CN116945914A - Gear switching speed regulation method and system for motor - Google Patents

Gear switching speed regulation method and system for motor Download PDF

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Publication number
CN116945914A
CN116945914A CN202311039201.8A CN202311039201A CN116945914A CN 116945914 A CN116945914 A CN 116945914A CN 202311039201 A CN202311039201 A CN 202311039201A CN 116945914 A CN116945914 A CN 116945914A
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China
Prior art keywords
motor
rotation speed
speed information
gear
information
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Pending
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CN202311039201.8A
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Chinese (zh)
Inventor
李荣华
袁锐杰
满海勇
岳彬彬
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GAC Aion New Energy Automobile Co Ltd
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GAC Aion New Energy Automobile Co Ltd
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Priority to CN202311039201.8A priority Critical patent/CN116945914A/en
Publication of CN116945914A publication Critical patent/CN116945914A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2054—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed by controlling transmissions or clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The embodiment of the application provides a gear switching speed regulating method and system of a motor, and relates to the technical field of motor speed regulation. The gear switching speed regulation method of the motor is applied to a two-gear motor, wherein the two-gear motor comprises a first motor and a second motor, and the method comprises the following steps of: acquiring rotation speed information of a second motor, wherein the second motor is connected with a wheel end; acquiring feedback rotation speed information of a first motor, wherein the first motor is connected with a wheel end through different preset speed ratios according to gears; obtaining rotation speed compensation quantity data according to the rotation speed information and the feedback rotation speed information; and controlling gear switching of the first motor according to the rotation speed compensation quantity data so as to switch the gear of the first motor into a target rotation speed, wherein the target rotation speed is determined according to the rotation speed compensation quantity data and the feedback rotation speed information. The gear switching speed regulating method of the motor can achieve the technical effect of improving the accuracy of motor rotation speed control.

Description

Gear switching speed regulation method and system for motor
Technical Field
The application relates to the technical field of motor speed regulation, in particular to a gear switching speed regulation method and system of a motor.
Background
At present, a direct current motor is generally adopted as a driving motor of an electric vehicle. When the direct current motor of two gears needs to be shifted up, a speed regulation stage and a gear shifting stage are needed. In the speed regulation stage, the whole vehicle controller reduces the rotating speed difference between the two motors through the rotating speed closed-loop control of the two motors fed back in real time by the electric drive controller. In the prior art, in the speed regulation stage of a two-gear motor, the control speed of the whole vehicle controller is very likely to be inaccurate due to communication delay; in addition, the accuracy of the rotational speed control is also easily reduced due to the rotational speed difference caused by the operation of the whole vehicle controller.
Disclosure of Invention
The embodiment of the application aims to provide a gear switching speed regulating method and system for a motor, electronic equipment and a computer readable storage medium, which can realize the technical effect of improving the accuracy of motor rotation speed control.
In a first aspect, an embodiment of the present application provides a gear switching speed regulation method for a motor, which is applied to a two-gear motor, where the two-gear motor includes a first motor and a second motor, and the gear switching speed regulation method includes:
acquiring rotation speed information of a second motor, wherein the second motor is connected with a wheel end;
acquiring feedback rotation speed information of a first motor, wherein the first motor is connected with a wheel end through different preset speed ratios according to gears;
obtaining rotation speed compensation quantity data according to the rotation speed information and the feedback rotation speed information;
and controlling gear switching of the first motor according to the rotation speed compensation quantity data so as to switch the gear of the first motor into a target rotation speed, wherein the target rotation speed is determined according to the rotation speed compensation quantity data and the feedback rotation speed information.
In the implementation process, the gear switching speed regulation method of the motor processes the rotation speed information of the second motor and the feedback rotation speed information of the first motor to obtain rotation speed compensation quantity data, so that the prediction and compensation of the rotation speed change of the motor are realized, and two different motors are realized: the accurate control of the rotation speed of the first motor and the second motor ensures the quick switching of the two-gear motor between gears, and achieves the technical effect of improving the accuracy of motor rotation speed control.
Further, the step of obtaining the rotation speed information of the second motor includes:
acquiring first rotation speed information of a second motor at the current moment;
judging whether the current time is the initial time or not;
if not, acquiring second rotation speed information of a second motor at the previous moment;
if yes, second rotation speed information is obtained, wherein the second rotation speed information is the same as the first rotation speed information.
In the implementation process, the rotation speed information of the second motor includes first rotation speed information and second rotation speed information, and the rotation speed change rate of the second motor can be calculated according to the first rotation speed information and the second rotation speed information.
Further, the step of obtaining the rotation speed compensation amount data according to the rotation speed information and the feedback rotation speed information includes:
obtaining the rotation speed change rate information of the second motor according to the first rotation speed information and the second rotation speed information;
and calculating according to preset time, the rotating speed change rate and the feedback rotating speed information to obtain rotating speed compensation quantity data, wherein the preset time is determined according to the operation time and the signal transmission time of the whole vehicle controller.
In the implementation process, according to the rotation speed change rate information of the second motor and then according to the signal transmission time and the calculation time of the whole vehicle controller, the rotation speed compensation quantity data which needs to be compensated by the first motor is calculated, so that the problems that the control hoped target speed difference and the actual speed difference are greatly different and the speed regulation time is overlong or even fails due to the fact that communication delays of different controllers exist in the speed regulation process are solved, and the accuracy of motor rotation speed control is improved.
Further, the step of obtaining the rotation speed compensation amount data according to the rotation speed information and the feedback rotation speed information includes:
calculating according to a preset formula, the rotating speed information and the feedback rotating speed information to obtain rotating speed compensation quantity data, wherein the preset formula is as follows:
ω b ＝(ω m1 －ω f )+(ω s1 －ω s2 )；
wherein omega b For the rotational speed compensation amount data ω m1 For the target rotation speed at the previous moment omega f Omega for the feedback rotation speed information b Omega for the first rotational speed information b And the second rotating speed information.
Further, when the current time is the initial time, the target rotation speed at the previous time is a preset rotation speed.
Further, the step of controlling the gear switching of the first motor according to the rotation speed compensation amount data includes:
controlling the first motor to enter a rotating speed control mode, and executing the following processing on the first motor in the rotating speed control mode:
and if the difference value between the target rotating speed and the feedback rotating speed information is larger than a preset threshold value, controlling the first motor to switch gears according to the rotating speed compensation quantity data, and adjusting the rotating speed of the first motor to the target rotating speed.
In a second aspect, an embodiment of the present application provides a gear switching speed regulation system of a motor, which is applied to a two-gear motor, where the two-gear motor includes a first motor and a second motor, and the gear switching speed regulation system includes:
the rotating speed acquisition module is used for acquiring rotating speed information of a second motor, wherein the second motor is connected with a wheel end;
the feedback rotation speed acquisition module is used for acquiring feedback rotation speed information of the first motor, wherein the first motor is connected with the wheel end through different preset speed ratios according to gears;
the compensation quantity module is used for obtaining rotation speed compensation quantity data according to the rotation speed information and the feedback rotation speed information;
and the switching module is used for controlling the gear switching of the first motor according to the rotating speed compensation quantity data so as to switch the gear of the first motor into a target rotating speed, wherein the target rotating speed is determined according to the rotating speed compensation quantity data and the feedback rotating speed information.
Further, the rotation speed acquisition module is specifically configured to: acquiring first rotation speed information of a second motor at the current moment; judging whether the current time is the initial time or not; if not, acquiring second rotation speed information of a second motor at the previous moment; if yes, second rotation speed information is obtained, wherein the second rotation speed information is the same as the first rotation speed information.
Further, the compensation amount module is specifically configured to: obtaining the rotation speed change rate information of the second motor according to the first rotation speed information and the second rotation speed information; and calculating according to preset time, the rotating speed change rate and the feedback rotating speed information to obtain rotating speed compensation quantity data, wherein the preset time is determined according to the operation time and the signal transmission time of the whole vehicle controller.
Further, the compensation amount module is further configured to: calculating according to a preset formula, the rotating speed information and the feedback rotating speed information to obtain rotating speed compensation quantity data, wherein the preset formula is as follows:
ω b ＝(ω m1 －ω f )+(ω s1 －ω s2 )；
wherein omega b For the rotational speed compensation amount data ω m1 For the target rotation speed at the previous moment omega f Omega for the feedback rotation speed information b Omega for the first rotational speed information b And the second rotating speed information.
Further, the switching module is specifically configured to:
controlling the first motor to enter a rotating speed control mode, and executing the following processing on the first motor in the rotating speed control mode:
and if the difference value between the target rotating speed and the feedback rotating speed information is larger than a preset threshold value, controlling the first motor to switch gears according to the rotating speed compensation quantity data, and adjusting the rotating speed of the first motor to the target rotating speed.
In a third aspect, an electronic device provided in an embodiment of the present application includes: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of the first aspects when the computer program is executed.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where instructions are stored, which when executed on a computer, cause the computer to perform the method according to any one of the first aspects.
In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a computer causes the computer to perform the method according to any of the first aspects.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a two-gear motor according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a gear switching speed regulating method of a motor according to an embodiment of the present application;
fig. 3 is a schematic flow chart of another gear shifting and speed regulating method of a motor according to an embodiment of the present application;
fig. 4 is a topological diagram of a gear shifting scheme of a two-gear motor provided by an embodiment of the application;
fig. 5 is a block diagram of a gear switching speed regulation system of a motor according to an embodiment of the present application;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
The embodiment of the application provides a gear switching speed regulating method and system of a motor, electronic equipment and a computer readable storage medium, which can be applied to the speed regulating control process of a two-gear motor; according to the gear switching speed regulating method of the motor, the rotating speed information of the second motor and the feedback rotating speed information of the first motor are processed to obtain rotating speed compensation quantity data, so that the prediction and compensation of the rotating speed change of the motor are realized, and two different motors are realized: the accurate control of the rotation speed of the first motor and the second motor ensures the quick switching of the two-gear motor between gears, and achieves the technical effect of improving the accuracy of motor rotation speed control.
In order to facilitate understanding of the technical scheme of the embodiment of the application, the structure of the two-gear motor is described:
referring to fig. 1, fig. 1 is a schematic structural diagram of a two-gear motor according to an embodiment of the present application, where the two-gear motor includes a synchronizer 1, a synchronizing ring 2, a first gear 3, a second gear 4, a gear set 6, a first motor 5 and a second motor 7;
the principle of the two-gear motor used in the embodiment of the present application is shown in fig. 1, wherein the second motor 7 is directly connected with the wheel end 8, and the first motor 5 is connected with the wheel end 8 by adopting different speed ratios according to the current gear selection; the following situations can be classified according to the location of the synchronizer:
when the synchronizer 1 is shifted to the left, the gear of the two-gear motor enters 1 gear, and the first motor 5 is driven together with the second motor 7 by adopting a larger speed ratio;
when the synchronizer 1 is shifted to the right, the gear of the two-gear motor enters 2 gears, and the first motor 5 is driven together with the second motor 7 by adopting a smaller speed ratio;
when the synchronizer 1 is in the neutral position, the first electric machine 5 does not participate in driving.
Referring to fig. 2, fig. 2 is a flow chart of a gear switching speed regulating method of a motor, which is provided by an embodiment of the present application, the gear switching speed regulating method of the motor is applied to a two-gear motor, the two-gear motor includes a first motor and a second motor, and the gear switching speed regulating method includes the following steps:
s100: acquiring rotation speed information of a second motor, wherein the second motor is connected with a wheel end;
for example, the rotation speed change rate of the second motor may be calculated according to the rotation speed information of the second motor;
s200: acquiring feedback rotation speed information of a first motor, wherein the first motor is connected with a wheel end through different preset speed ratios according to gears;
s300: obtaining rotation speed compensation quantity data according to the rotation speed information and the feedback rotation speed information;
illustratively, in S300, the rotation speed change rate of the second motor may be obtained according to the rotation speed information, and the rotation speed to be compensated, that is, the rotation speed compensation amount data, is calculated based on the rotation speed change rate of the second motor and the feedback rotation speed information of the first motor; therefore, the problems that the control of the desired target speed difference and the actual speed difference is very large due to the communication delay of different controllers in the speed regulation process of the two-gear motor, and the speed regulation time is overlong or even fails are solved;
s400: and controlling gear switching of the first motor according to the rotation speed compensation quantity data so as to switch the gear of the first motor into a target rotation speed, wherein the target rotation speed is determined according to the rotation speed compensation quantity data and the feedback rotation speed information.
Optionally, the target rotational speed is a sum of the rotational speed compensation amount data and the feedback rotational speed information.
The gear switching speed regulation method of the motor is used for processing the rotation speed information of the second motor and the feedback rotation speed information of the first motor to obtain rotation speed compensation data, so that the prediction and compensation of the rotation speed change of the motor are realized, and two different motors are realized: the accurate control of the rotation speed of the first motor and the second motor ensures the quick switching of the two-gear motor between gears, and achieves the technical effect of improving the accuracy of motor rotation speed control.
Referring to fig. 3, fig. 3 is a flow chart of another gear shifting and speed adjusting method of a motor according to an embodiment of the application.
Illustratively, S100: the step of obtaining the rotation speed information of the second motor comprises the following steps:
s110: acquiring first rotation speed information of a second motor at the current moment;
s120: judging whether the current time is the initial time or not;
s130: if not, acquiring second rotation speed information of a second motor at the previous moment;
s140: if yes, second rotation speed information is obtained, wherein the second rotation speed information is the same as the first rotation speed information.
The rotational speed information of the second motor may include first rotational speed information and second rotational speed information, and the rotational speed change rate of the second motor may be calculated based on the first rotational speed information and the second rotational speed information.
Illustratively, S300: the step of obtaining the rotational speed compensation amount data according to the rotational speed information and the feedback rotational speed information comprises the following steps:
s310: obtaining the rotation speed change rate information of the second motor according to the first rotation speed information and the second rotation speed information;
s320: and calculating according to preset time, the rotating speed change rate and feedback rotating speed information to obtain rotating speed compensation quantity data, wherein the preset time is determined according to the operation time and the signal transmission time of the whole vehicle controller.
The method is characterized in that the speed compensation quantity data which needs to be compensated by the first motor is calculated according to the speed change rate information of the second motor and the signal transmission time and the calculation time of the whole vehicle controller, so that the problems that the speed regulation process has great difference between a target speed difference and an actual speed difference which are expected to be controlled and the speed regulation time is overlong or even fails due to the communication delay of different controllers are solved, and the accuracy of motor speed control is improved.
In some embodiments, S300: the step of obtaining the rotational speed compensation amount data according to the rotational speed information and the feedback rotational speed information comprises the following steps:
calculating according to a preset formula, rotation speed information and feedback rotation speed information to obtain rotation speed compensation quantity data, wherein the preset formula is as follows:
ω b ＝(ω m1 －ω f )+(ω s1 －ω s2 )；
wherein omega b For speed compensation quantity data omega m1 For the target rotation speed at the previous moment omega f To feed back the rotation speed information omega b Omega is the first rotation speed information b Is the second rotation speed information.
For example, when the current time is the initial time, the target rotation speed at the previous time is the preset rotation speed.
Illustratively, S400: the step of controlling gear switching of the first motor according to the rotation speed compensation amount data comprises the following steps:
s410: controlling the first motor to enter a rotation speed control mode, and executing the following processing on the first motor in the rotation speed control mode: and if the difference value between the target rotating speed and the feedback rotating speed information is larger than a preset threshold value, controlling the first motor to switch gears according to the rotating speed compensation quantity data, and adjusting the rotating speed of the first motor to be the target rotating speed.
Referring to fig. 4, fig. 4 is a topology diagram of a gear shifting scheme of a two-gear motor according to an embodiment of the present application, wherein:
the whole vehicle controller (Vehicle Control Unit, VCU) is responsible for identifying gear shifting time, calculating target rotating speed of the DCU1, controlling gear shifting process implementation and the like;
the first motor controller, namely the driving motor controller 1 (Drive Control Unit 1, DCU 1), is responsible for feeding back the actual rotation speed to the VCU and controlling the closed-loop rotation speed of the first motor according to the VCU command;
the second motor controller, the driving motor controller 2 (Drive Control Unit, dcu 2) is responsible for feeding back the target rotational speed to the VCU;
the shift execution controller, i.e. the electronic shift unit (Electronic Gear Shift Unit, EGSU), is responsible for controlling the synchronizer fork movements to engage the synchronizer ring according to the command of the VCU.
In some embodiments, the gear switching speed regulation method of the motor provided by the embodiment of the application is applied to the speed regulation stage of the two-gear motor in the gear shifting process; at present, the speed regulation process has the problems that the communication delay of different controllers exists, so that the control hoped target speed difference is greatly different from the actual speed difference, and the speed regulation time is overlong or even fails. In order to solve the problem, the embodiment of the application provides an optimization scheme of the target rotating speed, and effectively solves the problems of overlong or failure of the speed regulating time;
the gear switching speed regulation method of the motor provided by the embodiment of the application is a two-gear motor gear switching speed regulation optimization method: in general, the vehicle controller receives the actual rotation speed of the second motor and the feedback rotation speed of the first motor through the CAN bus, and the delay is 10 ms; the whole vehicle controller calculates the speed change rate of the second motor according to the actual speed of the second motor, calculates the speed to be compensated according to the signal transmission and the calculation time of the whole vehicle controller, and finally sends the target speed after the speed compensation to the first motor in a CAN bus mode, namely, the gear switching of the first motor is controlled according to the speed compensation quantity data so as to switch the gear of the first motor into the target speed; therefore, according to the gear switching speed regulating method of the motor, the motor speed change is predicted and compensated by the whole vehicle controller, so that the accurate control of the two different motor speeds is realized, and the rapid switching between gears is ensured;
it should be noted that, when the two-gear motor is used for shifting gears, the rotation speed difference needs to be reduced, and the sliding friction work and the gear advance time of the synchronizer can be effectively reduced by setting a very small rotation speed difference, so that accurate control of the rotation speed difference is essential in the gear shifting process.
Referring to fig. 5, fig. 5 is a block diagram of a gear switching speed regulating system of a motor according to an embodiment of the present application, where the gear switching speed regulating system of the motor is applied to a two-gear motor, the two-gear motor includes a first motor and a second motor, and the gear switching speed regulating system includes:
the rotation speed acquisition module 100 is used for acquiring rotation speed information of a second motor, wherein the second motor is connected with a wheel end;
the feedback rotation speed acquisition module 200 is used for acquiring feedback rotation speed information of the first motor, wherein the first motor is connected with the wheel end through different preset speed ratios according to gears;
the compensation quantity module 300 is used for obtaining rotation speed compensation quantity data according to the rotation speed information and the feedback rotation speed information;
the switching module 400 is configured to control gear switching of the first motor according to the rotation speed compensation amount data, so as to switch the gear of the first motor to a target rotation speed, where the target rotation speed is determined according to the rotation speed compensation amount data and the feedback rotation speed information.
Illustratively, the rotational speed acquisition module 100 is specifically configured to: acquiring first rotation speed information of a second motor at the current moment; judging whether the current time is the initial time or not; if not, acquiring second rotation speed information of a second motor at the previous moment; if yes, second rotation speed information is obtained, wherein the second rotation speed information is the same as the first rotation speed information.
Illustratively, the offset module 300 is specifically configured to: obtaining the rotation speed change rate information of the second motor according to the first rotation speed information and the second rotation speed information; and calculating according to preset time, the rotating speed change rate and feedback rotating speed information to obtain rotating speed compensation quantity data, wherein the preset time is determined according to the operation time and the signal transmission time of the whole vehicle controller.
Illustratively, the offset module 300 is further configured to: calculating according to a preset formula, rotation speed information and feedback rotation speed information to obtain rotation speed compensation quantity data, wherein the preset formula is as follows:
ω b ＝(ω m1 －ω f )+(ω s1 －ω s2 )；
wherein omega b For speed compensation quantity data omega m1 For the target rotation speed at the previous moment omega f To feed back the rotation speed information omega b Omega is the first rotation speed information b Is the second rotation speed information.
Illustratively, the switching module 400 is specifically configured to:
controlling the first motor to enter a rotation speed control mode, and executing the following processing on the first motor in the rotation speed control mode:
and if the difference value between the target rotating speed and the feedback rotating speed information is larger than a preset threshold value, controlling the first motor to switch gears according to the rotating speed compensation quantity data, and adjusting the rotating speed of the first motor to be the target rotating speed.
It should be noted that, the gear switching speed regulation system of the motor provided by the embodiment of the present application corresponds to the method embodiment shown in fig. 1 to 4, and is not repeated here.
The application further provides an electronic device, please refer to fig. 6, and fig. 6 is a block diagram of an electronic device according to an embodiment of the application. The electronic device may include a processor 510, a communication interface 520, a memory 530, and at least one communication bus 540. Wherein the communication bus 540 is used to enable direct connection communication for these components. The communication interface 520 of the electronic device in the embodiment of the present application is used for performing signaling or data communication with other node devices. Processor 510 may be an integrated circuit chip with signal processing capabilities.
The processor 510 may be a general-purpose processor, including a central processing unit (CPU, central Processing Unit), a network processor (NP, network Processor), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 510 may be any conventional processor or the like.
The Memory 530 may be, but is not limited to, random access Memory (RAM, random Access Memory), read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable Read Only Memory (EEPROM, electric Erasable Programmable Read-Only Memory), and the like. The memory 530 has stored therein computer readable instructions which, when executed by the processor 510, may cause an electronic device to perform the various steps described above in relation to the method embodiments of fig. 1-4.
Optionally, the electronic device may further include a storage controller, an input-output unit.
The memory 530, the memory controller, the processor 510, the peripheral interface, and the input/output unit are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. For example, the elements may be electrically coupled to each other via one or more communication buses 540. The processor 510 is configured to execute executable modules stored in the memory 530, such as software functional modules or computer programs included in the electronic device.
The input-output unit is used for providing the user with the creation task and creating the starting selectable period or the preset execution time for the task so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 6 is merely illustrative, and that the electronic device may also include more or fewer components than shown in fig. 6, or have a different configuration than shown in fig. 6. The components shown in fig. 6 may be implemented in hardware, software, or a combination thereof.
The embodiment of the application also provides a storage medium, wherein the storage medium stores instructions, and when the instructions run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment, so that repetition is avoided, and no further description is provided here.
The application also provides a computer program product which, when run on a computer, causes the computer to perform the method according to the method embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims (10)

1. The gear switching speed regulating method for the motor is characterized by being applied to a two-gear motor, wherein the two-gear motor comprises a first motor and a second motor, and the gear switching speed regulating method comprises the following steps of:
acquiring rotation speed information of a second motor, wherein the second motor is connected with a wheel end;
acquiring feedback rotation speed information of a first motor, wherein the first motor is connected with a wheel end through different preset speed ratios according to gears;
obtaining rotation speed compensation quantity data according to the rotation speed information and the feedback rotation speed information;
and controlling gear switching of the first motor according to the rotation speed compensation quantity data so as to switch the gear of the first motor into a target rotation speed, wherein the target rotation speed is determined according to the rotation speed compensation quantity data and the feedback rotation speed information.
2. The gear shifting and speed adjusting method of an electric motor according to claim 1, wherein the step of acquiring rotational speed information of the second electric motor includes:
acquiring first rotation speed information of a second motor at the current moment;
judging whether the current time is the initial time or not;
if not, acquiring second rotation speed information of a second motor at the previous moment;
if yes, second rotation speed information is obtained, wherein the second rotation speed information is the same as the first rotation speed information.
3. The gear shifting and speed adjusting method of an electric motor according to claim 2, wherein the step of obtaining rotational speed compensation amount data from the rotational speed information and the feedback rotational speed information includes:
obtaining the rotation speed change rate information of the second motor according to the first rotation speed information and the second rotation speed information;
and calculating according to preset time, the rotating speed change rate and the feedback rotating speed information to obtain rotating speed compensation quantity data, wherein the preset time is determined according to the operation time and the signal transmission time of the whole vehicle controller.
4. The gear shifting and speed adjusting method of an electric motor according to claim 2, wherein the step of obtaining rotational speed compensation amount data from the rotational speed information and the feedback rotational speed information includes:
calculating according to a preset formula, the rotating speed information and the feedback rotating speed information to obtain rotating speed compensation quantity data, wherein the preset formula is as follows:
ω b ＝(ω m1 －ω f )+(ω s1 －ω s2 )；
wherein omega b For the rotational speed compensation amount data ω m1 For the target rotation speed at the previous moment omega f Omega for the feedback rotation speed information b Omega for the first rotational speed information b And the second rotating speed information.
5. The gear shifting and speed adjusting method of a motor according to claim 4, wherein when the current time is the initial time, the target rotation speed at the previous time is a preset rotation speed.
6. The gear shifting and adjusting method of an electric motor according to claim 1, characterized in that the step of controlling the gear shifting of the first electric motor according to the rotation speed compensation amount data includes:
controlling the first motor to enter a rotating speed control mode, and executing the following processing on the first motor in the rotating speed control mode:
and if the difference value between the target rotating speed and the feedback rotating speed information is larger than a preset threshold value, controlling the first motor to switch gears according to the rotating speed compensation quantity data, and adjusting the rotating speed of the first motor to the target rotating speed.
7. The utility model provides a gear of motor switches speed governing system, its characterized in that is applied to two grades of motors, two grades of motors include first motor and second motor, gear switches speed governing system includes:
the rotating speed acquisition module is used for acquiring rotating speed information of a second motor, wherein the second motor is connected with a wheel end;
the feedback rotation speed acquisition module is used for acquiring feedback rotation speed information of the first motor, wherein the first motor is connected with the wheel end through different preset speed ratios according to gears;
the compensation quantity module is used for obtaining rotation speed compensation quantity data according to the rotation speed information and the feedback rotation speed information;
and the switching module is used for controlling the gear switching of the first motor according to the rotating speed compensation quantity data so as to switch the gear of the first motor into a target rotating speed, wherein the target rotating speed is determined according to the rotating speed compensation quantity data and the feedback rotating speed information.
8. The gear-shifting speed regulation system of the motor of claim 7, wherein the rotational speed acquisition module is specifically configured to:
acquiring first rotation speed information of a second motor at the current moment;
judging whether the current time is the initial time or not;
if not, acquiring second rotation speed information of a second motor at the previous moment;
if yes, second rotation speed information is obtained, wherein the second rotation speed information is the same as the first rotation speed information.
9. An electronic device, comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the gear shift speed adjustment method of the electric machine according to any one of claims 1 to 6 when the computer program is executed.
10. A computer readable storage medium having instructions stored thereon which, when executed on a computer, cause the computer to perform a gear shifting and speed regulating method of an electric machine according to any one of claims 1 to 6.
CN202311039201.8A 2023-08-16 2023-08-16 Gear switching speed regulation method and system for motor Pending CN116945914A (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117719364A (en) * 2024-01-29 2024-03-19 广汽埃安新能源汽车股份有限公司 Vehicle gear lifting control method and device, electronic equipment and storage medium
CN117755101A (en) * 2024-01-29 2024-03-26 广汽埃安新能源汽车股份有限公司 Gear shifting control method and device, electronic equipment and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117719364A (en) * 2024-01-29 2024-03-19 广汽埃安新能源汽车股份有限公司 Vehicle gear lifting control method and device, electronic equipment and storage medium
CN117755101A (en) * 2024-01-29 2024-03-26 广汽埃安新能源汽车股份有限公司 Gear shifting control method and device, electronic equipment and storage medium

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