CN109871044B - Rotating speed tracking method and device - Google Patents
Rotating speed tracking method and device Download PDFInfo
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- CN109871044B CN109871044B CN201910207778.2A CN201910207778A CN109871044B CN 109871044 B CN109871044 B CN 109871044B CN 201910207778 A CN201910207778 A CN 201910207778A CN 109871044 B CN109871044 B CN 109871044B
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Abstract
After acquiring a target rotating speed and a current rotating speed of an electric dynamometer, the method and the device can calculate an initial target torque of the electric dynamometer according to the target rotating speed and the current rotating speed, and can also calculate an inertia compensation torque of the electric dynamometer according to the current rotating speed, the final target torque comprises the inertia compensation torque, and the inertia compensation torque can offset the lag of PI regulation.
Description
Technical Field
The invention relates to the field of vehicle testing, in particular to a rotating speed tracking method and a rotating speed tracking device.
Background
In recent years, new energy automobiles are developed vigorously, and three electrical systems (motors, batteries and electric control systems) of the new energy automobiles are more and more emphasized by various large host factories as the core of the new energy automobiles, so that the three electrical systems are more and more important to be tested safely and effectively.
The prior art provides a road load simulation system for testing a three-electrical system of a new energy automobile, wherein a frequency converter and an electric dynamometer in the road load simulation system form a load system, a rack control system in the road load simulation system calculates road resistance, converts the road resistance into resistance moment at the output end of a driving motor, and loads the resistance moment to the output end of the driving motor through the load system to form road load simulation.
In order to enable the electric dynamometer to track the target rotating speed of the driving motor, the prior art directly sends the target rotating speed to the frequency converter, and the frequency converter performs PI regulation to further realize rotating speed tracking, but the PI regulation has hysteresis, and when the torque fluctuation of the driving motor is large, the hysteresis is more serious, and even large overshoot occurs.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for tracking a rotational speed, so as to solve the problem that a target rotational speed is directly sent to a frequency converter, and the frequency converter performs PI adjustment to further achieve rotational speed tracking, but the PI adjustment itself has hysteresis, and when a torque fluctuation of a driving motor is large, the hysteresis is more serious, and even a large overshoot occurs.
In order to solve the technical problems, the invention adopts the following technical scheme:
a rotational speed tracking method, comprising:
calculating an initial target torque of the electric dynamometer according to the target rotating speed and the current rotating speed of the electric dynamometer;
calculating inertia compensation torque of the electric dynamometer according to the current rotating speed;
and calculating the target torque of the electric dynamometer according to the initial target torque and the inertia compensation torque so as to enable a frequency converter to adjust the output torque of the electric dynamometer to the target torque, and further enable the rotating speed of the electric dynamometer to track the rotating speed of a driving motor.
Preferably, the method comprises the following steps: calculating the initial target torque T by PI control algorithmPI；
The PI control algorithm is as follows:
KP＝f(ntar,nact)
KI＝f(ntar,nact)
wherein, KpIs a scale factor, KIIs an integration factor, ntarIs the target rotational speed, nactFor the purpose of the current rotational speed,
for the maximum torque output by the PI control algorithm,
the minimum torque output by the PI control algorithm.
Preferably, calculating an inertia compensation torque of the electric dynamometer according to the current rotation speed includes:
acquiring equipment data of a rotating shaft of the rack and the rotor moment of inertia of the driving motor;
calculating an inertia compensation torque T based on the device data, the rotor moment of inertia, and the current rotational speedcompensati on(ii) a Inertia compensation torque Tcompensati onThe calculation formula is as follows:
wherein A is the static friction of the rotating shaft of the rack, B is the damping coefficient of the rotating shaft of the rack, and J1Is the rotational inertia of the gantry axis, J2Is the rotor moment of inertia of the drive motor, nactIs the current rotation speed.
Preferably, after calculating the inertia compensation torque of the electric dynamometer according to the current rotation speed, the method further includes:
acquiring torque fluctuation data of the driving motor;
calculating feedforward torque T according to the torque fluctuation data and the current rotating speedForward(ii) a The feedforward torque is calculated by the formula TForward＝f(TTM)；TTMThe torque in the torque ripple data and the current rotational speed.
Preferably, after acquiring the torque fluctuation data of the driving motor, the method further comprises:
and carrying out filtering processing on the torque fluctuation data.
Preferably, calculating a target torque of the electric dynamometer according to the initial target torque and the inertia compensation torque includes:
the target torque TcmdThe calculation formula of (2) is as follows:
Tcmd＝TPI+TCompensation+TForward；
wherein, TcmdIs the target torque, TPIIs the initial target torque, Tcompensati onCompensating for the moment of inertia, TForwardIs the feed forward torque.
A rotational speed tracking apparatus comprising:
the initial target torque calculation module is used for calculating the initial target torque of the electric dynamometer according to the target rotating speed and the current rotating speed of the electric dynamometer;
the inertia compensation calculation module is used for calculating inertia compensation torque of the electric dynamometer according to the current rotating speed;
and the target torque calculation module is used for calculating the target torque of the electric dynamometer according to the initial target torque and the inertia compensation torque so as to enable the frequency converter to adjust the output torque of the electric dynamometer to the target torque and further enable the rotating speed of the electric dynamometer to track the rotating speed of the driving motor.
Preferably, the initial target torque calculating module is configured to, when calculating the initial target torque of the electric dynamometer according to the target rotation speed and the current rotation speed of the electric dynamometer, specifically:
calculating the initial target torque T by PI control algorithmPI；
The PI control algorithm is as follows:
KP＝f(ntar,nact)
KI＝f(ntar,nact)
wherein, KpIs a scale factor, KIIs an integration factor, ntarIs the target rotational speed, nactIs that it isAt the present time, the speed of rotation,
for the maximum torque output by the PI control algorithm,
the minimum torque output by the PI control algorithm.
Preferably, the inertia compensation calculating module includes:
the inertia data acquisition submodule is used for acquiring equipment data of a rotating shaft of the rack and the rotor moment inertia of the driving motor;
an inertia compensation calculation submodule for calculating an inertia compensation torque T based on the device data, the rotor moment of inertia and the current rotational speedcompensati on(ii) a Inertia compensation torque Tcompensati onThe calculation formula is as follows:
wherein A is the static friction of the rotating shaft of the rack, B is the damping coefficient of the rotating shaft of the rack, and J1Is the rotational inertia of the gantry axis, J2Is the rotor moment of inertia of the drive motor, nactIs the current rotation speed.
Preferably, the method further comprises the following steps:
the torque data acquisition submodule is used for acquiring torque fluctuation data of the driving motor;
a feedforward torque calculation submodule for calculating a feedforward torque T according to the torque fluctuation data and the current rotation speedForward(ii) a The feedforward torque is calculated by the formula TForward＝f(TTM)；TTMThe torque in the torque ripple data and the current rotational speed.
Compared with the prior art, the invention has the following beneficial effects:
after acquiring a target rotating speed and a current rotating speed of an electric dynamometer, the method and the device can calculate an initial target torque of the electric dynamometer according to the target rotating speed and the current rotating speed, and can also calculate an inertia compensation torque of the electric dynamometer according to the current rotating speed, the final target torque comprises the inertia compensation torque, and the inertia compensation torque can offset the lag of PI regulation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a road load simulation system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for tracking rotational speed according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for tracking rotational speed according to an embodiment of the present invention;
fig. 4 is a torque comparison graph for a mapping test according to an embodiment of the present invention;
FIG. 5 is a comparison of vehicle speed for a mapping test provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a rotational speed tracking apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of another rotational speed tracking apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a rotating speed tracking method, which can be applied to a road load simulation system, and referring to fig. 1, the road load simulation system can comprise a rack control system 10, a frequency converter 11, an electric dynamometer 12, a torque meter 13, a driving motor 14, a driving motor controller MCU 15, a vehicle control unit VCU 16, a power battery 18 (which can be replaced by a battery simulator), and a battery management system BMS 17. The rack control system 10 mainly includes a real-time system and an input/output IO communication board, the real-time system is used for operating a driver model, an IO model, a vehicle road model 20 and a rotating speed tracking model 21, and the IO communication board is used for communicating an algorithm model operating in the real-time system with external equipment. The driver model and the IO model are collectively referred to as a model 19.
The vehicle control unit VCU 16, the driving motor controller MCU 15, the driving motor 14, the power battery 18 and the battery management system BMS 17 form a three-electric system of the new energy vehicle. When the rack operates, the vehicle road model 20 performs information interaction with the three-electric system through the IO model, provides a real vehicle working environment for the three-electric controller, and forms closed-loop control of the controller, the vehicle and the road. The driver model performs information interaction with the VCU 16 and the BMS 17 through the IO model, and completes working conditions of high-low voltage electrification, acceleration, braking and the like of the whole vehicle, thereby forming closed-loop control of a person, a controller, a vehicle and a road. The road load simulation system can complete the construction of the whole vehicle environment in a laboratory, can carry out independent test on the three-electric system, and can also carry out combined test.
The frequency converter 11 and the electric dynamometer 12 constitute a load system of the rack, the rack control system 10 calculates the road resistance, converts the road resistance into the resistance moment at the output end of the driving motor 14, and loads the resistance moment on the output end of the driving motor 14 through the load system to form road load simulation.
The rack control system 10 is a control core of the whole rack, the road load simulation is a core algorithm of the rack control algorithm, and only when the road load simulation is accurate enough, the rack system can reproduce the working condition of the three-electric system in the real vehicle environment, and the whole vehicle performance evaluation can be carried out on the three-electric system.
In order to realize accurate road load simulation, the torque meter 13 measures the output torque of the drive motor 14, inputs the measured output torque to the propeller shaft model 201, and finally transmits the measured output torque to the wheel model 209 through the propeller shaft model 201, the final drive model 202, the differential model 203, and the half-axle model 204. The driver model manipulates the steering system model 206 to transfer steering torque to the wheels. The vehicle body transmits wind resistance, inertial resistance, and self-gravity to the wheels through the suspension system model 207. When the vehicle is braking, the braking system model 208, such as a brake, transmits braking torque to the wheels via a brake disc or a brake drum. Meanwhile, the road system model 205 transmits X, Y, Z reaction forces in three directions to the wheel through the contact point of the ground with the tire. The half-axis driving force, steering torque of the steering system, suspension force, braking torque of the braking system, and reaction force of the ground are applied to the tire model of the wheel model 209 together, and the tire rotation speed is obtained. The tire rotation speed is obtained through a half-axle model 204, a differential model 203, a final drive model 202 and a propeller shaft model 201 to obtain a propeller shaft rotation speed. The rotation shaft rotation speed is the target rotation speed of the driving motor 14, and the rotation speed is also the target rotation speed of the electric dynamometer 12 due to the coaxial connection of the driving motor 14 and the electric dynamometer 12. In order for the electric dynamometer 12 to track the rotation speed, a rotation speed tracking model 21 shown in fig. 1 is used. The rotating speed tracking method provided by the embodiment of the invention can be applied to the rotating speed tracking model 21. The purpose of the rotational speed tracking model 21 is to let the frequency converter 11 control the electric dynamometer 12 to track the target rotational speed calculated by the vehicle road model 20. The rotation speed tracking model 21 comprises three modules, namely a PI control module 211, an inertia compensation module 212 and a torque feedforward module 213, wherein the sum of the calculated output torques is the target torque of the electric dynamometer 12, and the frequency converter 11 controls the electric dynamometer 12 to respond to the target torque through Direct Torque Control (DTC).
Note that, as the vehicle road model 20, commercial models currently on the market, such as IPG, DYNA4, CarSim, AmeSim, VSM, ASM, scan, VTD, and the like, may be used, and since the target rotation speed of the electric dynamometer 12 is calculated by the vehicle road model 20, the accuracy of the vehicle road model 20 largely determines the accuracy of the road load simulation. Typically, the vehicle road model 20 is highly parametric and inaccuracies in the parametric configuration can cause large deviations in the test results, and it is preferable to verify the model accuracy offline before introducing the vehicle road model 20 into the gantry system.
Referring to fig. 2, the rotational speed tracking method may include:
and S11, acquiring the target rotating speed and the current rotating speed of the electric dynamometer.
The target rotation speed of the electric dynamometer 12 is the target rotation speed of the driving motor 14 calculated by the vehicle road model 20, that is, the target rotation speed of the electric dynamometer 12. The current rotation speed of the electric dynamometer 12 refers to the current rotation speed of the electric dynamometer 12 fed back by the frequency converter 11.
And S12, calculating the initial target torque of the electric dynamometer according to the target rotating speed and the current rotating speed.
Optionally, on the basis of this embodiment, step S12 may include:
and calculating to obtain an initial target torque through a PI control algorithm.
Specifically, the PI control module 211 in fig. 1 may be used to execute this step, where PI control is a commonly used rotation speed tracking algorithm, and in order to quickly and stably implement rotation speed tracking, control algorithms such as segmented PI and integral saturation are generally required to be used.
KP＝f(ntar,nact)
KI＝f(ntar,nact)
In the formula, KpIs a scale factor, KIIs an integration factor, ntarTarget rotational speed, n, of the electric dynamometer 12 calculated for the vehicle road model 20actCurrent rotational speed, K, of the electric dynamometer 12 fed back for the frequency converter 11pAnd KIAre all made ofntar、nactAs a function of (a) or (b),
for the maximum torque output by the PI control algorithm,
for the minimum torque output by the PI control algorithm,
and
are all standard quantities.
Through the above formula, the initial target rotation speed can be calculated.
And S13, calculating inertia compensation torque of the electric dynamometer according to the current rotating speed.
Specifically, since only PI regulation is performed inside the inverter 11 in the prior art, but there is a lag in PI regulation itself, when the torque fluctuation of the driving motor 14 is large, the lag is more serious, and even a large overshoot occurs. Therefore, the inertia compensation torque needs to be calculated to compensate for the portion of the electric dynamometer 12 where the rotational tracking response speed lags. The inertia compensation torque is a torque for canceling a delay in the rotational tracking response speed of the electric dynamometer 12 caused by the inertia of the rotation axis of the gantry.
Optionally, on the basis of this embodiment, step S13 may include:
and S21, acquiring the equipment data of the rotating shaft of the gantry and the rotational inertia of the rotor of the driving motor.
Specifically, the device data of the gantry rotation axis may include a static friction force a of the gantry rotation axis, a damping coefficient B of the gantry rotation axis, and a rotational inertia J of the gantry rotation axis1。
The rotational inertia of the rotor of the drive motor 14 can be represented by J2And (4) showing.
The equipment data of the gantry rotation axis and the rotor moment of inertia of the drive motor 14 are quantitative and are directly obtained from the gantry rotation axis and the equipment parameter table of the drive motor 14.
And S22, calculating inertia compensation torque based on the equipment data, the rotor inertia moment and the current rotating speed.
Specifically, the inertia compensation torque may be represented by Tcompensati onIt is shown that the inertia compensation module 212 in fig. 1 is used to calculate the inertia compensation torque, and the main function of the inertia compensation module 212 is to counteract the influence of the gantry rotation axis inertia on the rotational speed tracking of the load system composed of the frequency converter 11 and the electric dynamometer 12. In order to consider installation, shock absorption, lubrication and heat dissipation, a bearing seat, a coupling and a shock absorber are required to be added between the rotor of the driving motor 14 and the rotor of the electric dynamometer 12, so that the inertia of the rotating shaft of the gantry is far greater than the inertia of the rotor of the driving motor 14, the additionally added inertia reduces the speed tracking response speed of the load system, the inertia compensation module 212 detects the target rotating speed and the current rotating speed, calculates a torque compensation amount, namely inertia compensation torque in advance, and adds the inertia compensation torque compensation to the target torque of the frequency converter 11, and the inertia compensation torque calculation formula is as follows:
wherein A is the static friction of the rotating shaft of the gantry, B is the damping coefficient of the rotating shaft of the gantry, and J1Is the rotational inertia of the gantry axis, J2Is the rotor moment of inertia of the drive motor 14, nactThe gantry rotation axis rotation speed is also equal to the current rotation speed of the electric dynamometer 12, which is equal to the current rotation speed of the drive motor 14.
And S14, calculating the target torque of the electric dynamometer according to the initial target torque and the inertia compensation torque, so that the frequency converter adjusts the output torque of the electric dynamometer to the target torque, and the rotating speed of the electric dynamometer tracks the rotating speed of the driving motor.
In this embodiment, after the target rotation speed and the current rotation speed of the electric dynamometer 12 are obtained, in addition to calculating the initial target torque of the electric dynamometer 12 according to the target rotation speed and the current rotation speed, the inertia compensation torque of the electric dynamometer 12 can be calculated according to the current rotation speed, the final target torque includes the inertia compensation torque, and the inertia compensation torque can offset the lag of the PI adjustment, that is, the lag existing in the PI adjustment only can be eliminated by the rotation speed tracking method and the device provided by the present invention.
Optionally, on the basis of any one of the above embodiments of the rotation speed tracking method, step S13 may include:
1) torque ripple data of the drive motor 14 is acquired.
Optionally, on the basis of the present embodiment, after acquiring the torque fluctuation data of the driving motor 14, the method further includes:
and carrying out filtering processing on the torque fluctuation data.
Specifically, torque fluctuation data of the driving motor 14 can be measured by the torque meter 13 in fig. 1, but torque burrs directly measured by the torque meter 13 are too large to be directly used, so that filtering processing is required, a filtering time constant needs to be determined through experiments, the burrs cannot be effectively removed in too short time, and the torque feedforward effect is reduced in too long time.
2) And calculating the feedforward torque according to the torque fluctuation data and the current rotating speed.
The feed forward torque may be represented by TForwardIt is shown that the feed forward torque is used to counteract the torque at which the torque fluctuations of the drive motor 14 cause the rotational speed tracking response speed of the electric dynamometer 12 to lag.
Specifically, the torque feedforward module 213 of FIG. 1 may be used to calculate a feedforward torque, and the torque feedforward module 213 may be used to counteract the effect of torque fluctuations of the drive motor 14 on the rotational speed tracking of the electric dynamometer 12. To illustrate the influence of the motor torque fluctuation on the rotational speed tracking by taking the constant rotational speed control as an example, the stable rotational speed of the electric dynamometer 12 in the initial state is 1000rpm, the torque of the driving motor 14 is 100Nm, the torque of the electric dynamometer 12 is about-100 Nm, when the torque of the driving motor 14 suddenly jumps from 100Nm to 200Nm, the rotational speed of the rotating shaft of the gantry rapidly increases under the action of 100N net torque, the electric dynamometer 12 needs to continuously adjust the output torque in order to continuously maintain the rotational speed of 1000rpm, and the final result is that the output torque of the electric dynamometer 12 is-200 Nm, and the rotational speed is stabilized at 1000 rpm. This process usually takes a long time. The torque feedforward module 213 can sense the torque fluctuation of the driving motor 14 and directly compensate the torque fluctuation to the electric dynamometer 12, so as to shorten the torque adjustment time and enable the rotation speed tracking to be faster and more accurate.
TForward＝f(TTM)
Feed forward torque TForwardThe torque meter 13 measures the output torque of the drive motor 14 as a function of the torque TM measured by the torque meter 13, i.e. a torque value in the torque ripple data. In addition, the feedforward torque TForwardAs well as a function of the current rotational speed.
Optionally, on the basis of this embodiment, step S14 may include:
the target torque TcmdThe calculation formula of (2) is as follows:
Tcmd＝TPI+TCompensation+TForward
wherein, TcmdFor the target torque to be transmitted to the frequency converter 11, TPIInitial target torque, T, calculated for PI control algorithmcompensati onCompensating for torque for inertia, TForwardIs the feed forward torque.
In order to verify the accuracy of the road load simulation method in the embodiment, a pure electric vehicle is used for performing mapping test, a dynamic test is performed on a straight road, and a full-load acceleration curve of a target vehicle is obtained. Meanwhile, the vehicle parameters and the road environment parameters are used for initializing a vehicle road model 20, and a dynamic test is carried out on the rack to obtain a full-load acceleration curve. Comparing the bench result with the real vehicle test result, fig. 4 is a comparison of the motor torque curves, fig. 5 is a vehicle speed curve, and it can be seen from fig. 4 and 5 that the bench data and the real vehicle data are highly coincident.
In the embodiment, a new rotating speed tracking method is adopted, so that the test result of the three-electric system in a laboratory approaches the test result of a real vehicle, a user can test the functional performance of the three-electric system in the laboratory environment, the calibration test of most of the three-electric system can be completed, and the performance of the whole vehicle can be evaluated in advance.
In addition, the rotating speed tracking method has strong expansibility and applicability. Through proper transformation, the device can be used for testing power systems and braking systems of various traditional vehicles and new energy vehicles. By combining other testing algorithms and devices, the whole vehicle function and performance can be tested in a laboratory, and most of calibration tests can be completed in the laboratory.
Alternatively, on the basis of the above embodiment of the rotation speed tracking method, another embodiment of the present invention provides a rotation speed tracking apparatus, and referring to fig. 6, the rotation speed tracking apparatus may include:
an initial target torque calculation module 101, configured to calculate an initial target torque of the electric dynamometer according to a target rotation speed of the electric dynamometer and a current rotation speed;
the inertia compensation calculation module 102 is configured to calculate an inertia compensation torque of the electric dynamometer according to the current rotation speed;
and a target torque calculation module 103, configured to calculate a target torque of the electric dynamometer according to the initial target torque and the inertia compensation torque, so that the frequency converter adjusts an output torque of the electric dynamometer to the target torque, and further allows a rotation speed of the electric dynamometer to track a rotation speed of the driving motor.
Optionally, on the basis of the present embodiment,
the initial target torque calculation module is used for specifically calculating the initial target torque of the electric dynamometer according to the target rotating speed and the current rotating speed of the electric dynamometer:
calculating the initial target torque T by PI control algorithmPI；
The PI control algorithm is as follows:
KP＝f(ntar,nact)
KI＝f(ntar,nact)
wherein, KpIs a scale factor, KIIs an integration factor, ntarIs the target rotational speed, nactFor the purpose of the current rotational speed,
for the maximum torque output by the PI control algorithm,
the minimum torque output by the PI control algorithm.
Optionally, on the basis of this embodiment, referring to fig. 7, the inertia compensation calculating module 103 may include:
an inertia data acquisition sub-module 1031, configured to acquire device data of a gantry rotation axis and a rotor moment of inertia of the driving motor;
an inertia compensation calculation submodule 1032 for calculating an inertia compensation torque T based on the device data, the rotor moment of inertia and the current rotation speedcompensati on(ii) a Inertia compensation torque Tcompensati onThe calculation formula is as follows:
wherein A is the static friction of the rotating shaft of the rack, B is the damping coefficient of the rotating shaft of the rack, and J1Is the rotational inertia of the gantry axis, J2Is the rotor moment of inertia of the drive motor, nactIs the current rotation speed.
In this embodiment, after the target rotation speed and the current rotation speed of the electric dynamometer 12 are obtained, in addition to calculating the initial target torque of the electric dynamometer 12 according to the target rotation speed and the current rotation speed, the inertia compensation torque of the electric dynamometer 12 can be calculated according to the current rotation speed, the final target torque includes the inertia compensation torque, and the inertia compensation torque can offset the lag of the PI adjustment, that is, the lag existing in the PI adjustment only can be eliminated by the rotation speed tracking method and the device provided by the present invention.
It should be noted that, for the working process of each module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, on the basis of the embodiment of the previous rotational speed tracking apparatus, the method further includes:
the torque data acquisition submodule is used for acquiring torque fluctuation data of the driving motor;
a feedforward torque calculation submodule for calculating a feedforward torque T according to the torque fluctuation data and the current rotation speedForward(ii) a The feedforward torque is calculated by the formula TForward＝f(TTM)；TTMThe torque in the torque ripple data and the current rotational speed.
Optionally, on the basis of this embodiment, the method may further include:
and the filtering submodule is used for filtering the torque fluctuation data after the second data acquisition submodule acquires the torque fluctuation data of the driving motor.
Optionally, on the basis of this embodiment, when the target torque calculation module is configured to calculate the target torque of the electric dynamometer according to the initial target torque and the inertia compensation torque, the target torque calculation module is specifically configured to:
the target torque TcmdThe calculation formula of (2) is as follows:
Tcmd＝TPI+TCompensation+TForward；
wherein, TcmdIs the target torque, TPIIs the initial target torque, Tcompensati onCompensating for the moment of inertia, TForwardIs the feed forward torque.
In the embodiment, a new rotating speed tracking method is adopted, so that the test result of the three-electric system in a laboratory approaches the test result of a real vehicle, a user can test the functional performance of the three-electric system in the laboratory environment, the calibration test of most of the three-electric system can be completed, and the performance of the whole vehicle can be evaluated in advance.
In addition, the rotating speed tracking method has strong expansibility and applicability. Through proper transformation, the device can be used for testing power systems and braking systems of various traditional vehicles and new energy vehicles. By combining other testing algorithms and devices, the whole vehicle function and performance can be tested in a laboratory, and most of calibration tests can be completed in the laboratory.
It should be noted that, for the working processes of each module and sub-module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A method of rotational speed tracking, comprising:
calculating an initial target torque of the electric dynamometer according to the target rotating speed and the current rotating speed of the electric dynamometer;
calculating inertia compensation torque of the electric dynamometer according to the current rotating speed;
calculating a target torque of the electric dynamometer through summation according to the initial target torque and the inertia compensation torque, so that a frequency converter adjusts the output torque of the electric dynamometer to the target torque, and the rotating speed of the electric dynamometer tracks the rotating speed of a driving motor;
wherein the calculating of the initial target torque of the electric dynamometer includes: calculating the initial target torque T by PI control algorithmPI；
The PI control algorithm is as follows:
KP＝f(ntar,nact)
KI＝f(ntar,nact)
wherein, KpIs a scale factor, KIIs an integration factor, ntarIs the target rotational speed, nactFor said current speed, TpI_maxMaximum torque, T, output for PI control algorithmpI_minThe minimum torque output by the PI control algorithm; kp＝f(ntar,nact) And KI＝f(ntar,nact) Represents KpAnd KIAre all ntar、nactA function of (a);
calculating inertia compensation torque of the electric dynamometer according to the current rotating speed, wherein the inertia compensation torque comprises the following steps:
acquiring equipment data of a rotating shaft of the rack and the rotor moment of inertia of the driving motor;
calculating an inertia compensation torque T based on the device data, the rotor moment of inertia, and the current rotational speedcompensation(ii) a Inertia compensation torque TcompensationThe calculation formula is as follows:
wherein A is the static friction of the rotating shaft of the rack, B is the damping coefficient of the rotating shaft of the rack, and J1Is the rotational inertia of the gantry axis, J2Is the rotor moment of inertia of the drive motor, nactIs the current rotation speed.
2. A method as claimed in claim 1, wherein after calculating the inertia compensation torque of the electric dynamometer according to the current rotation speed, the method further comprises:
acquiring torque fluctuation data of the driving motor;
calculating feedforward torque T according to the torque fluctuation data and the current rotating speedForward(ii) a The feedforward torque is calculated by the formula TForward＝f(TTM)；
TTMFor torque in the torque ripple data and said current rotational speed, f is the measurement T in the torque meterTMAs a function of (c).
3. The rotational speed tracking method according to claim 2, further comprising, after acquiring the torque fluctuation data of the drive motor:
and carrying out filtering processing on the torque fluctuation data.
4. A rotation speed tracking method according to claim 2, wherein calculating a target torque of the electric dynamometer according to the initial target torque and the inertia compensation torque, comprises:
the target torque TcmdThe calculation formula of (2) is as follows:
Tcmd＝TPI+TCompensation+TForward；
wherein, TcmdIs the target torque, TPIIs the initial target torque, TcompensationCompensating for the moment of inertia, TForwardIs the feed forward torque.
5. A rotational speed tracking apparatus, comprising:
the initial target torque calculation module is used for calculating the initial target torque of the electric dynamometer according to the target rotating speed and the current rotating speed of the electric dynamometer;
the inertia compensation calculation module is used for calculating inertia compensation torque of the electric dynamometer according to the current rotating speed;
the target torque calculation module is used for calculating the target torque of the electric dynamometer through summation according to the initial target torque and the inertia compensation torque, so that the frequency converter adjusts the output torque of the electric dynamometer to the target torque, and the rotating speed of the electric dynamometer tracks the rotating speed of the driving motor;
the initial target torque calculation module is used for specifically calculating the initial target torque of the electric dynamometer according to the target rotating speed and the current rotating speed of the electric dynamometer:
calculating the initial target torque T by PI control algorithmPI；
The PI control algorithm is as follows:
KP＝f(ntar,nact)
KI＝f(ntar,nact)
wherein, KpIs a scale factor, KIIs an integration factor, ntarIs the target rotational speed, nacT is the current rotational speed, TpI_maxMaximum torque, T, output for PI control algorithmpI_minThe minimum torque output by the PI control algorithm; kp＝f(ntar,nact) And KI＝f(ntar,nact) Represents KpAnd KIAre all ntar、nactA function of (a);
wherein the inertia compensation calculation module comprises:
the inertia data acquisition submodule is used for acquiring equipment data of a rotating shaft of the rack and the rotor moment inertia of the driving motor;
an inertia compensation calculation submodule for calculating an inertia compensation torque T based on the device data, the rotor moment of inertia and the current rotational speedcompensation；
Inertia compensation torque TcompensationThe calculation formula is as follows:
wherein A is the static friction of the rotating shaft of the rack, B is the damping coefficient of the rotating shaft of the rack, and J1Is the rotational inertia of the gantry axis, J2Is the rotor moment of inertia of the drive motor, nacAnd t is the current rotating speed.
6. A rotational speed tracking apparatus according to claim 5, further comprising:
the torque data acquisition submodule is used for acquiring torque fluctuation data of the driving motor;
a feedforward torque calculation submodule for calculating a feedforward torque T according to the torque fluctuation data and the current rotation speedForward(ii) a The feedforward torque is calculated by the formula TForward＝f(TTM)；TTMFor torque in the torque ripple data and said current rotational speed, f is the measurement T in the torque meterTMAs a function of (c).
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