CN115913012A - Function type hybrid control method for driving motor of special electric vehicle - Google Patents
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Abstract
The invention provides a functional hybrid control method for a driving motor of an electric special vehicle, which combines a fuzzy PID algorithm and a conventional PID control algorithm through a switching function to obtain the comprehensive advantages of the two control algorithms. Meanwhile, in order to reduce the calculation burden and the execution time of the controller and facilitate the engineering realization, a fuzzy proportional algorithm with the transient performance of a fuzzy PID algorithm is adopted for replacing. The operation state of the motor is studied in sections according to the operation condition of the special vehicle, and the weights of the outputs of the two control algorithms are determined by using a group of rules or an independent fuzzy algorithm, so that an additional fuzzy calculation is needed, the increased calculation time and gain constant adjustment can reduce the switching frequency of a control system, and the higher torque fluctuation condition is caused.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a functional hybrid control method for a driving motor of an electric special vehicle.
Background
The permanent magnet synchronous motor and the control system thereof have the characteristics of high efficiency, high control precision, large torque density, good torque stability, low vibration noise and the like, and are widely applied to the field of electric automobiles. The electric automobile is matched with the permanent magnet synchronous motor, the working environment is complex, the electric automobile needs to be started frequently, the acceleration and deceleration are greatly increased and decreased, and meanwhile, the endurance mileage factor is considered, so that the control system has the characteristics of high system efficiency and strong adaptability. The high-performance control strategy is applied to a motor control system, so that various potential capabilities of the motor can be fully exerted, and the working performance of the motor can better meet the use requirement. The special electric vehicle as a special type electric vehicle has new requirements on the stability, efficiency, endurance and the like of the working process due to the particularity of the running and operating process of the special electric vehicle.
The traditional motor control technology has great defects in the aspects of energy consumption, performance, controllability and the like, is not beneficial to improving the capabilities of the special electric vehicle in the aspects of endurance, driving safety, operation safety and comfort, and the optimization of the motor and the control technology thereof is also the key for improving the running performance of the electric vehicle and promoting the development of the electric vehicle industry.
Disclosure of Invention
Aiming at the defects of the prior art, the intelligent algorithm is considered to have superior performance under the transient condition, and the PID controller has superior performance under the steady-state condition. The fuzzy PID algorithm and the conventional PID control algorithm are combined through a switching function, so that the comprehensive advantages of the two control algorithms can be obtained. In order to reduce the calculation burden and the execution time of the controller and facilitate the engineering realization, the patent proposes that a fuzzy proportional algorithm with the transient performance of a fuzzy PID algorithm is adopted to replace a fuzzy method. Also, considering the use of a set of rules or a single fuzzy algorithm to determine the weights of the outputs of the two control algorithms, an additional fuzzy calculation, more calculation time, more gain constant adjustments are required. The increased calculated amount can reduce the switching frequency of a control system, so that higher torque fluctuation is caused.
The invention provides a functional hybrid control method of a driving motor of an electric special vehicle, which comprises the following steps:
step 1: starting the vehicle, powering on the motor controller, reading the throttle signal by the motor controller through the capture unit and converting the throttle signal into a given rotating speed n through calculation * (k) (ii) a Meanwhile, the motor controller collects the motor rotating speed n (k) transmitted back by the rotary transformer;
step 2: calculating a speed deviation e by a fuzzy proportional controller n (k)＝n * (k) N (k), the amount of change in speed deviation ec n (k)＝e n (k)-e n (k-1); wherein n is * (k) Indicating a given speed at time k, e n (k) Represents the velocity difference at time k, e n (k-1) represents a velocity difference at the time (k-1);
calculating the current regulation output quantity at the k moment by the formula (1)
Wherein, K e Is the quantization factor of the fuzzy proportional controller;
and 3, step 3: PID controller according to step 2Speed deviation e n (k) And amount of change ec of speed deviation n (k) Calculating to obtain the current regulation output quantity by the formula (2)
Wherein k is p 、k i 、k d Controlling parameters for a PID controller;
the current value is output by the PID controller (k-1) at any time; e.g. of a cylinder n (k)、2e n (k-1)、e n (k-2) speed deviations output at times k, (k-1) and (k-2), respectively;
and 4, step 4: according to e in step 2 n (k) Calculating current regulation output quantity by switching functions of formula (3) and formula (4)
And &>
The final current regulation output iq is calculated according to the formula (5) * (k)；
f 2 (x)＝1-f 1 (x) (4)
Wherein x is a speed deviation e n (k)，f 1 (x) Is composed of
Weight of (f) 2 (x) Is->
The weight of (c); a. b is a constant selected according to practical operation experience.
And 5: three-phase currents ia, ib and ic of a motor fed back by a Hall sensor are collected through current analog-to-digital (A/D) interruption, and after digital filtering processing, a vector static coordinate current i is obtained through Park conversion α 、i β Then, obtaining quadrature axis current iq and direct axis current id through Clarke transformation;
step 6: quadrature axis given current iq * Comparing with the feedback quadrature axis current iq to obtain a quadrature axis current deviation e iq (k)＝iq * (k) Iq (k) and quadrature axis current deviation change ec iq (k)＝e iq (k)-e iq (k-1)，e iq (k-1) is the quadrature axis current deviation amount at the time k-1; calculating the quadrature axis voltage regulation output u at the time of k by the formula (6) q (k)；
In the formula u q (k) Quadrature axis voltage u representing output at time k q (k-1) quadrature axis voltage of output at time k-1, e iq (k)、e iq (k-1)、e iq (k-2) speed deviations output at times k, (k-1) and (k-2), respectively;
controlling the direct axis given current id * =0; straight axis given current id * Comparing with the feedback direct-axis current id to obtain the direct-axis current deviation e id (k)＝id * (k) Id (k) and the amount of change in the deviation ec of the direct-axis current id (k)＝e id (k)-e id (k-1); calculating the direct axis voltage regulation output quantity u at the moment k by the formula (7) d (k)；
u d (k)＝u d (k-1)+k p ec id (k)+k i e id (k)+k d [e id (k)-2e id (k-1)+e id (k-2)] (7)
In the formula u d (k) Direct axis voltage u representing time k d (k-1) represents the direct axis voltage at the time of k-1, e id (k)、e id (k-1)、e id (k-2) is the current deviation amount output at the time of k, (k-1) and (k-2) respectively;
and 7: will u q (k)、u d (k) Obtaining alpha and beta axis voltage u through Clarke inverse transformation α 、u β And then calculating u through Park inverse transformation a 、u b 、u c (ii) a Finally, the controller is based on the three-phase voltage u a 、u b 、u c And adjusting the values of the TIM1 registers CCR1, CCR2 and CCR3 to control the SVPWM module to output six paths of PWM wave control signals, drive the inverter to work, and output variable amplitude and frequency to a three-phase winding of the motor stator so as to realize speed regulation control.
The invention has the beneficial effects that:
1) The high-performance control strategy is applied to a motor control system, so that various potential capabilities of the motor can be fully exerted, and the working performance of the motor can better meet the use requirement. Aiming at the requirements of users on more high performance of special vehicles and the complex running condition of the special vehicle driving motor, the motor control system adopts a single control strategy and cannot meet the requirement of effective control on the driving motor. The invention provides an improved functional hybrid control method. The running state of the motor is studied in sections according to the running working condition of the special vehicle, two control algorithms suitable for each stage are integrated through a switching function, and the high-performance output of the motor is exerted;
2) The key to the functional hybrid control method is the establishment of the switching function. The switching function must assign the output timing or weight of each control algorithm, so the accuracy of the switching function determines the control performance of the control system. The invention establishes the switching function by calculating and analyzing each control algorithm. The method not only reduces the torque fluctuation caused by redundant calculation, but also accurately determines the output ratio of each algorithm controller.
Drawings
FIG. 1 is a block diagram of a functional hybrid controller of a driving motor of an electric special vehicle according to the invention;
FIG. 2 is a schematic block diagram of a vector controlled governor system for an electric vehicle drive motor of the present invention;
FIG. 3 is a graph of output weight versus speed deviation according to the present invention;
fig. 4 is a flow chart of the functional hybrid control method of the driving motor of the special electric vehicle based on the controller software with the DSP as the core.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
When the special electric vehicle runs, a driving motor of the special electric vehicle is often in various working states of starting, accelerating, stabilizing speed, decelerating and the like, and various interferences are accompanied. The single control algorithm is difficult to meet the optimal control requirements of various working states. In order to ensure that the electric special vehicle runs stably in each working state such as starting, lifting and transferring, lifting operation, no-load running and the like, avoid shaking, enhance working efficiency and the like, the output characteristics of the motor in each working state need to be considered, and a speed control algorithm conforming to each stage is designed to exert the optimal output performance of the motor. Consider that the intelligent algorithm performs well under transient conditions, while the PID controller performs well under steady-state conditions. The fuzzy PID algorithm and the conventional PID control algorithm are combined through a switching function, so that the comprehensive advantages of the two control algorithms can be obtained. Meanwhile, in order to reduce the calculation load and execution time of the controller, the method is easy to realize in engineering, and the output of the fuzzy speed controller shows that the value is close to the maximum allowable output value at the beginning of the transient state and is reduced along with the reduction of the speed error. In order to further reduce the calculation amount of the fuzzy algorithm, a fuzzy proportional controller is designed to replace a fuzzy PID controller. The fuzzy proportional controller is a proportional adjustment controller, the gain adjustment of the fuzzy proportional controller is realized under the constraint of a limiter, and the output of the fuzzy proportional controller is equivalent to the output of the fuzzy controller at the transient starting time.
Considering the use of a set of rules or a single fuzzy algorithm to determine the weights of the outputs of the two control algorithms requires an additional fuzzy calculation, more calculation time, more gain constant adjustments. The increased calculation amount can reduce the switching frequency of the control system, so that higher torque fluctuation is caused, and the switching function is designed to calculate the output weight to control the output ratio of the two. The control principle block diagram is shown in fig. 1.
The control of the permanent magnet synchronous motor of the special electric vehicle adopts a space vector control mode. The principle of the governor system is shown in fig. 2. The speed regulating system consists of the following five parts: a speed loop (a functional hybrid controller), a two current loop controller (a current PID controller); a coordinate conversion module; a space vector pulse width modulation module; an inverter module; a position and velocity detection module.
The control process comprises the following steps: the given rotation speed signal is subtracted from the detected rotation speed and is output after being controlled and adjusted by a fuzzy proportional controller and a conventional PID, meanwhile, the switching function determines the output weight of the two controllers according to the slip, and the quadrature axis current component is output through calculation and serves as the given signal i of the q-axis current PID adjuster qref (ii) a Meanwhile, the stator feedback current is changed from i through coordinate transformation abc Become i d ，i q (ii) a Given quadrature axis current i qref With transformed quadrature current i q Calculating difference, and outputting quadrature axis reference voltage u after current PID adjusting machine qref (ii) a Controlling the given current i of the straight shaft dref =0, and i obtained by conversion d Calculating difference, and outputting a direct axis reference voltage u after current PID regulation dref (ii) a Will u dref ，u qref Obtaining alpha and beta axis voltage through 2r/s conversion, and obtaining u through Park inverse conversion calculation a 、u b 、u c . And finally, outputting six paths of PWM wave control signals through the SVPWM module, driving the inverter to work, and outputting variable amplitude and frequency to a three-phase winding of the motor stator.
The design idea of the invention is as follows: when the electric special vehicle operates, in order to ensure the operation stability and the optimal output performance of each stage, a control algorithm conforming to each stage needs to be designed. When the driving motor operates at a stable speed, the conventional PID control has the advantages of less calculation amount, simple control structure and superior control performance. When the driving motor runs at a large speed change or is interfered, the fuzzy proportional control algorithm can adjust control parameters according to the changing environment, and the control performance is superior. The combined advantages of the fuzzy proportional control algorithm and the conventional PID control algorithm can be obtained. Using a set of rules or a single fuzzy algorithm to determine the weights of the outputs of the two control algorithms requires an additional fuzzy calculation, more calculation time, more gain constant adjustments. The increased calculated amount can reduce the switching frequency of a control system, so that higher torque fluctuation is caused, and the running stability of the vehicle is reduced. And finally, the control output performance of the driving motor in each state is optimal, so that the output performances of the electric vehicle such as acceleration performance, stability performance, working efficiency and the like are ensured.
As shown in fig. 4, a functional hybrid control method for a driving motor of an electric special vehicle includes the following steps:
step 1: starting the vehicle, powering on the motor controller, reading the throttle signal by the motor controller through the capture unit and converting the throttle signal into a given rotating speed n through calculation * (k) (ii) a Meanwhile, the motor controller collects the motor rotating speed n (k) transmitted back by the rotary transformer;
and 2, step: calculating a speed deviation e by a fuzzy proportional controller n (k)＝n * (k) N (k), the amount of change in speed deviation ec n (k)＝e n (k)-e n (k-1); wherein n is * (k) Indicating a given speed at time k, e n (k) Representing the velocity difference at time k, e n (k-1) represents a velocity difference at the time (k-1);
calculating the current regulation output quantity at the k moment by the formula (1)
Wherein, K e As a ratio of blurA quantization factor of the example controller;
and step 3: PID controller according to the speed deviation e in step 2 n (k) And amount of change ec of speed deviation n (k) Calculating to obtain the current regulation output quantity by the formula (2)
Wherein k is p 、k i 、k d Controlling parameters for a PID controller;
the current value is output by the PID controller (k-1) at any time; e.g. of a cylinder n (k)、2e n (k-1)、e n (k-2) speed deviations output at times k, (k-1) and (k-2), respectively;
and 4, step 4: according to e in step 2 n (k) Calculating current regulation output quantity through switching functions of formula (3) and formula (4)
And &>
As shown in fig. 3, the final current regulation output iq is calculated according to the formula (5) * (k)；/>
f 2 (x)＝1-f 1 (x) (4)
Wherein x is a speed deviation e n (k)，f 1 (x) Is composed of
Weight of (f) 2 (x) Is->
The weight of (c); a. b is a constant selected according to actual operation experience.
And 5: the three-phase currents ia, ib and ic of the motor fed back by the Hall sensor are collected through current analog-to-digital (A/D) interruption, and after digital filtering processing, vector stationary coordinate current i is obtained through Park conversion α 、i β Then, obtaining quadrature axis current iq and direct axis current id through Clarke transformation;
step 6: quadrature axis given current iq * Comparing with the feedback quadrature axis current iq to obtain a quadrature axis current deviation e iq (k)＝iq * (k) Iq (k) and quadrature axis current deviation change ec iq (k)＝e iq (k)-e iq (k-1)，e iq (k-1) is the quadrature axis current deviation at the time k-1; calculating the quadrature axis voltage regulation output u at the moment k by the formula (6) q (k)；
In the formula u q (k) Quadrature voltage u representing output at time k q (k-1) quadrature axis voltage of output at time k-1, e iq (k)、e iq (k-1)、e iq (k-2) speed deviations output at times k, (k-1) and (k-2), respectively;
controlling the direct axis given current id * =0; direct axis given current id * Comparing with the feedback direct-axis current id to obtain the direct-axis current deviation e id (k)＝id * (k) Id (k) and the direct-axis current deviation change ec id (k)＝e id (k)-e id (k-1); calculating the direct axis voltage regulation output quantity u at the moment k by the formula (7) d (k)；
u d (k)＝u d (k-1)+k p ec id (k)+k i e id (k)+k d [e id (k)-2e id (k-1)+e id (k-2)] (7)
In the formula u d (k) Direct axis voltage u representing time k d (k-1) represents the direct-axis voltage at the time of k-1, e id (k)、e id (k-1)、e id (k-2) current deviation amounts outputted at times k, (k-1) and (k-2), respectively;
and 7: u is to be q (k)、u d (k) Obtaining alpha and beta axis voltage u through Clarke inverse transformation α 、u β Then u is calculated by Park inverse transformation a 、u b 、u c (ii) a Finally, the controller is based on the three-phase voltage u a 、u b 、u c And adjusting the values of the TIM1 registers CCR1, CCR2 and CCR3 to control the SVPWM module to output six paths of PWM wave control signals, drive the inverter to work, and output variable amplitude and frequency to a three-phase winding of a motor stator so as to realize speed regulation control.
Claims (3)
1. A functional hybrid control method for a driving motor of an electric special vehicle is characterized by comprising the following steps:
step 1: starting the vehicle, powering on the motor controller, reading the throttle signal by the motor controller through the capture unit and converting the throttle signal into a given rotating speed n through calculation * (k) (ii) a Meanwhile, the motor controller collects the motor rotating speed n (k) transmitted back by the rotary transformer;
step 2: calculating a speed deviation e by a fuzzy proportional controller n (k)＝n * (k) N (k), the speed deviation change amount ec n (k)＝e n (k)-e n (k-1); wherein n is * (k) Indicating a given speed at time k, e n (k) Representing the velocity difference at time k, e n (k-1) represents a velocity difference at the time (k-1);
calculating the current regulation output quantity at the k moment by the formula (1)
Wherein, K e Is a quantization factor of the fuzzy proportional controller;
and step 3: PID controller according to the speed deviation e in step 2 n (k) And amount of change ec of speed deviation n (k) Calculating to obtain the current regulation output quantity by the formula (2)
Wherein k is p 、k i 、k d Controlling parameters for a PID controller;
the current value is output by the PID controller (k-1) at any time; e.g. of the type n (k)、2e n (k-1)、e n (k-2) is the speed deviation output at the moment of k, (k-1) and (k-2) respectively;
and 4, step 4: determining current regulation output
And &>
Calculating the final current regulation output iq * (k)；
And 5: three-phase currents ia, ib and ic of a motor fed back by a current Hall sensor are acquired through current analog-to-digital interruption, and after digital filtering processing, vector stationary coordinate current i is obtained through Park conversion α 、i β Then, the quadrature axis current iq and the direct axis current i are obtained through Clarke transformationd；
Step 6: quadrature axis given current iq * Comparing with the feedback quadrature axis current iq to obtain a quadrature axis current deviation e iq (k)＝iq * (k) Iq (k) and quadrature axis current deviation change ec iq (k)＝e iq (k)-e iq (k-1)，e iq (k-1) is the quadrature axis current deviation at the time k-1; calculating to obtain quadrature axis voltage regulation output u at the moment k q (k)；
Controlling the direct axis given current id * =0; straight axis given current id * Comparing with the feedback direct-axis current id to obtain the direct-axis current deviation e id (k)＝id * (k) Id (k) and the amount of change in the deviation ec of the direct-axis current id (k)＝e id (k)-e id (k-1); calculating to obtain the output quantity u of the direct-axis voltage regulation at the moment k d (k)；
And 7: will u q (k)，u d (k) Obtaining alpha and beta axis voltage u through Clarke inverse transformation α 、u β And then calculating u through Park inverse transformation a 、u b 、u c (ii) a Finally, the controller is based on the three-phase voltage u a 、u b 、u c And adjusting the values of the TIM1 registers CCR1, CCR2 and CCR3 to control the SVPWM module to output six paths of PWM wave control signals, drive the inverter to work, and output variable amplitude and frequency to a three-phase winding of the motor stator so as to realize speed regulation control.
2. The functional hybrid control method for driving motor of electric special vehicle according to claim 1, wherein step 4 is performed
Weight f of 1 (x)、
Weight f of 2 (x) The calculation formula is as follows: />
f 2 (x)＝1-f 1 (x) (4)
Final current regulated output iq * (k) Expressed as:
wherein x is a speed deviation e n (k)，f 1 (x) Is composed of
Weight of (a), f 2 (x) Is->
The weight of (c); a. b is a constant.
3. The functional hybrid control method for driving motor of special electric vehicle as claimed in claim 1, wherein the output u of quadrature voltage regulation in step 5 q (k) Expressed as:
in the formula u q (k) Quadrature axis voltage u representing output at time k q (k-1) a quadrature axis voltage of an output at the time of k-1, e iq (k)、e iq (k-1)、e iq (k-2) speed deviations output at times k, (k-1) and (k-2), respectively;
the output u of the direct-axis voltage regulation d (k) Expressed as:
u d (k)＝u d (k-1)+k p ec id (k)+k i e id (k)+k d [e id (k)-2e id (k-1)+e id (k-2)] (7)
in the formula u d (k) Direct axis voltage u representing time k d (k-1) represents the direct-axis voltage at the time of k-1, e id (k)、e id (k-1)、e id And (k-2) represents the current deviation amounts outputted at the times of k, (k-1) and (k-2), respectively.
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