CN118046763A - Torque gradient control method, control device and medium for electric drive system - Google Patents
Torque gradient control method, control device and medium for electric drive system Download PDFInfo
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- CN118046763A CN118046763A CN202410374567.9A CN202410374567A CN118046763A CN 118046763 A CN118046763 A CN 118046763A CN 202410374567 A CN202410374567 A CN 202410374567A CN 118046763 A CN118046763 A CN 118046763A
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- 238000004891 communication Methods 0.000 description 4
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- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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Classifications
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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
-
- 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
- B60L2240/423—Torque
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention belongs to the technical field of motor control, and particularly relates to a torque gradient control method, a control device and a medium for an electric drive system, wherein the torque gradient control method for the electric drive system comprises the following steps: the method comprises the steps of obtaining a torque instruction sent by a whole vehicle controller through a motor controller; performing secondary torque gradient control on the torque command in the motor controller so that the output torque command reaches a target value according to a target curve in a set time; according to the invention, the torque command sent by the whole vehicle controller is received in the motor controller and the secondary torque gradient control is performed, so that the torque step length can be limited through the target curve, the torque command executed by the motor controller reaches the target value in a set time in a curve close to an S shape or a J shape, the impact of the electric drive system can be reduced, and the stability, smoothness and comfort of the electric drive system are ensured.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a torque gradient control method, a control device and a medium for an electric drive system.
Background
The vehicle needs to judge conditions such as vehicle gear, accelerator pedal opening, brake pedal opening, battery electric quantity, vehicle state and the like in the vehicle controller to identify the intention of a driver, and output a corresponding torque command, wherein the torque command required by the driver is subjected to torque gradient control in the process and then sent to the motor controller through the CAN bus, so that the whole vehicle driving process is realized.
However, the running period of the whole vehicle controller for executing the torque control is slower, and the state feedback of the executing mechanism has time delay, so that the target torque is larger in change and large in fluctuation range, the output torque of the motor is impacted, and the smoothness and the comfort of the running of the vehicle are reduced.
Therefore, there is a need to develop a new torque gradient control method, control apparatus, and medium for an electric drive system to solve the above-described problems.
Disclosure of Invention
The invention aims to provide a torque gradient control method, a control device and a medium for an electric drive system.
In order to solve the above technical problem, the present invention provides a torque gradient control method for an electric drive system, comprising: the method comprises the steps of obtaining a torque instruction sent by a whole vehicle controller through a motor controller; and performing secondary torque gradient control on the torque command in the motor controller so that the output torque command reaches a target value according to a target curve in a set time.
Specifically, the torque command is run in TaskA of the motor controller at a first set period; when the torque command is subjected to secondary torque gradient control, the torque command runs in TaskB of the motor controller according to a second set period; n=first setting period/second setting period, where N is a positive integer.
Specifically, a current first torque command value in TaskA and a second torque command value in TaskB at a previous moment are obtained from the torque command; the current first torque command value is compared with the previous second torque command value to obtain TaskA torque gradients.
Specifically, when abs (current first torque command value-previous moment second torque command value) < TaskA torque maximum step limit value, taskA torque gradient=current first torque command value-previous moment second torque command value.
Specifically, when abs (current first torque command value-previous moment second torque command value) > TaskA torque maximum step limit value, taskA torque gradient= TaskA torque maximum step limit value sign (current first torque command value-previous moment second torque command value).
Specifically, the second torque command value of TaskB at the previous time is compared with [ -M, M ], and the current second torque command value of TaskB is obtained according to the target curve and TaskA torque gradient; wherein M is a set torque value.
Specifically, the current second torque command value=the previous moment second torque command value+ TaskA torque gradient is the target curve coefficient value.
Specifically, when the second torque command value at the previous time in TaskB is within the interval of [ -M, M ], the target curve is a J-shaped curve; when the second torque command value at the previous time in TaskB is outside the interval of [ -M, M ], the target curve is a Gaussian distribution curve.
In another aspect, the present invention provides a control apparatus employing the torque gradient control method for an electric drive system as described above, comprising: a motor controller; the motor controller obtains a torque command sent by the whole vehicle controller, and performs secondary torque gradient control on the torque command so that the output torque command reaches a target value according to a target curve within a set time.
In a third aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the torque gradient control method for an electric drive system as described above.
The invention has the beneficial effects that the torque command sent by the whole vehicle controller is received in the motor controller and the secondary torque gradient control is carried out, the torque step length can be limited through the target curve, so that the torque command executed by the motor controller reaches the target value in a set time in a curve close to an S shape or a J shape, the impact of the electric drive system can be reduced, and the stability, smoothness and comfortableness of the electric drive system are ensured.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a torque gradient control method for an electric drive system of the present invention;
FIG. 2 is a schematic diagram of the torque command of the present invention operating in a first set period and a second set period, respectively;
FIG. 3 is a schematic illustration of a torque versus time curve of the torque gradient according to the present invention increasing in accordance with a Gaussian distribution curve;
FIG. 4 is a graphical representation of the percentage value versus count point curve of the torque gradient of the present invention plotted against the Gaussian distribution curve;
FIG. 5 is a torque versus time graph illustrating the increase in torque gradient according to the J-shaped curve of the present invention;
FIG. 6 is a graphical representation of percent value versus count point plot of the torque gradient of the present invention plotted against a J-curve;
FIG. 7 is a flow chart of the calculation of torque gradient at TaskA of the present invention;
FIG. 8 is a control flow diagram of the torque gradient at TaskB of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-8, in some embodiments there is provided a torque gradient control method for an electric drive system, comprising: the method comprises the steps of obtaining a torque instruction sent by a whole vehicle controller through a motor controller; and performing secondary torque gradient control on the torque command in the motor controller so that the output torque command reaches a target value according to a target curve in a set time.
In some embodiments, the torque command sent by the whole vehicle controller is received in the motor controller and subjected to secondary torque gradient control, and the torque step size can be limited through the target curve, so that the torque command executed by the motor controller reaches the target value in a set time in a curve close to an S shape or a J shape, the impact of the electric drive system can be reduced, and the stability, smoothness and comfort of the electric drive system are ensured.
In at least one embodiment, the torque command is run in TaskA of the motor controller at a first set period; when the torque command is subjected to secondary torque gradient control, the torque command runs in TaskB of the motor controller according to a second set period; n=first setting period/second setting period, where N is a positive integer.
Specifically, a torque command sent by the vehicle controller through the CAN bus runs in TaskA of the motor controller, a first set period is 10ms, the motor controller performs secondary torque gradient control on the torque command to run in TaskB, a second set period is 1ms, the running periods of the two are different, and n= TaskA/TaskB CAN be calculated; n is a positive integer. This value indicates that TaskB may be performed N times when TaskA is performed 1 time.
In at least one embodiment, a current first torque command value in TaskA and a previous second torque command value in TaskB are obtained from the torque command; the current first torque command value is compared with the previous second torque command value to obtain TaskA torque gradients.
Specifically, the next periodic increment is calculated at TaskA, and the increment is subjected to a second torque gradient control at TaskB.
In at least one embodiment, when abs (current first torque command value-previous moment second torque command value) < TaskA torque maximum step limit, taskA torque gradient = current first torque command value-previous moment second torque command value.
In at least one embodiment, when abs (current first torque command value-previous moment second torque command value) > TaskA torque maximum step limit, taskA torque gradient = TaskA torque maximum step limit sign (current first torque command value-previous moment second torque command value).
In at least one embodiment, the second torque command value from the previous time in TaskB is compared to [ -M, M ], and the current second torque command value in TaskB is obtained from the target curve and TaskA torque gradient; wherein M is a set torque value.
In at least one embodiment, the current second torque command value = previous time second torque command value + TaskA torque gradient is the target curve coefficient value.
In at least one embodiment, the target curve is a J-curve when the second torque command value is within the interval of [ -M, M ] at a previous time in TaskB; when the second torque command value at the previous time in TaskB is outside the interval of [ -M, M ], the target curve is a Gaussian distribution curve.
Specifically, in TaskB, the torque gradient control determines whether the second torque command value at the previous moment is [ -M, M ] (M is a smaller torque value), if so, the second torque command value at the next moment is updated by using a preset J-curve coefficient value K Jn; if not, the Gaussian distribution curve coefficient value is adoptedThe torque value at the next moment is updated.
Specifically, the motor controller calculates the torque variation in the next period (10 ms) in a 10ms task period, and then limits the torque step by a preset Gaussian distribution curve coefficient or J-shaped curve coefficient in the motor controller, so that the torque instruction executed by the motor controller reaches the target value in a curve close to an S shape or J shape in 10 ms.
There is also provided in some embodiments a control apparatus employing the torque gradient control method for an electric drive system as described above, comprising: a motor controller; the motor controller obtains a torque command sent by the whole vehicle controller, and performs secondary torque gradient control on the torque command so that the output torque command reaches a target value according to a target curve within a set time.
In some embodiments there is also provided a computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor implements a torque gradient control method for an electric drive system as described above.
In summary, the torque command sent by the whole vehicle controller is received in the motor controller and the secondary torque gradient control is performed, so that the torque step size can be limited by the target curve, the torque command executed by the motor controller reaches the target value in a set time in a curve close to an S shape or a J shape, the impact of the electric drive system can be reduced, and the stability, smoothness and comfort of the electric drive system are ensured.
The components (components not illustrating the specific structure) selected in the present application are common standard components or components known to those skilled in the art, and the structures and principles thereof are known to those skilled in the art through technical manuals or through routine experimental methods.
In the description of embodiments of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (10)
1. A torque gradient control method for an electric drive system, comprising:
The method comprises the steps of obtaining a torque instruction sent by a whole vehicle controller through a motor controller;
And performing secondary torque gradient control on the torque command in the motor controller so that the output torque command reaches a target value according to a target curve in a set time.
2. A torque gradient control method for an electric drive system according to claim 1, wherein,
The torque command is run in TaskA of the motor controller according to the first set period;
When the torque command is subjected to secondary torque gradient control, the torque command runs in TaskB of the motor controller according to a second set period;
N=first setting period/second setting period, where N is a positive integer.
3. A torque gradient control method for an electric drive system according to claim 2, wherein,
Acquiring a current first torque command value in TaskA and a second torque command value in TaskB from a torque command;
The current first torque command value is compared with the previous second torque command value to obtain TaskA torque gradients.
4.A torque gradient control method for an electric drive system according to claim 3, wherein,
When abs (current first torque command value-previous moment second torque command value) < TaskA torque maximum step limit value, taskA torque gradient=current first torque command value-previous moment second torque command value.
5. A torque gradient control method for an electric drive system according to claim 3, wherein,
When abs (current first torque command value-previous moment second torque command value) > TaskA torque maximum step limit value, taskA torque gradient= TaskA torque maximum step limit value sign (current first torque command value-previous moment second torque command value).
6. A torque gradient control method for an electric drive system according to claim 3, wherein,
Comparing the second torque command value at the previous time in TaskB with [ -M, M ], and obtaining the current second torque command value in TaskB according to the target curve and the TaskA torque gradient;
Wherein M is a set torque value.
7. A torque gradient control method for an electric drive system according to claim 6, wherein,
Current second torque command value = previous moment second torque command value + TaskA torque gradient target curve coefficient value.
8. A torque gradient control method for an electric drive system according to claim 7, wherein,
When the second torque command value at the previous time in TaskB is within the interval of [ -M, M ], the target curve is a J-shaped curve;
when the second torque command value at the previous time in TaskB is outside the interval of [ -M, M ], the target curve is a Gaussian distribution curve.
9. A control apparatus employing the torque gradient control method for an electric drive system according to any one of claims 1 to 8, characterized by comprising:
A motor controller; wherein the method comprises the steps of
The motor controller obtains a torque command sent by the whole vehicle controller, and performs secondary torque gradient control on the torque command so that the output torque command reaches a target value according to a target curve within a set time.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the torque gradient control method for an electric drive system according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410374567.9A CN118046763A (en) | 2024-03-29 | 2024-03-29 | Torque gradient control method, control device and medium for electric drive system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410374567.9A CN118046763A (en) | 2024-03-29 | 2024-03-29 | Torque gradient control method, control device and medium for electric drive system |
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| CN118046763A true CN118046763A (en) | 2024-05-17 |
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| CN202410374567.9A Pending CN118046763A (en) | 2024-03-29 | 2024-03-29 | Torque gradient control method, control device and medium for electric drive system |
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