CN104723899A - Control system and method for preventing electric vehicle from resonance and vehicle - Google Patents
Control system and method for preventing electric vehicle from resonance and vehicle Download PDFInfo
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- CN104723899A CN104723899A CN201310714408.0A CN201310714408A CN104723899A CN 104723899 A CN104723899 A CN 104723899A CN 201310714408 A CN201310714408 A CN 201310714408A CN 104723899 A CN104723899 A CN 104723899A
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Abstract
The invention relates to the technical field of vehicles and discloses a control system and method for preventing an electric vehicle from resonance and a vehicle with the control system. The control system comprises a control module and a data acquisition module which is connected to a motor of the vehicle and which is used for detecting the actual speed of the motor during operation and transmitting to the control module; a dangerous speed point and the corresponded dangerous speed upward and downward offset rates are preset in the control module, the dangerous speed point pluses the corresponded dangerous speed upward offset rate equal to a dangerous speed upward offset point, and the dangerous speed point pluses the corresponded dangerous speed downward offset rate equal to a dangerous speed downward offset point; when the data acquisition module detects that the actual speed of the motor during operation corresponds to the dangerous speed upward offset point or dangerous speed downward offset point, the data acquisition module controls the motor to increase the speed to cross over the dangerous speed point. Since the motor is controlled to cross over the dangerous speed point rapidly, the resonance is avoided, and the comfort for vehicle driving is improved greatly.
Description
Technical field
The present invention relates to technical field of vehicle, particularly relate to a kind of avoid electronlmobil to resonate control system and method, vehicle.
Background technology
Along with the fast development of automobile, the power system on automobile becomes increasingly complex, thus causes the vibration & noise of automobile source also to get more and more.A battery-driven car has drive motor, steer motor, braking motor, refrigeration motor, retarder, driving system etc., even hybrid-power electric vehicle also has driving engine.
Automobile resonance refers to that the vibration that car body natural frequency produces time equal with the frequency of driving engine or the frequency of motor aggravates phenomenon.This is all intrinsic phenomenon of every chassis, especially at hybrid vehicle, the oscillation point of self is had owing to having each propulsion source such as driving engine, drive motor, electrical generator etc., if the oscillation frequency of these movable bodies just with the natural frequency of vehicle body quite or close to time, will resonate with automobile, automobile has larger noise and violent vibration, this makes in the control of sports equipment, have some speed points and controls unstable, or there is the vibration of some speed points larger, or there are some speed point noises comparatively large, these speed points are all called dangerous speed.
The existence of dangerous speed gently then increases noise, affects traveling comfort, heavy then damage parts even automobiles itself.
Resonate in order to avoid the sports equipment on car and vehicle body produce, the most frequently used is the method weakening vibration at present, generally increase shock attenuation unit on sports equipment, or increase flexibly connects, these methods belong to the method weakening vibration after producing vibration, belong to the Compensation measures of passive type, can only the amplitude of damping vibration to a certain extent, can not resonance point be avoided, go back the requirement of out of reach traveling comfort.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention how to avoid the vehicle body of electronlmobil and power plant to resonate in operational process.
(2) technical scheme
In order to solve the problems of the technologies described above, a kind of control system avoiding electronlmobil to resonate provided by the invention, it comprises control module and data acquisition module, described data acquisition module is connected with the motor of automobile, for detecting the actual speed of motor operation and sending to described control module, side-play amount under side-play amount and dangerous speed on the dangerous speed being preset with dangerous speed point and correspondence in described control module, described dangerous speed point adds that on dangerous speed, side-play amount is offset point on dangerous speed, described dangerous speed point adds that side-play amount is offset point under dangerous speed under dangerous speed, when data acquisition module detects that the actual speed that motor runs is corresponding with offset point under offset point on dangerous speed or dangerous speed, described control module controls motor and improves acceleration/accel to cross described dangerous speed point.
Further, described control system also comprises driving modular converter, and described driving modular converter is for changing the mode of operation of described motor, and the mode of operation of described motor comprises speed control mode and torque control model.
Further, when described driving modular converter control motor is in torque control model, motor actual speed detected by acquisition module is converted into corresponding torque as calculated, now, offset point under offset point on motor torque and dangerous speed or dangerous speed is compared by described control module.
The present invention also provides a kind of vehicle, and it comprises the above-mentioned control system avoiding electronlmobil to resonate.
The present invention also provides a kind of control method avoiding electronlmobil to resonate, and it comprises the following steps:
Side-play amount under side-play amount and dangerous speed on the dangerous speed that S1, control module are preset with dangerous speed point and correspondence, described dangerous speed point adds that on dangerous speed, side-play amount is offset point on dangerous speed, and described dangerous speed point adds that side-play amount is offset point under dangerous speed under dangerous speed;
The actual speed that S2, the motor detecting automobile by data acquisition module run;
The actual speed of motor and dangerous speed point compare by S3, control module, and when the actual speed of motor to reach on dangerous speed offset point under offset point or dangerous speed, control module controls motor acceleration or deceleration to cross described dangerous speed point.
Further, in step S2, when motor is under speed control mode, the actual speed of motor and dangerous speed point are compared; When motor is under torque control model, the actual speed of motor converts the torque of corresponding motor to, is compared by offset point under offset point on the torque of motor and dangerous speed and dangerous speed.
Further, in step S1, side-play amount under side-play amount and dangerous speed on the dangerous speed that multiple different dangerous speeds point and correspondence be set.
(3) beneficial effect
Technique scheme provide a kind of avoid electronlmobil to resonate control system and method, and comprise the vehicle of this control system, the actual speed of motor during driving can be detected the moment, when the upper offset point of the rotating speed of motor or torque and dangerous speed point (i.e. resonant speed point) side-play amount or lower offset point corresponding time, this dangerous speed point is crossed over rapidly by the working speed or torque that control motor, automobile is made to avoid travelling at this speed point and range rate, make control more stable, thus avoid the generation of resonance, the leap mode of this active, the defect of orthodox method is made up, reduce and even avoid vibration and reduce noise, greatly improve the comfort level of vehicle drive, simultaneously, the service life of power plant and vehicle body can be improved.
Accompanying drawing explanation
Fig. 1 is the control flow chart that the present invention avoids electronlmobil to resonate.
Fig. 2 is the diagram of curves of speed-speed command under the embodiment of the present invention one speed control mode;
Fig. 3 is the diagram of curves of speed-torque instruction under the embodiment of the present invention two torque control model.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1, a kind of control system avoiding electronlmobil to resonate of the present invention, it comprises control module and data acquisition module, data acquisition module is connected with the motor of automobile, for detecting the actual speed of motor operation and sending to described control module, side-play amount under side-play amount and dangerous speed on the dangerous speed being preset with dangerous speed point and correspondence in control module, dangerous speed point adds that on dangerous speed, side-play amount is offset point on dangerous speed, dangerous speed point adds that side-play amount is offset point under dangerous speed under dangerous speed, when data acquisition module detects that the actual speed that motor runs is corresponding with offset point under offset point on dangerous speed or dangerous speed, control module controls motor and improves acceleration/accel (positive acceleration or negative acceleration) to cross described dangerous speed point fast.
Control system of the present invention also comprises driving modular converter, drives modular converter for changing the mode of operation of described motor.Wherein, the mode of operation of motor comprises speed control mode and torque control model.When driving modular converter control motor to be in torque control model, motor actual speed detected by acquisition module is converted into corresponding torque as calculated, now, offset point under offset point on motor torque and dangerous speed or dangerous speed is compared by control module.
A kind of vehicle of the present invention, comprises the control system avoiding electronlmobil to resonate that technique scheme provides.
As shown in Figure 1, a kind of control method avoiding electronlmobil to resonate of the present invention, the method is based on above-mentioned control system, and it comprises the following steps:
Side-play amount under side-play amount and dangerous speed on the dangerous speed that S1, control module are preset with dangerous speed point and correspondence, dangerous speed point adds that on dangerous speed, side-play amount is offset point on dangerous speed, and dangerous speed point adds that side-play amount is offset point under dangerous speed under dangerous speed;
The actual speed that S2, the motor detecting automobile by data acquisition module run;
The actual speed of motor and dangerous speed point compare by S3, control module, when the actual speed of motor is corresponding with offset point under offset point on dangerous speed or dangerous speed, control module controls motor and improves acceleration/accel (positive acceleration or negative acceleration) to cross dangerous speed point fast.
In step S1, due to the resonance frequency of the parts of vehicle except vehicle body, side-play amount under side-play amount and dangerous speed can be set on multiple dangerous speed point and corresponding dangerous speed.
Two kinds of mode of operations below for motor are described in detail respectively:
Embodiment one
On the basis of above-mentioned control method, in the step S2 of the present embodiment, under being in speed control mode by driving modular converter control motor, now, data acquisition module directly detects the actual speed of motor.
As shown in Figure 2, be the diagram of curves of the speed-speed command under speed control mode, the speed of automobile follows the rotating speed of drive motor to be directly related.When driver module makes motor be in speed control mode, the rotating speed of drive motor is controlling quantity, and rotating speed is directly subject to the control of speed command, and each speed point correspond to a speed command.Such as when running car is at dangerous speed point v_da1, prefabricated corresponding speed command is v_set1, at this moment can pass through increase dangerous speed point side-play amount, make the speed of automobile cross over rapidly the speed point of this danger.
In the Accelerating Traveling of Automobiles, when speed reaches the lower offset point v_of11 of dangerous speed point v_da1, corresponding speed command is v_set11, at this moment, control module can to this speed command v_set11 value increase dangerous speed point side-play amount (summation for side-play amount under side-play amount on dangerous speed and dangerous speed), control module is made directly to cross speed command v_set12 to the speed command of motor, corresponding speed will cross over dangerous speed point v_da1, directly reach the upper offset point v_of12 of dangerous speed point v_da1, the interval that speed is directly jumped is (lower offset point v_of11, upper offset point v_of12), saltation velocity value Δ v1 is Δ v_11+ Δ v_12, thus the speed point v_da1 that automobile is averted danger and range rate region, make vehicle safety travel, and raising driving comfort.
In car deceleration travels, when speed reaches the upper offset point v_of12 of dangerous speed point v_da1, corresponding speed command is v_set12, at this moment, control module can to speed command v_set11 value reduction dangerous speed point side-play amount, control module is made directly to cross speed command v_set11 to the speed command of motor, corresponding speed will cross over dangerous speed point v_da1, directly reach the lower offset point v_of11 of dangerous speed point v_da1, the interval that speed is directly jumped is (upper offset point v_of12, lower offset point v_of11), saltation velocity value is Δ v_11+ Δ v_12, thus the speed point v_da1 that automobile is averted danger and range rate region, make vehicle safety travel, and raising driving comfort.
In addition, dissimilar according to motor, can arrange multiple dangerous speed point v_da1, v_da2, v_da3 in the control module of control system ... when drive motor is skipped rapidly close to during these speed, motor safety is reliably run.These dangerous speed points can be measured when car load is debugged, by demarcating Δ v_11 and Δ v_12, Δ v_21 and Δ v_22, Δ v_31 and Δ v_32 etc., can pre-set speed command v_set11, v_set12, v_set21, v_set22, v_set31, v_set32 in electric machine controller power
Embodiment two
In the step S2 of the present embodiment, only be with the difference of embodiment one: the present embodiment is by driving modular converter to control under motor is in torque control model, now, data acquisition module first detects the actual speed of motor, then drives conversion module the rotating speed of motor to be converted into as calculated the torque of corresponding motor.
As shown in Figure 3, for the diagram of curves of speed-torque instruction, when the driving modular converter of control system order about motor be in torque control model time, the torque of drive motor is controlling quantity, rotating speed not directly by the control of speed command, but is subject to the control of current torque and vehicle behavior, and speed is a feedback quantity, each speed point correspond to a torque instruction, and this torque instruction is the command value calculated according to driving conditions as current in road conditions, load-carrying etc.As previously described, offset point and lower offset point on multiple dangerous speed point can be calibrated by complete vehicle test: v_of11, v_of12; V_of21, v_of22 are equivalent, when running car is at dangerous speed point v_da1, can passes through increase torque moment offset, make the speed of automobile cross over rapidly the speed point of this danger.
In the Accelerating Traveling of Automobiles, when speed reaches the lower offset point v_of11 of dangerous speed point v_da1, be T_11 according to calculating corresponding torque instruction, at this moment, electric machine controller can be the torque moment offset Δ T1 that T_11 value increase by calculates to this torque instruction, torque instruction is made directly to cross torque instruction T_12, corresponding speed will cross over dangerous speed point v_da1, directly reach the upper offset point v_of12 of dangerous speed point v_da1, the interval that speed is directly jumped is (lower offset point v_of11, upper offset point v_of12), saltation velocity value is side-play amount under side-play amount and dangerous speed on Δ v_11+ Δ v_12(dangerous speed), thus the speed point v_da1 that automobile is averted danger and range rate region, make vehicle safety travel, and raising driving comfort.
In car deceleration travels, when speed reaches the upper offset point v_of12 of dangerous speed point v_da1, be T_12 according to calculating corresponding torque instruction, at this moment, electric machine controller can be the torque moment offset Δ T1 that T_12 value reduction one calculates to this torque instruction, torque instruction is made directly to cross torque instruction T_11, corresponding speed will cross over dangerous speed point v_da1, directly reach the lower offset point v_of11 of dangerous speed point v_da1, the interval that speed is directly jumped is (upper offset point v_of12, lower offset point v_of11), saltation velocity value is Δ v1, thus the speed point v_da1 that automobile is averted danger and range rate region, make vehicle safety travel, and raising driving comfort.
When direct torque, torque instruction T_11, T_12, T_21, T_22, T_31, T_32 etc. corresponding to offset point of dangerous speed point v_da1, v_da2, v_da3 etc. are not the values preset with torque moment offset Δ T1, Δ T2, Δ T3 etc., but calculate in real time according to current vehicle condition, car load timing signal only need be demarcated by speed control mode.
Provided by the invention a kind of avoid electronlmobil to resonate control system and method, and comprise the vehicle of this control system, the actual speed of motor during driving can be detected the moment, when the rotating speed of motor or torque corresponding with offset point under offset point on dangerous speed or dangerous speed time, this dangerous speed point is crossed over rapidly by the working speed or torque that control motor, automobile is made to avoid travelling at this speed point and range rate, make control more stable, thus avoid the generation of resonance, the leap mode of this active, the defect of orthodox method is made up, reduce and even avoid vibration and reduce noise, greatly improve the comfort level of vehicle drive, simultaneously, the service life of power plant and vehicle body can be improved.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and replacement, these improve and replace and also should be considered as protection scope of the present invention.
Claims (7)
1. the control system avoiding electronlmobil to resonate, it is characterized in that, comprise control module and data acquisition module, described data acquisition module is connected with the motor of automobile, for detecting the actual speed of motor operation and sending to described control module, side-play amount under side-play amount and dangerous speed on the dangerous speed being preset with dangerous speed point and correspondence in described control module, described dangerous speed point adds that on dangerous speed, side-play amount is offset point on dangerous speed, described dangerous speed point adds that side-play amount is offset point under dangerous speed under dangerous speed, when data acquisition module detects that the actual speed that motor runs is corresponding with offset point under offset point on dangerous speed or dangerous speed, described control module controls motor and improves acceleration/accel to cross described dangerous speed point.
2. avoid the control system that electronlmobil resonates as claimed in claim 1, it is characterized in that, described control system also comprises driving modular converter, described driving modular converter is for changing the mode of operation of described motor, and the mode of operation of described motor comprises speed control mode and torque control model.
3. avoid the control system that electronlmobil resonates as claimed in claim 2, it is characterized in that, when described driving modular converter control motor is in torque control model, motor actual speed detected by acquisition module is converted into corresponding torque as calculated, now, offset point under offset point on motor torque and dangerous speed or dangerous speed is compared by described control module.
4. a vehicle, is characterized in that, comprises the control system avoiding electronlmobil to resonate as described in any one of claim 1-3.
5. the control method avoiding electronlmobil to resonate, is characterized in that, comprises the following steps:
Side-play amount under side-play amount and dangerous speed on the dangerous speed that S1, control module are preset with dangerous speed point and correspondence, described dangerous speed point adds that on dangerous speed, side-play amount is offset point on dangerous speed, and described dangerous speed point adds that side-play amount is offset point under dangerous speed under dangerous speed;
The actual speed that S2, the motor detecting automobile by data acquisition module run;
The actual speed of motor and dangerous speed point compare by S3, control module, and when the actual speed of motor to reach on dangerous speed offset point under offset point or dangerous speed, control module controls motor acceleration or deceleration to cross described dangerous speed point.
6. the control method avoiding electronlmobil to resonate as claimed in claim 5, is characterized in that, in step S2, when motor is under speed control mode, the actual speed of motor and dangerous speed point is compared; When motor is under torque control model, the actual speed of motor converts the torque of corresponding motor to, is compared by offset point under offset point on the torque of motor and dangerous speed and dangerous speed.
7. the control method avoiding electronlmobil to resonate as described in claim 5 or 6, is characterized in that, in step S1, and side-play amount under side-play amount and dangerous speed on the dangerous speed that multiple different dangerous speeds point and correspondence be set.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310714408.0A CN104723899B (en) | 2013-12-20 | 2013-12-20 | Avoid control system and method, vehicle that electric automobile resonates |
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| CN201310714408.0A CN104723899B (en) | 2013-12-20 | 2013-12-20 | Avoid control system and method, vehicle that electric automobile resonates |
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| CN104723899A true CN104723899A (en) | 2015-06-24 |
| CN104723899B CN104723899B (en) | 2017-10-13 |
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Cited By (3)
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| CN105865731A (en) * | 2016-03-30 | 2016-08-17 | 北京林业大学 | Real-time detection system of electric vehicle resonance speed and control method |
| CN109572455A (en) * | 2018-11-19 | 2019-04-05 | 蔚来汽车有限公司 | Inhibit device, method and the movable charging vehicle of torsional oscillation |
| CN111600514A (en) * | 2019-02-20 | 2020-08-28 | 沃尔沃汽车公司 | Electric motor control for preventing torque ripple |
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| CN111600514B (en) * | 2019-02-20 | 2024-04-09 | 沃尔沃汽车公司 | Electric motor control for preventing torque ripple |
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| CN104723899B (en) | 2017-10-13 |
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Effective date of registration: 20180510 Address after: No. 188, Miyun District, Miyun District, Beijing, Beijing Patentee after: Beijing treasure Car Co.,Ltd. Address before: 102206, Beijing, Shahe Town, Changping District Road, sand Yang Patentee before: BEIQI FOTON MOTOR Co.,Ltd. |
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Granted publication date: 20171013 Termination date: 20211220 |