CN101474969B - Driving motor-speed changer integrated system control method and system for electric automobile - Google Patents
Driving motor-speed changer integrated system control method and system for electric automobile Download PDFInfo
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- CN101474969B CN101474969B CN200910076778XA CN200910076778A CN101474969B CN 101474969 B CN101474969 B CN 101474969B CN 200910076778X A CN200910076778X A CN 200910076778XA CN 200910076778 A CN200910076778 A CN 200910076778A CN 101474969 B CN101474969 B CN 101474969B
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Abstract
The invention discloses a method and a system for controlling a drive motor-gearbox integrated system for an electric automobile and belongs to the technical field of gear shifting control of pure electric automobile, serial type hybrid power automobile and external chargeable type hybrid power automobile. The system comprises a motor, a motor controller, a gearbox, a gear shifting mechanism, a gear shifting controller, a system coordination controller and a vehicle controller. The vehicle controller decides a target shift according to vehicle state information and a pedal signal and emits a gear shifting instruction to the system coordination controller; the system coordination controller emits a control instruction to the motor controller and the gear shifting controller so that the motor and the gearbox coordinate to realize gear shifting; a torsion vibration controller is integrated in the system coordination controller to realize the vibration damping function of a transmission system; the motor controller controls the output of the torque and rotational speed of the motor; and the gear shifting controller controls the action of the gear shifting mechanism so as to realize the gear shifting of the gearbox. The control method institutes a proper coordination control strategy. The method can meet requirements of good dynamic property, smooth gear shifting and the like.
Description
Technical field
The invention belongs to the gear shift control technology field of pure electric automobile, serial type hybrid automobile and externally rechargeable type mixed power automobile.
Background technology
For pure electric automobile, serial type hybrid automobile and externally rechargeable type mixed power automobile, motor is its unique or main drive element, so the performance of power drive system is most important.The main at present electricity of using drives in the pattern, the pattern that motor combines with change-speed box has that starting torque is big, motor efficient operation scope big, little, the technology maturity advantages of higher of system's overall power loss, and the cost of motor and system is all low than other patterns, thereby has good industrialization prospect.When adopting this driving pattern to realize self shifter, the cancellation power-transfer clutch can reduce design, manufacturing and the use cost of clutch control, thereby the total cost of system also further reduces.The performance of motor-speed changer integrated system that the cancellation power-transfer clutch is later, the fine or not key of the performance when especially shifting gears depend on that the mode of motor is selected and system coordination control.In addition, after the cancellation power-transfer clutch, the torsional vibration damper on its driven disc has not existed yet, and the torsion oscillations phenomenon that occurs in the driving system need realize by the mode of system's control.
Summary of the invention
The objective of the invention is to, a kind of used for electric vehicle drive motor-speed changer integrated system and control method proposed, by torsional vibration damper being integrated in the system coordination controller, and formulate suitable coordination control strategy, not only make motor-speed changer integrated system can have good shifting comfort, but also further reduced power waste, improved system effectiveness.The present invention is applicable to that the electricity of pure electric automobile, serial type hybrid automobile and externally rechargeable type mixed power automobile drives.
This method is characterised in that, it is characterized in that, contains following steps:
1) vehicle control device (7) is judged the target gear of current driving according to the car status information and the driver's pedal signal that receive, when needing gearshift, sends shifting commands to system coordination controller (6);
2) after system coordination controller (6) is received shifting commands, send the torque down command to electric machine controller (2); The output torque of electric machine controller (2) control motor (1) drops to the no-load torque state;
2) after system coordination controller (6) is received shifting commands, send the torque down command to electric machine controller (2); The output torque of electric machine controller (2) control motor (1) drops to the no-load torque state;
Simultaneously, torque observer (10) is passed to system coordination controller (6) with torque conditions information;
3) when motor output torque is no-load torque, system coordination controller (6) sends instruction to gearshift controller (5), and gearshift controller (5) control gearshift (4) is finished and plucked the retaining operation;
4) system coordination controller (6) sends the state of a control switching command to electric machine controller (2), and the Digital Signals unit (8) in the electric machine controller (2) switches to speed closed loop control from the torque closed loop control;
Simultaneously, system coordination controller (6) calculates motor speed, and as the target instruction target word of closed loop control, motor (1) enters the initiatively speed governing stage;
5) system coordination controller (6) sends to instruct to gearshift controller (5) according to the gearshift sequential and carries out the block selecting operation, and gearshift controller (5) control executing mechanism is finished the block selecting process;
6) when the rotating speed of motor output speed and change-speed box (3) mated, system coordination controller (6) sent shifting commands to gearshift controller (5), and control gearshift (4) hangs new retaining;
7) system coordination controller (6) sends the state of a control switching command to electric machine controller (2), and the Digital Signals unit (8) in the electric machine controller (2) switches to the torque closed loop control from speed closed loop control;
System coordination controller (6) calculates motor output torque according to driver's pedal signal, as the target instruction target word of torque closed loop control;
System coordination controller (6) judges whether occur torsion oscillations in the driving system according to the torque conditions information that torque observer (10) transmits, as the then output of the Torsional Vibration Control device (12) in the system coordination controller (6) torsion oscillations inhibition torque occurring.
Native system is characterised in that, contains:
Vehicle control device: receive car status information and driver's pedal signal, judge the target gear, send shifting commands to the system coordination controller;
The system coordination controller: receive the shifting commands of vehicle control device, the sequential of control shift process is sent torque downward modulation, mode switching, rotating speed of target and target torque order to electric machine controller; And the torque conditions information of reception torque observer, send torque command to suppress torsion oscillations to electric machine controller;
Electric machine controller: the order of receiving system tuning controller, control the output torque of motor with the torque closed-loop fashion, or control the output speed of motor in the speed closed loop mode; Torque observer wherein sends to the system coordination controller with torque conditions information;
Motor: output torque;
Gearshift controller: the instruction of receiving system tuning controller, the control gearshift is carried out and is plucked retaining, block selecting and the operation of putting into gear;
Gearshift: shift process is carried out in the control that receives gearshift controller.
Evidence, the present invention can be satisfied good dynamic property, smooth gear shifting, efficient height, cost is low and can suppress requirements such as torsional shaking, have reached its intended purposes.
Fig. 1 is motor of the present invention-speed changer integrated system architecture diagram.
Fig. 2 is a control signal block diagram of the present invention.
The specific embodiment:
System of the present invention has cancelled power-transfer clutch, has realized that self shifter and torsion oscillations suppress.System comprises motor (1), electric machine controller (2), change-speed box (3) and gearshift (4), gearshift controller (5), system coordination controller (6) and vehicle control device (7).Wherein, vehicle control device (7) sends shifting commands to system coordination controller (6) according to car status information and driver's pedal signal decision target gear when needing gearshift; System coordination controller (6) control gearshift sequential, send control command to electric machine controller (2) and gearshift controller (5), make motor (1) and change-speed box (3) cooperation realize gearshift, also integrated Torsional Vibration Control device in the system coordination controller (6) is realized the vibration-damping function of driving system; The torque of electric machine controller (2) control motor (1) and rotating speed output; Gearshift controller (5) control gearshift (4) action realizes the shift transformation of change-speed box (3).
Below in conjunction with accompanying drawing motor of the present invention-speed changer integrated system is specifically described.
As shown in Figure 1, the present invention includes motor (1), electric machine controller (2), change-speed box (3) and gearshift (4), gearshift controller (5), system coordination controller (6) and vehicle control device (7).Wherein, motor (1) adopts drive motor commonly used on the present electronlmobil.Power drive unit (9) and torque observer (10) that electric machine controller (2) comprises the Digital Signals unit (8) of realizing control algorithm, is complementary with motor (1) horsepower output, torque and rotating speed, as shown in Figure 2.Change-speed box (3) adopts the axis fixed change-speed box, and two or more gears are arranged.Gearshift (4) adopts all electric gearshift actuating unit, is made up of DC machine and speed reduction gearing, controls its action by gearshift controller (5) and realizes choosing, gearshift function.System coordination controller (6) comprises gearshift tuning controller (11) and Torsional Vibration Control device (12), as shown in Figure 2.Gearshift tuning controller (11) control gearshift sequential, the co-operative control of realization motor and shifter of transmission reduces power waste and shift impact degree in the shift process; Torsional Vibration Control device (12) judges according to the motor torque signal that torque observer (10) provides whether driving system the torsion oscillations phenomenon occurs, if then send instruction to electric machine controller (2), the torque of control motor (1) is to eliminate torsion oscillations.Vehicle control device (7) is according to car status information and driver's pedal signal, and decision target gear sends instruction to system coordination controller (6) when needing gearshift.Motor in the system (1) and change-speed box (3) directly are coupled, and power-transfer clutch has been cancelled in the centre.
This power drive system has starting torque height, motor load electric current and the little characteristics of loss in efficiency, has enlarged the efficient operation scope, has improved system total efficiency.Motor and change-speed box can adopt matured product, and cost is low, good reliability.In addition, owing to cancelled power-transfer clutch, reduced exploitation, the manufacturing cost and use cost of clutch control, thereby the total cost of system can reduce further.
The present invention has adopted the mode of hierarchical control, and promptly the vehicle key-course comprises vehicle control device (7) and system's key-course (system coordination controller (6)); With the unit control layer, comprise electric machine controller (2) and gearshift controller (5).Wherein the vehicle key-course is responsible for determining the target torque of available optimum gear and motor output according to status information and driver's pedal signal of vehicle and parts, and determines whether to need to carry out gear shift operation; System's key-course is responsible for coordinating the gearshift behavior of motor and change-speed box, and integrated Torsional Vibration Control device is used to suppress the torsion oscillations of driving system; The unit control layer is responsible for the torque/speed closed loop control of concrete enforcement motor and pluck retaining, block selecting and the gearshift of gearshift moved.In order to realize smooth-going gearshift, the present invention is divided into four kinds of patterns with the mode of operation of motor, that is: normal output, torque downward modulation, active synchronization and torque recover; The mode of electric machine controller is divided into two kinds: torque closed loop and speed closed loop.The switching of electric machine control mode has reduced power interruption time and shift impact degree in coordinated control mode by adopting the motor active synchronization and the shift process, has improved the dynamic property and the shifting comfort of system.By integrated torsional vibrating controller in tuning controller, can effectively suppress the torsion oscillations of driving system.
The workflow of system is: according to car status information and driver's pedal signal, decision target gear sends shifting commands to system coordination controller (6) when needing gearshift by vehicle control device (7).After system coordination controller (6) received shifting commands, gearshift tuning controller (11) wherein sent instruction to electric machine controller (2) and gearshift controller (5) respectively according to default gearshift sequential.Electric machine controller (2) is finished the switching of state of a control according to instruction, and realizes the closed loop control of motor (1) torque or rotating speed.Gearshift controller (5) control gearshift (4) is finished and is plucked retaining, block selecting and the operation of putting into gear.The variation of the output torque that provides by torque observer (10) judges whether driving system the torsion oscillations phenomenon occurs, if, then the Torsional Vibration Control device (12) in the system coordination controller (6) sends instruction to electric machine controller (2), and the torque of electric machine controller (2) control motor (1) realizes the elimination of torsion oscillations.
The mode of motor-speed changer integrated system is as follows:
The first step, vehicle control device (7) (comprises speed of a motor vehicle u according to the current vehicles status information
a, gear i
a, electric machine controller received current I
Bus, electric machine controller input voltage U
BusWith motor output torque T
Est) and driver's pedal signal (comprising accelerator pedal position Acc and brake pedal position Brake) calculate next best gear i constantly
*With motor export target torque T
*, i
*With current shift i
aRelatively obtain shifting commands i
Flag(add retaining i
Flag=1, subtract retaining i
Flag=-1, gear keeps i
Flag=0), i
FlagAnd T
*Pass to system coordination controller (6).
In second step, work as i
Flag, changed for the 9th step over to at=0 o'clock; Work as i
Flag≠ 0 o'clock, the gearshift tuning controller (11) in the system coordination controller (6) began to work, and sent Flag=1 to vehicle control device (7) and represented that shift process begins; Gearshift tuning controller (11) calculates i
Tgt=i
a+ i
FlagAs the targeted gear place value; Gearshift tuning controller (11) is according to predefined sequential, and electric machine controller (2) sends state of a control command M ode=1, and motor (1) enters torque downward modulation mode of operation, and electric machine controller this moment (2) is operated in the torque closed-loop fashion; Gearshift tuning controller (11) is with the no-load torque T of motor
0As target torque T
Tgt=T
0Send to electric machine controller (2), electric machine controller (2) control motor (1) output torque drops to the no-load torque state, and the torque observer (10) in the electric machine controller (2) is with motor output torque T
EstSend to gearshift tuning controller (11).
In the 3rd step, gearshift tuning controller (11) is motor output torque T relatively
EstBe no-load torque T
0Deviation, (this threshold value is according to the speed of a motor vehicle and gear during less than given threshold value when this deviation, determine by the designer, be this area routine techniques), send to gearshift controller (5) and to pluck retaining instruction Shift=-1, gearshift controller (5) control gearshift (4), i.e. DC machine and speed reduction gearing action makes in the change-speed box (3) current engaging gear to withdrawing from engagement; Finish pluck retaining operation after, gearshift controller (5) is with gear i
a=0 (neutral) sends to gearshift tuning controller (11).
In the 4th step, gearshift tuning controller (11) is received i
aAfter=0, send state of a control command M ode=2 to electric machine controller (2), motor (1) enters the active synchronization mode of operation, and electric machine controller (2) receives after this instruction, and the control algorithm of Digital Signals unit (8) switches to speed closed loop from the torque closed loop.Simultaneously, gearshift tuning controller (11) calculates motor speed n according to gear that is about to change to and current vehicle-state
Tgt, instruction sends to electric machine controller (2) as rotating speed of target, and the output speed of electric machine controller (2) control motor (1) reaches n
TgtElectric machine controller (2) is with the output speed n of motor
aSend to gearshift tuning controller (11).
In the 5th step, when motor (1) carried out the active speed governing, gearshift tuning controller (11) sent block selecting instruction i according to the gearshift sequential to gearshift controller (5)
TgtCarry out the block selecting operation.The block selecting process is finished in the action of gearshift controller (5) control executing mechanism.
In the 6th step, gearshift tuning controller (11) is motor output speed n relatively
aWith the deviation of gear rotational speed to be joined, when this deviation during, send the instruction Shift=1 that puts into gear to gearshift controller (5) less than given threshold value, gearshift controller (5) control gearshift (4) action realizes that the extension of new retaining is gone into; Put into gear finish after, gearshift controller (5) is with gear i
a(current shift) sends to gearshift tuning controller (11).
In the 7th step, gearshift tuning controller (11) receives new i
aAfter, sending state of a control command M ode=3 to electric machine controller (2), motor (1) enters the torque recovery mode of operation, and electric machine controller (2) receives after this instruction, and the control algorithm of Digital Signals unit (8) switches to the torque closed loop from speed closed loop.The motor export target torque T that gearshift tuning controller (11) sends vehicle control device (7)
*Multiply by a ramp function (value of this ramp function is increased to 1 from 0 in 50ms), obtain T
1The motor output torque T that Torsional Vibration Control device (12) provides according to torque observer (10)
Est, provide torsion oscillations and suppress torque torque T
2System coordination controller (6) is with T
Tgt=T
1+ T
2Instruction sends to electric machine controller (2) as target torque, and the torque of electric machine controller (2) control motor (1) is progressively risen; Torque observer (10) is with motor output torque T in the electric machine controller (2)
EstSend to gearshift tuning controller (11).
In the 8th step, the value of ramp function equals 1 in gearshift tuning controller (11), i.e. T
1=T
*The time, the torque recovery stage that shows motor (1) finishes, gearshift tuning controller (11) sends Flag=0 to vehicle control device (7) and represents that shift process finishes, gearshift tuning controller (11) sends state of a control command M ode=0 to electric machine controller (2), and motor (1) enters normal output services pattern.
In the 9th step, gearshift tuning controller (11) sends state of a control command M ode=0 to electric machine controller (2), and motor (1) remains on normal output services pattern; The motor output torque T that Torsional Vibration Control device (12) provides according to torque observer (10)
Est, provide torsion oscillations and suppress torque torque T
2System coordination controller (6) is with T
Tgt=T
*+ T
2Target instruction target word as the torque ring sends to electric machine controller (2), and electric machine controller (2) control motor (1) outputting power powered vehicle is travelled; Gearshift tuning controller (11) sends gear hold instruction Shift=0 to gearshift controller (5), and gearshift controller (5) control gearshift (4) realizes that gear keeps.
Claims (2)
1. used for electric vehicle drive motor-speed changer integrated system control method is characterized in that, contains following steps:
1) vehicle control device (7) is judged the target gear of current driving according to the car status information and the driver's pedal signal that receive, when needing gearshift, sends shifting commands to system coordination controller (6);
2) after system coordination controller (6) is received shifting commands, send the torque down command to electric machine controller (2); The output torque of electric machine controller (2) control motor (1) drops to the no-load torque state;
Simultaneously, torque observer (10) is passed to system coordination controller (6) with torque conditions information;
3) when motor output torque is no-load torque, system coordination controller (6) sends instruction to gearshift controller (5), and gearshift controller (5) control gearshift (4) is finished and plucked the retaining operation;
4) system coordination controller (6) sends the state of a control switching command to electric machine controller (2), and the Digital Signals unit (8) in the electric machine controller (2) switches to speed closed loop control from the torque closed loop control;
Simultaneously, system coordination controller (6) calculates motor speed, and as the target instruction target word of closed loop control, motor (1) enters the initiatively speed governing stage;
5) system coordination controller (6) sends to instruct to gearshift controller (5) according to the gearshift sequential and carries out the block selecting operation, and gearshift controller (5) control executing mechanism is finished the block selecting process;
6) when the rotating speed of motor output speed and change-speed box (3) mated, system coordination controller (6) sent shifting commands to gearshift controller (5), and control gearshift (4) hangs new retaining;
7) system coordination controller (6) sends the state of a control switching command to electric machine controller (2), and the Digital Signals unit (8) in the electric machine controller (2) switches to the torque closed loop control from speed closed loop control;
System coordination controller (6) calculates motor output torque according to driver's pedal signal, as the target instruction target word of torque closed loop control;
System coordination controller (6) judges whether occur torsion oscillations in the driving system according to the torque conditions information that torque observer (10) transmits, as the then output of the Torsional Vibration Control device (12) in the system coordination controller (6) torsion oscillations inhibition torque occurring.
2. used for electric vehicle drive motor-speed changer integrated system is characterized in that, contains:
Vehicle control device: receive car status information and driver's pedal signal, judge the target gear, send shifting commands to the system coordination controller;
The system coordination controller: receive the shifting commands of vehicle control device, the sequential of control shift process is sent torque downward modulation, mode switching, rotating speed of target and target torque order to electric machine controller; And the torque conditions information of reception torque observer, send torque command to suppress torsion oscillations to electric machine controller;
Electric machine controller: the order of receiving system tuning controller, control the output torque of motor with the torque closed-loop fashion, or control the output speed of motor in the speed closed loop mode; Torque observer wherein sends to the system coordination controller with torque conditions information;
Motor: output torque;
Gearshift controller: the instruction of receiving system tuning controller, the control gearshift is carried out and is plucked retaining, block selecting and the operation of putting into gear;
Gearshift: shift process is carried out in the control that receives gearshift controller.
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| CN200910076778XA CN101474969B (en) | 2009-01-21 | 2009-01-21 | Driving motor-speed changer integrated system control method and system for electric automobile |
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| CN200910076778XA CN101474969B (en) | 2009-01-21 | 2009-01-21 | Driving motor-speed changer integrated system control method and system for electric automobile |
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| CN102506163A (en) * | 2011-11-08 | 2012-06-20 | 湖南南车时代电动汽车股份有限公司 | Quick gear-shift control method and control system for electric vehicle gearbox |
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- 2009-01-21 CN CN200910076778XA patent/CN101474969B/en not_active Expired - Fee Related
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