CN101582676A - Automatic gear shifting control system of motor in electric automobile - Google Patents
Automatic gear shifting control system of motor in electric automobile Download PDFInfo
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- CN101582676A CN101582676A CNA2009100618431A CN200910061843A CN101582676A CN 101582676 A CN101582676 A CN 101582676A CN A2009100618431 A CNA2009100618431 A CN A2009100618431A CN 200910061843 A CN200910061843 A CN 200910061843A CN 101582676 A CN101582676 A CN 101582676A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to an automatic gear shifting control system of a motor in an electric automobile, which is characterized by comprising the following components: a motor controller, a system controller, a battery voltage sensor, a battery current sensor, a first rotating speed coder, a second rotating speed coder, a folk position sensor group, a transmission motor oil temperature sensor, and a pressure source pressure sensor; wherein, the input ends of the motor controller are connected with two output terminals of a storage battery via a first wire; the output end of the motor controller is connected with the input end of the power supply via a second power supply wire. By using the invention, response is rapid, and gear shifting time is less than 1s; speed control is controller at constant speed with accuracy, and the phase error is less than 1 degree; gear shifting is smooth without any gear shocking.
Description
Technical field
The present invention relates to automatic gear shifting control system of motor in electric automobile.
Background technology
Electric automobile comprises pure electric automobile, mixed power electric car and fuel cell electric vehicle.Its drive motors often adopts AC induction motor and AC magnetoelectric machine.
These two kinds of motors can adopt converter technique, realize stepless speed regulation, thereby generally do not require variable speed drive on industrial machinery.Even on the not high low speed car of the speed of a motor vehicle, generally also do not need variable speed drive, but require height, and require the strong vehicle of climbing capacity, this configuration then to be difficult to satisfy the requirement of travelling of vehicle simultaneously for the speed of a motor vehicle.Adopt the variable gear ratio gear change-speed gearing can when high vehicle speeds, adopt direct transmission or little speed reducing ratio transmission, satisfy the requirement of travelling of max. speed; And when vehicle low speed is climbed, adopt big retarding than transmission, and can obtain bigger wheel drive torque, improve the wheel climbing capacity.
Variable gear ratio gear graduation drive system generally is made up of clutch and gear transmission.The shifting of transmission structural shape has three kinds, i.e. straight-tooth balladeur train mode, engagement cover mode, synchronizer shift mode.When straight-tooth balladeur train mode, engagement cover mode Zai Change shelves, can cause gear shift or, easily cause meshing gear to damage in conjunction with the problem of impacting.And existing synchronizer all is to adopt tribology principle, makes the working surface of meshing gear produce moment of friction, overcomes the moment of inertia that is engaged part, treats that meshed gears raising speed or reduction of speed reach synchronous regime thereby make.The shortcoming of synchronizer is that moment of friction is regulated difficulty, and lock in time is longer, and friction surface is fragile, and synchronizer is short useful life.
Summary of the invention
The object of the present invention is to provide a kind of accurate automatic gear shifting control system of motor in electric automobile of realizing responding fast, control.
To achieve these goals, technical scheme of the present invention is: automatic gear shifting control system of motor in electric automobile is characterized in that it comprises electric machine controller, system controller, battery voltage sensor, battery current sensor, first rotating speed coder, second rotating speed coder, fork position transducer group, speed changer oil temperature sensor, pressure source pressure sensor; The power input of electric machine controller is linked to each other with 2 outlet terminals of batteries by first power lead respectively, and the power output end of electric machine controller is linked to each other with the power input of motor by the second source lead respectively; First control signal output ends of system controller, second control signal output ends, the 3rd control signal output ends, the 4th control signal output ends link to each other with the first signal input end mouth, the second signal input end mouth, the 3rd signal input end mouth, the 4th signal input end mouth of electric machine controller respectively; Battery current sensor is located on first power lead, and the output of battery current sensor is linked to each other with the first analog input port of system controller by current signal line; Battery voltage sensor is located on 2 first power leads, and the output of battery voltage sensor is linked to each other with the second analog input port of system controller by the voltage signal line; The transducer of vehicle electric accelerator pedal is linked to each other with the 3rd analog input port of system controller by the electronic accelerator pedal holding wire; First rotating speed coder is arranged on the motor shaft of motor, and the B of first rotating speed coder is linked to each other with first signal input part of system controller by holding wire with the Z signal output part; Second rotating speed coder is arranged on second of gear transmission, and the B of second rotating speed coder is linked to each other with the secondary signal input of system controller by holding wire with the Z signal output part; The speed changer oil temperature sensor is arranged on the interior bottom of speed changer body of gear transmission, and the output of speed changer oil temperature sensor is linked to each other with the 3rd signal input part of system controller by holding wire; The pressure source pressure sensor is arranged on the efferent duct of pressure source, and the output of pressure source pressure sensor is linked to each other with the 4th analog input port of system controller by holding wire; Fork position transducer group is made up of primary importance transducer, second place transducer, the 3rd position transducer, the 4th position transducer, the 5th position transducer, the 6th position transducer, primary importance transducer, second place transducer, the 3rd position transducer are separately positioned on the top of first mandrel of first operating mechanism of gear transmission, and the output of primary importance transducer, second place transducer, the 3rd position transducer is linked to each other with the 4th signal input part, the 5th signal input part, the 6th signal input part of system controller respectively by holding wire; The 4th position transducer, the 5th position transducer, the 6th position transducer are separately positioned on the top of second mandrel of second operating mechanism of gear transmission, and the output of the 4th position transducer, the 5th position transducer, the 6th position transducer is linked to each other with the 7th signal input part, the 8th signal input part, the 9th signal input part of system controller respectively by holding wire; The electromagnetically operated valve group is made up of the 3rd electromagnetically operated valve, the 4th electromagnetically operated valve, first electromagnetically operated valve, second electromagnetically operated valve, and the 5th control signal output ends of system controller, the 6th control signal output ends, the 7th control signal output ends, the 8th control signal output ends are linked to each other with the input of first electromagnetically operated valve of the electromagnetically operated valve group of transmission operating mechanism group, second electromagnetically operated valve, the 3rd electromagnetically operated valve, the 4th electromagnetically operated valve respectively by control signal wire.
System controller is by microprocessor CPU 224XPCN, module EM235CN and module EM231CN composition module formula structure.
When first rotating speed coder (1), second rotating speed coder (23) installation, the zero signal TM0 output timing of second rotating speed coder (23) and the tooth top central lines of second clutch collar (27), the tooth top central lines of first combined cover and second combined cover; The tooth root central lines of the zero signal TMX of first rotating speed coder (1) output timing and second one grade gear engagement gear ring (19) the tooth root central lines of every grade of gear combining tooth circle (and guarantee), and the zero signal output timing coincidence of first rotating speed coder (1), second rotating speed coder (23) when installing; TM0 represents the Z phase impulse hits moment of second rotating speed coder (23), and TMX represents the Z phase impulse hits moment of first rotating speed coder (1).
The invention has the beneficial effects as follows:
1, control system has good interference free performance and Electro Magnetic Compatibility; The quick response of output of rotating speed coder high rotational speed resolution and zero signal and motor and guaranteed the High Accuracy Control of system characteristics, guaranteed the quick response of system and accurately controlled; The voltage and current transducer is to the battery real-time sampling, and the system that guaranteed carries out gear-change operation under the rational state of battery; Each gear of speed changer is equipped with position transducer, has realized the closed-loop control of system; Gear-change operation mechanism adopts pneumatic control, and control is simple; By collection, realized obtaining of empty load of motor optimum torque to oil temperature; Pressure sensor has guaranteed the stability of system's gear shift.The present invention can realize: response is quick, and shift time is less than 1s; Control is accurate, and rotating speed controls to constant speed, and phase error is less than 1 °.
2, utilize the output characteristic and the accurate installing and locating of gear characteristics of encoder, thereby obtain the phase place of the nested axle of encoder.Two rotating speed coders are measured motor and transmission main shaft rotating speed and phase place and feedback signal respectively in real time, and calculating rotating speed and the phase place for the treatment of the engagement gear ring by each grade speed ratio, the TR position transducer reflects the gearshift fork position in real time and feeds back gear signal.Motor is followed the tracks of transmission main shaft rotating speed and phase place under system controller and electric machine controller effect, first of quick, high-precision adjusting and jack shaft rotating speed make the speed changer synchronization in conjunction with gear ring and combined cover to be meshed, and phase place meet the demands.This system utilizes quick response, the high accuracy governor control characteristics of motor, the signal feedback of rotating speed coder and gear positions transducer, according to transmission main shaft rotating speed active adjustment clutch spindle and jack shaft rotating speed and phase place, make speed changer to be meshed in conjunction with gear ring and combined cover constant speed homophase, finish the fluid drive of speed changer then by pneumatic actuator.
3, in the gearshift procedure, motor must guarantee in conjunction with stabilization of speed according to certain unloaded optimum torque work under different gears, realizes that gearshift procedure is smooth-going, does not have and impact; The unloaded optimum torque of motor under different gears determined according to system's moment of inertia, oil temperature, liquid level, rotating speed.Adopt control system can realize that gearshift procedure is smooth-going, not have and impact (not having any gear impacts).
Description of drawings
Fig. 1 is a structured flowchart of the present invention;
Fig. 2 is the schematic diagram of system controller part of the present invention;
Fig. 3 is the winding diagram of system controller of the present invention;
Fig. 4 is the structural representation of motor of the present invention and speed changer;
Fig. 5 is the structural representation of first operating mechanism of the present invention;
Fig. 6 is the structural representation of second operating mechanism of the present invention;
Fig. 7 is rotating speed coder output principle figure of the present invention;
Fig. 8 is a speed changer combined cover of the present invention and in conjunction with the gear ring floor map;
Fig. 9 is a speed changer combined cover of the present invention and in conjunction with the gear planar development schematic diagram of gear ring;
Among the figure: 1-first rotating speed coder, 2-motor shaft, 3-first spring bearing, the 4-left end cap, 5-electric machine casing, 6-rotor, 7-second spring bearing, 8-speed changer body, first constant mesh gear of 9-, 10-first shaft gear engages gear ring, 11-first splined hub, 12-first fork, second third gear of 13-engages gear ring, second third gear of 14-, second intermediate gear of 15-, second intermediate gear of 16-engages gear ring, 17-second fork, 18-second splined hub, second one grade of gear engagement gear ring of 19-, second one grade of gear of 20-, 21-the 3rd spring bearing, second of 22-, 23-second rotating speed coder, 24-the 4th spring bearing, 25-jack shaft, one grade of gear of 26-jack shaft, 27-second clutch collar, the 28-secondary gear of intermediate shaft, 29-third-speed gear of intermediate shaft, 30-first clutch collar, the 31-ball bearing, 32-jack shaft constant mesh gear, 33-the 5th spring bearing, 34-first mandrel, 35-primary importance transducer, 36-second place transducer, 37-the 3rd position transducer, the 38-first spring baffle ring, 39-first spring, 40-first spring base, 41-first piston, the 42-first air pressure cylinder body, 43-first inlet, 44-the 4th position transducer, 45-the 5th position transducer, 46-the 6th position transducer, the 47-second spring baffle ring, 48-second spring, 49-second spring base, 50-second piston, the 51-second air pressure cylinder body, 52-the 3rd inlet, 53-the 3rd electromagnetically operated valve, 54-the 4th electromagnetically operated valve, 55-the 4th inlet, the 56-pressure source, 57-second valve seat, 58-first electromagnetically operated valve, 59-second electromagnetically operated valve, 60-second inlet, 61-first valve seat, 62-second mandrel; The 100-system controller, the 200-motor, 230-electric machine controller, 300-gear transmission, 310-transmission operating mechanism group, 320-fork position transducer group, 330-speed changer oil temperature sensor, 340-electromagnetically operated valve group, the 400-batteries, the 410-battery voltage sensor, 420-battery current sensor, 510-vehicle electric accelerator pedal.
Embodiment
1. control system structure
As Fig. 1, Fig. 2, shown in Figure 3, automatic gear shifting control system of motor in electric automobile, it comprises electric machine controller 230, system controller 100, battery voltage sensor 410, battery current sensor 420, first rotating speed coder 1, second rotating speed coder 23, fork position transducer group 320, speed changer oil temperature sensor 330, pressure source pressure sensor 350; System controller 100 is by microprocessor CPU 224XPCN, module EM235CN and module EM231CN composition module formula structure, (system controller 100 is modular organizations to module EM235CN between microprocessor CPU 224XPCN and module EM231CN, constitute Siemens by CPU224XPCN+EM235CN+EM231CN); Electric machine controller 230 is: FRENIC5000VG7S series, Japanese fuji electrical equipment company; The power input of electric machine controller 230 is respectively by (2 of first power leads, corresponding 2 outlet terminals) link to each other with 2 outlet terminals of batteries 400, the power output end of electric machine controller 230 is linked to each other by the power input of second source lead with motor 200 respectively; The Q1.0 of the CPU224XPCN of system controller 100, Q1.1, Q0.7, V1 control signal output ends are imported FWD, REV, T/S, T with the control signal of electric machine controller 230 respectively
APort links to each other and (controls the forward drive of motor respectively, reverse drive, torque/velocity mode switching and level of torque, the analog output mouth V2 of EM235CN and the S of electric machine controller 230
APort links to each other, control rotating speed of motor size); Battery current sensor 420 is located on first power lead, and the output of battery current sensor 420 is linked to each other with the analog input port A of the EM235CN of system controller 100 by current signal line; Battery voltage sensor 410 is located on 2 first power leads, and the output of battery voltage sensor 410 is linked to each other with the analog input port B of the EM235CN of system controller 100 by the voltage signal line; The transducer of vehicle electric accelerator pedal 510 is linked to each other with the CPU224XPCN analog input port A+ of system controller 100 by the electronic accelerator pedal holding wire; First rotating speed coder 1 is arranged on the motor shaft 2 of motor 200 (also can be placed on the jack shaft 25), and the B of first rotating speed coder 1 is linked to each other with the I0.1 signal input part with the I0.3 of the CPU224XPCN of system controller 100 by holding wire with Z signal output part (1B, 1Z among Fig. 3); Second rotating speed coder 23 is arranged on second 22 of gear transmission 300, and the B of second rotating speed coder 23 is linked to each other with the I0.2 signal input part with the I0.4 of the CPU224XPCN of system controller 100 by holding wire with Z signal output part (23B, 23Z among Fig. 3); Speed changer oil temperature sensor 330 is arranged on the interior bottom of speed changer body of gear transmission 300, and the output of speed changer oil temperature sensor 330 is linked to each other with the a-signal input of the EM231CN of system controller 100 by holding wire; Pressure source pressure sensor 350 is arranged on the efferent duct of pressure source 56, and the output of pressure source pressure sensor 350 is linked to each other with the analog input port C of the EM235CN of system controller 100 by holding wire; Fork position transducer group 320 is by primary importance transducer 35, second place transducer 36, the 3rd position transducer 37, the 4th position transducer 44, the 5th position transducer 45, the 6th position transducer 46 is formed, primary importance transducer 35, second place transducer 36, the 3rd position transducer 37 is separately positioned on the top of first mandrel 34 of first operating mechanism of gear transmission 300, primary importance transducer 35, second place transducer 36, the output of the 3rd position transducer 37 by holding wire respectively with the I1.5 of the CPU224XPCN of system controller 100, I1.4, the I1.3 signal input part links to each other; The 4th position transducer 44, the 5th position transducer 45, the 6th position transducer 46 are separately positioned on the top of second mandrel 62 of second operating mechanism of gear transmission 300, and the output of the 4th position transducer 44, the 5th position transducer 45, the 6th position transducer 46 is linked to each other with I1.0, I1.2, the I1.1 signal input part of the CPU224XPCN of system controller 100 respectively by holding wire; Electromagnetically operated valve group 340 is made up of the 3rd electromagnetically operated valve 53, the 4th electromagnetically operated valve 54, first electromagnetically operated valve 58, second electromagnetically operated valve 59, and the Q0.2 of the CPU224XPCN of system controller 100, Q0.1, Q0.4, Q0.3 control signal output ends are linked to each other with the input of first electromagnetically operated valve 58 of the electromagnetically operated valve group 340 of transmission operating mechanism group 310, second electromagnetically operated valve 59, the 3rd electromagnetically operated valve 53, the 4th electromagnetically operated valve 54 respectively by control signal wire.
2. driving system structure
As shown in Figure 1, automatic gear shifting control system of motor in electric automobile, it comprises motor 200, gear transmission 300 (present embodiment is an example with the speed changer of 4 drive shifts), batteries 400, automatic gear shifting control system of motor in electric automobile (abbreviation control system); The motor shaft of motor (being the output shaft of motor) is same axle [first (being power shaft) of speed changer substituted by motor shaft 2] with first (being power shaft) of gear transmission; Described motor is AC induction motor or AC magnetoelectric machine.
3. motor and gear transmission structure
As shown in Figure 4, the electric machine casing of the output of described motor 5 directly with the speed changer body 8 fixedly connected (being connected) of gear transmission as bolt, saved the right end cap of motor.Described AC induction motor (or AC magnetoelectric machine) is basic identical with electric machine structure of the same type, and motor shaft 2 is provided with first spring bearing 3, second spring bearing, 7, the first spring bearings 3 are arranged on the left end cap 3; Difference is: the right end cap of motor is substituted by speed changer body 8, and second spring bearing 7 is arranged on the speed changer body 8.
Described gear transmission is 4 grades an engagement shell type gear transmission.
Described gear transmission comprises transmission operating mechanism group 310, speed changer body 8, first constant mesh gear 9, first shaft gear engages gear ring 10, first splined hub 11, second third gear engages gear ring 13, second third gear 14, second intermediate gear 15, second intermediate gear engages gear ring 16, second splined hub 18, second one grade of gear engagement gear ring 19, second one grade of gear 20, the 3rd spring bearing 21, second 22, the 4th spring bearing 24, jack shaft 25, one grade of gear 26 of jack shaft, second clutch collar 27, secondary gear of intermediate shaft 28, third-speed gear of intermediate shaft 29, first clutch collar 30, ball bearing 31, jack shaft constant mesh gear 32, the 5th spring bearing 33; Transmission operating mechanism group 310 is made up of first operating mechanism (as shown in Figure 5) and second operating mechanism (as shown in Figure 6); The right part of the motor shaft of motor (also be gear transmission first) 2 is positioned at speed changer body 8, the right part of the motor shaft of motor is provided with ball bearing 31, second 22 left part is provided with bearing groove, ball bearing on the motor shaft right part inserts in the bearing groove of second 22 left part (motor shaft, second each spinning of energy, second 22 be supported on motor shaft on by ball bearing); First constant mesh gear 9, first shaft gear engage gear ring 10 and lay respectively in the speed changer body 8, and first constant mesh gear 9 is fixedly installed on the right part of the motor shaft of motor, and first shaft gear engages gear ring 10 and is fixedly installed on first constant mesh gear 9; Second 22 right part is linked to each other with speed changer body 8 by the 3rd spring bearing 21, second 22 right part is positioned at speed changer body 8 outer (second is the output shaft of gear transmission), first splined hub 11 is positioned at speed changer body 8, first splined hub 11 is fixedly installed on second 22 left part, it is adjacent that first splined hub 11 and first shaft gear engage gear ring 10, first clutch collar 30 links to each other with first splined hub 11 by spline, and first fork 12 of first operating mechanism is installed on first clutch collar 30; Second third gear engages gear ring 13, second third gear 14 lays respectively in the speed changer body 8, second third gear 14 by bearing holder (housing, cover) on second 22 (during second third gear 14 rotation, do not rotate for second 22), second third gear 14 is positioned at the right side of first splined hub 11, second third gear engages gear ring 13 and is fixedly installed on second third gear 14, second third gear joint gear ring 13 is adjacent (by first fork 12 with first splined hub 11, can make first clutch collar 30 slide into first shaft gear and engage on the gear ring 10, make first splined hub 11 and first shaft gear engage gear ring 10 and be connected; Also can make first clutch collar 30 slide into second third gear and engage gear ring 13, make first splined hub 11 and second third gear engage gear ring 13 and be connected); Second intermediate gear 15, second intermediate gear engages gear ring 16, second splined hub 18, second one grade of gear engagement gear ring 19, second one grade of gear 20 lays respectively in the speed changer body 8, second intermediate gear 15, second one grade of gear 20 respectively by bearing holder (housing, cover) on second 22, second splined hub 18 is fixedly installed on second 22, second intermediate gear 15 is positioned at the right side of second third gear 14, second splined hub 18 is positioned at the right side of second intermediate gear 15, second one grade of gear 20 is positioned at the right side of second splined hub 18, second intermediate gear engages gear ring 16 and is fixedly installed on second intermediate gear 15, second one grade of gear engagement gear ring 19 is fixedly installed on second one grade of gear 20, second intermediate gear engages gear ring 16, second one grade of gear engagement gear ring 19 is adjacent (by second fork 17 with second splined hub 18 respectively, can make second clutch collar 27 slide into second intermediate gear and engage on the gear ring 16, make second splined hub 18 and second intermediate gear engage gear ring 16 and be connected; Second clutch collar 27 is slided on second one grade of gear engagement gear ring 19, second splined hub 18 is connected with second one grade of gear engagement gear ring 19); Second clutch collar 27 links to each other with second splined hub 18 by spline, and second fork 17 of second operating mechanism is installed on second splined hub 18; Jack shaft 25 is positioned at speed changer body 8, and the right-hand member of jack shaft 25 is linked to each other with speed changer body 8 by the 4th spring bearing 24, and the left end of jack shaft 25 is linked to each other with speed changer body 8 by the 5th spring bearing 33; One grade of gear 26 of jack shaft, secondary gear of intermediate shaft 28, third-speed gear of intermediate shaft 29, jack shaft constant mesh gear 32 lays respectively in the speed changer body 8, one grade of gear 26 of jack shaft, secondary gear of intermediate shaft 28, third-speed gear of intermediate shaft 29, jack shaft constant mesh gear 32 is fixedly installed on respectively on the jack shaft 25, one grade of gear 26 of jack shaft is meshed with second one grade of gear 20, secondary gear of intermediate shaft 28 is meshed with second intermediate gear 15, third-speed gear of intermediate shaft 29 is meshed with second third gear 14, and jack shaft constant mesh gear 32 is meshed with first constant mesh gear 9; Motor shaft 2 is provided with 1, the second 22 of first rotating speed coder and is provided with second rotating speed coder 23.
The number of teeth of each gear is respectively: first constant mesh gear 9 is Z2 for Z1, jack shaft constant mesh gear 32, third-speed gear of intermediate shaft 29 is Z4, secondary gear of intermediate shaft 28 is Z6, one grade of gear of jack shaft 26 is Z8, second third gear 14 is Z3, second intermediate gear 15 is Z5, and second one grade of gear 20 is Z7.
When first clutch collar 30 and second clutch collar 27 all mediated (position shown in Figure 4), because the equal sky of each shifting gear on second is enclosed within on second, second can not be driven, and is neutral gear.
When second fork, 17 promotion second clutch collars 27 and second one grade of gear engagement gear ring (second one grade of gear 20) engagement, then first power can be delivered to second, and one shelves gearratio is
In like manner, the second gear gearratio is
The third gear gearratio is
The fourth gear gearratio is
i
4＝1。
4. transmission operating mechanism group (is example with pneumatic)
As shown in Figure 5, described first operating mechanism comprises first fork 12, first mandrel 34, the first spring baffle ring 38, first spring 39, first spring base 40, first piston 41, the first air pressure cylinder body 42, first electromagnetically operated valve 58, second electromagnetically operated valve 59, first valve seat 61; The left part of first valve seat 61 is provided with left axis hole, the right part of first valve seat 61 is provided with right axis hole, is provided with plunger shaft in the first air pressure cylinder body 42, and first piston 41 is positioned at plunger shaft, the left end of the first air pressure cylinder body 42 is connected (sealing ring is established in sealing) with the right-hand member of first valve seat 61 by bolt; The first air pressure cylinder body 42 is provided with first inlet 43, first inlet 43 communicates with plunger shaft, and first inlet 43 is positioned at the right side of first piston 41, and the right part of first valve seat 61 is provided with second and enters the mouth 60, second inlet 60 communicates with plunger shaft, second 60 left sides that are positioned at first piston 41 that enter the mouth; The right axis hole of first valve seat 61 communicates with plunger shaft; The right part of first mandrel 34 is passed behind the right axis hole of first valve seat 61 and to be fixedlyed connected with first piston 41 that (right part of first mandrel 34 is provided with screw thread, pass first piston 41, screw on nut), the first spring baffle ring 38, first spring 39, first spring base 40 are enclosed within the right part of first mandrel 34 respectively, first spring 39 is between the first spring baffle ring 38 and first spring base 40, and the first spring baffle ring 38, first spring 39, first spring base 40 lay respectively in the plunger shaft; The left part of first mandrel 34 penetrates in the left axis hole of the left part on first valve seat 61 (first piston 41 move drive first mandrel move), and first fork 12 is fixed on the middle part of first mandrel 34; First mandrel, 34 tops are respectively equipped with primary importance transducer 35, second place transducer 36, the 3rd position transducer 37; On the first air pressure cylinder body 42 first inlet 43 links to each other with pressure source 56 (being compressed air source) by first pipe, and first pipe is provided with first electromagnetically operated valve 58; On first valve seat 61 second inlet 60 links to each other with pressure source 56 (present embodiment is example, i.e. compressed air source with air pressure) by second pipe, and second pipe is provided with second electromagnetically operated valve 59.First mandrel 34 can slide on first valve seat 61.
When the two ends of first piston 41 are not subjected to gas pressure, just first inlet, 43 (E1), second inlet, 60 (E2) join with atmosphere, under the effect of first spring 39, push first spring base 40 in the first air pressure cylinder body 42 right limit end face (left part in the first air pressure cylinder body, 42 plunger shaft is provided with spacing end face), as shown in Figure 5, this moment, first fork 12 was in neutral position, primary importance transducer P1 (35) sends the neutral gear signal, and meanwhile second place transducer P2 (36) and the 3rd position transducer P3 (37) are output as zero.
Second operating mechanism has identical mechanical structure with first operating mechanism.The state of second operating mechanism is identical with first operating mechanism.
As shown in Figure 6, described second operating mechanism comprises second fork 17, the second spring baffle ring 47, second spring 48, second spring base 49, second piston 50, the second air pressure cylinder body 51, the 3rd electromagnetically operated valve 53, the 4th electromagnetically operated valve 54, second valve seat 57, second mandrel 62; The left part of second valve seat 57 is provided with left axis hole, the right part of second valve seat 57 is provided with right axis hole, is provided with plunger shaft in the second air pressure cylinder body 51, and second piston 50 is positioned at plunger shaft, the left end of the second air pressure cylinder body 51 is connected (sealing ring is established in sealing) with the right-hand member of second valve seat 57 by bolt; The second air pressure cylinder body 51 is provided with the 3rd inlet 52, the 3rd inlet 52 communicates with plunger shaft, and the 3rd inlet 52 is positioned at the right side of second piston 50, and the right part of second valve seat 57 is provided with the 4th and enters the mouth 55, the 4th inlet 55 communicates with plunger shaft, the 4th 55 left sides that are positioned at first piston 41 that enter the mouth; The right axis hole of second valve seat 57 communicates with plunger shaft; The right part of second mandrel 62 is passed behind the right axis hole of second valve seat 57 and to be fixedlyed connected with second piston 50 that (right part of second mandrel 62 is provided with screw thread, pass second piston 50, screw on nut), the second spring baffle ring 47, second spring 48, second spring base 49 are enclosed within the right part of second mandrel 62 respectively, second spring 48 is between the second spring baffle ring 47 and second spring base 49, and the second spring baffle ring 47, second spring 48, second spring base 49 lay respectively in the plunger shaft; The left part of second mandrel 62 penetrates in the left axis hole of the left part on second valve seat 57 (second piston 50 move drive second mandrel 62 move), and second fork 17 is fixed on the middle part of second mandrel 62; The top of second mandrel 62 is respectively equipped with the 4th position transducer 44, the 5th position transducer 45, the 6th position transducer 46; On the second air pressure cylinder body 51 the 3rd inlet 52 links to each other with pressure source 56 (being compressed air source) by the 3rd pipe, and the 3rd pipe is provided with the 3rd electromagnetically operated valve 53; On second valve seat 57 the 4th inlet 55 links to each other with pressure source 56 (present embodiment is example, i.e. compressed air source with air pressure) by the 4th pipe, and the 4th pipe is provided with four electromagnetically operated valves 54.
When needs enter one grade, the 4th electromagnetically operated valve 54 is opened, compressed air is entered by the 4th inlet F2 (55), the 3rd inlet 52 (F1) and atmosphere joins, and promotes second piston 50 and moves right right limit end face (left part in the plunger shaft of the second air pressure cylinder body 51 is provided with spacing end face) in the second air pressure cylinder body 51; Second piston 50 drives second fork 17 by second mandrel 62, second fork 17 drives second clutch collar 27, itself and second one grade of gear 20 are meshed, promptly second clutch collar 27 combines with second one grade of gear engagement gear ring 19, the 6th position transducer P6 (46) sends one grade of signal simultaneously, and the neutral gear signal zero clearing of the 4th position transducer P4 (44), the 5th position transducer P5 (45) is a nought state, and primary importance transducer P1 (35), second place transducer P2 (36) and the 3rd position transducer P3 (37) output also are zero.This moment, second spring 48 was in compressive state.
When the needs gear shift, for example one grade is advanced second gear, at first be that the 4th electromagnetically operated valve 54 cuts out, (55) Qie Change are to atmosphere for the 4th inlet F2, second piston 50, second fork 17 are got back to neutral position under the effect of second spring 48, the 4th position transducer P4 (44) sends the neutral gear signal, is output as 1, the six position transducer P6 (46) and is output as zero; The 3rd electromagnetically operated valve 53 is opened then, compressed air is entered by the 3rd inlet F1 (52), promote the left limit end face that second piston 50 and second spring base 49 are moved to the left to second pneumatic cylinder 51, this moment, promptly second clutch collar 27 combined with second intermediate gear joint gear ring 16, second shift fork 17 is in the second gear position, the 5th position transducer P5 (45) is output as 1, send the second gear signal, second spring 48 is in compressive state, and meanwhile the 4th position transducer P4 (44) and the 6th position transducer P6 (46) are output as zero.
Primary importance transducer P1 (35), second place transducer P2 (36) and the 3rd position transducer P3 (37) are unique in synchronization output in first operating mechanism in whole gearshift procedure, be that synchronization has only a transducer that output is arranged, other two transducers are output as zero.The position transducer of second operating mechanism also has identical characteristic.
The operation of first operating mechanism control third gear and fourth gear, the manipulation of one grade of second operating mechanism control and second gear.
Two shifting fork mechanisms are by the gas circuit interlocking, and when 12 work of first shift fork, second shift fork 17 is in neutral gear, and vice versa.
5. Change shelves process operation principle:
(1) the unloaded optimum torque under the different gears is determined,
In the gearshift procedure, when speed changer was in neutral state, motor must guarantee in conjunction with rotating speed and phase stabilization that this realizes that to speed changer gearshift procedure is smooth-going, it is most important not have impact according to the unloaded optimum torque work for the treatment of in conjunction with gear.
Unloaded optimum torque mainly is made of rotor moment of inertia square, transmission shaft and train moment of inertia square, mechanical friction resistance square, the speed changer machine oil moment of resistance.First three items can be determined according to system inertia, rotating speed.
The speed changer machine oil moment of resistance is mainly relevant with the submerge degree of depth and the rotating speed of machine oil of engine oil viscosity, axle and train.Speed changer is provided with machine oil and loads degree of depth stopping means and speed changer oil temperature sensor 330, just can determine the moment of resistance of machine oil under different rotating speeds and temperature according to the machine oil drag computation method.
Because transmission gear ratio difference, the unloaded optimum torque different gears under is different, can calibrate unloaded optimum torque under system's difference gears based on above-mentioned parameter by test.
(2) treat meshing gear speed and phase calculation
Speed changer of the present invention has 4 drive shifts, and existing is example to advance top gear with low or first gear, and for example one grade is advanced second gear and carries out the gear shift explanation.
This moment, speed changer was in one grade of work, and promptly the second one grade of gear engagement gear ring 19 and second clutch collar 27 are in conjunction with work.And second intermediate gear of second gear job requirement engages gear ring 16 and the 27 combination work of second clutch collar, and promptly second clutch collar 27 will carry out the transition to second intermediate gear from 13 disengagements of second third gear joint gear ring and from middle position and engage the state that gear ring 16 combines.The concrete course of work is as follows
1) speed calculation
The CPU224XPCN pulse output mutually of the B by I0.3 and I0.4 high speed acquisition first rotating speed coder 1 and second rotating speed coder 23 respectively is by formula
Wherein, n is for measuring axle rotating speed, N
PBe the B phase umber of pulse that controller collects, N is an encoder revolution B phase umber of pulse, t
ABe the sampling time
Can calculate motor speed n respectively
m(footmark m represents motor) and main shaft speed n
2(footmark 2 is represented second).Suppose that gear shift moment motor speed is n
Mt, second speed n
2t, according to the second gear speed ratio, following relation is arranged:
n
mt＝n
2ti
2 (2)
2) phase calculation
Among Fig. 7, A, B are respectively the tacho-pulse output of 90 ° of phase places of mutual deviation of encoder, wherein pulse period
T＝2π/N
(N is encoder revolution A, B phase umber of pulse, and for satisfying control precision, N is greater than 500);
Z is the zero signal output of encoder, and pulse duration is TM.
X
1+X
2＝0.5T±0.1T
And have: X
3+ X
4=0.5T ± 0.1T
TM＝0.25T
Wherein, X
1, X
2, X
3, X
4Be A, B two-phase pulse high level jumping moment phase difference.
Just can accurately assess the rotating speed and the phase place of its nested axle according to the pulse output of encoder A, B, Z phase.
Fig. 8 is the combined cover 27 of one grade of correspondence of speed changer and in conjunction with gear ring 19 plane outspread drawings, and second clutch collar 27 can move to right and 19 engagements of second one grade of gear engagement gear ring.TM0 represents the Z phase impulse hits moment of rotating speed coder 23, and TMX represents the Z phase impulse hits moment of rotating speed coder 1.
When being installed, encoder determines motor shaft and second phase place by Fig. 8, when first rotating speed coder 1,23 installations of second rotating speed coder, the zero signal TM0 output timing of second rotating speed coder 23 and the tooth top central lines of second clutch collar 27, the tooth top central lines of first combined cover and second combined cover; The tooth root central lines of the zero signal TMX of first rotating speed coder 1 output timing and second one grade of gear engagement gear ring 19 (and guarantees the tooth root central lines of every grade of gear combining tooth circle, promptly first shaft gear engages gear ring 10, second third gear and engages the tooth root center line that gear ring 13, second intermediate gear engage gear ring 16, second one grade of gear engagement gear ring 19 and overlap), and the zero signal output timing of first rotating speed coder 1, second rotating speed coder 23 overlaps when installing.
In the speed changer course of work, the Z phase impulse hits that the I0.1 port of CPU224XPCN detects rotating speed coder 23 is TM0 constantly, and with TM0 base during as phase place, the Z phase impulse hits that the I0.2 of CPU224XPCN detects rotating speed coder 1 is TMX constantly; CPU224XPCN obtains the B phase pulse output number N of the TM0 moment and the rotating speed coder 1 of TMX between the moment by the high-speed sampling of I0.3 port to the B phase pulse output of rotating speed coder 1
Bt, the phase difference that then can obtain between motor shaft 2 and second 22 is
θ
M＝N
BtT
Can obtain simultaneously in conjunction with gear ring 19 be with respect to the phase difference of combined cover 27
θ＝θ/i
2
Be θ=N
BtT/i
2
Speed changer combined cover and be the gears engaged structure in conjunction with gear ring, the two number of teeth equates.The gear number of teeth has determined the gear corner of per tooth correspondence, when its number of teeth is N
GThe time, second Shaft angle that can obtain every pair of tooth top of meshing gear+tooth root correspondence according to Fig. 9 is:
T
G＝2π/N
G
So, order
k＝θ/T
G
If satisfy k=0,1,2,3.....N
G, then description taken in conjunction gear ring 19 and combined cover 27 on phase place with Fig. 7 equivalence, otherwise show that in conjunction with gear ring 19 and combined cover 27 heavy tooth situation is arranged on phase place, certainly will cause shifting shock and failure.So in conjunction with the basis of gear ring 19 and combined cover 27 synchronization, also must guarantee the phase place homophase, promptly on phase place, satisfy k=0,1,2,3.....N
G, otherwise must carry out the phase place adjustment to motor.
6. Change shelves course control method for use (advancing second gear with a grade is example):
When system enters shift procedure, accelerator pedal 510 control signals are shielded by system controller.System controller with the control model of electric machine controller by torque control model T
ModeSwitch to speed control mode S
Mode, the frictional resistance when moving back grade in order to reduce shift fork, the output torque zero setting with motor makes it be in critical idling conditions.
Electromagnetically operated valve 54 resets, and second shift fork 17 will be returned to neutral gear position under the effect of air valve B.In case gear positions sensor feedback position signalling, that is: P
4=1, P
5=0, P
6=0, (if third gear is changed fourth gear, correspondence: P
1=1, P
2=0, P
3=0) shows that then speed changer is in neutral gear position.
Control motor with the breakdown torque speed governing to n
Mt, make it satisfy formula (2)
At motor to rotating speed of target n
MtIn the adjustment process, main shaft speed unavoidably can minor variations occur because of external load fluctuates, therefore must be to its instantaneous velocity n
2Sample with phase place.Before opening, the 4th electromagnetically operated valve 53 must judge synchronously, promptly motor and second speed
n
mt＝n
2ti
2 (3)
K＝0，1，2，3.....N
G
In case system's rotating speed satisfies formula (3), then reduce motor output torque to the unloaded optimum torque T that keeps this rotating speed
2The battery valve of set simultaneously 54, the second shift forks 17 will enter second grade under the effect of air valve B.In case gear positions sensor feedback position signalling, that is: P
4=0, P
5=1, P
6=0, (if third gear is changed fourth gear, correspondence: P
1=0, P
2=1, P
3=0) shows that then speed changer is in second gear and puts.Show the gear shift success simultaneously.
System controller switches to the torque control model with the control model of electric machine controller by speed control mode again, and velocity constraint is adjusted to maximum, and Electric Machine Control power is given back accelerator pedal.Whole gearshift procedure finishes.
According to above control and control method, can finish the gear shift action of other gears equally.
7. correlation test data
Test relevant parameter: i
1=5, i
2=2, oil temperature=40 ℃
When described gear transmission is the gear transmission of 2 or 3 drive shifts, can both realize the present invention,, not enumerate embodiment one by one at this.
Claims (2)
1. automatic gear shifting control system of motor in electric automobile is characterized in that it comprises electric machine controller (230), system controller (100), battery voltage sensor (410), battery current sensor (420), first rotating speed coder (1), second rotating speed coder (23), fork position transducer group (320), speed changer oil temperature sensor (330), pressure source pressure sensor (350); The power input of electric machine controller (230) is linked to each other with 2 outlet terminals of batteries (400) by first power lead respectively, and the power output end of electric machine controller (230) is linked to each other by the power input of second source lead with motor (200) respectively; First control signal output ends of system controller (100), second control signal output ends, the 3rd control signal output ends, the 4th control signal output ends link to each other with the first signal input end mouth, the second signal input end mouth, the 3rd signal input end mouth, the 4th signal input end mouth of electric machine controller (230) respectively; Battery current sensor (420) is located on first power lead, and the output of battery current sensor (420) is linked to each other with the first analog input port of system controller (100) by current signal line; Battery voltage sensor (410) is located on 2 first power leads, and the output of battery voltage sensor (410) is linked to each other with the second analog input port of system controller (100) by the voltage signal line; The transducer of vehicle electric accelerator pedal (510) is linked to each other with the 3rd analog input port of system controller (100) by the electronic accelerator pedal holding wire; First rotating speed coder (1) is arranged on the motor shaft (2) of motor (200), and the B of first rotating speed coder (1) is linked to each other with first signal input part of system controller (100) by holding wire with the Z signal output part; Second rotating speed coder (23) is arranged on second (22) of gear transmission (300), and the B of second rotating speed coder (23) is linked to each other with the secondary signal input of system controller (100) by holding wire with the Z signal output part; Speed changer oil temperature sensor (330) is arranged on the interior bottom of speed changer body of gear transmission (300), and the output of speed changer oil temperature sensor (330) is linked to each other by the 3rd signal input part of holding wire with system controller (100); Pressure source pressure sensor (350) is arranged on the efferent duct of pressure source (56), and the output of pressure source pressure sensor (350) is linked to each other with the 4th analog input port of system controller (100) by holding wire; Fork position transducer group (320) is by primary importance transducer (35), second place transducer (36), the 3rd position transducer (37), the 4th position transducer (44), the 5th position transducer (45), the 6th position transducer (46) is formed, primary importance transducer (35), second place transducer (36), the 3rd position transducer (37) is separately positioned on the top of first mandrel (34) of first operating mechanism of gear transmission (300), primary importance transducer (35), second place transducer (36), the output of the 3rd position transducer (37) by holding wire respectively with the 4th signal input part of system controller (100), the 5th signal input part, the 6th signal input part links to each other; The 4th position transducer (44), the 5th position transducer (45), the 6th position transducer (46) are separately positioned on the top of second mandrel (62) of second operating mechanism of gear transmission (300), and the output of the 4th position transducer (44), the 5th position transducer (45), the 6th position transducer (46) is linked to each other with the 7th signal input part, the 8th signal input part, the 9th signal input part of system controller (100) respectively by holding wire; Electromagnetically operated valve group (340) is made up of the 3rd electromagnetically operated valve (53), the 4th electromagnetically operated valve (54), first electromagnetically operated valve (58), second electromagnetically operated valve (59), and the 5th control signal output ends of system controller (100), the 6th control signal output ends, the 7th control signal output ends, the 8th control signal output ends are linked to each other with the input of first electromagnetically operated valve (58) of the electromagnetically operated valve group (340) of transmission operating mechanism group (310), second electromagnetically operated valve (59), the 3rd electromagnetically operated valve (53), the 4th electromagnetically operated valve (54) respectively by control signal wire.
2. automatic gear shifting control system of motor in electric automobile according to claim 1, it is characterized in that: when first rotating speed coder (1), second rotating speed coder (23) installation, the zero signal TMO output timing of second rotating speed coder (23) and the tooth top central lines of second clutch collar (27), the tooth top central lines of first combined cover and second combined cover; The zero signal TMX output timing of first rotating speed coder (1) and the tooth root central lines of second one grade gear engagement gear ring (19), first shaft gear engages gear ring (10), second third gear and engages the tooth root center line that gear ring (13), second intermediate gear engage gear ring (16), second one grade gear engagement gear ring (19) and overlap, and the zero signal output timing of first rotating speed coder (1), second rotating speed coder (23) overlaps when installing; TMO represents the Z phase impulse hits moment of second rotating speed coder (23), and TMX represents the Z phase impulse hits moment of first rotating speed coder (1).
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010124518A1 (en) * | 2009-04-27 | 2010-11-04 | 武汉理工大学 | Automatic gear shift drive system for electric vehicle motor |
| CN102062181A (en) * | 2011-01-11 | 2011-05-18 | 浙江海天机械有限公司 | Automatic speed changer |
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| CN105730266A (en) * | 2016-01-19 | 2016-07-06 | 无锡商业职业技术学院 | Transmission system for three-gear electric automobile |
| WO2017049547A1 (en) * | 2015-09-24 | 2017-03-30 | 西门子公司 | Electric motor control system, driver, inverter and control method, and computer software and storage medium |
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| CN2361505Y (en) * | 1999-03-22 | 2000-02-02 | 大连锦华汽车电子有限公司 | Electronic control electric mechanical automatic variable-speed gear |
| CN1974262A (en) * | 2006-12-19 | 2007-06-06 | 上海燃料电池汽车动力***有限公司 | No-clutch speed varying system for electromobile |
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| WO2010124518A1 (en) * | 2009-04-27 | 2010-11-04 | 武汉理工大学 | Automatic gear shift drive system for electric vehicle motor |
| US8348805B2 (en) | 2009-04-27 | 2013-01-08 | Wuhan University Of Technology | Automatic transmission driving system for electric vehicle motor |
| CN102062181A (en) * | 2011-01-11 | 2011-05-18 | 浙江海天机械有限公司 | Automatic speed changer |
| CN103105227A (en) * | 2011-11-11 | 2013-05-15 | 同济大学 | Electric motor noise testing system for electric automobile drive |
| WO2017049547A1 (en) * | 2015-09-24 | 2017-03-30 | 西门子公司 | Electric motor control system, driver, inverter and control method, and computer software and storage medium |
| CN107820672A (en) * | 2015-09-24 | 2018-03-20 | 西门子公司 | Electric machine control system, driver, inverter and control method, computer software and storage medium |
| US10566919B2 (en) | 2015-09-24 | 2020-02-18 | Siemens Aktiengesellschaft | Electric motor control system, driver, inverter and control method, and computer software and storage medium |
| CN107820672B (en) * | 2015-09-24 | 2021-02-05 | 西门子公司 | Motor control system, driver, inverter, control method, computer software, and storage medium |
| CN105730266A (en) * | 2016-01-19 | 2016-07-06 | 无锡商业职业技术学院 | Transmission system for three-gear electric automobile |
| CN108429506A (en) * | 2018-03-08 | 2018-08-21 | 深圳市海浦蒙特科技有限公司 | The method and apparatus of Frequency Converter Control decelerating through motor |
| CN108429506B (en) * | 2018-03-08 | 2020-04-28 | 深圳市海浦蒙特科技有限公司 | Method and device for controlling motor speed reduction by frequency converter |
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