CN1927609B - Motor driving system with speed adaptation capability and controlling method thereof - Google Patents
Motor driving system with speed adaptation capability and controlling method thereof Download PDFInfo
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- CN1927609B CN1927609B CN2006101391188A CN200610139118A CN1927609B CN 1927609 B CN1927609 B CN 1927609B CN 2006101391188 A CN2006101391188 A CN 2006101391188A CN 200610139118 A CN200610139118 A CN 200610139118A CN 1927609 B CN1927609 B CN 1927609B
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Abstract
The invention involves a electric motor drive system with the capacity to adapting to the speed and its controlling method. The system includes a electric motor drive system controller, the first electric motor, the first electric motor controller, the second electric motor, the second electric motor controller. It is characterized by: the first and the second electric motors both have output axis of their two ends, a output axis of the first electric motor is connected with a output axis of the second electric motor through at least one speed reducer; the electric motor drive system controller is linked with the first electric motor controller and the second electric motor controller through signal cables respectively, the first electric motor controller is connected with the first electric motor through power cables, and the second electric motor controller is connected with the second electric motor through power cables. Its advantages are: it can change the mode of drive system automatically according to the vehicle's speed, power, traction demand and the driving conditions to meeting the driving demands such as climbing in low-speed, running in middle or high speed, braking, reversing and so on, thus it adapts various operating conditions automatically. The drive system can be used in pure electric vehicles, fuel cell electric vehicles and hybrid power electric vehicles and other various vehicles driven by electric motor.
Description
Technical field
The present invention relates to a kind of the have motor driven systems of the motor driven systems of speed adaptation capability and the control method of this system, particularly battery-driven car and the control method of system.This drive system can be used for pure electric vehicle, fuel cell electric vehicle and hybrid-power electric vehicle.Drive system of the present invention also can be applied in some special vehiclees, includes but not limited to following special vehicle: mining electric wheel type autotruck, with the armored motor car of motor driven systems and with tank of motor driven systems etc.
The present invention is referred to as battery-driven car with above-mentioned various dissimilar battery-driven cars and extraordinary elec. vehicle.
Technical background
Battery-driven car take motor as power comprises pure electric vehicle, fuel cell electric vehicle and series mixed power electric vehicle, and the dynamic property of its car load must satisfy certain requirement, comprises the performance figure such as hill climbing ability, maximum speed, acceleration capacity.Therefore, motor driven systems must have the mechanical specialities that the dynamic property with car load adapts, and should have higher efficient and lower cost.In addition, motor driven systems also should possess the braking energy feedback ability, namely slides or during braking mode, a part of braking energy can feed back in the electrical power storage systems such as electrokinetic cell or super capacitor by motor driven systems when vehicle is in.In order to realize these requirements, desirable motor driven systems should have following characteristics.
● can export larger torque during low speed, satisfy the vehicle climbing to the requirement of motor torque
● have larger power during middle and high speed, satisfy the acceleration capability of vehicle, and satisfy maximum speed to the power requirement of motor
● in whole speed range, torque has good ride comfort
● motor has the ability of four quadrant running
● in the whole service scope, have higher efficient
● under the prerequisite that satisfies the vehicle power requirement, power is as far as possible little, with the rate of load condensate of raising motor driven systems, and reduces cost, reduces the quality of system
● stable performance, reliability is high
● cost is low, and cost performance is high
Motor driven systems with These characteristics, its mechanical specialities is shown in the curve 1 among Fig. 1.For this desirable mechanical specialities, when low speed, drive system has higher torque, can satisfy the requirement of vehicle climbing; When middle and high speed, drive system has suitable power, can satisfy the requirement of vehicle tractive output.
In Fig. 1, the motor driven systems with ideal behavior corresponding with curve 1 compared, and the motor driven systems of curve 2 correspondences has identical power when middle and high speed; The motor driven systems of curve 3 correspondences has identical maximum torque when low speed.But, the motor driven systems of curve 2 correspondences, its maximum torque is lower, uses this motor driven systems, and the hill climbing ability of vehicle can't reach requirement.The motor driven systems of curve 3 correspondences, although the power when its maximum torque and middle and high speed all can reach requirement, use this motor driven systems, vehicle can satisfy the dynamic property requirement, but the power of this motor driven systems is more much bigger than the power demand of reality.Power reserve is too large, the problem such as will certainly cause the cost of motor driven systems high, rate of load condensate is low, quality is large, efficient is low.
The Chinese invention patent application prospectus discloses a kind of " power system of double-motor hybrid-power automobile ", publication number: CN1420034A, this patent application has proposed a kind of hybrid type Technology of Hybrid Electric Vehicle scheme, and this scheme has obtained in the hybrid power car of a vapour and Dongfeng Auto Company and should have.The scheme that adopts among this technology and the Japanese hybrid power car Tino of Nissan Motor is similar.In this technical scheme, comprise two motors, i.e. main motor and auxiliary-motor.Main motor can drive separately vehicle, also can carry out power-assisted.But the Main Function of auxiliary-motor is generating, and one end and a driving engine link, and auxiliary-motor is not participated in the driving vehicle; The another one effect of auxiliary-motor is fire an engine.The principal character of this technical scheme is, must comprise a driving engine, and this driving engine and helper motor link together mechanically, and driving engine forms the hybrid type hybrid power system with double-motor.So this technical scheme complex structure, cost are higher.
In sum, for by motor-driven battery-driven car, the key problem of drive system is to realize having the motor driven systems that is similar to above-mentioned ideal speed torque characteristic.Vehicle operation is when low speed, and drive system can produce larger torque.Vehicle operating is when middle and high fast state, and motor driven systems has suitable power.
Summary of the invention
A kind of the have motor driven systems of speed adaptation capability and the control method of this system have been the objective of the invention is to propose, this drive system has the torque rotary speed characteristic that approaches with above-mentioned desirable mechanical specialities, and its mechanical specialities and the speed of a motor vehicle adapt, both can satisfy the low speed torque requirement, can satisfy again the requirement of middle and high fast power, motor has suitable power, can solve preferably the problem that the conventional motors drive system exists.In addition, the motor driven systems with speed adaptation capability that the present invention proposes except being used for driving vehicle, and is realized can also driving the auxiliary spare parts such as air-conditioning compressor, brake system air compressor and skid steer pump outside the braking energy feedback function.System control method of the present invention is for the different operational modes of vehicle, to the operation realization actv. control of system.
Motor driven systems with speed adaptation capability of the present invention comprises a motor driven systems controller, the first motor, the first electric machine controller, the second motor, the second electric machine controller, it is characterized in that: the first motor and the second motor are both-end output shaft structure, an output shaft of the first motor is successively by the first free-wheel clutch, retarder connects with an output shaft of the second motor, described the first motor links by the drive end of air-conditioning connecting belt wheel and air-conditioning connecting belt and the second free-wheel clutch, and the driven end of this second free-wheel clutch is connected to air-conditioning compressor; Described the first machine operation is at motoring condition, and can forward and reversely rotate, and when the first motor was rotated in the forward, described the second free-wheel clutch was in and surmounts state, and its drive end separates with driven end, and air-conditioning compressor stops, and the first motor is used for driving Vehicle Driving Cycle; During the first motor contrarotation, described the first free-wheel clutch is in and surmounts state, the first motor and the second motor are in released state, and described the second free-wheel clutch is in engagement state, the rotation of the first driven by motor air-conditioning compressor, a/c system work, the motor driven systems controller connects with the first electric machine controller and the second electric machine controller respectively with signal cable, the first electric machine controller connects with the first motor with power cable, and the second electric machine controller connects with the second motor with power cable.
Control method with motor driven systems of speed adaptation capability of the present invention comprises the following steps:
(1) running state with vehicle is divided into following mode of operation: originate mode, low speed climbing pattern, common driving mode, sliding mode, braking mode, reversing mode, reversing braking mode and treat the row refrigeration mode, and the parameter corresponding with each mode of operation existed in the motor driven systems controller;
(2) by the CAN bus motor driven systems controller and entire car controller are linked;
(3) when vehicle operating, detected by the information of entire car controller to the physical quantity of the braking mode signal (Brake) of the speed signal (V) of car load, accelerator pedal signal (Pedal_D), brake pedal signal (Pedal_B), vehicle, reversing status signal (R), and send instruction by the CAN bus to the motor driven systems controller, instruction comprises vehicle speed signal (V), torque request signal T
Cmd, braking mode signal (Brake) and the reversing status signal (R);
(4) the motor driven systems controller instruction of sending according to entire car controller is according to vehicle speed signal (V), torque request signal T
Cmd, braking mode signal (Brake) and the reversing status signal (R), through calculating, judge and analyzing, determine the mode of operation of vehicle, and determine the working condition of the first motor and the second motor, and the second motor torque size, the first motor torque or rotating speed size;
(5) the motor driven systems controller sends torque command signal T according to the mode of operation of the vehicle of determining to the first electric machine controller
1cmdOr tach signal Speed
M1And the turn sign R of the first motor
1The motor driven systems controller sends torque command signal T to the second electric machine controller
2cmdTurn sign R with the second motor
2
(6) first electric machine controllers and the second electric machine controller are controlled the operation of the first motor and the second motor according to the order that obtains from the motor driven systems controller; Described the first machine operation is at motoring condition, and can forward and reversely rotate, and when the first motor was rotated in the forward, described the second free-wheel clutch was in and surmounts state, and its drive end separates with driven end, and air-conditioning compressor stops, and the first motor is used for driving Vehicle Driving Cycle; During the first motor contrarotation, described the first free-wheel clutch is in and surmounts state, and the first motor and the second motor are in released state, and described the second free-wheel clutch is in engagement state, the rotation of the first driven by motor air-conditioning compressor, a/c system work.
Advantage of the present invention is: this drive system can be according to the speed of vehicle and the demand of power or tractive force, according to driving cycle, automatically change the mode of operation of drive system, driving requirement under the various operating modes such as vehicle travels in low speed climbing, high speed to satisfy, car brakeing, reversing makes it automatically adapt to the various operating condition of vehicle; Make vehicle can reach the torque rotary speed characteristic that approaches with desirable mechanical specialities, and its characteristic and the speed of a motor vehicle adapt, both can satisfy the low speed torque requirement, can satisfy again the requirement of middle and high fast power, motor has suitable power, can solve preferably the problem that the conventional motors drive system exists.In addition, the motor driven systems with speed adaptation capability that the present invention proposes except being used for driving vehicle, and is realized can also driving the auxiliary spare parts such as air-conditioning compressor, brake system air compressor and skid steer pump outside the braking energy feedback function.
Description of drawings
Fig. 1 is the mechanical specialities scheme drawing of different driving system;
Fig. 2 is the topological structure scheme drawing 1 with motor driven systems of speed adaptation capability;
Among the figure: 1: the first motor, 1-1: the first output shaft of the first motor, 1-2: the second output shaft of the first motor, the controller of 2: the first motors, 3: the second motors, 3-1: the first output shaft of the second motor, 3-2: the second output shaft of the second motor, the controller of 4: the second motors, 5: first retarder, 5-1: first reducer input shaft, 5-2: first reducer output shaft, 7: first has the free-wheel clutch of torsional damping arrangement, 7-1: first has the drive end of the free-wheel clutch of torsional damping arrangement, 7-2: first has the driven end of the free-wheel clutch of torsional damping arrangement, 9: the three free-wheel clutchs, 10: the motor driven systems controller, 12-1: drive end air-conditioning belt connecting wheel, 12-2: driven end air-conditioning belt connecting wheel, 12-3: air-conditioning connecting belt, 13: air-conditioning compressor, 14: transmission shaft, 15: main reduction gear and diff, 16: wheel, 17: power cable, 18: signal cable;
Fig. 3 is the schematic diagram with motor driven systems driving air-conditioning compressor of speed adaptation capability;
Among the figure: OWC: free-wheel clutch, 1: the first motor of Motor, AC: air-conditioning compressor, R
1=1: motor 1 contrarotation, OWC engages, air-conditioning compressor work, R
1=0: motor 1 is rotated in the forward, and OWC disconnects, and air-conditioning compressor is not worked;
Fig. 4 is the total external characteristics scheme drawing of the first motor;
Fig. 5 is the topological structure scheme drawing 2 with motor driven systems of speed adaptation capability;
Among the figure: 8: the second free-wheel clutchs with torsional damping arrangement;
Fig. 6 is the topological structure scheme drawing 3 with motor driven systems of speed adaptation capability;
Among the figure: 6: the second retarders;
Fig. 7 is the topological structure scheme drawing 4 with motor driven systems of speed adaptation capability;
Among the figure: 11: the three retarders;
Fig. 8 is the topological structure scheme drawing 5 with motor driven systems of speed adaptation capability;
Fig. 9 is the topological structure scheme drawing 6 with motor driven systems of speed adaptation capability;
Figure 10 is a typical drive system of electric motor vehicle schematic diagram;
Among the figure: DCU: the motor driven systems controller, MCU1: the first electric machine controller, MCU2: the second electric machine controller, VCU: entire car controller, Pedal_D: Das Gaspedal, Pedal_B: brake pedal, ancillary system: a/c system, brake system, power steering system, retarder: planetary reduction gear;
Figure 11 is the signal transitive relation scheme drawing of motor driven systems controller in battery-driven car;
Figure 12 is the control flow chart with motor driven systems of speed adaptation capability.
The specific embodiment
1, the present invention, namely said motor driven systems with speed adaptation capability adopts the Dual-motors Driving pattern.Its topological structure as shown in Figure 2.The first motor 1 wherein and the second motor 3 are both-end and go out axle construction.Between the first motor 1 and the second motor 3, retarder 5 and the free-wheel clutch 7 with torsional damping arrangement are arranged.The mouth 1-1 of motor 1 and the input end 5-1 of retarder 5 link; The mouth 5-2 of retarder and the drive end 7-1 with free-wheel clutch 7 of torsional damping arrangement link; Having the driven end 7-2 of free-wheel clutch 7 of torsional damping arrangement and the mouth 3-2 of motor 2-3 links.Effect with free-wheel clutch 7 of torsional damping arrangement is motor 1 and retarder 5 are engaged with motor 3 or to separate.Motor 1 and motor 3 are alternating current dynamo or DC machine.Alternating current dynamo such as induction motor, permagnetic synchronous motor, permanent-magnet brushless AC motor, switched reluctance machines, synchronous magnetic resistance motor etc.; DC machine such as the mechanical, electrical excitation of permanent magnet brush direct current (DC) have brushless motor etc.Retarder 5 can be selected planetary reduction gear, also can select the retarder of other form.Electric machine controller 2 and electric machine controller 4 adapt with motor 1 and motor 3 respectively.Motor 1 is operated in motoring condition, and can forward and reversely rotate.When motor 1 was rotated in the forward, its effect was to provide larger drive torque for vehicle; When motor 1 contrarotation, its effect is the ancillary system rotations such as drive air-conditioning compressor.Motor 1 is rotated in the forward, and the torque of its generation increases torsion effect through the reduction of speed of retarder 5, by the torque of retarder mouth output and the torque stack of motor 3 generations, and the driving torque that whole motor driven systems produces, i.e. total output torque is shown below.
T＝kT
M1+T
M2
In the formula, T
M1And T
M2Be respectively the output torque of motor 1 and motor 3; T is the total output torque of motor driven systems; K is the speed ratio of retarder 5, its value choose according to vehicle hill climbing ability, the speed of a motor vehicle require, the range of speed of motor 1 and motor 3 etc. determines.Increase the effect of turning round owing to slow down, the torque of motor 1 becomes the leading torque of vehicle operating under the low speed climbing state.When motor 1 is used for driving Vehicle Driving Cycle, be operated in the torque closed loop mode; When motor 1 is used for driving air-conditioning compressor, be operated in the speed closed loop pattern, its rotating speed is controlled by the interior temperature in compartment.Motor 3 both can be operated in motoring condition, can be operated in generating state again; Both can be rotated in the forward, again can contrarotation.The mode of operation of motor 1 and motor 3 is subjected to the control of motor driven systems controller 10.Motor driven systems controller 10 sends instruction by signal bus to electric machine controller 2 and electric machine controller 4 according to speed, power or the tractive force demand of vehicle, the state that advances or move backward, drive or brake, the mode of operation of control motor 1 and motor 3.
Have the free-wheel clutch 7 of torsional damping arrangement and the free-wheel clutch with torsional damping arrangement 8 in the following structure, all have two kinds of structures.The first structure is, its input end is the drive end of torsional damping arrangement, and mouth is the driven end of free-wheel clutch, and the driven end of torsional damping arrangement and the drive end of free-wheel clutch link; The second structure is, its input end is the drive end of free-wheel clutch, and mouth is the driven end of torsional damping arrangement, and the driven end of free-wheel clutch and the drive end of torsional damping arrangement link.For different vehicle, consider the factors such as layout, mounting process, can adopt a kind of in these two kinds of structures.
The adaptations of system architecture
In order to adapt to different vehicles, can between motor 1 and retarder 5, increase the free-wheel clutch 8 with torsional damping arrangement, keep or the free-wheel clutch with torsional damping arrangement 7 of cancellation between retarder 5 and motor 3.Effect with free-wheel clutch 8 of torsional damping arrangement is retarder 5 and motor 3 are engaged with motor 1 or to separate.System architecture as shown in Figure 5.
In motor driven systems shown in Figure 2, the rotor of motor 3 can connect with the input end 6-1 of retarder 6 first, and the mouth 6-2 of retarder 6 links with the driven end 7-2 of the free-wheel clutch 7 with torsional damping arrangement again, is connected to transmission shaft 14 again.Drive end 7-1 with free-wheel clutch 7 of torsional damping arrangement still is connected to the mouth 5-2 of retarder 5.Deceleration through retarder 6 increases torsion effect, can reduce volume and the quality of motor 3.System architecture as shown in Figure 6.
In motor driven systems shown in Figure 2, can increase a retarder 11 at the output shaft place of drive system, as shown in Figure 7.Increase retarder 11, can reduce quality and the volume of drive system.
For some special cars, first or second free-wheel clutch 7,8 with torsional damping arrangement all can be cancelled, as shown in Figure 8.
In addition, for impacting little application scenario, can cancel the torsional damping arrangement in the free-wheel clutch 7 or 8 with torsional damping arrangement, only keep free-wheel clutch, as shown in Figure 9.
2, the mode of operation of system of the present invention and control method
2.1 have the mode of operation of the motor driven systems of speed adaptation capability
For the running condition of battery-driven car, the present invention is divided into following mode of operation with the running state of vehicle: originate mode, low speed climbing pattern, common driving mode, sliding mode, braking mode, reversing mode, reversing braking mode and treat the row refrigeration mode.
Originate mode
The originate mode of vehicle is defined as the pattern that vehicle gives it the gun in level road or the not steep ramp of the gradient with quiescence.When vehicle is in originate mode, need certain tractive force.
Low speed climbing pattern
Low speed climbing pattern is defined as vehicle with static (or low speed driving) state, the mode of operation that upwards gives it the gun on the steeper ramp of the gradient.When vehicle was in low speed climbing pattern, its gradient resistance that is subject to was very large, so the required tractive force of vehicle is larger when the originate mode than vehicle operating.
Common driving mode
The common driving mode of vehicle is defined as vehicle forward direction after starting and travels, and the speed of a motor vehicle surpasses a setting value V
0Mode of operation when (this velocity amplitude can according to different vehicles, be chosen different values).
The vehicle sliding pattern
The vehicle sliding pattern is defined as chaufeur and initiatively tramples brake pedal, the mode of operation that expectation car retardation or the inhibition speed of a motor vehicle increase.The feature of vehicle sliding pattern is, driving system does not provide propulsive effort, and vehicle is kept by its kinetic energy travel fully; The mechanical braking sytem of vehicle is not worked.The vehicle sliding pattern mainly comprises vehicle descent run operating mode and the slow decelerating mode of vehicle.
The car brakeing pattern
The car brakeing pattern is defined as the chaufeur active degree of depth and tramples brake pedal, the mode of operation of expectation vehicle stop, deceleration or the inhibition speed of a motor vehicle.The feature of car brakeing pattern is that driving system does not provide propulsive effort; The mechanical braking sytem work of vehicle.The car brakeing pattern comprises car retardation driving cycle and emergency braking operating mode.
The reverse travel pattern
The reverse travel mode-definition is the mode of operation of vehicle travel backwards.
The reversing braking mode
The reversing braking mode is defined as the backward mode of operation of Reduced Speed Now of vehicle.
Treat the row refrigeration mode
Treat that the row refrigeration mode is defined as vehicle stop, but the operational mode of air-conditioning work.
2.2 have mode of operation and the control method of the motor driven systems of speed adaptation capability
2.2.1 the mode of operation of system
Figure 10 is the schematic diagram of a typical drive system of electric motor vehicle, has wherein used above-mentioned motor driven systems with speed adaptation capability.Among the figure, VCU is the entire car controller of battery-driven car; Pedal_D is Das Gaspedal; Pedal_B is brake pedal.Pedal_D is accelerator pedal signal; Pedal_B is the brake pedal signal.
The example that the structure of above-mentioned typical electrical motor-car is just used as this patent, the application of this patent not only is confined to the structure shown in this example.
The said motor driven systems with speed adaptation capability of the present invention, its working process is as follows.
The information of the physical quantitys such as the braking mode signal Brake of speed signal V, the accelerator pedal signal Pedal_D of the car load that entire car controller (VCU) basis records, brake pedal signal Pedal_B, vehicle, reversing status signal R, send instruction by the CAN bus to motor driven systems controller (DCU) 10, instruction comprises vehicle speed signal V, torque request signal T
Cmd, braking mode signal Brake and reversing status signal R etc.The instruction that motor driven systems controller (DCU) 10 sends according to VCU is according to vehicle speed signal V, torque request signal T
Cmd, braking mode signal Brake and reversing status signal R etc., through calculating, judge and analyzing, can determine the mode of operation of vehicle, and can determine the working condition of motor 1 and motor 3, and level of torque and the torque of motor 1 or the size of rotating speed of motor 3.DCU sends torque command signal T according to the mode of operation of the vehicle of determining to electric machine controller 2
1cmdOr tach signal Speed
M1And the turn sign R of motor 1
1DCU sends torque command signal T to electric machine controller 4
2cmdTurn sign R with motor 3
2Electric machine controller 2 and electric machine controller 4 are according to the order that obtains from DCU, and control motor 1 and motor 3 move.
2.2.2 the control method of system
Figure 11 is the transmission of the said motor driven systems control signal in battery-driven car with speed adaptation capability of the present invention and the logical relation of each several part.
Above-mentioned 8 kinds of mode of operations and control policy thereof are as described below.Motor driven systems with speed adaptation capability, control flow are as shown in figure 12.
The control policy of originate mode
Vehicle operation when originate mode, the torque-demand T of motor driven systems
CmdPeak torque T less than motor 3
2-M, only just can be according to certain acceleration/accel starting vehicle by motor 3.Under this mode of operation, motor 1 is not participated in directly and is driven travelling of vehicle, and vehicle only provides power by motor 3.
Entire car controller (VCU) sends instruction by the CAN bus to motor driven systems controller (DCU) 10 according to the information of the physical quantitys such as speed V of the accelerator pedal signal Pedal_D, the brake pedal signal Pedal_B that record and vehicle; Motor driven systems controller (DCU) 10 is according to the torque-demand T that receives motor driven systems from VCU
CmdInformation, through computing, be judged as vehicle and be in originate mode.Under originate mode, motor driven systems controller (DCU) 10 sends instruction to electric machine controller 4, the torque of control motor 3.At this moment, if the annexes such as air-conditioning need work, i.e. AUX=1, then DCU sends motor 1 contrarotation (R to electric machine controller 2
1=1) instruction, motor 1 contrarotation, free-wheel clutch 9 engages, and motor 1 drives air-conditioning compressor.If the annexes such as air-conditioning do not need work, i.e. AUX=0, then DCU to electric machine controller 2 send the expectation torque, rotating speed is zero instruction (T
1cmd=0, Speed
1M=0), motor 1 is not worked.
Low speed climbing pattern and control policy thereof
When vehicle is in low speed climbing pattern, its gradient resistance that is subject to is very large, so the required tractive force of vehicle is larger when the originate mode than vehicle operating, depends merely on the tractive force demand that motor 3 can not satisfy vehicle, motor 1 must be worked simultaneously with motor 3, jointly drives Vehicle Driving Cycle.Under this pattern, entire car controller (VCU) sends instruction by the CAN bus to motor driven systems controller 10 according to the information of the physical quantitys such as speed of the Das Gaspedal Pedal_D, the brake pedal Pedal_B that record and vehicle; Motor driven systems controller 10 through computing, produces the power distribution information of motor 1 and motor 3, and sends instruction to electric machine controller 2 and electric machine controller 4 according to the information that receives from VCU, so that motor 1 and motor 3 produce required torque.Wherein, the torque that motor 1 produces is through behind the retarder 5, and the torque of output is greatly enhanced.The torque stack that the torque of output and motor 3 produce drives vehicle and accelerates.
Under low speed climbing pattern, motor 1 is rotated in the forward, i.e. R
1=0, the free-wheel clutch that links with air-conditioning compressor is in and surmounts state, and motor 1 separates with air-conditioning compressor, and this moment, a/c system was not worked.
Common driving mode
When vehicle was in common driving mode, entire car controller (VCU) sent instruction by signal bus to motor driven systems controller 10 according to the speed information that records and the information of Das Gaspedal Pedal_D and brake pedal Pedal_B.Motor driven systems controller 10 can determine that according to the information that receives from VCU vehicle is in the high speed motoring condition.At this moment, motor driven systems controller 10 sends instruction to motor 3, and controller motor 3 produces the required torque of Vehicle Driving Cycle, and drives alone Vehicle Driving Cycle by motor 3.
Vehicle operating is under common driving mode, the rotating speed of drive end with free-wheel clutch 7 of torsional damping arrangement is lower than the rotating speed of driven end, therefore free-wheel clutch is in and surmounts state, i.e. released state, and the power of motor 1 can not be delivered to the driven end of free-wheel clutch.
Under common driving mode, motor 1 contrarotation engages with the free-wheel clutch that air-conditioning compressor links, and motor 1 drives air-conditioning compressor work.
The vehicle sliding pattern
When vehicle was in sliding state, entire car controller (VCU) sent instruction according to the information of the brake pedal Pedal_B that records to motor driven systems controller 10.Motor driven systems controller 10 sends instruction to motor 3, so that motor 3 is operated in braking mode, the part of Vehicle Driving Cycle kinetic energy can change electric energy into by motor 3 and electric machine controller 4, is the charging of the closed-centre systems such as vehicle mounted dynamic battery, super capacitor.At this moment, motor 1 is according to the mode of operation of assisted air conditioning system, or stops, or contrarotation, and according to the velocity mode operation, drives air-conditioning compressor.
When vehicle is in sliding state, have the rotating speed of drive end of free-wheel clutch 7 of torsional damping arrangement less than the rotating speed of driven end, free-wheel clutch 7 is in and surmounts state, i.e. released state.
The car brakeing pattern
When vehicle was in braking mode, entire car controller (VCU) was determined the distribution of regenerative brake torque and mechanical braking torque, and is sent instruction to motor driven systems controller 10 according to the speed of a motor vehicle that records and the signal Pedal_B of brake pedal Pedal_B.Motor driven systems controller 10 sends instruction to electric machine controller 4, so that motor 3 is operated in braking mode, the part of Vehicle Driving Cycle kinetic energy can change electric energy into by motor 3 and electric machine controller 4, is the charging of the closed-centre systems such as electrokinetic cell, super capacitor.The remaining kinetic energy of vehicle is by mechanical braking sytem consumption.At this moment, motor 1 is according to the mode of operation of ancillary system, or stops, or contrarotation, and according to the velocity mode operation, drives air-conditioning compressor.
When vehicle is in braking mode, have the rotating speed of drive end of free-wheel clutch 7 of torsional damping arrangement less than the rotating speed of driven end, free-wheel clutch 7 is in and surmounts state, i.e. released state.
The reverse travel pattern
When vehicle was in the reversing state, the instruction that entire car controller (VCU) sends according to chaufeur was sent instruction to motor driven systems controller 10, the status signal R=1 that moves backward this moment, braking mode signal Brake=0.Motor driven systems controller 10 sends instruction according to the instruction that obtains to motor 3, so that motor 3 is operated in the reverse drive state, and the opposite direction when its hand of rotation and vehicle advance.If AUX=1, motor driven systems controller 10 sends instruction to electric machine controller 3, makes motor 1 contrarotation, and the free-wheel clutch 7 with torque absorber is in and surmounts state, this free-wheel clutch is in released state, and free-wheel clutch 9 engages, and motor 1 drives the air-conditioning compressor rotation.If AUX=0, motor driven systems controller 10 sends instruction to electric machine controller 3, so that the command torque of motor 1 is zero, motor 1 is oppositely dragged by motor 3.
The reversing braking mode
When vehicle was in the reversing braking mode, the instruction that entire car controller (VCU) sends according to chaufeur was sent instruction to motor driven systems controller 10, the status signal R=1 that moves backward this moment, braking mode signal Brake=1.Motor driven systems controller 10 sends instruction according to the instruction that obtains to motor 3, so that motor 3 is operated in the plugging state, and the opposite direction when its hand of rotation and vehicle advance.The mode of operation of the systems such as air-conditioning is identical with the reverse travel pattern.
Treat the row refrigeration mode
Treating that motor 3 is not worked under the row refrigeration mode, motor 1 is according to the contrarotation of speed closed loop mode, and the free-wheel clutch 7 with torsional damping arrangement is in and surmounts state, and the power of motor 1 can not be delivered to transmission shaft.The free-wheel clutch 9 that links with air-conditioning compressor is in engagement state, and motor 1 drives the air-conditioning compressor operation, air-conditioning mode of operation when realizing stopping.
Claims (4)
1. motor driven systems with speed adaptation capability, comprise a motor driven systems controller (10), the first motor (1), the first electric machine controller (2), the second motor (3), the second electric machine controller (4), it is characterized in that: the first motor (1) and the second motor (3) are both-end output shaft structure, an output shaft of the first motor (1) is successively by the first free-wheel clutch (8), retarder (5) connects with an output shaft of the second motor (3), described the first motor (1) is by air-conditioning connecting belt wheel (12-1,12-2) link with the drive end of air-conditioning connecting belt (12-3) with the second free-wheel clutch (9), the driven end of this second free-wheel clutch (9) is connected to air-conditioning compressor (13); Described the first motor (1) is operated in motoring condition, and can forward and reversely rotate, the first motor (1) is when being rotated in the forward, described the second free-wheel clutch (9) is in and surmounts state, its drive end separates with driven end, air-conditioning compressor (13) stops, and the first motor (1) is used for driving Vehicle Driving Cycle; During the first motor (1) contrarotation, described the first free-wheel clutch (8) is in and surmounts state, the first motor (1) is in released state with the second motor (3), and described the second free-wheel clutch (9) is in engagement state, the first motor (1) drives air-conditioning compressor (13) rotation, a/c system work, motor driven systems controller (10) connects with the first electric machine controller (2) and the second electric machine controller (4) respectively with signal cable, the first electric machine controller (2) connects with the first motor (1) with power cable, and the second electric machine controller (4) connects with the second motor (3) with power cable.
2. motor driven systems according to claim 1 is characterized in that: described the first free-wheel clutch (8) is for having the free-wheel clutch of torsional damping arrangement.
3. motor driven systems according to claim 2, it is characterized in that: the free-wheel clutch with torsional damping arrangement is a kind of in following two kinds of structures: the first structure is, its input end is the drive end of torsional damping arrangement, mouth is the driven end of free-wheel clutch, and the driven end of torsional damping arrangement and the drive end of free-wheel clutch link; The second structure is, its input end is the drive end of free-wheel clutch, and mouth is the driven end of torsional damping arrangement, and the driven end of free-wheel clutch and the drive end of torsional damping arrangement link.
4. each described control method with motor driven systems of speed adaptation capability in 3 according to claim 1, it is characterized in that: this control method comprises the following steps:
(1) running state with vehicle is divided into following mode of operation: originate mode, low speed climbing pattern, common driving mode, sliding mode, braking mode, reversing mode, reversing braking mode and treat the row refrigeration mode, and the parameter corresponding with each mode of operation existed in the motor driven systems controller (10);
(2) by the CAN bus motor driven systems controller (10) and entire car controller (VCU) are linked;
(3) when vehicle operating, detected by the information of entire car controller (VCU) to the physical quantity of the braking mode signal (Brake) of the speed signal (V) of car load, accelerator pedal signal (Pedal_D), brake pedal signal (Pedal_B), vehicle, reversing status signal (R), and send instruction by the CAN bus to motor driven systems controller (10), instruction comprises vehicle speed signal (V), torque request signal (T
Cmd), braking mode signal (Brake) and the reversing status signal (R);
(4) motor driven systems controller (10) instruction of sending according to entire car controller (VCU) is according to vehicle speed signal (V), torque request signal (T
Cmd), braking mode signal (Brake) and the reversing status signal (R), through calculating, judge and analyzing, determine the mode of operation of vehicle, and the working condition of definite the first motor (1) and the second motor (3), and the second motor (3) level of torque, (1) torque of the first motor or rotating speed size;
(5) motor driven systems controller (10) sends torque command signal (T according to the mode of operation of the vehicle of determining to the first electric machine controller (2)
1cmd) or tach signal (Speed
M1) and the turn sign (R of the first motor (1)
1); Motor driven systems controller (10) sends torque command signal (T to the second electric machine controller (4)
2cmd) and the turn sign (R of the second motor (3)
2);
(6) first electric machine controllers (2) and the second electric machine controller (4) are according to the order that obtains from motor driven systems controller (10), control the operation of the first motor (1) and the second motor (3), described the first motor (1) is operated in motoring condition, and can forward and reversely rotate, the first motor (1) is when being rotated in the forward, described the second free-wheel clutch (9) is in and surmounts state, its drive end separates with driven end, air-conditioning compressor (13) stops, and the first motor (1) is used for driving Vehicle Driving Cycle; During the first motor (1) contrarotation, described the first free-wheel clutch (8) is in and surmounts state, the first motor (1) is in released state with the second motor (3), and described the second free-wheel clutch (9) is in engagement state, the first motor (1) drives air-conditioning compressor (13) rotation, a/c system work.
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|---|---|---|---|
| CN2006101391188A CN1927609B (en) | 2006-10-11 | 2006-10-11 | Motor driving system with speed adaptation capability and controlling method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101391188A CN1927609B (en) | 2006-10-11 | 2006-10-11 | Motor driving system with speed adaptation capability and controlling method thereof |
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|---|---|
| CN1927609A CN1927609A (en) | 2007-03-14 |
| CN1927609B true CN1927609B (en) | 2013-01-09 |
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| CN2006101391188A Active CN1927609B (en) | 2006-10-11 | 2006-10-11 | Motor driving system with speed adaptation capability and controlling method thereof |
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| CN104309464A (en) * | 2014-10-28 | 2015-01-28 | 中国第一汽车股份有限公司 | Hybrid power system adopting one-way clutch |
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| JP2017065505A (en) * | 2015-09-30 | 2017-04-06 | アイシン精機株式会社 | Driving device for hybrid vehicle |
| CN107284212A (en) * | 2016-04-13 | 2017-10-24 | 江苏陆地方舟新能源电动汽车有限公司 | A kind of power assembly of electric automobile and its control method |
| CN107933308B (en) * | 2016-10-13 | 2020-05-26 | 上海大郡动力控制技术有限公司 | High-speed limit control method for new energy automobile |
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| CN108482364B (en) * | 2018-04-16 | 2023-11-28 | 杭州时代电动科技有限公司 | Distributed driving controller of electric automobile |
| CN112009267B (en) * | 2020-09-09 | 2022-02-08 | 厦门金龙联合汽车工业有限公司 | New energy passenger car self-adaptive optimization control method based on real-time working condition recognition |
| CN115284891B (en) * | 2022-07-05 | 2024-05-24 | 一汽解放汽车有限公司 | Electric drive control system of vehicle and vehicle |
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