CN108809185A - A kind of method and system of the Motor torque control of electric vehicle - Google Patents
A kind of method and system of the Motor torque control of electric vehicle Download PDFInfo
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- CN108809185A CN108809185A CN201810679552.8A CN201810679552A CN108809185A CN 108809185 A CN108809185 A CN 108809185A CN 201810679552 A CN201810679552 A CN 201810679552A CN 108809185 A CN108809185 A CN 108809185A
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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Abstract
The present invention provides a kind of method and system of the Motor torque control of electric vehicle, and this method includes：Obtain the I of control Motor torque outputd/IqTable；According to the Id/IqThe torque that table exports motor is demarcated, to obtain the demand torque calibration value T of multigroup corresponding motorIt needsWith execution torque calibration value TIt holds, and according to torque precision calibration formula：TIt holds=aTIt needs 2+bTIt needsThe value of equation coefficient a, b and c is calculated in+c；According to the actual demand torque of the torque precision calibration formula and motor, the amendment output torque of motor is obtained, and passes through the Id/IqTable obtains the corresponding modified I of the amendment output torquedAnd Iq；By the IdAnd IqAs the PI closed loop control parameters of motor output torque, to correct the torque of motor output.The present invention can improve motor output torque precision, improve the comfortableness and security that electric vehicle uses.
Description
Technical field
The present invention relates to a kind of method of the Motor torque of electric machines control technology more particularly to electric vehicle control and it is
System.
Background technology
Drive system is one of three big kernel component of electric vehicle, and performance quality directly determines the performance of vehicle.
The torque output of motor is to assess an important indicator of power drive system performance, wherein the index of assessment torque output not only has
Whether peak torque can export, it is also necessary to carry out examination assessment to the precision of torque output；Vehicle in the starting stage, due to
Entire car controller carries out closed-loop control to the output torque of motor, and torque output is inaccurate, can lead to the shake of vehicle, therefore right
Motor output torque required precision is higher；When vehicle boost phase, motor is needed to export peak torque, if peak torque is not up to
It arrives, it will seriously affect the power performance of vehicle.
The general motor supplier of current torque output accuracy can accomplish that torque precision is：100Nm hereinafter, it is small be equal to ±
5Nm, 100Nm or more are small to be equal to ± 5%.Every motor supplier torque control mode is essentially identical, but will be in different voltages
Under, every speed section, torque output accuracy is attained by above-mentioned requirements, is relatively difficult.Meanwhile electric vehicle is transported in low speed
When row, for battery in different SOC, when corresponding voltage, is different, and when performance that motor exports under different voltage not
The same, if the unified torque precision control of neither one at different conditions, entire car controller are difficult to control vehicle,
Ensure the consistency of vehicle；Therefore, how to ensure that the torque output accuracy of power drive system meets exploitation mesh under different voltages
Mark requires, and has important research significance.
Invention content
The present invention provides a kind of method and system of the Motor torque control of electric vehicle, solves existing electric vehicle low
Since Motor torque output is inaccurate easily there is a phenomenon where shaking when speed operation, motor output torque precision can be improved, electricity is improved
The comfortableness and security that electrical automobile uses.
In order to achieve the above object, the present invention provides following technical scheme：
A kind of method of the Motor torque control of electric vehicle, including：
Obtain the I of control Motor torque outputd/IqTable；
According to the Id/IqThe torque that table exports motor is demarcated, to obtain the demand torque of multigroup corresponding motor
Calibration value TIt needsWith execution torque calibration value TIt holds, and according to torque precision calibration formula：TIt holds=aTIt needs 2+bTIt needsEquation is calculated in+c
The value of coefficient a, b and c；
According to the actual demand torque of the torque precision calibration formula and motor, the amendment output torque of motor is obtained,
And pass through the Id/IqTable obtains the corresponding modified I of the amendment output torquedAnd Iq；
By the IdAnd IqAs the PI closed loop control parameters of motor output torque, to correct the torque of motor output.
Preferably, further include：
The threephase stator electric current of input motor is obtained, and the threephase stator electric current is subjected to clark transformation, is obtained static
Current component under coordinate system；
The current component is converted by park, obtains the d shaft current components I' under rotating coordinate systemdWith q shaft currents
Component I'q；
By the I'dWith the Id, the I'qWith the IqIt is compared, using its difference as the defeated of PI closed-loop controls
Enter.
Preferably, further include：
The rotor-position signal of motor is obtained, and the output angle speed of motor is calculated according to the rotor-position signal
Degree；
The feedback tachometer value of motor is calculated according to the angular speed, and is exported the feedback tachometer value as motor
The PI closed loop control parameters of torque.
Preferably, the I for obtaining control Motor torque outputd/IqTable includes：
According to the magnetic circuit simulation of motor, the corresponding stator current of Motor torque under different rotating speeds is obtained；
The stator current is converted by park to obtain corresponding d shaft currents and q shaft currents；
The d shaft currents, the q shaft currents and the Motor torque are aggregated to form than principle according to torque capacity electric current
The Id/IqTable.
Preferably, described according to the Id/IqThe torque that table exports motor is demarcated, to obtain multigroup corresponding electricity
The demand torque calibration value T of machineIt needsWith execution torque calibration value TIt holds, including：
The rotating speed step-length and torque step-length of motor initial testing are set；
The demand torque calibration value of motor and the execution torque under different rotating speeds are obtained according to the rotating speed step-length
Calibration value；
According to the torque step-length, the demand torque calibration value for obtaining different operating electricity press down motor is corresponding described
Execute torque calibration value.
Preferably, described by the IdAnd IqAs the PI closed loop control parameters of motor output torque, to correct motor output
Torque, including：
By the IdAnd IqAs the input of pi regulator, and by the output voltage of the pi regulator through the converse changes of park
The component of voltage of rest frame is obtained after changing；
By the component of voltage by obtaining three-phase PWM wave after pulsewidth modulation, and motor is controlled according to the three-phase PWM wave
The output of torque.
The present invention also provides a kind of systems of the Motor torque of electric vehicle control, including：
Acquiring unit, the I for obtaining control Motor torque outputd/IqTable；
Unit is demarcated, for according to the Id/IqThe torque that table exports motor is demarcated, multigroup corresponding to obtain
The demand torque calibration value T of motorIt needsWith execution torque calibration value TIt holds, and according to torque precision calibration formula：TIt holds=aTIt needs 2+bTIt needs+
The value of equation coefficient a, b and c is calculated in c；
Torque amending unit obtains electricity for the actual demand torque according to the torque precision calibration formula and motor
The amendment output torque of machine, and pass through the Id/IqTable obtains the corresponding modified I of the amendment output torquedAnd Iq；
Moment of torsion control unit is used for the IdAnd IqAs the PI closed loop control parameters of motor output torque, to correct electricity
The torque of machine output.
Preferably, further include：
Current conversion unit, the threephase stator electric current for obtaining input motor, and the threephase stator electric current is carried out
Clark is converted, and obtains the current component under rest frame；
The current conversion unit is additionally operable to convert the current component by park, obtains the d under rotating coordinate system
Shaft current component I'dWith q shaft current components I'q；
Electric current comparing unit is used for the I'dWith the Id, the I'qWith the IqIt is compared, its difference is made
For the input of PI closed-loop controls.
Preferably, further include：
Speed feedback unit, the rotor-position signal for obtaining motor, and calculated according to the rotor-position signal
To the Output speed of motor；
The speed feedback unit is additionally operable to that the feedback tachometer value of motor is calculated according to the angular speed, and will be described
Feed back PI closed loop control parameters of the tachometer value as motor output torque.
Preferably, the moment of torsion control unit includes：Pi regulator, coordinate converter and pulse width modulation module；
By the IdAnd IqAs the input of the pi regulator, and by the output voltage of the pi regulator through the seat
Mark converter obtains the component of voltage of rest frame after carrying out the converse transformation of park；
The pulse width modulation module, for by the component of voltage by obtaining three-phase PWM wave after pulsewidth modulation, and according to
The output of the three-phase PWM wave control Motor torque.
The present invention provides a kind of method and system of the Motor torque control of electric vehicle, and this method is according to Id/IqTable is to electricity
The torque of machine output is demarcated, to obtain modified IdAnd Iq, and join as the PI closed-loop controls of motor output torque
Number, to realize the torque for correcting motor output.Existing electric vehicle is solved when low speed is run since Motor torque exports not
It is accurate to improve motor output torque precision easily there is a phenomenon where shaking, improve the comfortableness and security that electric vehicle uses.
Description of the drawings
In order to illustrate more clearly of specific embodiments of the present invention, attached drawing needed in the embodiment will be made below
Simply introduce.
Fig. 1：It is a kind of method flow diagram of the Motor torque control of electric vehicle provided by the invention；
Fig. 2：It is a kind of Motor torque control structure schematic diagram provided in an embodiment of the present invention.
Specific implementation mode
In order to make those skilled in the art more fully understand the scheme of the embodiment of the present invention, below in conjunction with the accompanying drawings and implement
Mode is described in further detail the embodiment of the present invention.
For the problem that the motor control output torque precision of current electric vehicle is not high, easily shake, the present invention carries
For a kind of method and system of the Motor torque control of electric vehicle, according to Id/IqThe torque that table exports motor is demarcated,
To obtain modified IdAnd Iq, and as the PI closed loop control parameters of motor output torque, motor output is corrected to realize
Torque.Existing electric vehicle is solved when low speed is run since Motor torque output is inaccurate easily there is a phenomenon where shaking, can be carried
High motor output torque precision improves the comfortableness and security that electric vehicle uses.
As shown in Figure 1, the present invention provides a kind of method of the Motor torque control of electric vehicle, include the following steps：
S1：Obtain the I of control Motor torque outputd/IqTable；
S2：According to the Id/IqThe torque that table exports motor is demarcated, to obtain the demand of multigroup corresponding motor
Torque calibration value TIt needsWith execution torque calibration value TIt holds, and according to torque precision calibration formula：TIt holds=aTIt needs 2+bTIt needs+ c is calculated
The value of equation coefficient a, b and c；
S3：According to the actual demand torque of the torque precision calibration formula and motor, the amendment output for obtaining motor is turned round
Square, and pass through the Id/IqTable obtains the corresponding modified I of the amendment output torquedAnd Iq；
S4：By the IdAnd IqAs the PI closed loop control parameters of motor output torque, to correct the torque of motor output.
Specifically, the I exported from control Motor torqued/IqTable can get the corresponding of torque, electric current and counter electromotive force and close
System, can be from Id/IqThe corresponding I of demand torque is obtained on tabledAnd IqValue.According to Id/IqThe torsion that table exports motor under different voltages
Square is demarcated, and obtains demand torque and the practical correspondence for executing torque, as shown in table 1.Due to known TIt holdsAnd TIt needs, can be with
It is easy to solve the value of equation coefficient a, b and c of torque precision calibration formula, and then according to torque precision calibration formula and reality
Border demand torque can obtain the amendment output torque of motor, inquire Id/IqTable obtains correcting the corresponding modified I of output torqued
And Iq.By IdAnd IqMotor output torque precision is set to improve, energy to correct the torque of motor output as PI closed loop control parameters
Reduce the problem of electric vehicle is easily shaken when low speed is run.
Table one
| Rotating speed | Demand torque | Execute torque | Difference | Rotating speed | Demand torque | Execute torque | Difference | Rotating speed | Demand torque | Execute torque | Difference |
| 1500 | 10 | 11.3 | -1.3 | 2000 | 10 | 11.2 | -1.2 | 2500 | 10 | 11 | -1 |
| 1500 | 20 | 21.1 | -1.1 | 2000 | 20 | 20.9 | -0.9 | 2500 | 20 | 20.6 | -0.6 |
| 1500 | 30 | 30.7 | -0.7 | 2000 | 30 | 30.3 | -0.3 | 2500 | 30 | 29.9 | 0.1 |
| 1500 | 40 | 40.2 | -0.2 | 2000 | 40 | 39.7 | 0.3 | 2500 | 40 | 39.2 | 0.8 |
| 1500 | 50 | 49.9 | 0.1 | 2000 | 50 | 49.4 | 0.6 | 2500 | 50 | 48.8 | 1.2 |
| 1500 | 60 | 59.3 | 0.7 | 2000 | 60 | 58.8 | 1.2 | 2500 | 60 | 58 | 2 |
| 1500 | 70 | 68.6 | 1.4 | 2000 | 70 | 68 | 2 | 2500 | 70 | 67.2 | 2.8 |
| 1500 | 80 | 78 | 2 | 2000 | 80 | 77.3 | 2.7 | 2500 | 80 | 76.6 | 3.4 |
| 1500 | 160 | 155.7 | 4.3 | 2000 | 160 | 154.5 | 5.5 | 2500 | 160 | 153.3 | 6.7 |
| 1500 | … | … | … | … | … | … | … | … | … | … | … |
| 1500 | 230 | 223.8 | 6.2 | 2000 | 230 | 221.9 | 8.1 | 2500 | 230 | 220.5 | 9.5 |
| 1500 | 240 | 233.5 | 6.5 | 2000 | 240 | 231.4 | 8.6 | 2500 | 240 | 230.1 | 9.9 |
| 1500 | 250 | 240.2 | 6.8 | 2000 | 250 | 240.9 | 9.1 | 2500 | 250 | 239.6 | 10.4 |
| 1500 | 260 | 252.8 | 7.2 | 2000 | 260 | 250.5 | 9.5 | 2500 | 260 | 249 | 11 |
| 1500 | 270 | 262 | 8 | 2000 | 270 | 259.8 | 10.2 | 2500 | 270 | 258.2 | 11.8 |
It should be noted that when being demarcated to the torque of motor output, can be tested in motor bench.In reality
In, often Id/Iq tables, a, b and c are solidificated in motor control software, to realize motor control.Meanwhile it is multigroup corresponding
The demand torque calibration value T of motorIt needsWith execution torque calibration value TIt holdsThe data of multigroup a, b and c can be calculated, it can be by being fitted
To optimal value.Mean value computation can also be carried out to the respective data of obtained a, b and c, take its average value.Can also to multigroup a,
The data of b and c carry out screening judgement, judge whether the value of a, b and c are qualified, if unqualified, select by torque repetition measurement
Take the demand torque calibration value T of another group of corresponding motorIt needsWith execution torque calibration value TIt holdsThe value of a, b and c are recalculated, directly
To value qualification.The value of certain a, b and c can also be used other mathematical methods and obtains, and can determine according to actual needs.
Further, this method further includes：
S5：The threephase stator electric current of input motor is obtained, and the threephase stator electric current is subjected to clark transformation, is obtained
Current component under rest frame；
S6：The current component is converted by park, obtains the d shaft current components I' under rotating coordinate systemdWith q axis electricity
Flow component I'q；
S7：By the I'dWith the Id, the I'qWith the IqIt is compared, using its difference as PI closed-loop controls
Input.
In practical applications, by threephase stator electric current Ia、Ib、IcCarry out the electric current point electricity I that clark is convertedαAnd IβAgain
It converts to obtain I' by parkdAnd I'q, by I'dWith IdDifference and I'qWith IqDifference respectively as the defeated of PI closed-loop controls
Enter.
Further, this method further includes：
S8：The rotor-position signal of motor is obtained, and the output angle of motor is calculated according to the rotor-position signal
Speed；
S9：The feedback tachometer value of motor is calculated according to the angular speed, and using the feedback tachometer value as motor
The PI closed loop control parameters of output torque.
The I for obtaining control Motor torque outputd/IqTable, including：
S11：According to the magnetic circuit simulation of motor, the corresponding stator current of Motor torque under different rotating speeds is obtained；
S12：The stator current is converted by park to obtain corresponding d shaft currents and q shaft currents；
S13：The d shaft currents, the q shaft currents and the Motor torque are summarized than principle according to torque capacity electric current
Form the Id/IqTable.
In practical applications, rotor silicon steel sheet thickness, enameled wire winding mode, magnet steel arrangement form, air gap ruler are based on
The rational design of very little size, by the simulation calculation of motor magnetic circuit simulation software Ansoft, in defined electric current, (IGBT allows
Maximum current) and voltage (cell voltage) under, power of motor, torque and rotating speed can meet design, confirmation magnetic circuit scheme.Into
And is based on magnetic circuit scheme, exports the corresponding I of Motor torque under different rotating speedsd/IqTable；Id, IqSelection principle, rated speed it
Before, torque capacity electric current compares principle；After rated speed, step-length 150r/min is set, in counter electromotive force of motor≤cell voltage
It is interior, table than principle determination and is aggregated into according to torque capacity electric current, so that control motor uses.
It is described according to the Id/IqThe torque that table exports motor is demarcated, to obtain the demand of multigroup corresponding motor
Torque calibration value TIt needsWith execution torque calibration value TIt holds, including：
S21：The rotating speed step-length and torque step-length of motor initial testing are set；
S22：The demand torque calibration value of motor and the execution under different rotating speeds are obtained according to the rotating speed step-length
Torque calibration value；
S23：According to the torque step-length, the demand torque calibration value for obtaining different operating electricity press down motor is corresponding
The execution torque calibration value.
It should be noted that the requirement and motor according to vehicle to different rotating speeds section Motor torque precision execute torque and need
Rotating speed step-length when motor initial testing and torque step-length is arranged in the characteristics of seeking torque deviation.
It is described by the IdAnd IqAs the PI closed loop control parameters of motor output torque, to correct the torque of motor output,
Including：
S41：By the IdAnd IqAs the input of pi regulator, and the output voltage of the pi regulator is inverse through park
The component of voltage of rest frame is obtained after inverse transformation；
S42：By the component of voltage by obtaining three-phase PWM wave after pulsewidth modulation, and controlled according to the three-phase PWM wave
The output of Motor torque.
In practical applications, permanent magnet synchronous motor threephase stator the electric current ia, ib, ic that will be detected by current sensor
Clark transformation is carried out, the current component I under rest frame is obtainedαAnd Iβ；When park is converted, according to the motor being calculated
Electrical angle θ e=P × θ m, (wherein P is the number of pole-pairs of motor, and θ m are motor output mechanical angles) and clark convert two
Current component I under phase rest frameαAnd Iβ, static-rotation transformation is carried out, the electricity under two-phase synchronous rotating frame is obtained
Flow valuve idAnd iq；By I'dWith IdDifference and I'qWith IqDifference respectively as pi regulator input, by d, q shaft current
The calculating of pi regulator can respectively obtain the output voltage U of d, q shaft current ring pi regulatord, Uq；Output electricity by obtaining again
Press Ud, UqWith the electric angle angle value θ e of motor U is obtained by the converse transformation of parkα, Uβ, by Uα、UβIt is input to pulse width modulation module meter
The duty ratio of three-phase is calculated, and the three-phase PWM waveform for exporting response drives permanent magnetism to inverter by inverter output three-phase voltage
Synchronous motor is run.
As it can be seen that the present invention provides a kind of method of the Motor torque control of electric vehicle, this method is according to Id/IqTable is to electricity
The torque of machine output is demarcated, to obtain modified IdAnd Iq, and join as the PI closed-loop controls of motor output torque
Number, to realize the torque for correcting motor output.Existing electric vehicle is solved when low speed is run since Motor torque exports not
It is accurate to improve motor output torque precision easily there is a phenomenon where shaking, improve the comfortableness and security that electric vehicle uses.
The present invention also provides a kind of systems of the Motor torque of electric vehicle control, including：Acquiring unit, for obtaining control
The I of Motor torque output processedd/IqTable.Unit is demarcated, for according to the Id/IqThe torque that table exports motor is demarcated,
To obtain the demand torque calibration value T of multigroup corresponding motorIt needsWith execution torque calibration value TIt holds, and public affairs are demarcated according to torque precision
Formula：TIt holds=aTIt needs 2+bTIt needsThe value of equation coefficient a, b and c is calculated in+c.Torque amending unit, for according to torque essence
The actual demand torque for spending calibration formula and motor, obtains the amendment output torque of motor, and pass through the Id/IqTable obtains institute
It states and corrects the corresponding modified I of output torquedAnd Iq.Moment of torsion control unit is used for the IdAnd IqAs motor output torque
PI closed loop control parameters, with correct motor output torque.
Further, which further includes：Current conversion unit, the threephase stator electric current for obtaining input motor, and will
The threephase stator electric current carries out clark transformation, obtains the current component under rest frame.The current conversion unit is also used
It is converted by park in by the current component, obtains the d shaft current components I' under rotating coordinate systemdWith q shaft current components I'q。
Electric current comparing unit is used for the I'dWith the Id, the I'qWith the IqIt is compared, using its difference as PI closed loops
The input of control.
Further, which further includes：Speed feedback unit, the rotor-position signal for obtaining motor, and according to
The Output speed of motor is calculated in the rotor-position signal.The speed feedback unit is additionally operable to according to the angular speed
The feedback tachometer value of motor is calculated, and using the feedback tachometer value as the PI closed loop control parameters of motor output torque.
As shown in Fig. 2, the moment of torsion control unit includes：Pi regulator, coordinate converter and pulse width modulation module.By institute
State IdAnd IqIt is carried out through the coordinate converter as the input of the pi regulator, and by the output voltage of the pi regulator
The component of voltage of rest frame is obtained after the converse transformation of park.The pulse width modulation module, for leading to the component of voltage
Three-phase PWM wave is obtained after crossing pulsewidth modulation, and controls the output of Motor torque according to the three-phase PWM wave.
As it can be seen that the present invention provides a kind of system of the Motor torque control of electric vehicle, by demarcating unit according to Id/Iq
The torque that table exports motor is demarcated, and by torque amending unit according to the practical need of torque precision calibration formula and motor
Torque is asked to obtain correcting output torque, and according to Id/IqTable obtains modified IdAnd Iq, and then controlled by moment of torsion control unit
The torque of motor exports.Existing electric vehicle is solved when low speed is run since Motor torque output inaccuracy is easily shaken
The phenomenon that, motor output torque precision can be improved, the comfortableness and security that electric vehicle uses are improved.
The structure, feature and effect of the present invention, the above institute is described in detail according to diagrammatically shown embodiment above
Only presently preferred embodiments of the present invention is stated, but the present invention is not to limit practical range, every structure according to the present invention shown in drawing
Change made by thinking, or is revised as the equivalent embodiment of equivalent variations, when not going beyond the spirit of the description and the drawings,
It should all be within the scope of the present invention.
Claims (10)
1. a kind of method of the Motor torque control of electric vehicle, which is characterized in that including：
Obtain the I of control Motor torque outputd/IqTable；
According to the Id/IqThe torque that table exports motor is demarcated, and the demand torque to obtain multigroup corresponding motor is demarcated
Value TIt needsWith execution torque calibration value TIt holds, and according to torque precision calibration formula：TIt holds=aTIt needs 2+bTIt needsEquation coefficient is calculated in+c
A, the value of b and c；
According to the actual demand torque of the torque precision calibration formula and motor, the amendment output torque of motor is obtained, and is led to
Cross the Id/IqTable obtains the corresponding modified I of the amendment output torquedAnd Iq；
By the IdAnd IqAs the PI closed loop control parameters of motor output torque, to correct the torque of motor output.
2. the method for the Motor torque control of electric vehicle according to claim 1, which is characterized in that further include：
The threephase stator electric current of input motor is obtained, and the threephase stator electric current is subjected to clark transformation, obtains static coordinate
Current component under system；
The current component is converted by park, obtains the d shaft current components I' under rotating coordinate systemdWith q shaft current components
I'q；
By the I'dWith the Id, the I'qWith the IqIt is compared, using its difference as the input of PI closed-loop controls.
3. the method for the Motor torque control of electric vehicle according to claim 2, which is characterized in that further include：
The rotor-position signal of motor is obtained, and the Output speed of motor is calculated according to the rotor-position signal；
The feedback tachometer value of motor is calculated according to the angular speed, and using the feedback tachometer value as motor output torque
PI closed loop control parameters.
4. the method for the Motor torque control of electric vehicle according to claim 3, which is characterized in that the acquisition control
The I of Motor torque outputd/IqTable includes：
According to the magnetic circuit simulation of motor, the corresponding stator current of Motor torque under different rotating speeds is obtained；
The stator current is converted by park to obtain corresponding d shaft currents and q shaft currents；
Than principle the d shaft currents, the q shaft currents and the Motor torque are aggregated to form according to torque capacity electric current described
Id/IqTable.
5. the method for the Motor torque control of electric vehicle according to claim 4, which is characterized in that described in the basis
Id/IqThe torque that table exports motor is demarcated, to obtain the demand torque calibration value T of multigroup corresponding motorIt needsWith execute torsion
Square calibration value TIt holds, including：
The rotating speed step-length and torque step-length of motor initial testing are set；
The demand torque calibration value of motor and execution torque calibration under different rotating speeds are obtained according to the rotating speed step-length
Value；
According to the torque step-length, the corresponding execution of the demand torque calibration value of different operating electricity press down motor is obtained
Torque calibration value.
6. the method for the Motor torque control of electric vehicle according to claim 5, which is characterized in that described by the Id
And IqAs the PI closed loop control parameters of motor output torque, to correct the torque of motor output, including：
By the IdAnd IqAs the input of pi regulator, and by the output voltage of the pi regulator after the converse transformation of park
Obtain the component of voltage of rest frame；
By the component of voltage by obtaining three-phase PWM wave after pulsewidth modulation, and Motor torque is controlled according to the three-phase PWM wave
Output.
7. a kind of system of the Motor torque control of electric vehicle, which is characterized in that including：
Acquiring unit, the I for obtaining control Motor torque outputd/IqTable；
Unit is demarcated, the torque for being exported to motor according to the Id/Iq tables is demarcated, to obtain multigroup corresponding motor
Demand torque calibration value TIt needsWith execution torque calibration value TIt holds, and according to torque precision calibration formula：TIt holds=aTIt needs 2+bTIt needs+ c, meter
Calculation obtains the value of equation coefficient a, b and c；
Torque amending unit obtains motor for the actual demand torque according to the torque precision calibration formula and motor
Output torque is corrected, and passes through the Id/IqTable obtains the corresponding modified I of the amendment output torquedAnd Iq；
Moment of torsion control unit is used for the IdAnd IqIt is defeated to correct motor as the PI closed loop control parameters of motor output torque
The torque gone out.
8. the system of the Motor torque control of electric vehicle according to claim 7, which is characterized in that further include：
Current conversion unit, the threephase stator electric current for obtaining input motor, and the threephase stator electric current is subjected to clark
Transformation, obtains the current component under rest frame；
The current conversion unit is additionally operable to convert the current component by park, obtains the d axis electricity under rotating coordinate system
Flow component I'dWith q shaft current components I'q；
Electric current comparing unit is used for the I'dWith the Id, the I'qWith the IqIt is compared, is closed using its difference as PI
The input of ring control.
9. the system of the Motor torque control of electric vehicle according to claim 8, which is characterized in that further include：
Speed feedback unit, the rotor-position signal for obtaining motor, and electricity is calculated according to the rotor-position signal
The Output speed of machine；
The speed feedback unit is additionally operable to that the feedback tachometer value of motor is calculated according to the angular speed, and by the feedback
PI closed loop control parameters of the tachometer value as motor output torque.
10. the system of the Motor torque control of electric vehicle according to claim 9, which is characterized in that the torque control
Unit processed includes：Pi regulator, coordinate converter and pulse width modulation module；
By the IdAnd IqTurn through the coordinate as the input of the pi regulator, and by the output voltage of the pi regulator
Parallel operation obtains the component of voltage of rest frame after carrying out the converse transformation of park；
The pulse width modulation module, for by the component of voltage by obtaining three-phase PWM wave after pulsewidth modulation, and according to described
Three-phase PWM wave controls the output of Motor torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810679552.8A CN108809185B (en) | 2018-06-27 | 2018-06-27 | Method and system for controlling motor torque of electric automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810679552.8A CN108809185B (en) | 2018-06-27 | 2018-06-27 | Method and system for controlling motor torque of electric automobile |
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| CN109367403A (en) * | 2018-11-27 | 2019-02-22 | 奇瑞汽车股份有限公司 | The Motor torque control method and device of hybrid vehicle, storage medium |
| CN110329237A (en) * | 2019-06-28 | 2019-10-15 | 潍柴动力股份有限公司 | Vehicle start control method, device, storage medium and vehicle |
| CN110341495A (en) * | 2019-06-11 | 2019-10-18 | 汉腾汽车有限公司 | A kind of electricity drives torque control method and its system |
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