CN118024898B - Motor control method and device for electric automobile - Google Patents
Motor control method and device for electric automobile Download PDFInfo
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Abstract
The application provides a motor control method and a motor control device for an electric automobile, wherein the method comprises the following steps: acquiring actual motion information of the electric automobile in the running process through a vehicle-mounted sensor; performing upper thrust distribution of the vehicle through a vehicle dynamics model and actual motion information of the vehicle, and determining expected acceleration corresponding to each motor; determining a control signal for each motor according to the desired acceleration and the PID controller; processing the control signals based on the unified frequency domain feature compensator to obtain target control signals corresponding to each motor; and controlling each motor through the target control signal. Therefore, the method and the device can adjust the frequency domain characteristics of the two motors to be consistent, and ensure the consistency of the performance of the two motors in the vehicle movement process, so that the stability of vehicle motor control is improved, the influence of unbalance of a vehicle power system on the vehicle movement linearity is reduced, meanwhile, the energy consumption required by vehicle adjustment can be saved, and the use experience degree is improved.
Description
Technical Field
The application relates to the technical field of motor control, in particular to a motor control method and device of an electric automobile.
Background
Common motor types include Direct Current (DC) and Alternating Current (AC) motors, which in turn are classified into asynchronous motors, permanent magnet synchronous motors, and the like. In the existing motor control method, the braking force distribution of each wheel can be adjusted in real time through a PID controller according to the dynamic parameters of the vehicle and the sensor feedback signals of a braking system, so that the stability and the balance of the vehicle in the braking process are ensured. However, in practice, it is found that in the existing method, the control performance of the PID controller is limited, the stability is poor, the influence of unbalance of a power system of the vehicle on the motion linearity of the vehicle is easy to occur, and the use experience is reduced.
Disclosure of Invention
The embodiment of the application aims to provide a motor control method and a motor control device for an electric automobile, which can effectively adjust the frequency domain characteristics of two motors to be consistent and ensure the consistency of the performance of the two motors in the vehicle movement process, thereby improving the stability of vehicle motor control, reducing the influence of unbalanced power system of the vehicle on the vehicle movement linearity, simultaneously saving the energy consumption required by vehicle adjustment and improving the use experience.
The first aspect of the present application provides a motor control method for an electric vehicle, including:
pre-constructing a vehicle dynamics model, a PID controller corresponding to each motor on the electric automobile and a unified frequency domain feature compensator;
acquiring actual motion information of the electric automobile in the running process through a vehicle-mounted sensor;
Performing vehicle upper layer thrust distribution through the vehicle dynamics model and the vehicle actual motion information, and determining the expected acceleration corresponding to each motor;
Determining a control signal for each of the motors based on the desired acceleration and the PID controller;
Processing the control signals based on the unified frequency domain feature compensator to obtain target control signals corresponding to each motor;
and controlling each motor through the target control signal.
Further, the pre-building of a vehicle dynamics model, a PID controller corresponding to each motor on the electric vehicle, and a unified frequency domain feature compensator, includes:
Establishing a motor transfer function model and a vehicle dynamics model of the electric automobile;
Acquiring a vehicle information sample of a vehicle-mounted sensor;
Constructing a motor model corresponding to each motor according to the vehicle information sample and the motor transfer function model;
constructing a PID controller corresponding to each motor according to the vehicle dynamics model and the motor model;
and constructing a unified frequency domain feature compensator according to the motor model and the PID controller.
Further, the vehicle-mounted sensor at least comprises a vehicle speed sensor, an acceleration sensor, a steering sensor and a direct current sensor.
Further, the constructing a motor model corresponding to each motor according to the vehicle information sample and the motor transfer function model includes:
carrying out least square method parameter identification on the vehicle information sample to obtain motor model parameters corresponding to each motor;
and determining a motor model corresponding to each motor according to the motor transfer function model and the motor model parameters.
Further, the building of the PID controller corresponding to each motor according to the vehicle dynamics model and the motor model includes:
establishing an initial PID controller corresponding to each motor according to the vehicle dynamics model;
determining PID controller parameters corresponding to each PID controller according to the motor model and Ziegler-Nichols parameter setting algorithm;
and determining the PID controller corresponding to each motor according to the PID controller parameters and the initial PID controller.
Further, the constructing a unified frequency domain feature compensator according to the motor model and the PID controller includes:
Acquiring the frequency domain characteristics of a motor of an original motor control system of the electric automobile;
and constructing a unified frequency domain feature compensator according to the motor frequency domain characteristics, the motor model and the PID controller.
A second aspect of the present application provides a motor control device of an electric vehicle, including:
the motor control device of the electric automobile comprises:
The construction unit is used for pre-constructing a vehicle dynamics model, a PID controller corresponding to each motor on the electric automobile and a unified frequency domain feature compensator;
the acquisition unit is used for acquiring actual motion information of the electric automobile in the running process through the vehicle-mounted sensor;
The first determining unit is used for distributing the upper-layer thrust of the vehicle according to the vehicle dynamics model and the actual motion information of the vehicle, and determining the expected acceleration corresponding to each motor;
a second determining unit configured to determine a control signal for each of the motors based on the desired acceleration and the PID controller;
The processing unit is used for processing the control signals based on the unified frequency domain feature compensator to obtain target control signals corresponding to each motor;
And the motor control unit is used for controlling the motors through the target control signals.
Further, the construction unit includes:
the building subunit is used for building a motor transfer function model and a vehicle dynamics model of the electric automobile;
The acquisition subunit is used for acquiring a vehicle information sample of the vehicle-mounted sensor;
the first construction subunit is used for constructing a motor model corresponding to each motor according to the vehicle information sample and the motor transfer function model;
The second construction subunit is used for constructing a PID controller corresponding to each motor according to the vehicle dynamics model and the motor model;
And the third construction subunit is used for constructing a unified frequency domain feature compensator according to the motor model and the PID controller.
Further, the vehicle-mounted sensor at least comprises a vehicle speed sensor, an acceleration sensor, a steering sensor and a direct current sensor.
Further, the first construction subunit includes:
The identification module is used for carrying out least square method parameter identification on the vehicle information sample to obtain motor model parameters corresponding to each motor;
And the first determining module is used for determining a motor model corresponding to each motor according to the motor transfer function model and the motor model parameters.
Further, the second building subunit includes:
The building module is used for building an initial PID controller corresponding to each motor according to the vehicle dynamics model;
The second determining module is used for determining the PID controller parameters corresponding to each PID controller according to the motor model and a Ziegler-Nichols parameter setting algorithm;
the second determining module is further configured to determine a PID controller corresponding to each motor according to the PID controller parameters and the initial PID controller.
Further, the third building subunit includes:
the acquisition module is used for acquiring the frequency domain characteristics of the motor of the original motor control system of the electric automobile;
And the construction module is used for constructing a unified frequency domain feature compensator according to the frequency domain characteristics of the motor, the motor model and the PID controller.
A third aspect of the present application provides an electronic device including a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to execute the motor control method of the electric automobile of any one of the first aspect of the present application.
A fourth aspect of the present application provides a computer-readable storage medium storing computer program instructions which, when read and executed by a processor, perform the method of controlling a motor of an electric vehicle according to any one of the first aspect of the present application.
The beneficial effects of the application are as follows: the method and the device can effectively adjust the frequency domain characteristics of the two motors to be consistent, and ensure the consistency of the performance of the two motors in the vehicle movement process, thereby improving the stability of vehicle motor control, reducing the influence of unbalance of a vehicle power system on the vehicle movement linearity, simultaneously saving the energy loss required by vehicle adjustment and improving the use experience.
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 flow chart of a motor control method of an electric vehicle according to an embodiment of the present application;
fig. 2 is a schematic flow chart of another motor control method for an electric vehicle according to an embodiment of the present application;
FIG. 3 is a design diagram of a motor controller based on a dynamics model according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a PID controller of an electric car motor according to an embodiment of the present application;
Fig. 5 is an exemplary flow chart of a new energy electric vehicle unified frequency domain characteristic control method based on a motor model according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a motor control device of an electric vehicle according to an embodiment of the present application;
Fig. 7 is a schematic structural diagram of another motor control device for an electric vehicle 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.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a motor control method of an electric vehicle according to the present embodiment. The motor control method of the electric automobile comprises the following steps:
S101, a vehicle dynamics model, a PID controller corresponding to each motor on the electric automobile and a unified frequency domain feature compensator are built in advance.
S102, acquiring actual motion information of the electric automobile in the running process through an on-board sensor.
In this embodiment, the vehicle-mounted sensor includes at least a vehicle speed sensor, an acceleration sensor, a steering sensor, and a direct current sensor.
S103, distributing the upper-layer thrust of the vehicle through the vehicle dynamics model and the actual motion information of the vehicle, and determining the expected acceleration corresponding to each motor.
S104, determining a control signal of each motor according to the expected acceleration and the PID controller.
S105, processing the control signals based on the unified frequency domain feature compensator to obtain target control signals corresponding to each motor.
And S106, controlling each motor through a target control signal.
In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, which is not limited in this embodiment.
In this embodiment, the execution body of the method may be an intelligent device such as a smart phone or a tablet computer, which is not limited in this embodiment.
Therefore, by implementing the motor control method of the electric automobile described in the embodiment, the frequency domain characteristics of the two motors can be effectively adjusted to be consistent, and the consistency of the performance of the two motors in the vehicle movement process is ensured, so that the stability of vehicle motor control is improved, the influence of unbalance of a power system of the vehicle on the vehicle movement linearity is reduced, meanwhile, the energy consumption required by vehicle adjustment can be saved, and the use experience degree is improved.
Example 2
Referring to fig. 2, fig. 2 is a flow chart of a motor control method of an electric vehicle according to the present embodiment. The motor control method of the electric automobile comprises the following steps:
s201, a motor transfer function model and a vehicle dynamics model of the electric automobile are built.
In this embodiment, the method may preferentially establish the motor transfer function models G1(s) and G2(s) of the new energy electric vehicle, as shown in the formula (1).
（1）
In the method, in the process of the invention,=M 0If, representing the permanent magnet flux linkage per pole of the rotor, M 0 is the mutual inductance amplitude of the primary and secondary, I f is the permanent magnet equivalent current;
u q is the control voltage of q-axis;
R s is the resistance of each phase winding; l q is the inductance of each phase winding of q axis; τ is the pole pitch; p n is the pole pair number;
v is the secondary movement speed; f L is an external force; m is the mass of the moving part; b is the viscous friction coefficient;
s is the differential operator of the transfer function.
Wherein the motor transfer function model is a physics-based model describing the dynamic behavior of the motor, including the relationship between current, speed, and torque. The model built is inconsistent due to the differences between the motors.
S202, acquiring a vehicle information sample of the vehicle-mounted sensor.
In this embodiment, the in-vehicle sensor includes:
(1) The vehicle speed sensor is used for accurately measuring the running speed of the vehicle in real time;
(2) The acceleration sensor is used for accurately measuring the acceleration and deceleration of the vehicle in real time;
(3) The steering sensor is used for accurately measuring the angle of the steering wheel of the vehicle in real time;
(4) And the direct current sensor is used for accurately measuring the direct current between the electric vehicle battery and the electric driving motor in real time.
S203, carrying out least square method parameter identification on the vehicle information sample to obtain motor model parameters corresponding to each motor.
In this embodiment, the method may be combined with a vehicle sensor to accurately obtain vehicle information during the driving process, and identify model parameters by using a least square method, so as to accurately determine each parameter in the motor model.
S204, determining a motor model corresponding to each motor according to the motor transfer function model and motor model parameters.
S205, establishing an initial PID controller corresponding to each motor according to the vehicle dynamics model.
S206, determining the PID controller parameters corresponding to each PID controller according to the motor model and the Ziegler-Natta parameter setting algorithm.
In this embodiment, the method designs the frequency domain characteristics of the controller based on the motor model by using a frequency domain design method, as shown in fig. 3, and establishes a PID controller of each motor in combination with the vehicle dynamics model information, and performs parameter tuning, where the structural form of the PID controller is shown in fig. 4. Wherein, edt is an integral branch in Ziegler-Nichols parameter setting algorithm, and de/dt is a differential branch in Ziegler-Nichols parameter setting algorithm.
In this embodiment, the design of the control system involves considerations of frequency response design, system damping, bandwidth selection, and stability margin. Thus, a PID controller C PID1(s)、CPID2(s) of each motor as shown in formula (2) is established, forming a two-motor control system.
（2）
At this time, according to the motor model shown in the formula (1), the PID controller parameters are finally determined by combining a Ziegler-Nichols parameter setting method and a plurality of parameter adjustment tests.
Wherein k d in the formula (2) is a differential coefficient, k p is a gain coefficient, k i is an integral coefficient, and C(s) is any feedback controller (specifically, a sliding mode controller, an active disturbance rejection controller, a robust controller, etc.).
S207, determining the PID controller corresponding to each motor according to the PID controller parameters and the initial PID controller.
S208, acquiring the frequency domain characteristics of the motor of the original motor control system of the electric automobile.
S209, constructing a unified frequency domain feature compensator according to the frequency domain characteristics of the motor, the motor model and the PID controller.
S210, acquiring actual motion information of the electric automobile in the running process through an on-board sensor.
S211, distributing the upper-layer thrust of the vehicle through the vehicle dynamics model and the actual motion information of the vehicle, and determining the expected acceleration corresponding to each motor.
S212, determining a control signal of each motor according to the expected acceleration and the PID controller.
S213, processing the control signals based on the unified frequency domain feature compensator to obtain target control signals corresponding to each motor.
In this embodiment, for the input signal r, for example, r=sin (ω m t), according to the frequency domain characteristics of the original system, the output displacement amounts of the two motors before adding the unified frequency domain characteristic compensator are y 1=K1sin(ωm(t-△t1) and y 2=K2sin(ωm(t-△t2), where ω m is the angular frequency of the signal, t is time, K 1、K2 is the coefficient of motor 1 and motor 2, Δt 1 is the time variation corresponding to motor 1, and Δt 2 is the time variation corresponding to motor 2. Since the frequency domain characteristics of motor 1 and motor 2 are not identical, i.e. gain characteristic a 1 (ω) and phase characteristic Φ 1 (ω) of motor 1 are not identical to gain characteristic a 2 (ω) and phase characteristic Φ2 (ω) of motor 2, K 1≠K2,△t1≠△t2 results in that y 1≠y2, i.e. y 1-y2 +.0, the motor motion system motion is not synchronized. After the adjustment of the uniform frequency domain characteristics, the frequency domain characteristics of the two motor control systems are the same, so that y1=y2= Ksin (ωm (t- Δt)) can be realized.
For example, when the frequency domain characteristic exists that phi 1 is larger than or equal to phi 2, the method can be deduced to obtain the formula (3):
（3）
When the frequency domain characteristics exist phi 1< phi 2, the method can be deduced to obtain the formula (4):
（4）
After the unified frequency domain characteristic compensation, the transfer function of the feedback control loop is shown as a formula (5).
（5）
Wherein y i(s) is the Laplacian transformation form of the signals acquired by the sensor;
r(s) is the Laplace transform form of the system setting signal;
k f1、kf2 and k fi are gains for adjusting the control performance of the system;
c 1(s)、c2(s) and c i(s) are feedback controllers; wherein c(s) can be any feedback controller (specifically, a sliding mode controller, an active disturbance rejection controller, a robust controller, etc.);
g y1(s)、gy2(s) and g yi(s) are transfer functions of the corresponding motor systems.
And S214, controlling each motor through a target control signal.
Referring to fig. 5, fig. 5 shows an exemplary flow chart of a new energy electric vehicle unified frequency domain characteristic control method (i.e., a motor control method of an electric vehicle) based on a motor model. Wherein the vehicle upper layer thrust distribution control system provides the desired accelerations a 1 and a 2 to the corresponding PID controllers to give control inputs to the lower layer motor PID control system.
In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, which is not limited in this embodiment.
In this embodiment, the execution body of the method may be an intelligent device such as a smart phone or a tablet computer, which is not limited in this embodiment.
Therefore, by implementing the motor control method of the electric automobile described in the embodiment, the parameters of the PID controller can be accurately established by establishing the motor model, so that the parameter setting time is reduced to a certain extent, and the accuracy of the parameters is improved. On the other hand, the unified frequency domain characteristic compensator can effectively adjust the frequency domain characteristics of the two motors to be consistent, and ensure the consistency of the performance of the two motors in the vehicle movement process, so that the influence of unbalance of a power system of the vehicle on the vehicle movement linearity is reduced, and meanwhile, the energy consumption required by vehicle adjustment is also saved.
Example 3
Referring to fig. 6, fig. 6 is a schematic structural diagram of a motor control device of an electric vehicle according to the present embodiment. As shown in fig. 6, the motor control device of the electric vehicle includes:
A construction unit 310, configured to pre-construct a vehicle dynamics model, a PID controller corresponding to each motor on the electric vehicle, and a unified frequency domain feature compensator;
An acquiring unit 320, configured to acquire actual motion information of the electric vehicle during running by using an on-vehicle sensor;
a first determining unit 330, configured to perform upper-layer thrust distribution on the vehicle according to the vehicle dynamics model and the actual motion information of the vehicle, and determine a desired acceleration corresponding to each motor;
a second determining unit 340 for determining a control signal for each motor according to the desired acceleration and the PID controller;
The processing unit 350 is configured to process the control signals based on the unified frequency domain feature compensator, so as to obtain target control signals corresponding to each motor;
and a motor control unit 360 for performing motor control on each motor by a target control signal.
In this embodiment, the explanation of the motor control device of the electric vehicle may refer to the description in embodiment 1 or embodiment 2, and the description is not repeated in this embodiment.
Therefore, the motor control device for the electric automobile described in the embodiment can effectively adjust the frequency domain characteristics of the two motors to be consistent, and ensure the consistency of the performance of the two motors in the vehicle movement process, so that the stability of vehicle motor control is improved, the influence of unbalance of a power system of the vehicle on the vehicle movement linearity is reduced, meanwhile, the energy consumption required by vehicle adjustment can be saved, and the use experience degree is improved.
Example 4
Referring to fig. 7, fig. 7 is a schematic structural diagram of a motor control device of an electric vehicle according to the present embodiment. As shown in fig. 7, the motor control device of the electric vehicle includes:
A construction unit 310, configured to pre-construct a vehicle dynamics model, a PID controller corresponding to each motor on the electric vehicle, and a unified frequency domain feature compensator;
An acquiring unit 320, configured to acquire actual motion information of the electric vehicle during running by using an on-vehicle sensor;
a first determining unit 330, configured to perform upper-layer thrust distribution on the vehicle according to the vehicle dynamics model and the actual motion information of the vehicle, and determine a desired acceleration corresponding to each motor;
a second determining unit 340 for determining a control signal for each motor according to the desired acceleration and the PID controller;
The processing unit 350 is configured to process the control signals based on the unified frequency domain feature compensator, so as to obtain target control signals corresponding to each motor;
and a motor control unit 360 for performing motor control on each motor by a target control signal.
As an alternative embodiment, the construction unit 310 includes:
The building subunit 311 is configured to build a motor transfer function model and a vehicle dynamics model of the electric vehicle;
an acquisition subunit 312, configured to acquire a vehicle information sample of the vehicle-mounted sensor;
A first construction subunit 313, configured to construct a motor model corresponding to each motor according to the vehicle information sample and the motor transfer function model;
a second construction subunit 314, configured to construct a PID controller corresponding to each motor according to the vehicle dynamics model and the motor model;
a third construction subunit 315 is configured to construct a unified frequency domain feature compensator from the motor model and the PID controller.
In this embodiment, the vehicle-mounted sensor includes at least a vehicle speed sensor, an acceleration sensor, a steering sensor, and a direct current sensor.
As an alternative embodiment, the first construction subunit 313 includes:
the identification module is used for carrying out least square method parameter identification on the vehicle information sample to obtain motor model parameters corresponding to each motor;
And the first determining module is used for determining a motor model corresponding to each motor according to the motor transfer function model and the motor model parameters.
As an alternative embodiment, the second construction subunit 314 includes:
the building module is used for building an initial PID controller corresponding to each motor according to the vehicle dynamics model;
The second determining module is used for determining the PID controller parameters corresponding to each PID controller according to the motor model and the Ziegler-Nichols parameter setting algorithm;
The second determining module is further used for determining the PID controller corresponding to each motor according to the PID controller parameters and the initial PID controller.
As an alternative embodiment, the third construction subunit 315 includes:
the acquisition module is used for acquiring the frequency domain characteristics of the motor of the original motor control system of the electric automobile;
And the construction module is used for constructing a unified frequency domain feature compensator according to the frequency domain characteristics of the motor, the motor model and the PID controller.
In this embodiment, the explanation of the motor control device of the electric vehicle may refer to the description in embodiment 1 or embodiment 2, and the description is not repeated in this embodiment.
Therefore, the motor control device of the electric automobile described in the embodiment can accurately establish the parameters of the PID controller by establishing the motor model, thereby reducing the parameter setting time to a certain extent and improving the accuracy of the parameters. On the other hand, the unified frequency domain characteristic compensator can effectively adjust the frequency domain characteristics of the two motors to be consistent, and ensure the consistency of the performance of the two motors in the vehicle movement process, so that the influence of unbalance of a power system of the vehicle on the vehicle movement linearity is reduced, and meanwhile, the energy consumption required by vehicle adjustment is also saved.
An embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is configured to store a computer program, and the processor runs the computer program to cause the electronic device to execute a motor control method of an electric automobile in embodiment 1 or embodiment 2 of the present application.
An embodiment of the present application provides a computer-readable storage medium storing computer program instructions that, when read and executed by a processor, perform the motor control method of the electric vehicle in embodiment 1 or embodiment 2 of the present application.
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 usb 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. A motor control method of an electric vehicle, comprising:
pre-constructing a vehicle dynamics model, a PID controller corresponding to each motor on the electric automobile and a unified frequency domain feature compensator;
acquiring actual motion information of the electric automobile in the running process through a vehicle-mounted sensor;
Performing vehicle upper layer thrust distribution through the vehicle dynamics model and the vehicle actual motion information, and determining the expected acceleration corresponding to each motor;
Determining a control signal for each of the motors based on the desired acceleration and the PID controller;
Processing the control signals based on the unified frequency domain feature compensator to obtain target control signals corresponding to each motor;
and controlling each motor through the target control signal.
2. The method for controlling a motor of an electric vehicle according to claim 1, wherein the pre-building a vehicle dynamics model, a PID controller corresponding to each motor on the electric vehicle, and a unified frequency domain feature compensator, comprises:
Establishing a motor transfer function model and a vehicle dynamics model of the electric automobile;
Acquiring a vehicle information sample of a vehicle-mounted sensor;
Constructing a motor model corresponding to each motor according to the vehicle information sample and the motor transfer function model;
constructing a PID controller corresponding to each motor according to the vehicle dynamics model and the motor model;
and constructing a unified frequency domain feature compensator according to the motor model and the PID controller.
3. The motor control method of an electric vehicle according to claim 1, wherein the in-vehicle sensor includes at least a vehicle speed sensor, an acceleration sensor, a steering sensor, and a direct current sensor.
4. The method for controlling a motor of an electric vehicle according to claim 2, wherein the constructing a motor model corresponding to each motor according to the vehicle information sample and the motor transfer function model includes:
carrying out least square method parameter identification on the vehicle information sample to obtain motor model parameters corresponding to each motor;
and determining a motor model corresponding to each motor according to the motor transfer function model and the motor model parameters.
5. The motor control method of an electric vehicle according to claim 2, wherein the constructing a PID controller corresponding to each of the motors according to the vehicle dynamics model and the motor model includes:
establishing an initial PID controller corresponding to each motor according to the vehicle dynamics model;
determining PID controller parameters corresponding to each PID controller according to the motor model and Ziegler-Nichols parameter setting algorithm;
and determining the PID controller corresponding to each motor according to the PID controller parameters and the initial PID controller.
6. The motor control method of an electric vehicle according to claim 2, wherein said constructing a unified frequency domain feature compensator from the motor model and the PID controller includes:
Acquiring the frequency domain characteristics of a motor of an original motor control system of the electric automobile;
and constructing a unified frequency domain feature compensator according to the motor frequency domain characteristics, the motor model and the PID controller.
7. The utility model provides a motor control device of electric automobile, its characterized in that, motor control device of electric automobile includes:
The construction unit is used for pre-constructing a vehicle dynamics model, a PID controller corresponding to each motor on the electric automobile and a unified frequency domain feature compensator;
the acquisition unit is used for acquiring actual motion information of the electric automobile in the running process through the vehicle-mounted sensor;
The first determining unit is used for distributing the upper-layer thrust of the vehicle according to the vehicle dynamics model and the actual motion information of the vehicle, and determining the expected acceleration corresponding to each motor;
a second determining unit configured to determine a control signal for each of the motors based on the desired acceleration and the PID controller;
The processing unit is used for processing the control signals based on the unified frequency domain feature compensator to obtain target control signals corresponding to each motor;
And the motor control unit is used for controlling the motors through the target control signals.
8. The motor control device of an electric vehicle according to claim 7, wherein the construction unit includes:
the building subunit is used for building a motor transfer function model and a vehicle dynamics model of the electric automobile;
The acquisition subunit is used for acquiring a vehicle information sample of the vehicle-mounted sensor;
the first construction subunit is used for constructing a motor model corresponding to each motor according to the vehicle information sample and the motor transfer function model;
The second construction subunit is used for constructing a PID controller corresponding to each motor according to the vehicle dynamics model and the motor model;
And the third construction subunit is used for constructing a unified frequency domain feature compensator according to the motor model and the PID controller.
9. An electronic device comprising a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to execute the motor control method of the electric automobile according to any one of claims 1 to 6.
10. A readable storage medium, wherein computer program instructions are stored in the readable storage medium, which when read and executed by a processor, perform the motor control method of an electric vehicle according to any one of claims 1 to 6.
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| CN103197540A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Control device and control method based on proportion integration differentiation (PID) self-adaption and robot applying same |
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| WO2024066736A1 (en) * | 2022-09-30 | 2024-04-04 | 华为数字能源技术有限公司 | Controller of electric motor control module, control method for electric motor, and related device |
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| CN103197540A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Control device and control method based on proportion integration differentiation (PID) self-adaption and robot applying same |
| CN105610350A (en) * | 2016-01-14 | 2016-05-25 | 北京理工大学 | Anti-backlash and synchronization control method for dual-motor servo system |
| CN111017010A (en) * | 2020-01-03 | 2020-04-17 | 南京航空航天大学 | Dual-motor intelligent steer-by-wire system and synchronous control method |
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