining starting required torque of each motor; determining a motor rotating speed and torque correction coefficient of each motor; calculating the torque limiting coefficient of each motor according to the motor temperature, the engine oil temperature, the actual gear and the motor torque limiting coefficient corresponding to the motor; determining original values of the required torques of all motors from the original values of the required torque coordination and the starting required torque according to the actual speed and the actual rotating speed; and further taking the product of the original value of the required torque of each motor, the motor rotating speed torque correction coefficient and the torque limiting coefficient as the required torque.
Description
Technical Field
The application relates to the technical field of motor torque distribution, in particular to a motor torque distribution control method for an E-power architecture dumper.
Background
The E-power architecture is divided from the technical philosophy, and is similar to a series hybrid system. The electric vehicle is mainly characterized in that a power transmission system and a power generation system are separated from a mechanism, a gasoline engine of the vehicle is only used as a power device special for power generation, the system utilizes the advantages of a pure electric system to the maximum extent, and the running feeling is infinitely close to that of a pure electric vehicle.
With the aggravation of the energy crisis, new energy technology is more and more widely applied to the field of commercial vehicles. As the transition between traditional energy and pure electric control, the hybrid technology becomes an important direction for research and development of all vehicle factories. The existing motor torque distribution control method includes: a method and apparatus for distributing motor torque for a hybrid vehicle. Wherein the motors of the hybrid vehicle comprise a front axle motor and a rear axle motor, and the method comprises: judging whether the motor torque needs to be preferentially distributed to a rear axle motor or not; if so, distributing the motor torque to a rear axle motor according to the rear axle required torque, and then distributing the residual torque to a front axle motor; if not, a torque split factor is calculated and the motor torque is then distributed based on the torque split factor, the total requested torque and the torque limit value.
However, the method does not consider the actual fault grade of the motor and the actual efficiency characteristic of the motor to calculate the original value of the required torque of the motor, and the torque distribution of the motor when the efficiency is optimal under the condition of motor fault is not solved; the motor required torque is calculated when no vehicle starts, and the problem of starting the motor is not solved; the actual rotating speeds of the front and rear electric drive bridge motors are not considered to correct the required torque of the motor, and the problem of idling of the rotating speed of the motor is not solved. In addition, the existing method does not consider the limitation of front and rear electric drive bridge gears, the motor temperature, the motor fault grade and the engine oil temperature on the required torque of the motor, so that the motor and the electric drive bridge are protected.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, the present invention provides a method for controlling torque distribution of a motor of a dump truck with an E-power architecture, so as to solve the above-mentioned technical problems.
The application provides a torque distribution control method for a motor of an E-power-structure dumper, wherein the E-power-structure dumper comprises two electric drive bridges; wherein each electric drive bridge comprises two electric machines, the method comprising: calculating the torque limiting coefficients of the electric drive bridge according to the torque limiting coefficients of the two motors corresponding to the electric drive bridge; acquiring total torque required by a motor end and mechanical efficiency, and determining the optimal required torque of the motor efficiency of the corresponding motor based on the total torque required by the motor end, the torque limit coefficient of the electric drive bridge, the actual rotating speed of the motor and the actual torque of the motor; determining an original value of the motor demand torque corresponding to the motor according to the total torque demand of the motor end, the mechanical efficiency and the optimal demand torque of the motor efficiency; determining starting required torque of each motor according to the total torque required by the motor end and the starting peak torque of the motor; calculating a rotating speed calculation value of the electrically driven axle according to the actual vehicle speed, the front axle gear speed ratio and the actual gear, and further determining a motor rotating speed torque correction coefficient of each motor; calculating the torque limiting coefficient of each motor according to the motor temperature, the engine oil temperature, the actual gear and the motor torque limiting coefficient corresponding to the motor; determining original values of the required torques of the motors from the original values of the required torques and the starting required torques according to the actual speed and the actual rotating speed; and further taking the product of the original value of the required torque of each motor, the motor rotating speed torque correction coefficient and the torque limiting coefficient as the required torque.
Further, before calculating the torque limiting coefficients of the electric drive bridge based on the torque limiting coefficients of the two electric machines corresponding to the electric drive bridge, the method further comprises: acquiring the fault grade and the fault code of each of two motors corresponding to the electric drive bridge; and determining torque limiting coefficients corresponding to the two motors according to a preset MAP table.
Further, calculating the torque limit coefficient of the electric drive bridge according to the torque limit coefficients of the two electric motors corresponding to the electric drive bridge, specifically comprising: and calculating the product of the torque limiting coefficients of the two corresponding motors of the electric drive bridge to obtain the torque limiting coefficient of the electric drive bridge.
Further, based on the total torque required by the motor end, the torque limit coefficient of the electric drive bridge, the actual rotating speed of the motor and the actual torque of the motor, the optimal required torque of the motor efficiency of the corresponding motor is determined, and the method specifically comprises the following steps: when the torque limiting coefficients of the two electric drive bridges are both 0, determining that the optimal required torque of the motor efficiency of the corresponding motor is both 0; when the torque limiting coefficients of the two electric bridges are both 1, setting the torque distribution coefficient of the electric bridge 1 in the two electric bridges as a; the torque distribution coefficient of the electric drive bridge 2 is 1-a; wherein, the value range of a is as follows: [ 0.5.0.6.7.8.0.9 ]; the torque distribution coefficient of the motor 1 in the electric drive bridge 1 is set to be b, and the torque distribution coefficient of the motor 2 in the electric drive bridge 1 is 1-b, wherein the value range of b is as follows: [ 0.5.0.55.0.6.0.65.7.0.75.8.0.85.9.95.1 ]; setting the torque distribution coefficient of a motor 3 in the electric drive bridge 2 as c, and setting the torque distribution coefficient of a motor 4 in the electric drive bridge 2 as 1-c; wherein, the value range of c is as follows: [ 0.5.0.55.0.6.0.65.7.0.75.8.0.85.9.95.1 ]; checking a preset MAP table according to the actual rotating speed and the actual torque of the motor, and determining the motor efficiency of each motor; according to a required torque calculation formula: the motor 1 required torque = motor end required total torque absolute value a b motor 1 motor efficiency; electric machine 2 demand torque = electric machine end demand total torque absolute value a (1-b) electric machine 2 electric machine efficiency; the required torque of the motor 3 = the absolute value of the total required torque of the motor end (1-a) c and the motor efficiency of the motor 3; the required torque of the motor 4 = the absolute value of the total required torque at the motor end (1-a) and (1-c) and the motor efficiency of the motor 4; according to the value ranges of a, b and c, the value numbers of a, b and c are sequentially brought into a required torque calculation formula to obtain the sum maximum of the required torques of the four motors; determining the required torques of the four motors corresponding to the maximum value as the optimal motor efficiency required torque of the motor; when any one torque limiting coefficient of the two electric driving bridges is between 0 and 1 and the other torque limiting coefficient is 1, the absolute value of the torque required by the motor end is firstly distributed to the bridge with the torque limiting coefficient of 1 of the electric driving bridge, and the other electric driving bridge does not drive and needs to be in neutral gear at the same time; when the torque limiting coefficient of the electric drive bridge 1 is 1 and the torque limiting coefficient of the electric drive bridge 2 is 0-1, determining that a is 1, and further determining the maximum sum of the torque required by the motor 1 and the torque required by the motor 2 according to the value range of b; determining the required torque corresponding to the maximum sum of the required torque of the motor 1 and the required torque of the motor 2 as the optimal required torque of the motor efficiency of the motor 1 and the optimal required torque of the motor 2; the optimal motor efficiency required torque of the motor 3 and the optimal motor efficiency required torque of the motor 4 are 0; when the torque limiting coefficient of two electric drive bridges is between 0 and 1, according to the torque distribution coefficient formula: a = electric drive bridge 1 torque limiting coefficient/(electric drive bridge 1 torque limiting coefficient + electric drive bridge 2 torque limiting coefficient); b = motor 1 torque limit coefficient/(motor 1 torque limit coefficient + motor 2 torque limit coefficient); c = motor 3 torque limit coefficient/(motor 3 torque limit coefficient + motor 4 torque limit coefficient); determining the values of a, b and c; and determining the optimal motor efficiency required torque of the motor according to the required torque calculation formula.
Further, according to the total torque required by the motor end, the mechanical efficiency and the optimal required torque of the motor efficiency, determining an original value of the motor required torque corresponding to the motor, specifically comprising: when the total torque required by the motor end is a positive value, the original value of the required torque of the motor = the optimal required torque of the motor efficiency of the motor and the mechanical efficiency; when the total torque required by the motor end is a negative value, the original value of the motor required torque = 0-the optimal required torque of the motor efficiency of the motor and the mechanical efficiency; when the motor-side required total torque is 0 value, the motor required torque raw value =0.
Further, according to the total torque required by the motor end and the starting peak torque of the motor, the method for determining the starting required torque of each motor specifically comprises the following steps: according to the formula: h = total torque required by the motor end/2, and total required torques of the two motors of the electric drive bridge are obtained; when the total required torque is smaller than the starting peak torque of the motor, the starting required torque of one motor in the electric drive bridge is as follows: a total requested torque; the starting demand torque of the other motor is as follows: 0; when the total required torque is larger than or equal to the starting peak torque of the motor, the starting required torque of one motor in the electric drive bridge is as follows: total required torque-preset motor rated torque; the starting demand torque of the other motor is as follows: and presetting the rated torque of the motor.
Further, according to actual speed, front axle gear speed ratio and actual gear, calculate the rotational speed calculation value of electrically driving the axle, and then confirm the motor rotational speed torque correction coefficient of each motor, specifically include: determining a gear of the vehicle; in forward gear, according to the formula: (actual vehicle speed x front axle gear speed ratio x 10000)/(60 x 2 x 3.14 x front tire radius), calculating the calculated value of the rotating speed of the electric drive axle motor; in reverse gear, according to the formula: calculating the calculated value of the rotating speed of the electric drive bridge motor (actual vehicle speed: front axle gear speed ratio: 10000)/(60: 2: 3.14: front tire radius); according to an assignment formula: (maximum value of actual rotating speed of the electric drive bridge motor-calculated rotating speed of the electric drive bridge motor)/calculated rotating speed of the electric drive bridge motor, and obtaining a comparison value; when the comparison value is larger than a preset motor airspeed ratio threshold, the motor rotating speed torque correction coefficient of the motor corresponding to the electric drive bridge is 0; otherwise, according to the formula: 1- [ (actual maximum value of the rotating speed of the electric drive bridge motor-calculated rotating speed of the electric drive bridge motor)/calculated rotating speed of the electric drive bridge motor ], and obtaining a motor rotating speed torque correction coefficient of the motor corresponding to the electric drive bridge.
Further, according to the motor temperature, the engine oil temperature, the actual gear and the motor torque limit coefficient corresponding to the motor, calculating the torque limit coefficient of each motor, specifically comprising: determining a temperature limiting coefficient of the motor according to the motor temperature of the motor; determining an engine oil limiting coefficient of the motor according to the engine oil temperature of the motor; determining a reference motor peak torque corresponding to the motor according to the actual gear of the motor; determining the extreme value torque of the motor according to the product of the peak torque of the motor and the torque limiting coefficient of the motor; determining the extreme value torque/actual motor peak torque of the motor as a gear motor limiting coefficient; when the actual gear is 0, the motor limiting coefficient is 0; and determining the product of the temperature limiting coefficient, the engine oil limiting coefficient and the gear motor limiting coefficient as a torque limiting coefficient.
As can be appreciated by those skilled in the art, the present invention has at least the following benefits:
1) Calculating the original value of the required torque of the motor based on the actual fault grade of the motor and the actual efficiency characteristic of the motor, thereby solving the problem of torque distribution of the motor when the efficiency is optimal under the condition of motor fault;
2) The calculation of the required torque of the motor is increased when the vehicle starts, so that the problem of starting the motor is solved;
3) The motor demand torque is corrected based on the actual rotating speeds of the front and rear electric drive bridge motors, so that the problem of idling of the rotating speed of the motor is solved;
4) The motor demand torque is limited based on front and rear electric drive bridge gears, the motor temperature and the engine oil temperature, and the motor and the electric drive bridge are protected.
Drawings
Some embodiments of the disclosure are described below with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of a method for controlling torque distribution of a motor of a dump truck with an E-power architecture according to an embodiment of the present disclosure.
Detailed Description
It should be understood by those skilled in the art that the embodiments described below are only preferred embodiments of the present disclosure, and do not mean that the present disclosure can be implemented only by the preferred embodiments, which are merely for explaining the technical principles of the present disclosure and are not intended to limit the scope of the present disclosure. All other embodiments that can be derived by one of ordinary skill in the art from the preferred embodiments provided by the disclosure without undue experimentation will still fall within the scope of the disclosure.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The technical solutions proposed in the embodiments of the present application are described in detail below with reference to the accompanying drawings.
An embodiment of the present application provides a method for controlling torque distribution of a motor of a dump truck with an E-power architecture, as shown in fig. 1, the method provided in the embodiment of the present application mainly includes the following steps:
and 110, calculating the torque limiting coefficient of the electric drive bridge according to the torque limiting coefficients of the two corresponding motors of the electric drive bridge.
Specifically, the product of the torque limiting coefficients of the two electric machines corresponding to the electric drive bridge is calculated as the torque limiting coefficient of the electric drive bridge.
As an example of an embodiment of the present invention,
electric drive bridge 1 torque limit coefficient = motor 1 torque limit coefficient vs. motor 2 torque limit coefficient;
electric drive bridge 2 torque limit coefficient = electric machine 3 torque limit coefficient vs. electric machine 4 torque limit coefficient;
wherein, when the torque limiting coefficient of the electric drive bridge 1 is 0, the electric drive bridge 1 can not distribute the torque, and when the torque limiting coefficient of the electric drive bridge 2 is 0, the electric drive bridge 2 can not distribute the torque; when the torque limiting coefficient of the electric drive bridge 1 and the torque limiting coefficient of the electric drive bridge 2 are both 1, no fault is caused and no limitation is caused; when the torque limiting coefficients of the electric drive bridge 1 and the electric drive bridge 2 are both 0, the serious fault cannot drive the electric drive bridge; when any one of the torque limiting coefficients of the electrically driven bridge 1 and the electrically driven bridge 2 is between 0 and 1, it means that the division is performed under the torque limiting condition.
It should be noted that a motor torque limit coefficient of 1 indicates no failure and no limitation, 0 indicates that the motor cannot be used, and a range between 0 and 1 indicates motor torque limit.
Further, before calculating the torque limiting coefficients of the electric drive bridge based on the torque limiting coefficients of the two electric machines corresponding to the electric drive bridge, the method further comprises: acquiring the fault grade and the fault code of each of two motors corresponding to the electric drive bridge; and determining torque limiting coefficients corresponding to the two motors according to a preset MAP table. It should be noted that the MAP table is obtained by testing when the motor manufacturer leaves a factory, and there is a corresponding relationship between the fault level and the fault code and the torque limit coefficient.
Step 120, acquiring total torque required by a motor end and mechanical efficiency, and determining the optimal required torque of the motor efficiency of the corresponding motor based on the total torque required by the motor end, a torque limit coefficient of an electric drive bridge, the actual rotating speed of the motor and the actual torque of the motor; and determining the original value of the required torque of the motor corresponding to the motor according to the total required torque of the motor end, the mechanical efficiency and the optimal required torque of the motor efficiency.
Wherein, based on the total torque of motor end demand, the torque limit coefficient of the electric drive bridge, the actual rotational speed of motor and the actual torque of motor, confirm the optimal demand torque of motor efficiency that corresponds the motor, specifically can be:
(1) And when the torque limiting coefficients of the two electric drive bridges are both 0, determining that the optimal required torque of the motor efficiency of the corresponding motor is both 0.
(2) When the torque limiting coefficients of the two electric bridges are both 1, setting the torque distribution coefficient of the electric bridge 1 in the two electric bridges as a; the torque distribution coefficient of the electric drive bridge 2 is 1-a; wherein, the value range of a is as follows: [ 0.5.0.6.7.8.0.9 ]; the torque distribution coefficient that sets up 1 motor 1 in the electric drive bridge is b, and the torque distribution coefficient that 2 motors in 1 electric drive bridge is 1-b, and wherein, the value range of b is: [ 0.5.0.55.0.6.0.65.7.0.75.8.0.85.9.95.1 ]; setting the torque distribution coefficient of a motor 3 in the electric drive bridge 2 as c, and setting the torque distribution coefficient of a motor 4 in the electric drive bridge 2 as 1-c; wherein, the value range of c is as follows: [ 0.5.0.55.0.6.0.65.7.0.75.8.0.85.9.95.1 ];
checking a preset MAP table according to the actual rotating speed and the actual torque of the motor, and determining the motor efficiency of each motor; it should be noted that the MAP table is preset to be obtained by testing when the motor leaves the factory. The preset MAP table is used for storing the corresponding relation between the actual rotating speed of the motor and the actual torque of the motor and the motor efficiency.
According to a required torque calculation formula: the required torque of the motor 1 = the absolute value of the total required torque of the motor end a b a motor efficiency of the motor 1; the required torque of the motor 2 = the absolute value of the total required torque of the motor end a (1-b) and the motor efficiency of the motor 2; the required torque of the motor 3 = the absolute value of the total required torque of the motor end (1-a) c and the motor efficiency of the motor 3; the required torque of the motor 4 = the absolute value of the total required torque at the motor end (1-a) and (1-c) and the motor efficiency of the motor 4;
according to the value ranges of a, b and c, the value numbers of a, b and c are sequentially brought into a required torque calculation formula to obtain the sum maximum of the required torques of the four motors; and determining the required torques of the four motors corresponding to the maximum value as the optimal required torque of the motor efficiency.
(3) When any one torque limiting coefficient of the two electric driving bridges is between 0 and 1 and the other torque limiting coefficient is 1, the absolute value of the torque required by the motor end is firstly distributed to the bridge with the torque limiting coefficient of 1 of the electric driving bridge, and the other electric driving bridge does not drive and needs to be in neutral gear at the same time; when the torque limiting coefficient of the electric drive bridge 1 is 1 and the torque limiting coefficient of the electric drive bridge 2 is between 0 and 1, determining that a is 1, and further determining the sum maximum value of the torque formula required by the motor 1 and the torque required by the motor 2 according to the value range of b; determining the required torque corresponding to the maximum value as the optimal required torque of the motor efficiency of the motor 1 and the motor 2; the motor efficiency optimum required torques of the motor 3 and the motor 4 are 0. (Note that, in the present invention, the motor 1 and the motor 2 correspond to the motor of the electric drive bridge 1, and the motor 3 and the motor 4 correspond to the motor of the electric drive bridge 2)
(4) When two electric drive bridges simultaneously have the torque limiting coefficient between 0 and 1, according to the torque distribution coefficient formula: a = electric drive bridge 1 torque limiting coefficient/(electric drive bridge 1 torque limiting coefficient + electric drive bridge 2 torque limiting coefficient); b = motor 1 torque limit coefficient/(motor 1 torque limit coefficient + motor 2 torque limit coefficient); c = motor 3 torque limit coefficient/(motor 3 torque limit coefficient + motor 4 torque limit coefficient); determining the values of a, b and c; and then determining the optimal motor efficiency required torque of the motor according to a required torque calculation formula.
The method comprises the following steps of determining an original value of the motor demand torque corresponding to a motor according to the total motor demand torque, the mechanical efficiency and the optimal motor efficiency demand torque, wherein the original value can be specifically as follows:
(1) When the total torque required by the motor end is a positive value, the original value of the required torque of the motor = the optimal required torque of the motor efficiency of the motor and the mechanical efficiency; (2) When the total torque required by the motor end is a negative value, the original value of the motor required torque = 0-the optimal required torque of the motor efficiency of the motor and the mechanical efficiency; (3) When the motor-side required total torque is 0 value, the motor required torque raw value =0.
In addition, the method for obtaining the total torque required by the motor end and the mechanical efficiency can be realized by the existing method or technology, and the application is not limited to the method.
Step 130, determining starting required torques of all motors according to the total torque required by the motor end and the starting peak torque of the motors; calculating a rotating speed calculation value of the electrically driven axle according to the actual vehicle speed, the front axle gear speed ratio and the actual gear, and further determining a motor rotating speed torque correction coefficient of each motor; and calculating the torque limiting coefficient of each motor according to the motor temperature, the engine oil temperature and the motor torque limiting coefficient corresponding to the motor.
The method comprises the following steps of determining starting required torque of each motor according to total torque required by a motor end and motor starting peak torque, and specifically comprising the following steps: according to the formula: h = total torque required by the motor end/2, and total required torques of the two motors of the electric drive bridge are obtained; when the total required torque of the two motors is smaller than the starting peak torque of the single motor, the starting required torque of one motor in the electric drive bridge is as follows: the total required torque of the two motors; the starting demand torque of the other motor is as follows: 0; when the total required torque of the two motors is larger than or equal to the starting peak torque of the single motor, the starting required torque of one motor in the electric drive bridge is as follows: total required torque-preset motor rated torque; the starting demand torque of the other motor is as follows: and presetting the rated torque of the motor.
Wherein, according to actual speed of a motor vehicle, front axle gear speed ratio and actual gear, calculate the rotational speed calculated value of the electrically driven axle, and then confirm the motor rotational speed torque correction coefficient of each motor, specifically can be: determining a gear of the vehicle; in forward gear, according to the formula: (actual vehicle speed x front axle gear speed ratio x 10000)/(60 x 2 x 3.14 x front tire radius), calculating the calculated value of the rotating speed of the electric drive axle motor; in reverse gear, according to the formula: calculating a calculated value of the rotating speed of the electric drive bridge motor (actual vehicle speed: front axle gear speed ratio: 10000)/(60: 2: 3.14: front tire radius); according to an assignment formula: (maximum value of actual rotating speed of the electric drive bridge motor-calculated value of rotating speed of the electric drive bridge motor)/calculated value of rotating speed of the electric drive bridge motor to obtain a comparison value; when the comparison value is larger than a preset motor airspeed ratio threshold value, the motor rotating speed torque correction coefficient of the motor corresponding to the electric drive bridge is 0; otherwise, according to the formula: 1- [ (actual maximum value of the rotating speed of the electric drive bridge motor-calculated rotating speed of the electric drive bridge motor)/calculated rotating speed of the electric drive bridge motor ], and obtaining a motor rotating speed torque correction coefficient of the motor corresponding to the electric drive bridge.
Wherein, according to the motor temperature, the machine oil temperature, actual gear and the motor torque limit coefficient that the motor corresponds, calculate the torque limit coefficient of each motor, specifically can be:
(1) Determining a temperature limiting coefficient of the motor according to the motor temperature of the motor; as an example, motor demand torque limitation based on temperatures of main and auxiliary motors of the front and rear electric drive bridges, motor temperature signals are collected through a motor temperature sensor, and when the motor temperature is higher than a motor no-torque output temperature threshold value, a corresponding temperature limitation coefficient (number 1) of the motor no-torque output is output; when the temperature of the motor is lower than the motor no-torque output temperature threshold value but higher than the motor torque linear output limiting temperature threshold value, according to the formula: (current motor temperature value-motor torque linear output limit temperature threshold)/(motor no-torque output temperature threshold-motor torque linear output limit temperature threshold), determining a temperature limit coefficient; when the motor temperature does not satisfy the above condition, outputting the corresponding motor temperature normally does not affect the torque output temperature limit coefficient (number 0).
(2) Determining an engine oil limiting coefficient of the motor according to the engine oil temperature of the motor; as an example, the motor demand torque limitation based on the temperatures of the front and rear electric drive bridge engine oils, the engine oil temperature signal is collected by the electric drive bridge engine oil temperature sensor, and when the electric drive bridge engine oil temperature is higher than the motor torque zero clearing temperature threshold, the engine oil limitation coefficient (number 1) of the corresponding motor torque zero clearing is output; when the temperature of the electric drive bridge engine oil is lower than the motor torque zero clearing temperature threshold but higher than the motor torque limiting temperature threshold, according to the formula: (current engine oil temperature value-motor torque limit temperature threshold)/(motor torque clear temperature threshold-motor torque limit temperature threshold), determining an engine oil limit coefficient; and when the temperature of the electrically-driven bridge engine oil does not meet the condition, outputting the corresponding normal engine oil limit coefficient (number 0) of the temperature of the electrically-driven bridge engine oil.
(3) Determining a reference motor peak torque corresponding to the motor according to the actual gear of the motor; determining the extreme value torque of the motor according to the product of the peak torque of the motor and the torque limiting coefficient of the motor; determining the extreme value torque/actual motor peak torque of the motor as a gear motor limiting coefficient; when the actual gear is 0, the gear motor limiting coefficient is 0; and determining the product of the temperature limiting coefficient, the engine oil limiting coefficient and the gear motor limiting coefficient as a torque limiting coefficient.
Step 140, determining original values of the required torques of the motors from the original values of the required torque coordination and the starting required torque values according to the actual speed and the actual rotating speed; and further taking the product of the original value of the required torque of each motor, the motor rotating speed torque correction coefficient and the torque limiting coefficient as the required torque.
It should be noted that, according to the actual vehicle speed and the actual rotational speed, the original value of the required torque of each motor is determined from the original value of the required torque coordination and the starting required torque, which may specifically be: when the actual speed is 0 and the actual rotating speed of the motor is 0, the motor required torque is coordinated with the original value to select the motor starting required torque; otherwise, selecting an original value of the required torque of the motor.
Based on the above description, the original value of the required torque of the motor 1/2/3/4 when the motor efficiency is optimal under the fault condition is firstly calculated, then the starting required torque of the motor 1/2/3/4 is calculated, then the motor rotating speed and torque correction coefficient of the motor 1/2/3/4 is calculated, then the torque limiting coefficient of the motor 1/2/3/4 is calculated, and finally the required torque of the motor 1/2/3/4 is calculated. According to the method, the original value of the required torque of the motor is calculated based on the actual fault grade of the motor and the actual efficiency characteristic of the motor, and the torque distribution of the motor when the efficiency is optimal under the condition of motor fault is solved; the calculation of the required torque of the motor is increased when the vehicle starts, and the problem of starting the motor is solved; correcting the required torque of the motor based on the actual rotating speeds of the front and rear electric drive bridge motors, and solving the problem of idling of the rotating speed of the motor; the motor demand torque is limited based on front and back electric drive bridge gears, the motor temperature, the motor fault grade and the engine oil temperature, and the motor and the electric drive bridge are protected.
So far, the technical solutions of the present disclosure have been described in connection with the foregoing embodiments, but it is easily understood by those skilled in the art that the scope of the present disclosure is not limited to only these specific embodiments. The technical solutions in the above embodiments can be split and combined, and equivalent changes or substitutions can be made on related technical features by those skilled in the art without departing from the technical principles of the present disclosure, and any changes, equivalents, improvements, and the like made within the technical concept and/or technical principles of the present disclosure will fall within the protection scope of the present disclosure.
Claims (8)
1. A torque distribution control method for a motor of an E-power-structure dumper is characterized in that the E-power-structure dumper comprises two electric drive bridges; wherein each electric drive bridge comprises two electric machines, the method comprising:
calculating the torque limiting coefficient of the electric drive bridge according to the torque limiting coefficients of the two motors corresponding to the electric drive bridge;
acquiring total torque required by a motor end and mechanical efficiency, and determining the optimal required torque of the motor efficiency of the corresponding motor based on the total torque required by the motor end, the torque limit coefficient of the electric drive bridge, the actual rotating speed of the motor and the actual torque of the motor; determining an original value of the motor demand torque corresponding to the motor according to the total torque demand of the motor end, the mechanical efficiency and the optimal demand torque of the motor efficiency;
determining starting required torque of each motor according to the total torque required by the motor end and the starting peak torque of the motor; calculating a rotating speed calculation value of the electrically driven axle according to the actual vehicle speed, the front axle gear speed ratio and the actual gear, and further determining a motor rotating speed torque correction coefficient of each motor; calculating the torque limiting coefficient of each motor according to the motor temperature, the engine oil temperature, the actual gear and the motor torque limiting coefficient corresponding to the motor;
determining original values of the required torques of the motors from the original values of the required torques and the starting required torques according to the actual speed and the actual rotating speed; and further taking the product of the original value of the required torque of each motor, the motor rotating speed torque correction coefficient and the torque limiting coefficient as the required torque.
2. The method of claim 1, wherein prior to calculating the torque limit factor for the electric drive bridge based on the torque limit factors for the two electric machines for the electric drive bridge, the method further comprises:
acquiring the fault grade and the fault code of each of two motors corresponding to the electric drive bridge; and determining torque limiting coefficients corresponding to the two motors according to a preset MAP table.
3. The method for controlling the torque distribution of the motors of the dumper with the E-power architecture according to claim 1, wherein the step of calculating the torque limit coefficients of the electric drive bridge according to the torque limit coefficients of the two motors corresponding to the electric drive bridge specifically comprises the steps of:
and calculating the product of the torque limiting coefficients of the two corresponding motors of the electric drive bridge to obtain the torque limiting coefficient of the electric drive bridge.
4. The method for controlling the torque distribution of the motor of the dumper with the E-power architecture according to claim 1, wherein the determining of the optimal motor efficiency required torque of the corresponding motor based on the total torque required by the motor end, the torque limit coefficient of the electric drive bridge, the actual motor speed and the actual motor torque specifically comprises:
when the torque limiting coefficients of the two electric drive bridges are both 0, determining that the optimal motor efficiency demand torques of the corresponding motors are both 0;
when the torque limiting coefficients of the two electric drive bridges are both 1, setting the torque distribution coefficient of the electric drive bridge 1 in the two electric drive bridges as a; the torque distribution coefficient of the electric drive bridge 2 is 1-a; wherein, the value range of a is as follows: [ 0.5.0.6.7.8.0.9 ]; the torque distribution coefficient of the motor 1 in the electric drive bridge 1 is set to be b, and the torque distribution coefficient of the motor 2 in the electric drive bridge 1 is 1-b, wherein the value range of b is as follows: [ 0.5.0.55.0.6.0.65.0.7.75.8.0.85.9.95 ] to produce a copolymer; setting the torque distribution coefficient of a motor 3 in the electric drive bridge 2 as c, and setting the torque distribution coefficient of a motor 4 in the electric drive bridge 2 as 1-c; wherein, the value range of c is as follows: [ 0.5.0.55.0.6.0.65.7.0.75.8.0.85.9.95.1 ];
checking a preset MAP table according to the actual rotating speed and the actual torque of the motor, and determining the motor efficiency of each motor;
according to a required torque calculation formula: the motor 1 required torque = motor end required total torque absolute value a b motor 1 motor efficiency; electric machine 2 demand torque = electric machine end demand total torque absolute value a (1-b) electric machine 2 electric machine efficiency; the required torque of the motor 3 = the absolute value of the total required torque at the motor end (1-a) c motor 3 motor efficiency; the required torque of the motor 4 = the absolute value of the total required torque at the motor end (1-a) and (1-c) and the motor efficiency of the motor 4;
according to the value ranges of a, b and c, the value numbers of a, b and c are sequentially brought into a required torque calculation formula to obtain the sum maximum of the required torques of the four motors; determining the required torques of the four motors corresponding to the maximum value as the optimal motor efficiency required torque of the motor;
when any one torque limiting coefficient of the two electric driving bridges is between 0 and 1 and the other torque limiting coefficient is 1, the absolute value of the torque required by the motor end is firstly distributed to the bridge with the torque limiting coefficient of 1 of the electric driving bridge, and the other electric driving bridge does not drive and needs to be in neutral gear at the same time; when the torque limiting coefficient of the electric drive bridge 1 is 1 and the torque limiting coefficient of the electric drive bridge 2 is 0-1, determining that a is 1, and further determining the maximum sum of the torque required by the motor 1 and the torque required by the motor 2 according to the value range of b; determining the required torque corresponding to the maximum sum of the required torque of the motor 1 and the required torque of the motor 2 as the optimal required torque of the motor efficiency of the motor 1 and the optimal required torque of the motor 2; the optimal motor efficiency required torque of the motor 3 and the optimal motor efficiency required torque of the motor 4 are 0;
when two electric drive bridges simultaneously have a torque limiting factor between 0 and 1,
according to the torque distribution coefficient formula: a = electric drive bridge 1 torque limiting coefficient/(electric drive bridge 1 torque limiting coefficient + electric drive bridge 2 torque limiting coefficient); b = motor 1 torque limit coefficient/(motor 1 torque limit coefficient + motor 2 torque limit coefficient); c = motor 3 torque limiting coefficient/(motor 3 torque limiting coefficient + motor 4 torque limiting coefficient); determining the values of a, b and c;
and determining the optimal motor efficiency required torque of the motor according to the required torque calculation formula.
5. The method for controlling the torque distribution of the motor of the E-power architecture dump truck according to claim 1, wherein the determining of the original value of the motor demand torque corresponding to the motor according to the total torque demanded by the motor, the mechanical efficiency and the optimal torque demanded by the motor efficiency comprises:
when the total torque required at the motor side is positive,
the original value of the required torque of the motor = the optimal required torque of the motor efficiency of the motor and the mechanical efficiency;
when the total torque required at the motor side is a negative value,
the original value of the required torque of the motor = 0-the optimal required torque of the motor efficiency of the motor and the mechanical efficiency;
when the total torque required at the motor side is 0 value,
motor demand torque raw =0.
6. The method for controlling the torque distribution of the motors of the dump truck with the E-power architecture as claimed in claim 1, wherein the step of determining the starting required torque of each motor according to the total torque required by the motor end and the starting peak torque of the motor specifically comprises the steps of:
according to the formula: h = total torque required by the motor end/2, and total required torques of the two motors of the electric drive bridge are obtained;
when the total required torque is smaller than the starting peak torque of the motor, the starting required torque of one motor in the electric drive bridge is as follows: a total requested torque; the starting demand torque of the other motor is as follows: 0;
when the total required torque is larger than or equal to the starting peak torque of the motor, the starting required torque of one motor in the electric drive bridge is as follows: total required torque-preset motor rated torque; the starting demand torque of the other motor is as follows: and presetting the rated torque of the motor.
7. The method for controlling the torque distribution of the motors of the dumper with the E-power architecture according to claim 1, wherein a rotation speed calculation value of an electrically-driven axle is calculated according to an actual vehicle speed, a front axle gear speed ratio and an actual gear, and a motor rotation speed torque correction coefficient of each motor is further determined, specifically comprising:
determining a gear of the vehicle;
in forward gear, according to the formula: (actual vehicle speed x front axle gear speed ratio x 10000)/(60 x 2 x 3.14 x front tire radius), calculating the calculated value of the rotating speed of the electric drive axle motor;
in reverse gear, according to the formula: calculating the calculated value of the rotating speed of the electric drive bridge motor (actual vehicle speed: front axle gear speed ratio: 10000)/(60: 2: 3.14: front tire radius);
according to an assignment formula: (maximum value of actual rotating speed of the electric drive bridge motor-calculated value of rotating speed of the electric drive bridge motor)/calculated value of rotating speed of the electric drive bridge motor to obtain a comparison value;
when the comparison value is larger than a preset motor airspeed ratio threshold value, the motor rotating speed torque correction coefficient of the motor corresponding to the electric drive bridge is 0; otherwise, according to the formula: 1- [ (maximum value of actual rotating speed of electric drive bridge motor-calculated rotating speed of electric drive bridge motor)/calculated rotating speed of electric drive bridge motor ], and obtaining a motor rotating speed torque correction coefficient of the motor corresponding to the electric drive bridge.
8. The method of claim 1, wherein the step of calculating the torque limit coefficient of each motor according to the motor temperature, the engine oil temperature, the actual gear and the motor torque limit coefficient corresponding to the motor comprises:
determining a temperature limiting coefficient of the motor according to the motor temperature of the motor;
determining an engine oil limiting coefficient of the motor according to the engine oil temperature of the motor;
determining a reference motor peak torque corresponding to the motor according to the actual gear of the motor; determining the extreme value torque of the motor according to the product of the peak torque of the motor and the torque limiting coefficient of the motor; determining the extreme value torque/actual motor peak torque of the motor as a gear motor limiting coefficient; when the actual gear is 0, the gear motor limiting coefficient is 0;
and determining the product of the temperature limiting coefficient, the engine oil limiting coefficient and the gear motor limiting coefficient as a torque limiting coefficient.
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| CN116142169A (en) * | 2023-04-23 | 2023-05-23 | 中国第一汽车股份有限公司 | Control method, device, storage medium and equipment for improving crawling smoothness of vehicle |
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| CN116142169A (en) * | 2023-04-23 | 2023-05-23 | 中国第一汽车股份有限公司 | Control method, device, storage medium and equipment for improving crawling smoothness of vehicle |
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