CN115923537A - Anti-shake control method for pure electric vehicle - Google Patents
Anti-shake control method for pure electric vehicle Download PDFInfo
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Abstract
本发明提供一种纯电动汽车防抖控制方法，包括：通过台架标定不同的电机转速波动加速度下所需要的补偿转速，并建立转速波动加速度与补偿转速的对应表；实时采集车辆的电机转速信号，并将所述电机转速信号进行滤波处理，以去除高频噪声和随机载荷对电机转速的影响；根据过滤后的电机转速信号计算得到设定时段内电机的转速波动加速度和电机转速，并通过所述对应表得到对应的补偿转速；根据所述电机转速和所述补偿转速计算得到防抖补偿扭矩，并将所述补偿扭矩叠加在整车控制器输出的请求扭矩上，以抑制车辆抖动。本发明能降低车辆抖动，提高用户的舒适性。
The invention provides a pure electric vehicle anti-shake control method, comprising: using a bench to calibrate the required compensation speed under different motor speed fluctuation accelerations, and establishing a correspondence table between the speed fluctuation acceleration and the compensation speed; and collecting the motor speed of the vehicle in real time signal, and filter the motor speed signal to remove the influence of high-frequency noise and random load on the motor speed; calculate the speed fluctuation acceleration and motor speed of the motor within the set period according to the filtered motor speed signal, and The corresponding compensation speed is obtained through the correspondence table; the anti-shake compensation torque is calculated according to the motor speed and the compensation speed, and the compensation torque is superimposed on the request torque output by the vehicle controller to suppress the vehicle shake . The invention can reduce vehicle shaking and improve user comfort.
Description
技术领域technical field
本发明涉及电动汽车防抖控制的技术领域，具体为一种纯电动汽车防抖控制方法。The invention relates to the technical field of anti-shake control of electric vehicles, in particular to a method for anti-shake control of pure electric vehicles.
背景技术Background technique
电动汽车动力系统包含整车控制系统、电驱动系统、动力电池系统，整车控制系统将驾驶需求转化成需求扭矩指令发送给电驱动系统，电驱动系统按需求扭矩指令并结合自身的输出能力最终输出扭矩驱动车辆。对于前置前驱车辆，电驱动系统通常包含电机、减速器、驱动轴、轮端等零部件，电驱动系统部件之间刚性连接，组成了一个欠阻尼系统，易产生衰减震荡，导致车辆出现抖动，而低转速区域的转速波动，易被驾驶员感知，影响驾驶舒适性。因此，如何对电动汽车进行防抖控制，以提高用户的舒适性，具有重要的意义。The power system of an electric vehicle includes a vehicle control system, an electric drive system, and a power battery system. The vehicle control system converts the driving demand into a demand torque command and sends it to the electric drive system. The output torque drives the vehicle. For front-wheel-drive vehicles, the electric drive system usually includes components such as motors, reducers, drive shafts, and wheel ends. The components of the electric drive system are rigidly connected to form an underdamped system, which is prone to attenuation and vibration, resulting in vehicle jitter , and the speed fluctuation in the low speed area is easily perceived by the driver, which affects driving comfort. Therefore, how to carry out anti-shake control on electric vehicles to improve the comfort of users is of great significance.
发明内容Contents of the invention
本发明提供一种纯电动汽车防抖控制方法，解决现有电动汽车的电驱系统部件转动时，易产生衰减震荡，导致车辆出现抖动的问题，能降低车辆抖动，提高用户的舒适性。The invention provides an anti-vibration control method for a pure electric vehicle, which solves the problem that attenuation and vibration are easily generated when the components of the electric drive system of the existing electric vehicle are rotated, causing the vehicle to vibrate, which can reduce vehicle vibration and improve user comfort.
为实现以上目的，本发明提供以下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种纯电动汽车防抖控制方法，包括：A pure electric vehicle anti-shake control method, comprising:
通过台架标定不同的电机转速波动加速度下所需要的补偿转速，并建立转速波动加速度与补偿转速的对应表；Use the bench to calibrate the required compensation speed under different motor speed fluctuation accelerations, and establish a correspondence table between the speed fluctuation acceleration and the compensation speed;
实时采集车辆的电机转速信号，并将所述电机转速信号进行滤波处理，以去除高频噪声和随机载荷对电机转速的影响；The motor speed signal of the vehicle is collected in real time, and the motor speed signal is filtered to remove the influence of high-frequency noise and random load on the motor speed;
根据过滤后的电机转速信号计算得到设定时段内电机的转速波动加速度和电机转速，并通过所述对应表得到对应的补偿转速；Calculate and obtain the speed fluctuation acceleration and the motor speed of the motor within the set period of time according to the filtered motor speed signal, and obtain the corresponding compensation speed through the correspondence table;
根据所述电机转速和所述补偿转速计算得到防抖补偿扭矩，并将所述补偿扭矩叠加在整车控制器输出的请求扭矩上，以抑制车辆抖动。The anti-shake compensation torque is calculated according to the motor speed and the compensation speed, and the compensation torque is superimposed on the request torque output by the vehicle controller, so as to suppress the vehicle shake.
优选的，还包括：Preferably, it also includes:
设定车辆在起步和低转速工况下进入车辆防抖控制，并在电机转速处于5rpm～N时开启防抖功能，其中N为车辆30km/h所对应的电机转速。Set the vehicle to enter the anti-shake control when the vehicle is started and at low speed, and turn on the anti-shake function when the motor speed is between 5rpm and N, where N is the motor speed corresponding to the vehicle's 30km/h.
优选的，所述根据当前车辆电机转速和整车控制器的请求扭矩查表计算得到防抖补偿系数，包括：Preferably, the anti-shake compensation coefficient is calculated according to the current vehicle motor speed and the requested torque look-up table of the vehicle controller, including:
通过标定得到不同转速和不同扭矩工况下的防抖补偿扭矩系数的二维表，通过所述二维表进行查表得到防抖补偿扭矩系数。A two-dimensional table of anti-shake compensation torque coefficients under different rotational speeds and different torque conditions is obtained through calibration, and the anti-shake compensation torque coefficient is obtained by performing table lookup through the two-dimensional table.
优选的，所述根据所述电机转速和所述补偿转速计算得到防抖补偿扭矩，包括：Preferably, the anti-shake compensation torque calculated according to the motor speed and the compensation speed includes:
根据当前车辆电机转速和整车控制器的请求扭矩查表计算得到防抖补偿系数，将过滤高频噪声的电机转速减去补偿转速和非期望转速的结果乘以防抖补偿系数，计算得到所述防抖补偿扭矩。The anti-shake compensation coefficient is calculated according to the current vehicle motor speed and the requested torque of the vehicle controller, and the result of subtracting the compensation speed and undesired speed from the high-frequency noise filter motor speed is multiplied by the anti-shake compensation coefficient to calculate the anti-shake compensation coefficient. The anti-shake compensation torque described above.
优选的，所述根据所述电机转速和所述补偿转速计算得到防抖补偿扭矩，还包括：Preferably, the calculating the anti-shake compensation torque according to the motor speed and the compensation speed further includes:
将无高频信号的电机转速减去无随机振动的电机转速，在减去补偿转速后，得到电机抖动转速，将所述电机抖动转速乘以防抖补偿系数，计算得到防抖补偿扭矩。The motor speed without high-frequency signal is subtracted from the motor speed without random vibration. After subtracting the compensation speed, the motor vibration speed is obtained, and the motor vibration speed is multiplied by the anti-shake compensation coefficient to calculate the anti-shake compensation torque.
优选的，还包括：Preferably, it also includes:
根据当前整车控制器的请求扭矩指令，获取在所述请求扭矩指令下允许的最大扭矩，并将所述最大扭矩作为请求扭矩。According to the current requested torque instruction of the vehicle controller, the maximum torque allowed under the requested torque instruction is obtained, and the maximum torque is used as the requested torque.
优选的，还包括：Preferably, it also includes:
判断防抖补偿扭矩是否大于当前工况所允许的最大补偿扭矩限值，如果是，则防抖补偿扭矩将所述最大补偿扭矩限值作为防抖补偿扭矩值；Judging whether the anti-shake compensation torque is greater than the maximum compensation torque limit allowed by the current working condition, if yes, the anti-shake compensation torque uses the maximum compensation torque limit as the anti-shake compensation torque value;
将防抖补偿扭矩叠加到整车控制器的指令扭矩上，得到电机实际扭矩，并将得到的所述电机实际扭矩限制在电机外特性扭矩范围内。The anti-shake compensation torque is superimposed on the command torque of the vehicle controller to obtain the actual torque of the motor, and the obtained actual torque of the motor is limited within the range of the external characteristic torque of the motor.
本发明提供一种纯电动汽车防抖控制方法，建立转速波动加速度与补偿转速的对应表，根据当前电机转速计算得到转速波动加速度，并查表得到对应的补偿转速，进而计算得到防抖补偿扭矩，解决现有电动汽车的电驱系统部件转动时，易产生衰减震荡，导致车辆出现抖动的问题，能降低车辆抖动，提高用户的舒适性。The invention provides a pure electric vehicle anti-shake control method, which establishes a correspondence table between the speed fluctuation acceleration and the compensation speed, calculates the speed fluctuation acceleration according to the current motor speed, and looks up the table to obtain the corresponding compensation speed, and then calculates the anti-shake compensation torque The invention solves the problem that when the components of the electric drive system of the existing electric vehicle are rotated, attenuation vibration is easily generated, which causes the vehicle to vibrate, which can reduce the vehicle vibration and improve the comfort of the user.
附图说明Description of drawings
为了更清楚地说明本发明的具体实施例，下面将对实施例中所需要使用的附图作简单地介绍。In order to illustrate the specific embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below.
图1为本发明提供的一种纯电动汽车防抖控制方法示意图。FIG. 1 is a schematic diagram of a pure electric vehicle anti-shake control method provided by the present invention.
图2为本发明实施例提供的一种纯电动汽车防抖控制逻辑流程图。Fig. 2 is a logic flow chart of an anti-shake control for a pure electric vehicle provided by an embodiment of the present invention.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本发明实施例的方案，下面结合附图和实施方式对本发明实施例作进一步的详细说明。In order to enable those skilled in the art to better understand the solutions of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below in conjunction with the drawings and implementations.
针对当前电动汽车在低转速时易出现抖动的问题，本发明提供一种纯电动汽车防抖控制方法，解决现有电动汽车的电驱系统部件转动时，易产生衰减震荡，导致车辆出现抖动的问题，能降低车辆抖动，提高用户的舒适性。Aiming at the current problem that electric vehicles are prone to jitter at low speeds, the present invention provides a pure electric vehicle anti-shake control method to solve the problem of attenuation vibrations that are easy to occur when the components of the electric drive system of the existing electric vehicle rotate, resulting in vehicle jitter It can reduce the vibration of the vehicle and improve the comfort of the user.
如图1所示，一种纯电动汽车防抖控制方法，包括：As shown in Figure 1, a pure electric vehicle anti-shake control method, including:
S1：通过台架标定不同的电机转速波动加速度下所需要的补偿转速，并建立转速波动加速度与补偿转速的对应表。S1: Use the bench to calibrate the required compensation speed under different motor speed fluctuation accelerations, and establish a correspondence table between the speed fluctuation acceleration and the compensation speed.
S2：实时采集车辆的电机转速信号，并将所述电机转速信号进行滤波处理，以去除高频噪声和随机载荷对电机转速的影响。S2: Collect the motor speed signal of the vehicle in real time, and filter the motor speed signal to remove the influence of high-frequency noise and random load on the motor speed.
S3：根据过滤后的电机转速信号计算得到设定时段内电机的转速波动加速度和电机转速，并通过所述对应表得到对应的补偿转速。S3: Calculate and obtain the speed fluctuation acceleration and the motor speed of the motor within the set period according to the filtered motor speed signal, and obtain the corresponding compensation speed through the correspondence table.
S4：根据所述电机转速和所述补偿转速计算得到防抖补偿扭矩，并将所述补偿扭矩叠加在整车控制器输出的请求扭矩上，以抑制车辆抖动。S4: Calculate the anti-shake compensation torque according to the motor speed and the compensation speed, and superimpose the compensation torque on the request torque output by the vehicle controller, so as to suppress the vehicle shake.
具体地，根据车辆实际电机转速，判定是否满足防抖进入条件，若电机转速满足设定阈值，防抖补偿扭矩标志位置1。采集旋变信号，计算电机转速信号，将电机转速信号分别经过一阶低通滤波器过滤高频噪声和非期望电机转速滤波器消除随机载荷对电机转速冲击带来的影响，利用采集的电机转速信号计算转速波动的加速度，根据当前转速波动加速度值查表得到补偿转速，进而得到补偿扭矩，将防抖补偿扭矩叠加在VCU请求扭矩指令上，从而抑制车辆抖动，提高驾驶平顺性。Specifically, according to the actual motor speed of the vehicle, it is determined whether the anti-shake entry condition is met, and if the motor speed meets the set threshold, the anti-shake compensation torque flag is set to 1. Collect the resolver signal, calculate the motor speed signal, pass the motor speed signal through a first-order low-pass filter to filter high-frequency noise and undesired motor speed filter to eliminate the impact of random load on the motor speed impact, and use the collected motor speed The signal calculates the acceleration of the speed fluctuation, looks up the compensation speed according to the current speed fluctuation acceleration value, and then obtains the compensation torque, and superimposes the anti-shake compensation torque on the VCU request torque command, thereby suppressing vehicle vibration and improving driving comfort.
该方法还包括：设定车辆在起步和低转速工况下进入车辆防抖控制，并在电机转速处于5rpm～N时开启防抖功能，其中N为车辆30km/h所对应的电机转速。The method also includes: setting the vehicle to enter the vehicle anti-shake control when the vehicle is started and at low speed, and turning on the anti-shake function when the motor speed is between 5rpm and N, where N is the motor speed corresponding to the vehicle speed of 30km/h.
进一步，所述根据当前车辆电机转速和整车控制器的请求扭矩查表计算得到防抖补偿系数，包括：Further, the anti-shake compensation coefficient is calculated according to the current vehicle motor speed and the requested torque of the vehicle controller, including:
通过标定得到不同转速和不同扭矩工况下的防抖补偿扭矩系数的二维表，通过所述二维表进行查表得到防抖补偿扭矩系数。A two-dimensional table of anti-shake compensation torque coefficients under different rotational speeds and different torque conditions is obtained through calibration, and the anti-shake compensation torque coefficient is obtained by performing table lookup through the two-dimensional table.
进一步，所述根据所述电机转速和所述补偿转速计算得到防抖补偿扭矩，包括：Further, the calculation according to the motor speed and the compensation speed to obtain the anti-shake compensation torque includes:
根据当前车辆电机转速和整车控制器的请求扭矩查表计算得到防抖补偿系数，将过滤高频噪声的电机转速减去补偿转速和非期望转速的结果乘以防抖补偿系数，计算得到所述防抖补偿扭矩。The anti-shake compensation coefficient is calculated according to the current vehicle motor speed and the requested torque of the vehicle controller, and the result of subtracting the compensation speed and undesired speed from the high-frequency noise filter motor speed is multiplied by the anti-shake compensation coefficient to calculate the anti-shake compensation coefficient. The anti-shake compensation torque described above.
进一步，所述根据所述电机转速和所述补偿转速计算得到防抖补偿扭矩，还包括：Further, the calculation according to the motor speed and the compensation speed to obtain the anti-shake compensation torque also includes:
将无高频信号的电机转速减去无随机振动的电机转速，在减去补偿转速后，得到电机抖动转速，将所述电机抖动转速乘以防抖补偿系数，计算得到防抖补偿扭矩。The motor speed without high-frequency signal is subtracted from the motor speed without random vibration. After subtracting the compensation speed, the motor vibration speed is obtained, and the motor vibration speed is multiplied by the anti-shake compensation coefficient to calculate the anti-shake compensation torque.
该方法还包括：The method also includes:
根据当前整车控制器的请求扭矩指令，获取在所述请求扭矩指令下允许的最大扭矩，并将所述最大扭矩作为请求扭矩。According to the current requested torque instruction of the vehicle controller, the maximum torque allowed under the requested torque instruction is obtained, and the maximum torque is used as the requested torque.
该方法还包括：The method also includes:
判断防抖补偿扭矩是否大于当前工况所允许的最大补偿扭矩限值，如果是，则防抖补偿扭矩将所述最大补偿扭矩限值作为防抖补偿扭矩值。It is judged whether the anti-shake compensation torque is greater than the maximum compensation torque limit allowed by the current working condition, and if so, the anti-shake compensation torque uses the maximum compensation torque limit as the anti-shake compensation torque value.
将防抖补偿扭矩叠加到整车控制器的指令扭矩上，得到电机实际扭矩，并将得到的所述电机实际扭矩限制在电机外特性扭矩范围内。The anti-shake compensation torque is superimposed on the command torque of the vehicle controller to obtain the actual torque of the motor, and the obtained actual torque of the motor is limited within the range of the external characteristic torque of the motor.
在一实施例中，如图2所示，电动车防抖控制过程如下所示：In one embodiment, as shown in FIG. 2 , the electric vehicle anti-shake control process is as follows:
①计算转速波动加速度ACC：① Calculate the speed fluctuation acceleration ACC:
②计算补偿转速：② Calculate the compensation speed:
根据转速波动加速度ACC，查表计算补偿转速，提前标定好不同转速加速度下所需要的补偿转速。According to the speed fluctuation acceleration ACC, look up the table to calculate the compensation speed, and calibrate the required compensation speed under different speed accelerations in advance.
③判定防抖功能是否开启。依据经验，车辆抖动主要发生在车辆起步和低转速工况下，另考虑防抖补偿扭矩对整车动力性影响，防抖开启条件设定为：在电机转速5rpm～n，其中N为车辆30km/h所对应的电机转速，当满足上述条件，防抖功能开启。③Determine whether the anti-shake function is turned on. According to experience, vehicle vibration mainly occurs when the vehicle is started and at low speed. In addition, considering the impact of the anti-shake compensation torque on the dynamic performance of the vehicle, the anti-shake activation condition is set as follows: when the motor speed is 5rpm~n, where N is the vehicle 30km The motor speed corresponding to /h, when the above conditions are met, the anti-shake function is turned on.
③计算最大防抖扭矩：③ Calculate the maximum anti-shake torque:
根据当前VCU扭矩指令，查表计算得到该VCU请求扭矩下允许的最大扭矩，不同VCU扭矩所允许的最大扭矩事先已标定好。According to the current VCU torque command, look up the table to calculate the maximum torque allowed under the VCU request torque, and the maximum torque allowed by different VCU torques has been calibrated in advance.
④提取无高频信号的电机转速④ Extract the motor speed without high-frequency signal
利用一阶低通滤波器，将采集的电机转速过滤后，去除高频噪声，滤波系数经台架试验确定，并经过整车验证，可满足整车不同转速工况下要求。The first-order low-pass filter is used to filter the collected motor speed to remove high-frequency noise. The filter coefficient is determined by bench test and verified by the whole vehicle, which can meet the requirements of different speed conditions of the whole vehicle.
无高频信号的电机转速SpeedNew＝(1-a)*SpeedNew1-a*V，SpeedNew1是上一时刻滤波器输出的电机转速值，V是当前时刻电机转速，a滤波系数。Motor speed without high-frequency signal SpeedNew=(1-a)*SpeedNew1-a*V, SpeedNew1 is the motor speed value output by the filter at the previous moment, V is the motor speed at the current moment, a filter coefficient.
⑤提取无随机振动的电机转速Speed：⑤ Extract the motor speed Speed without random vibration:
利用一阶低通滤波器2将采集的电机转速处理后，过滤掉随机振动引起的电机转速波动。After the collected motor speed is processed by the first-order low-pass filter 2, the motor speed fluctuation caused by random vibration is filtered out.
无随机振动的电机转速Speed＝(1-b)*Speed1-b*V，Speed1是上一时刻滤波器输出的电机转速值，V是当前时刻电机转速，b滤波系数。Motor speed without random vibration Speed=(1-b)*Speed1-b*V, Speed1 is the motor speed value output by the filter at the previous moment, V is the motor speed at the current moment, and b is the filter coefficient.
⑥计算抖动转速：⑥ Calculation of shaking speed:
将无高频信号的电机转速减去无随机振动的电机转速，在减去补偿转速后，得到电机抖动转速Vd。The motor speed without random vibration is subtracted from the motor speed without high-frequency signal, and after subtracting the compensation speed, the vibration speed V d of the motor is obtained.
⑦计算防抖补偿扭矩：⑦ Calculate the anti-shake compensation torque:
根据车辆当前电机转速和VCU指令扭矩，查表计算得到防抖补偿扭矩系数，防抖补偿系数二维表事先已标定好，将抖动转速乘以防抖补偿系数，便得到防抖补偿扭矩。According to the current motor speed of the vehicle and the VCU command torque, the anti-shake compensation torque coefficient is calculated by looking up the table. The two-dimensional table of the anti-shake compensation coefficient has been calibrated in advance, and the anti-shake compensation torque is obtained by multiplying the vibration speed by the anti-shake compensation coefficient.
⑧输出电机扭矩：⑧Output motor torque:
判定防抖扭矩是否大于当前工况所允许的最大补偿扭矩限值，若超过防抖扭矩限值，防抖补偿扭矩取最大补偿扭矩限值，将防抖补偿扭矩叠加到VCU指令扭矩上，得到电机实际扭矩，并将得到的电机扭矩限制在电机外特性扭矩范围内。Determine whether the anti-shake torque is greater than the maximum compensation torque limit allowed by the current working condition. If it exceeds the anti-shake torque limit, the anti-shake compensation torque takes the maximum compensation torque limit, and the anti-shake compensation torque is superimposed on the VCU command torque to obtain The actual torque of the motor, and limit the obtained motor torque within the range of the external characteristic torque of the motor.
可见，本发明提供一种纯电动汽车防抖控制方法，建立转速波动加速度与补偿转速的对应表，根据当前电机转速计算得到转速波动加速度，并查表得到对应的补偿转速，进而计算得到防抖补偿扭矩，解决现有电动汽车的电驱系统部件转动时，易产生衰减震荡，导致车辆出现抖动的问题，能降低车辆抖动，提高用户的舒适性。It can be seen that the present invention provides a pure electric vehicle anti-shake control method, establishes a table corresponding to the speed fluctuation acceleration and the compensation speed, calculates the speed fluctuation acceleration according to the current motor speed, and looks up the table to obtain the corresponding compensation speed, and then calculates the anti-shake Compensating torque can solve the problem of attenuation and vibration that is easy to occur when the electric drive system components of the existing electric vehicle rotate, resulting in vehicle vibration, which can reduce vehicle vibration and improve user comfort.
以上依据图示所示的实施例详细说明了本发明的构造、特征及作用效果，以上所述仅为本发明的较佳实施例，但本发明不以图面所示限定实施范围，凡是依照本发明的构想所作的改变，或修改为等同变化的等效实施例，仍未超出说明书与图示所涵盖的精神时，均应在本发明的保护范围内。The structure, features and effects of the present invention have been described in detail above based on the embodiments shown in the drawings. The above descriptions are only preferred embodiments of the present invention, but the present invention does not limit the scope of implementation as shown in the drawings. Changes made to the idea of the present invention, or modifications to equivalent embodiments that are equivalent changes, and still within the spirit covered by the description and illustrations, shall be within the protection scope of the present invention.
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