CN103625308B - The electrical motor Effec-tive Function control method of trac. and system - Google Patents
The electrical motor Effec-tive Function control method of trac. and system Download PDFInfo
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- CN103625308B CN103625308B CN201310332242.6A CN201310332242A CN103625308B CN 103625308 B CN103625308 B CN 103625308B CN 201310332242 A CN201310332242 A CN 201310332242A CN 103625308 B CN103625308 B CN 103625308B
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Abstract
The present invention relates to electrical motor Effec-tive Function control method and the system of trac., method gathers trac. Das Gaspedal aperture and lever position signal; Try to achieve according to Das Gaspedal aperture and lever position signal and expect tractive force, desired output torque; Carry out Optimum search with the math modeling of motor efficiency for optimization aim according to desired output torque, obtain motor efficiency maximum time desired output rotating speed; By desired output rotating speed, desired output torque input motor controller, the operation of electrical motor is controlled; Based on motor model and the car load math modeling of trac., processing module is fuzzy controller and intelligent processing module, therefore test input cost, cost of development is little, be applicable to the underdeveloped present situation of China's trac. electronic control technology, and huge expert system need not be developed; And control result can make electrical motor operate in most effective areas adjacent all the time, can significantly improve electric transmission efficiency, effectively reduce oil consumption, realize energy-saving and emission-reduction.
Description
Technical field
The present invention relates to a kind of electrical motor Effec-tive Function control method, control system of trac..
Background technology
Energy saving standard is two important themes of China and world today's industrial technical field.Reply worldwide energy shortage problem and greenhouse gas emission problem today, energy-conservation and efficiently become the main trend of Modern Industry Products.Trac., as the major impetus of modern agricultural production, takes on the agriculture tasks such as such as farmland construction, ploughing, intertillage, plant protection, results.The tractor population of China increases year by year, the end of the year 2010, nearly 4,000,000 of national large and middle tractor recoverable amount, nearly 2,000 ten thousand of compact tractor recoverable amount.Although Tendency of Agricultural Machinery in China is the Eleventh Five-Year Plan period achieving tremendous development, still have larger gap, integral level is still not high compared with developed countries; Remain many gaps with synchronously advancing in deeply developing in industrialization, urbanization compared with the significant requirement of agricultural modernization; Also incompatible with the mission requirements of building a New Socialist Countryside, face many contradictions and problem, " 12 " planning clearly proposes, and economical and effective, economizes on resources, protection of the environment is one of developing goal of agricultural mechanical technology.
Research and development both at home and abroad for mixed-power tractor are in the starting stage, only have indivedual model machines that exhibition puts on display abroad.Because China's agricultural economy feature and developed country exist much difference, Agricultural Machinery Design is larger for energy-conservation and efficient demand.Mixed-power tractor, as the product of traditional trac. to pure battery-powered tractor transition, has and is easy to reequip on original product, and be easily adapted as the advantage of pure battery-powered tractor.Compare traditional trac., mixed-power tractor has various energy resources system, can realize flexible and changeable energy management, for the efficiency utilization of the energy provides possibility; And due to the participation of electric energy, a part of fuel oil consumption can be saved.Compare pure battery-powered tractor, mixed-power tractor has better flying power, and before battery technology and charging technique obtain larger technological breakthrough, mixed-power tractor is larger for the meaning of actual production.
The mode of contrast hybrid vehicle, for rotating speed and the torque vehicle dynamics system as Power output, automobile is as the vehicle, it is better that its road conditions compare trac., and use the target of the automobile of series hybrid-power to be mainly energy-saving and emission-reduction, be generally used for urban transportation tool, operating mode Main change is the speed of a motor vehicle, and the change for torque is usually little.And the speed of a motor vehicle depends on driver intention, so adopt this flexible change will car load being caused to sacrifice the speed of a motor vehicle based on the mode of torque, automobile cannot be used in.Compare electric-control system, its core ECU key is signal processing module, the domestic reason why ECU aspect technology relatively abroad falls behind is exactly be that the processing module being similar to the control system of expert system of electronic control technology does not grasp core technology, and the foundation of expert system is very complicated.
Summary of the invention
The first object of the present invention is to provide a kind of electrical motor Effec-tive Function control method of trac., the traction motor in driving system is run with the operating mode that efficiency is higher all the time, solves the difficult problem that existing mode need set up complicated expert system.
The second object of the present invention is to provide a kind of electrical motor Effec-tive Function control method control system of trac., to make the motor running of trac. under high efficiency operating mode, improves energy ecology, realizes energy-saving and emission-reduction.
For realizing the first goal of the invention, the electrical motor Effec-tive Function control method step of trac. of the present invention is as follows;
(1) trac. Das Gaspedal aperture and lever position signal is gathered;
(2) expectation tractive force, desired output torque is tried to achieve according to Das Gaspedal aperture and lever position signal;
(3) first kind of way: carry out Optimum search with the math modeling of motor efficiency for optimization aim according to desired output torque, obtain motor efficiency maximum time desired output rotating speed; Or the second way: adopt the line retrace analysis of going forward side by side of the experiment for motor efficiency to obtain the piecewise function of relevant peak efficiency, drawing the desired speed of making every effort to according to expecting, obtaining the desired output rotating speed under this desired speed according to current drive ratio;
(4) by desired output rotating speed, desired output torque input motor controller, the operation of electrical motor is controlled.
Be the ratio estimation chaufeur desired output torque accounting for pedal maximum opening according to Das Gaspedal aperture size in described step (2), if tread depths is A, maximum opening is B,
nmaximum drawbar force under gear is F
max.n, now expect that tractive force magnitude estimation is:
the desired output torque under this expectation tractive force is obtained according to current drive ratio.
Using the pure mathematics model of traction motor efficiency as objective function in the first kind of way of described step (3), to by the positive and negative FkN(F expected centered by tractive force
want-F, F
want+ F) for scope adopts Intelligent region searching algorithm to carry out Optimum search, obtain making in search coverage objective function optimum and motor efficiency the highest time operation point (F
best, V
best), wherein F
best∈ (F
want-F, F
want+ F), with V
bestreplace F
wantunder the desired speed making the most Effec-tive Function of traction motor, current drive ratio obtains the desired output rotating speed under this desired speed.
The second way of described step (3) is drawn the operating efficiency curve of electrical motor under different gear, obtain a level and smooth curve by the mode gathering motor stand test and loaded test Plotting data iso-efficiency curve, make this curve negotiating motor run high efficiency profile region; Gather the point on curve, carry out regression analysis, matching correlation function, to obtain the piecewise function under different gear.
After described step (4), timing acquiring trac. Das Gaspedal aperture and lever position signal, judge whether the calculating needing to re-start desired output rotating speed, if, then re-execute step (2) to (4), motor controller adopts new desired output rotating speed to control; If not, motor controller adopts the desired output rotating speed of last time to control.
Further, to being first judge whether lever position changes the need of the calculating re-starting desired output rotating speed, if change then needs to recalculate, the fuzzy rule formed about pedal aperture, pedal aperture rate of change is then adopted to judge again if do not have to change.
For realizing the second goal of the invention, the electrical motor Effec-tive Function control system of trac. of the present invention comprises motor controller, comprise the pedal position sensor of the position signal for gathering Das Gaspedal, for gathering lever position transduser and the intelligent processing module of lever position signal, this intelligent processing module adopts optimizing searching algorithm to obtain the piecewise function of relevant peak efficiency to carrying out optimizing or the employing experiment for motor efficiency line retrace analysis of going forward side by side by the motor efficiency expecting centered by tractive force in certain scope tractive force positive and negative, obtain motor efficiency maximum time desired output rotating speed together with expectation torque input motor controller, described pedal position sensor, between lever position transduser and intelligent processing module, adopt CAN as communication bus.
Further, also comprise for judging whether the logic module controller needing to re-start the calculating of desired output rotating speed, this logic module controller comprises obfuscation algoritic module, reasoning module, ambiguity solution module.
Further, also comprise and travel the tachogen of speed signal and the torque sensor for indirect inspection load balance factor force signal for measuring, this torque sensor exports with tachogen and is connected motor controller.
Further, described pedal position sensor adopts magneto resistive angular sensor, is installed on pedal position; Described lever position transduser adopts piezoelectric transducer, is affixed on inside each file location groove of lever guiding deckle board, and when in the groove that lever enters this gear, touching extruding piezoelectric transducer, produces lever position signal now; Described tachogen adopts magnetoelectric tachometric transducer, and described torque sensor adopts metal resistance strain gauge torque sensor.
The electrical motor Effec-tive Function control method of trac. of the present invention and control system, based on motor model and the car load math modeling of trac., processing module is fuzzy controller and intelligent processing module (realization of intelligent algorithm scm software), the input cost of therefore testing is less, cost of development is also less, and be applicable to the underdeveloped present situation of China's trac. electronic control technology, and huge expert system need not be developed; And control result can make electrical motor operate in most effective areas adjacent all the time, can significantly improve electric transmission efficiency, effectively reduce oil consumption, realize energy-saving and emission-reduction.
Accompanying drawing explanation
Fig. 1 is the system diagram of control system embodiment of the present invention;
Fig. 2 is fuzzy logic controller control flow chart of the present invention;
Fig. 3 is theoretical performance characteristic figure under certain 180 horsepowers of traction electric machine that trac. is joined one grade;
Fig. 4 is theoretical performance characteristic figure under certain 180 horsepowers of trac. joins traction electric machine third gear;
Fig. 5 is pedal aperture rate of change membership function expression figure;
Fig. 6 is pedal aperture membership function sign picture.
In Fig. 2: init represents initialization, hold represents maintenance, ω
nand ω
n+1represent the expectation rotating speed under maintenance N cycle second and the expectation rotating speed after the sudden change of interior generation N second operating mode respectively, P
tn+1expectation tractive force during the sudden change of representation signal generation operating mode.
Detailed description of the invention
One, the electrical motor Effec-tive Function control system of trac.
As shown in Figure 1, this system is applicable to the trac. adopting hand-operated transmission to the electrical motor Effec-tive Function control system of trac.; Or with the series hybrid powertrain of existing conventional types for object of installing on the basis at reservation power bridge and body structure.
The electrical motor Effec-tive Function control system of trac. comprises pedal 1, pedal position sensor 2, communication bus 3, fuzzy logic controller 4, electric machine controller 5, traction motor 6, intelligent processing module 7, transmission output shaft 8, tachogen 9, torque sensor 10, change-speed box 11, input shaft 12, reverse gear position sensor 13,4 gear position sensor 14,3 gear position sensor 15,2 gear position sensor 16,1 gear position sensor 17 and power-transfer clutch 18.
Intelligent processing module 7 adopts optimizing searching algorithm to carrying out optimizing by the motor efficiency expecting centered by tractive force in certain scope tractive force positive and negative or adopting the line retrace analysis of going forward side by side of the experiment for motor efficiency to obtain the piecewise function of relevant peak efficiency, obtain motor efficiency maximum time desired output rotating speed together with expectation torque input motor controller; Intelligent processing module 7 makes the moving velocity of electrical motor Effec-tive Function under can analyzing and expecting tractive force, so that the reference output speed under drawing motor Effec-tive Function; Pedal position sensor 2, lever position transduser (comprising 1-4 shelves and reverse gear position sensor), between logic module controller 4 and intelligent processing module 7, adopt CAN as communication bus 3.
Logic module controller 4 comprises obfuscation algoritic module, reasoning module, ambiguity solution module.
Tachogen adopts magnetoelectric tachometric transducer, is installed on transmission output shaft side, by the method for indirect inspection, measures and travels speed signal, and using this signal as one of feedback signal of control process; Torque sensor adopts metal resistance strain gauge torque sensor, be installed on transmission output shaft, its elastic element is rotating shaft, the strain of rotating shaft can cause the resistance of strain-gauge to change, thus obtain load balance factor force signal by the mode of indirect inspection, and using this signal as one of feedback signal of control process; Tachogen exports with torque sensor and is connected motor controller.
Pedal position sensor adopts magneto resistive angular sensor, be installed on pedal position, extract the position signal of moment Das Gaspedal, be translated into electric signal transmission to control module, fuzzy logic controller 4 and intelligent processing module 7 whereby signal draw pedal aperture change size and rate of change size; 1 gear position sensor, 2 gear position sensor, 3 gear position sensor, 4 gear position sensor and reverse gear position sensor adopt piezoelectric transducer, be affixed on inside each file location groove of lever guiding deckle board, when in the groove that lever enters this gear, touching extruding piezoelectric transducer, produces lever position signal now.
Two, the electrical motor Effec-tive Function control method of trac.
The step of the electrical motor Effec-tive Function control method of trac. is as follows;
(1) gather trac. Das Gaspedal aperture and lever position signal respectively by pedal position sensor and lever position transduser, and signal is uploaded to fuzzy logic controller and intelligent processing module by CAN;
(2) intelligent processing module is tried to achieve according to Das Gaspedal aperture and lever position signal and is expected tractive force, desired output torque;
(3) carry out Optimum search with the math modeling of motor efficiency for optimization aim according to desired output torque, obtain motor efficiency maximum time desired output rotating speed;
(4) by desired output rotating speed, desired output torque input motor controller, the operation of electrical motor is controlled.
That the ratio estimation chaufeur desired output torque accounting for pedal maximum opening according to Das Gaspedal aperture size (expects that torque refers to the torque of central transmission place, can be understood as wheel place Driving Torque demand herein in step (2); Because the Driving Torque of electrical motor is between wheel rear axle place Driving Torque, the difference before reaching limit of adhesion is the speed ratio effect of main reduction gear and change-speed box, is therebetween surely than relation.）。Concrete grammar is, for certain 180 horsepowers of trac., designing its driving system is: certain 156kW diesel engine/generator set is as its main source of energy, certain 130kW electrical motor is as its driving engine, matched batteries group or storage battery/super capacitor group are as accessory feed, with certain brand domestic 180 horsepowers of trac.s for installation object, retain its vehicle bridge and body portion, 4 gear gearboxes are designed to it and carries out power conversion.The theoretical analysis calculates and Computer Simulation, and this series hybrid powertrain meets former machine performance requirement.Gear residing for current working is judged according to lever position signal, according to the drawbar force scope under this gear, as shown in Figure 3, Figure 4, with its pedal maximum opening to should maximum drawbar force under gear, with 1/N pedal aperture its tractive force minimum value corresponding, expect tractive force variation range with corresponding its of (the N-1)/N pedal open range in the middle of it.Stepping on tread depths as chaufeur is that A(obtains according to the concrete pedal position sensor used), maximum opening is B,
nmaximum drawbar force under gear is F
max.n, now the large I of expectation tractive force of chaufeur is estimated as:
the desired output torque under this expectation tractive force can be obtained according to current drive ratio.
Using the pure mathematics model of traction motor efficiency as objective function in step (3), to being need the comprehensive concrete characteristic of type power drive system auxiliary motor and the tractive characteristic of mixed-power tractor of using to consider to determine by the positive and negative FkN(F herein expecting centered by tractive force, due to of the present invention be general approach, only replace concrete type to use the search radius of optimization method of the present invention with F) (F
want-F, F
want+ F) for scope adopts Intelligent region searching algorithm to carry out Optimum search, obtain making in search coverage objective function optimum and motor efficiency the highest time operation point (F
best, V
best), wherein F
best∈ (F
want-F, F
want+ F), with V
bestreplace F
wantunder the desired speed making the most Effec-tive Function of traction motor, as shown in Figure 3,4, the optimization method result can finding out based on Intelligent region searching algorithm can provide the desired speed reference value close to peak efficiency.The desired output rotating speed under this desired speed is obtained according to current drive ratio.Intelligent region searching algorithm can use the fast convergence rates such as fish-swarm algorithm, ant group algorithm or particle cluster algorithm, regional optimizing algorithm that robustness is good, the set basis of algorithm design parameter uses object to carry out match settings, because these Intelligent region searching algorithms are all existing ripe algorithm, therefore do not repeat at this.
Based on the math modeling of electrical efficiency, illustrate for DC machine.
The moment of torsion that electric current produces to electrical motor is directly proportional, and introduces copper loss constant k
c, copper loss is:
P
c=k
cT
e 2
The iron loss of electrical motor is proportional to field frequency, and field frequency comparatively Gao Shihui causes more magnetization and degaussing process, will cause more magnetic hysteresis loss; Also can cause the rate of change of higher magnetic flow, therefore also will increase the eddy current produced by electromagnetic induction.The rate of change of magnetic flow is proportional to the cireular frequency of rotor, introduces iron loss constant k
i, the iron loss of electrical motor is:
P
i=k
iω
r
The loss in efficiency P caused by friction and windage
mfor:
P
M=T
fω
r+k
wω
r 3
In formula: T
ffor friction moment Nm, k
wit is the constant being relevant to rotor shapes size.
Power of motor exports:
Power of motor is input as: P
in=P
out+ P
c+ P
i+ P
m+ C,
In formula: C is the intrinsic loss kW of electrical motor.
Motor efficiency is:
Above formula is exactly adopt Optimization goal function when having a brushless motor, be based on motor efficiency math modeling.Constant is wherein for needing during different type of machines by demarcating the loss of motor experiment.
After step (4), desired output rotating speed when trying to achieve motor efficiency and being maximum, and input motor controller and control, make motor running after efficiency is maximum, timing acquiring trac. Das Gaspedal aperture and lever position signal, keep Q once to judge the initialization of searching process second, the accumulation difference changing the desired speed caused with the tractive force accumulated under ensureing outer work condition complicated and changeable within Q second is corrected, raising practical precision.
Initialized judgement, driver intention is inferred according to pedal position rate and lever change in location situation by fuzzy logic controller, judge whether to run into load balance factor power sudden load, and determining whether again initialization is carried out to searching process at once according to driver intention, the signal according to gathering related sensor re-starts optimizing.The logic rules of fuzzy logic controller are as shown in table 1 below.
Table 1 fuzzy rule
Logic is thought, when lever position changes, load balance factor power is undergone mutation, and searching process needs to carry out initialization; When lever position does not change, then carry out initialization judgement according to the fuzzy rule shown in table 1, as shown in Figure 2.
Large, medium and small in table 1, due to the difference of different pedal structures and stroke, concrete scope cannot be made divide, now provide the scope after making normalized, its scope is represented with the membership function of fuzzy control principle, concrete pedal aperture rate of change membership function, as shown in Figure 6 pedal aperture membership function as shown in Figure 5.
3rd step of the electrical motor Effec-tive Function control method of this trac. can also realize in the following ways: the operating efficiency curve being drawn electrical motor under different gear by contrived experiment, by gather motor stand test and loaded test data (as gather its operating point, etc. efficient point) mode of drawing iso-efficiency curve obtains a level and smooth curve, makes this curve negotiating motor run high efficiency profile region; Gather the point on curve, carry out regression analysis, matching correlation function, to obtain the piecewise function under different gear.Adopt this experiment for motor efficiency line retrace analysis of going forward side by side to obtain the piecewise function of relevant peak efficiency, drawing the desired speed of making every effort to according to expecting, obtaining the desired output rotating speed under this desired speed according to current drive ratio.
The experiment about motor running efficiency can be designed, using the relation between input electric power and output mechanical power as experiment purpose.Adopt the method for controlling torque to change output speed, find the highest rotating speed of motor operating efficiency under a certain torque (concrete motor different mode of speed control different).Be the electrical motor of 0 ~ 700Nm for torque range, setting 10Nm once tests, and carries out 70 groups of above-mentioned experiments, can carry out recurrences process these 70 groups of data acquisition least square ratio juris.Specifically fitting to which kind of function needs according to the compatible degree of which kind of function to these experimental results (loose point) better, can adopt polynomial function, Gaussian function and Fourier function etc.The means of matching are abundanter, and method of least square can be adopted to carry out, and software such as spss and matlab etc. also can be adopted to carry out matching.There is provided a kind of Function Fitting method: as used matlab software to carry out matching, keying in cftool order at command window, experimental result being set up m file, in tool box, carry out matching.
Electrical motor Effec-tive Function control system and the control method of this trac. is described in detail for the trac. of the employing series hybrid powertrain of certain money 180 horsepowers system.Arrange according to system as shown in Figure 1, sensor station according to trac. electrical motor Effec-tive Function control system described in install.
Chaufeur A drives this trac. and carries out cultivation operation, and the sensor being positioned at chaufeur pedal position place obtains the signal about pedal aperture, the change of pedal aperture and pedal aperture rate of change by the pedal aperture gathering certain time: U, Δ U and dU.Now intelligent processing module judges the expectation torque T of chaufeur according to pedal opening signal U
1, and be that optimization aim carries out optimizing according to this torque to math modeling, obtain its efficiency maximum time expectation tach signal n
1, and with the above-mentioned expectation torque T of this signal combination
1controlled by the operation of bus input electric machine controller to electrical motor.Searching process due to intelligent processing module is not continuous print, and setting an optimizing initialization cycle is Q second, is Q and performs an optimizing second, redefines the expectation rotating speed in next Q second.As in this example, if there is not operating mode sudden change in first Q second, then within first Q second with n
1all the time as expecting rotating speed.Have within second Q second and expect rotating speed n
2, suppose now to run into sloping upland, trac. operating mode is undergone mutation, the violent pedal of chaufeur, expects that larger change occurs in torque, if now still use n
2as expecting that the words of rotating speed cannot ensure the efficiency of electrical motor, therefore now needing searching process initialization at once, redefining expectation rotating speed; Judge when optimizing initialization just needs to rely on the fuzzy control model described in Fig. 1, the signal H that the pedal aperture change relying on pedal position sensor to send and rate of change signal delta U and dU signal and lever position transduser send, if gear changes, export high level, think that the change of lever position is chaufeur and judges that there is chugging in the external world, by the logic rules in fuzzy controller and threshold circuit composition graphs 2 and the fuzzy rule comprehensive descision in table 1 the need of optimizing initialization, thresholding is to judge lever position signal H low and high level.If needed, with the expectation rotating speed n of optimizing again within second Q second
2, replace n
2input electric machine controller controls.
To the optimizing simulation result of the above-mentioned pattern of employing of certain 4 D Drive trac. as shown in Figure 3,4, in figure, asterisk represents trac. running operating point to optimizing result.
It should be noted last that: above embodiment is the non-limiting technical scheme of the present invention in order to explanation only, although with reference to above-described embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that; Still can modify to the present invention or equivalent replacement, and not depart from any modification or partial replacement of the spirit and scope of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (9)
1. the electrical motor Effec-tive Function control method of trac., it is characterized in that, the step of the method is as follows;
(1) trac. Das Gaspedal aperture and lever position signal is gathered;
(2) expectation tractive force, desired output torque is tried to achieve according to Das Gaspedal aperture and lever position signal;
(3) first kind of way: carry out Optimum search with the math modeling of motor efficiency for optimization aim according to desired output torque, obtain motor efficiency maximum time desired output rotating speed; Or the second way: adopt the line retrace analysis of going forward side by side of the experiment for motor efficiency to obtain the piecewise function of relevant peak efficiency, drawing the desired speed of making every effort to according to expecting, obtaining the desired output rotating speed under this desired speed according to current drive ratio; The math modeling of described motor efficiency is
wherein, P
outfor power of motor exports, P
infor power of motor input; The second way is drawn the operating efficiency curve of electrical motor under different gear, obtain a level and smooth curve by the mode gathering motor stand test and loaded test Plotting data iso-efficiency curve, make this curve negotiating motor run high efficiency profile region; Gather the point on curve, carry out regression analysis, matching correlation function, to obtain the piecewise function under different gear;
(4) by desired output rotating speed, desired output torque input motor controller, the operation of electrical motor is controlled.
2. the electrical motor Effec-tive Function control method of trac. according to claim 1, it is characterized in that, it is the ratio estimation chaufeur desired output torque accounting for pedal maximum opening according to Das Gaspedal aperture size in described step (2), if tread depths is A, maximum opening is the maximum drawbar force under B, n gear is F
max.n, now expect that tractive force magnitude estimation is:
obtain the desired output torque under this expectation tractive force according to current drive ratio, N is Das Gaspedal maximum opening.
3. the electrical motor Effec-tive Function control method of trac. according to claim 2, it is characterized in that: using the pure mathematics model of traction motor efficiency as objective function in the first kind of way of described step (3), to expect positive and negative F centered by tractive force i.e. (F
want-F, F
want+ F) kN is that scope adopts Intelligent region searching algorithm to carry out Optimum search, obtain making in search coverage objective function optimum and motor efficiency the highest time operation point (F
best, V
best), wherein F
best∈ (F
want-F, F
want+ F), with V
bestreplace F
wantunder the desired speed making the most Effec-tive Function of traction motor, current drive ratio obtains the desired output rotating speed under this desired speed.
4. the electrical motor Effec-tive Function control method of the trac. according to any one of claim 1-3, it is characterized in that, after described step (4), timing acquiring trac. Das Gaspedal aperture and lever position signal, judge whether the calculating needing to re-start desired output rotating speed, if so, then re-execute step (2) to (4), motor controller adopts new desired output rotating speed to control; If not, motor controller adopts the desired output rotating speed of last time to control.
5. the electrical motor Effec-tive Function control method of trac. according to claim 4, it is characterized in that, to being first judge whether lever position changes the need of the calculating re-starting desired output rotating speed, if change then needs to recalculate, the fuzzy rule formed about pedal aperture, pedal aperture rate of change is then adopted to judge again if do not have to change.
6. the electrical motor Effec-tive Function control system of trac., comprise motor controller, it is characterized in that, comprise the pedal position sensor of the position signal for gathering Das Gaspedal, for gathering lever position transduser and the intelligent processing module of lever position signal, this intelligent processing module adopts optimizing searching algorithm to obtain the piecewise function of relevant peak efficiency to carrying out optimizing or the employing experiment for motor efficiency line retrace analysis of going forward side by side by the motor efficiency expecting centered by tractive force in certain scope tractive force positive and negative, obtain motor efficiency maximum time desired output rotating speed together with expectation torque input motor controller, described pedal position sensor, between lever position transduser and intelligent processing module, adopt CAN as communication bus, described optimizing searching algorithm refers to the optimization method based on Intelligent region searching algorithm, the described experiment for motor efficiency refers to the operating efficiency curve being drawn electrical motor under different gear by contrived experiment, obtain a level and smooth curve by the mode gathering motor stand test and loaded test Plotting data iso-efficiency curve, make this curve negotiating motor run high efficiency profile region.
7. the electrical motor Effec-tive Function control system of trac. according to claim 6, it is characterized in that, also comprise for judging whether the logic module controller needing to re-start the calculating of desired output rotating speed, this logic module controller comprises obfuscation algoritic module, reasoning module, ambiguity solution module.
8. the electrical motor Effec-tive Function control system of trac. according to claim 6, it is characterized in that: also comprise and travel the tachogen of speed signal and the torque sensor for indirect inspection load balance factor force signal for measuring, this torque sensor exports with tachogen and is connected motor controller.
9. according to Claim 8 described in the electrical motor Effec-tive Function control system of trac., described pedal position sensor adopts magneto resistive angular sensor, is installed on pedal position; Described lever position transduser adopts piezoelectric transducer, is affixed on inside each file location groove of lever guiding deckle board, and when in the groove that lever enters this gear, touching extruding piezoelectric transducer, produces lever position signal now; Described tachogen adopts magnetoelectric tachometric transducer, and described torque sensor adopts metal resistance strain gauge torque sensor.
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| CN107643716A (en) * | 2017-10-27 | 2018-01-30 | 南京农业大学 | A kind of tractor tilling depth automaton based on moment of torsion regulation |
| CN108215938A (en) * | 2018-01-05 | 2018-06-29 | 重庆长安汽车股份有限公司 | The method and device of power drive system direct torque |
| CN110001414B (en) * | 2019-03-13 | 2021-08-03 | 江苏大学 | Electric tractor driven by double-motor coupling and control system thereof |
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