CN107161032A - driving motor of electric vehicle vibration suppression control method and system - Google Patents
driving motor of electric vehicle vibration suppression control method and system Download PDFInfo
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- CN107161032A CN107161032A CN201710341149.XA CN201710341149A CN107161032A CN 107161032 A CN107161032 A CN 107161032A CN 201710341149 A CN201710341149 A CN 201710341149A CN 107161032 A CN107161032 A CN 107161032A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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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- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides driving motor of electric vehicle vibration suppression control method and system, method includes：Collection vehicle running state information, actual torque information and dynamical system parts parameter；Load estimation is carried out according to travel condition of vehicle information and dynamical system parts parameter and obtains load estimation parameter；Former output torque is modified and obtains demand torque according to load estimation parameter and actual torque information, to suppress the vibration of motor.The present invention can effectively suppress the vibration of driving motor of electric vehicle, and the shake produced by generating interworking is driven between vehicle to run.
Description
Technical field
The present invention relates to motor technical field, more particularly, to driving motor of electric vehicle vibration suppression control method and
System.
Background technology
The driving motor of electric vehicle coordinated mostly using single hop decelerator at this stage, because single hop decelerator substituted for original
Gearbox in this traditional vehicle, powerdriven process is to belong to direct-coupling driving condition, i.e. motor shaft directly by gear
Link is delivered to decelerator, is consequently belonging to rigid drive connection.And under the less state of motor rotary inertia, motor output
Moment of torsion produces the moment of change, and the conduction of this moment of torsion strength can produce a non-linear relation in transmission system and vehicle tractive force,
Oscillation phenomenon when causing more or less all to there is motor driving, especially when a vehicle is started and state when accelerating moment；
Both motor torque and mechanical load moment of torsion are separate, if the moment of torsion of manual control motor, are allowed to and mechanical load
There is certain relation between moment of torsion, then can control the operating condition of rotary system.For example, working as motor torque>Mechanical load
Moment of torsion, system is in acceleration mode；Motor torque<During mechanical load moment of torsion, system is in deceleration regime；Motor torque=
During mechanical load moment of torsion, system is in speed stabilizing state (or inactive state).
From the point of view of taking a broad view of, the prior art proposed at present can not be fully solved problem, less effective, and the scheme used
Mostly change the mode of vehicle dynamic response and suppress starting shake to reach, these modes will reduce the operation response of vehicle,
And the demand of vehicle moment acceleration is unable to reach, therefore even lack the method for effectively suppressing motor vibration.
The content of the invention
In view of this, can it is an object of the invention to provide driving motor of electric vehicle vibration suppression control method and system
Effectively to suppress the vibration of driving motor of electric vehicle, and the shake produced by generating interworking is driven between vehicle to run.
In a first aspect, the embodiments of the invention provide driving motor of electric vehicle vibration suppression control method, including：
Collection vehicle running state information, actual torque information and dynamical system parts parameter；
Load estimation is carried out according to the travel condition of vehicle information and the dynamical system parts parameter to be loaded
Estimate parameter；
Parameter is estimated according to the load and the actual torque information is modified the demand that obtains to former output torque and turned round
Square, to suppress the vibration of the motor.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, institute
Stating travel condition of vehicle information includes car speed, vehicle power moment of torsion and Vehicular system inertia, and the collection vehicle runs shape
State information includes：
By loading the car speed, the vehicle power moment of torsion and the Vehicular system inertia of the estimator to vehicle
It is acquired.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of second of first aspect, wherein, institute
Dynamical system parts parameter is stated including power motor inertia, power motor moment of torsion, motor side Equivalent damping coefficient, vehicle to be used to
Amount, power transmission shaft damped coefficient, power transmission shaft coefficient of elasticity, vehicle Equivalent damping coefficient and gearbox speed ratio, it is described according to the car
Running state information and the dynamical system parts parameter carry out load estimation and obtain load estimation parameter including：
The travel condition of vehicle information and the dynamical system parts parameter are subjected to parameter linearisation；
Load the travel condition of vehicle information after estimator is linearized using parameter and the dynamical system parts
Parameter computational load estimates parameter.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the third of first aspect, wherein, institute
State to estimate parameter and the actual torque information according to the load and be modified former output torque and obtain demand torque and include：
Using non-linear torque observer method, calculate and mend according to the actual torque information and load estimation parameter
Repay moment of torsion；
Parameter is estimated according to the load and calculates target torque；
The compensation moment of torsion is added with the target torque and obtains demand torque.
With reference to the third possible embodiment of first aspect, the embodiments of the invention provide the 4th of first aspect kind
Possible embodiment, in addition to：
According to the demand torque, the stator current and voltage of the motor are entered using motor vector control technology
Row adjustment to suppress the vibration of the motor, wherein, the motor vector control technology include to the stator current and
Voltage carry out Clarke coordinate just/inverse transformation and Parker coordinate just/inverse transformation.
Second aspect, the embodiments of the invention provide driving motor of electric vehicle vibration suppression control system, including：
Collecting unit, for collection vehicle running state information, actual torque information and dynamical system parts parameter；
Unit is estimated, for being loaded according to the travel condition of vehicle information and the dynamical system parts parameter
Estimation obtains load estimation parameter；
Amending unit, for being repaiied according to the load estimation parameter and the actual torque information to former output torque
Demand torque is just obtained, to suppress the vibration of the motor.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, institute
Stating travel condition of vehicle information includes car speed, vehicle power moment of torsion and Vehicular system inertia, and the collecting unit includes：
By loading the car speed, the vehicle power moment of torsion and the Vehicular system inertia of the estimator to vehicle
It is acquired.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of second of second aspect, wherein, institute
Dynamical system parts parameter is stated including power motor inertia, power motor moment of torsion, motor side Equivalent damping coefficient, vehicle to be used to
Amount, power transmission shaft damped coefficient, power transmission shaft coefficient of elasticity, vehicle Equivalent damping coefficient and gearbox speed ratio, the estimation unit bag
Include：
The travel condition of vehicle information and the dynamical system parts parameter are subjected to parameter linearisation；
Load the travel condition of vehicle information after estimator is linearized using parameter and the dynamical system parts
Parameter computational load estimates parameter.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the third of second aspect, wherein, institute
Stating amending unit includes：
Using non-linear torque observer method, calculate and mend according to the actual torque information and load estimation parameter
Repay moment of torsion；
Parameter is estimated according to the load and calculates target torque；
The compensation moment of torsion is added with the target torque and obtains demand torque.
With reference to the third possible embodiment of second aspect, the embodiments of the invention provide the 4th of second aspect kind
Possible embodiment, wherein, in addition to：
According to the demand torque, the stator current and voltage of the motor are entered using motor vector control technology
Row adjustment to suppress the vibration of the motor, wherein, the motor vector control technology include to the stator current and
Voltage carry out Clarke coordinate just/inverse transformation and Parker coordinate just/inverse transformation.
The invention provides driving motor of electric vehicle vibration suppression control method and system, method includes：Collection vehicle is transported
Row status information, actual torque information and dynamical system parts parameter；According to travel condition of vehicle information and dynamical system zero
Parameters of operating part carries out load estimation and obtains load estimation parameter；Original output is turned round according to load estimation parameter and actual torque information
Square, which is modified, obtains demand torque, to suppress the vibration of motor.The present invention can effectively suppress driving motor of electric vehicle
Vibration, and between vehicle to run drive generating interworking produced by shake.
Other features and advantages of the present invention will be illustrated in the following description, also, partly be become from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is driving motor of electric vehicle vibration suppression control method flow chart provided in an embodiment of the present invention；
Fig. 2 is step S102 provided in an embodiment of the present invention method flow diagram；
Fig. 3 is step S103 provided in an embodiment of the present invention method flow diagram；
Fig. 4 is driving motor of electric vehicle vibration suppression control system architecture schematic diagram provided in an embodiment of the present invention；
Fig. 5 is driving motor of electric vehicle vibration suppression control schematic diagram provided in an embodiment of the present invention；
Fig. 6 is driving system for electric vehicles Organization Chart provided in an embodiment of the present invention；
Fig. 7 is the original state result figure in the case of low speed crawling provided in an embodiment of the present invention；
Fig. 8 is the improvement result figure in the case of low speed crawling provided in an embodiment of the present invention；
Fig. 9 is the original state result figure in the case of below 10km provided in an embodiment of the present invention accelerates；
Figure 10 is the improvement result figure in the case of below 10km provided in an embodiment of the present invention accelerates；
Figure 11 is the original state result figure in the case of 10km~20km provided in an embodiment of the present invention is further accelerated；
Figure 12 is the improvement result figure in the case of 10km~20km provided in an embodiment of the present invention is further accelerated；
Figure 13 is driving generating interworking figure between vehicle provided in an embodiment of the present invention traveling；
Figure 14 is the original state result figure in the case of below 30km provided in an embodiment of the present invention is further accelerated；
Figure 15 is the improvement result figure in the case of below 30km provided in an embodiment of the present invention is further accelerated.
Icon：
10- collecting units；20- estimates unit；30- amending units.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is a part of embodiment of the invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
At present, prior art can not be fully solved the vibration problem of driving motor of electric vehicle, less effective, and use
Scheme be generally to change the mode of vehicle dynamic response to suppress starting shake to reach, these modes will reduce the operation of vehicle
Response, and the demand of vehicle moment acceleration is unable to reach, therefore even lack the method for effectively suppressing motor vibration, it is based on
This, driving motor of electric vehicle vibration suppression control method and system provided in an embodiment of the present invention can effectively suppress electric car
The vibration of motor, and the shake produced by generating interworking is driven between vehicle to run.
For ease of understanding the present embodiment, the driving motor of electric vehicle disclosed in the embodiment of the present invention is vibrated first
Suppress control method to describe in detail.
Embodiment one：
Fig. 1 is driving motor of electric vehicle vibration suppression control method flow chart provided in an embodiment of the present invention.
Reference picture 1, driving motor of electric vehicle vibration suppression control method includes：
Step S101, collection vehicle running state information, actual torque information and dynamical system parts parameter；
Specifically, actual torque information is the actual torque output valve fed back by motor, dynamical system parts ginseng
Number includes motor, decelerator, transmission shaft system parameter.
Step S102, carries out load estimation according to travel condition of vehicle information and dynamical system parts parameter and is loaded
Estimate parameter；
Step S103, is modified the demand that obtains to former output torque according to load estimation parameter and actual torque information and turns round
Square, to suppress the vibration of motor.
According to the present invention exemplary embodiment, travel condition of vehicle information include car speed, vehicle power moment of torsion and
Vehicular system inertia, collection vehicle running state information includes：
The car speed, vehicle power moment of torsion and Vehicular system inertia of vehicle are acquired by loading estimator.
According to the exemplary embodiment of the present invention, dynamical system parts parameter includes power motor inertia, power motor
Moment of torsion, motor side Equivalent damping coefficient, vehicle inertia, power transmission shaft damped coefficient, power transmission shaft coefficient of elasticity, vehicle equivalent damping system
Number and gearbox speed ratio, obtain load and estimate according to travel condition of vehicle information and the progress load estimation of dynamical system parts parameter
Surveying parameter includes：
Travel condition of vehicle information and dynamical system parts parameter are carried out parameter linear by reference picture 2, step S201
Change；
Specifically, big multivariable in travel condition of vehicle information and dynamical system parts parameter can be fixed with constant,
So as to reach the purpose for simplifying calculating.
Step S202, load estimator utilizes the travel condition of vehicle information and dynamical system parts after parameter linearisation
Parameter computational load estimates parameter.
Specifically, the calculating of load estimator is the dynamical system zero used according to travel condition of vehicle information and vehicle
Parameters of operating part is estimated, shown in specific estimation mode such as formula (1), formula (2).It is right to lift whole-control system efficiency
Equation is simplified, and most parameter is linearized, and estimates it with a constant, parameter is substituted into equation, can be asked by loading estimation
Estimation parameter T must be loadedveh, and reach the purpose for simplifying calculating.
Wherein, JEMFor power motor inertia, TEMFor power motor moment of torsion, DEMFor motor side Equivalent damping coefficient, JvehFor
Vehicle inertia, DswFor power transmission shaft damped coefficient, CswFor power transmission shaft coefficient of elasticity, DvehFor vehicle Equivalent damping coefficient, n is speed change
Case speed ratio, TvehFor load estimation parameter.
According to the exemplary embodiment of the present invention, former output torque is entered according to load estimation parameter and actual torque information
Row amendment, which obtains demand torque, to be included：
Reference picture 3, step S301, using non-linear torque observer method, estimates according to actual torque information and load
Parameter calculates compensation moment of torsion；
Step S302, target torque is calculated according to load estimation parameter；
Step S303, compensation moment of torsion is added with target torque and obtains demand torque.
Specifically, instantaneous torque strength conduction when being operated due to vehicle, and make between transmission system and vehicle tractive force
A non-linear relation is produced, oscillation phenomenon when causing motor driving occur.Therefore, compensation moment of torsion is mainly for the non-thread character
The part of state is compensated so that vehicle is still operated in a linear fashion, reduces oscillation phenomenon during running.It should be noted that
When correcting the conduction of instantaneous torque strength, inertia is discontinuous (i.e. nonlinear part) between motor and system of vehicle transmission, therefore after amendment
Demand torque for target requirement with compensation moment of torsion summation.In simple terms, former output torque is corrected, it is necessary to by target torque
It is added with compensation moment of torsion, to obtain final qualified demand torque, wherein, target torque is according to real time load
The moment of torsion that situation is linearly calculated.
According to the exemplary embodiment of the present invention, in addition to：
Moment of torsion according to demand, using motor vector control technology the stator current and voltage of motor are adjusted with
Suppress the vibration of motor, wherein, motor vector control technology include carrying out stator current and voltage Clarke coordinate just/
Inverse transformation and Parker coordinate just/inverse transformation.
Specifically, from fig. 5, it can be seen that under general state of a control, vector controlled is direct reception TMInput order,
And after the method proposed by the embodiment of the present invention is handled, produce TM' vector controlled is given, motor vibration suppression is reached with this
Make the purpose of control.Here, motor vector control technology is referred to the stator current under three phase coordinate systems after analog-to-digital conversion
ia、ib、icCarry out Clark coordinate transforms and obtain the equivalent alternating current i under two-phase rest frameα、iβ, then by iα、iβIt is logical
Cross Park coordinate transforms and obtain the equivalent DC current i under synchronous rotating frameq、id, can now copy dc motor
Control method tries to achieve the controlled quentity controlled variable of dc motor, then successively carries out Park inverse transformations and Clark inversions to obtained controlled quentity controlled variable
Change, finally realize the control to motor, here, voltage also uses identical control method.
The embodiments of the invention provide driving motor of electric vehicle vibration suppression control method, method includes：Collection vehicle is transported
Row status information, actual torque information and dynamical system parts parameter；According to travel condition of vehicle information and dynamical system zero
Parameters of operating part carries out load estimation and obtains load estimation parameter；Original output is turned round according to load estimation parameter and actual torque information
Square, which is modified, obtains demand torque, to suppress the vibration of motor.The present invention can effectively suppress driving motor of electric vehicle
Vibration, and the shake produced by generating interworking is driven between vehicle to run, can be mainly directed to using single hop decelerator dress
The electric car put, such as low-speed electronic car, electricity rub car, hybrid electric vehicle, reduce the vibration caused by power direct-coupling, to carry
Rise vehicle drive comfortableness.
Reference picture 4, driving motor of electric vehicle vibration suppression control system includes：
Collecting unit 10, for collection vehicle running state information, actual torque information and dynamical system parts parameter；
Estimate unit 20, estimate for carrying out load according to travel condition of vehicle information and dynamical system parts parameter
Estimate parameter to load；
Amending unit 30, for being modified and obtaining to former output torque according to load estimation parameter and actual torque information
Demand torque, to suppress the vibration of motor.
According to the present invention exemplary embodiment, travel condition of vehicle information include car speed, vehicle power moment of torsion and
Vehicular system inertia, collecting unit 10 includes：
The car speed, vehicle power moment of torsion and Vehicular system inertia of vehicle are acquired by loading estimator.
According to the exemplary embodiment of the present invention, dynamical system parts parameter includes power motor inertia, power motor
Moment of torsion, motor side Equivalent damping coefficient, vehicle inertia, power transmission shaft damped coefficient, power transmission shaft coefficient of elasticity, vehicle equivalent damping system
Number and gearbox speed ratio, estimation unit 20 include：
Travel condition of vehicle information and dynamical system parts parameter are subjected to parameter linearisation；
Load the travel condition of vehicle information after estimator is linearized using parameter and dynamical system parts parameter is calculated
Load estimation parameter.
According to the exemplary embodiment of the present invention, amending unit 30 includes：
Using non-linear torque observer method, compensation moment of torsion is calculated according to actual torque information and load estimation parameter；
Target torque is calculated according to load estimation parameter；
Compensation moment of torsion is added with target torque and obtains demand torque.
According to the exemplary embodiment of the present invention, in addition to：
Moment of torsion according to demand, using motor vector control technology the stator current and voltage of motor are adjusted with
Suppress the vibration of the motor, wherein, motor vector control technology includes carrying out carat to the stator current and voltage
Gram coordinate just/inverse transformation and Parker coordinate just/inverse transformation.
Driving motor of electric vehicle vibration suppression control system provided in an embodiment of the present invention, the electricity provided with above-described embodiment
Motor-car motor vibration suppression control method has identical technical characteristic, so can also solve identical technical problem, reaches
To identical technique effect, it can effectively suppress the vibration of driving motor of electric vehicle, and driving generating interaction between vehicle to run
Shake produced by running.
Embodiment two：
Because the moment of torsion strength conduction of moment can produce a non-linear relation in transmission system and vehicle tractive force, cause or
All there is oscillation phenomenon during motor driving more or less.Therefore the embodiment of the present invention mainly will be with the non-linear torque observer of utilization
And load estimator (inertia is followed), be directed to electric vehicle motor driving moment progress moment of torsion observation, and carry out the compensation of moment of torsion,
To suppress and correct the oscillation phenomenon produced during power umklappen, vehicle drive comfortableness is lifted.
As shown in fig. 6, for this driving system for electric vehicles Organization Chart, when motor moment going out moment of torsion, motor is with slowing down
The direct-coupling of device, and the coupling of power transmission shaft and differential mechanism all will be because of rigid drive connection, and produce nonlinear
Torque drive relation, so as to cause the influence of vibration.In addition when the torque ripple frequency of motor is close or solid equal to transmission system
When having resonant frequency, vehicle can also be influenceed by this vibration frequency, and vibration frequency is all the vibration frequency of low frequency.
To solve the above problems, the embodiments of the invention provide control method as shown in Figure 5, first, loading estimator
Load estimation parameter T is gone out according to travel condition of vehicle information and dynamical system parts parameter in assessingveh, non-linear moment of torsion observation
Device is according to load estimation parameter TvehThe actual torque information T fed back with motorM_fbThe demand for obtaining suppressing vibration is turned round
Square TM', finally by TM' be input in motor vector controlled, by stator current and voltage are carried out Clarke coordinate just/inversion
Change with Parker coordinate just/inverse transformation, finally realize the control to motor, suppress the more electricity for belonging to direct-coupling driving
The shake produced by generating interworking is driven between machine vibration, and vehicle to run.
Under being then below actual vehicle running status, the result that is obtained using the method for the embodiment of the present invention and mutually speak on somebody's behalf
Bright, driving generating interworking figure is analyzed between the vehicle traveling of reference picture 13.
(1) the power shake and suppression of low speed crawling：Take place mostly in be entered by zero moment of torsion in the power shake of low speed crawling
The state of action edge output.The method of the embodiment of the present invention can effectively reduce most jitter phenomenon, can obtain such as Fig. 7 institutes
State outcome figure after the original state result figure shown, utilization present invention method as shown in Figure 8.
(2) below 10km accelerates power shake and suppressed：The state for putting the power output further accelerated is stepped on mainly for throttle.
The mode filtered using power output slows down the shake of power output moment, coordinates the method for the embodiment of the present invention to carry out vibration suppression
System, can obtain the state outcome after original state result figure as shown in Figure 9, utilization present invention method as shown in Figure 10
Figure.
(3) 10km~20km further accelerates power shake and suppressed：Stepped on mainly for throttle and put the power output that further accelerates
State.The Retraining Measures of this part accelerate power shake with below 10km and suppressed, but the compensation ginseng of main jitter suppression countermeasure
Number will be debugged according to system output torque and rotating speed instantly.Original state result figure as shown in figure 11 is can obtain, is such as schemed
The state outcome figure after utilization present invention method shown in 12.
(4) below 30km further accelerates and (puts after accelerator and brake is recharged and further accelerate) power shake and suppresses：Mainly for throttle
Step on the state for putting the power output further accelerated.But from unlike above-mentioned state, being drained the oil behind the door when speed reaches certain speed, electricity
Machine system will enter the pattern that brake is recharged, and when vehicle is again again toward during preacceleration, now the moment of torsion of motor will be by stopping
The negative torque that car is recharged is transformed into the positive torque driven forward；This conversion process also can into dynamical system changing on inertia
Become, and cause the phenomenon of shake, can obtain original state result figure as shown in figure 14, as shown in figure 15 uses present invention implementation
State outcome figure after example method.
As can be seen here, method provided in an embodiment of the present invention can both suppress the buffeting of vehicle launch state, can also suppress car
Walking between driving generating interworking produced by shake, compensate for prior art due to using change vehicle dynamically ring
The mode answered reach suppress starting shake caused by reduction vehicle operation response, it is difficult to reach vehicle moment accelerate need
Ask.
Driving motor of electric vehicle vibration suppression control method and the computer program of system that the embodiment of the present invention is provided
Product, including the computer-readable recording medium of program code is stored, the instruction that described program code includes can be used for performing
Method described in previous methods embodiment, implements and can be found in embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description
With the specific work process of device, the corresponding process in preceding method embodiment is may be referred to, be will not be repeated here.
If the function is realized using in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are to cause a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each of the invention embodiment methods described.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
Finally it should be noted that：Embodiment described above, is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of driving motor of electric vehicle vibration suppression control method, it is characterised in that including：
Collection vehicle running state information, actual torque information and dynamical system parts parameter；
Load estimation is carried out according to the travel condition of vehicle information and the dynamical system parts parameter and obtains load estimation
Parameter；
Parameter is estimated according to the load and the actual torque information is modified to former output torque and obtains demand torque, with
Suppress the vibration of the motor.
2. driving motor of electric vehicle vibration suppression control method according to claim 1, it is characterised in that the vehicle fortune
Row status information includes car speed, vehicle power moment of torsion and Vehicular system inertia, the collection vehicle running state information bag
Include：
The car speed, the vehicle power moment of torsion and the Vehicular system inertia of vehicle are carried out by loading estimator
Collection.
3. driving motor of electric vehicle vibration suppression control method according to claim 1, it is characterised in that the dynamical system
Parts parameter of uniting includes power motor inertia, power motor moment of torsion, motor side Equivalent damping coefficient, vehicle inertia, power transmission shaft
Damped coefficient, power transmission shaft coefficient of elasticity, vehicle Equivalent damping coefficient and gearbox speed ratio, it is described according to the travel condition of vehicle
Information and dynamical system parts parameter progress load estimation, which obtain load estimation parameter, to be included：
The travel condition of vehicle information and the dynamical system parts parameter are subjected to parameter linearisation；
Load the travel condition of vehicle information and the dynamical system parts parameter after estimator is linearized using parameter
Computational load estimates parameter.
4. driving motor of electric vehicle vibration suppression control method according to claim 1, it is characterised in that described according to institute
State load estimation parameter and the actual torque information is modified to former output torque and obtains demand torque and include：
Using non-linear torque observer method, calculate compensation according to the actual torque information and load estimation parameter and turn round
Square；
Parameter is estimated according to the load and calculates target torque；
The compensation moment of torsion is added with the target torque and obtains demand torque.
5. driving motor of electric vehicle vibration suppression control method according to claim 4, it is characterised in that also include：
According to the demand torque, the stator current and voltage of the motor are adjusted using motor vector control technology
The whole vibration to suppress the motor, wherein, the motor vector control technology is included to the stator current and voltage
Carry out Clarke coordinate just/inverse transformation and Parker coordinate just/inverse transformation.
6. a kind of driving motor of electric vehicle vibration suppression control system, it is characterised in that including：
Collecting unit, for collection vehicle running state information, actual torque information and dynamical system parts parameter；
Unit is estimated, for carrying out load estimation according to the travel condition of vehicle information and the dynamical system parts parameter
Obtain load estimation parameter；
Amending unit, for being modified according to the load estimation parameter and the actual torque information to former output torque
To demand torque, to suppress the vibration of the motor.
7. driving motor of electric vehicle vibration suppression control system according to claim 6, it is characterised in that the vehicle fortune
Row status information includes car speed, vehicle power moment of torsion and Vehicular system inertia, and the collecting unit includes：
The car speed, the vehicle power moment of torsion and the Vehicular system inertia of vehicle are carried out by loading estimator
Collection.
8. driving motor of electric vehicle vibration suppression control system according to claim 6, it is characterised in that the dynamical system
Parts parameter of uniting includes power motor inertia, power motor moment of torsion, motor side Equivalent damping coefficient, vehicle inertia, power transmission shaft
Damped coefficient, power transmission shaft coefficient of elasticity, vehicle Equivalent damping coefficient and gearbox speed ratio, the estimation unit include：
The travel condition of vehicle information and the dynamical system parts parameter are subjected to parameter linearisation；
Load the travel condition of vehicle information and the dynamical system parts parameter after estimator is linearized using parameter
Computational load estimates parameter.
9. driving motor of electric vehicle vibration suppression control system according to claim 6, it is characterised in that the amendment list
Member includes：
Using non-linear torque observer method, calculate compensation according to the actual torque information and load estimation parameter and turn round
Square；
Parameter is estimated according to the load and calculates target torque；
The compensation moment of torsion is added with the target torque and obtains demand torque.
10. driving motor of electric vehicle vibration suppression control system according to claim 9, it is characterised in that also include：
According to the demand torque, the stator current and voltage of the motor are adjusted using motor vector control technology
The whole vibration to suppress the motor, wherein, the motor vector control technology is included to the stator current and voltage
Carry out Clarke coordinate just/inverse transformation and Parker coordinate just/inverse transformation.
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| CN201710341149.XA CN107161032A (en) | 2017-05-15 | 2017-05-15 | driving motor of electric vehicle vibration suppression control method and system |
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