CN110539649A - whole-vehicle maximum torque control method for electric vehicle - Google Patents
whole-vehicle maximum torque control method for electric vehicle Download PDFInfo
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- CN110539649A CN110539649A CN201910855419.8A CN201910855419A CN110539649A CN 110539649 A CN110539649 A CN 110539649A CN 201910855419 A CN201910855419 A CN 201910855419A CN 110539649 A CN110539649 A CN 110539649A
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- motor
- maximum torque
- modulation ratio
- whole electric
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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
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a method for controlling the maximum torque of a whole electric vehicle, and mainly solves the problems that the existing segmented PI control method for the maximum torque of the whole electric vehicle in the prior art consumes a large amount of manpower and material resources and has low control efficiency. The method for controlling the maximum torque of the whole electric automobile comprises the steps of calculating a real-time modulation ratio mr according to motor vector parameters; recording the maximum value and the minimum value of the modulation ratio vibration amplitude of the motor, and recording as mrmax and mrmin respectively; determining a maximum torque range Tmin-Tmax allowed to be output by the motor; and judging the relation between the real-time modulation ratio mr and the mrmax and mrmin to calculate the maximum torque Tlim allowed to be output by the current motor. Through the scheme, the method achieves the purpose of high response speed independent of motor parameters and motor system models and algorithms, and has high practical value and popularization value.
Description
Technical Field
the invention relates to the technical field of whole vehicle control of electric vehicles, in particular to a whole vehicle maximum torque control method of an electric vehicle.
background
The integral vehicle maximum torque control of the electric vehicle mostly adopts a segmented PI method, the good control effect depends on the design of PI parameters, however, the design of the PI parameters has strong dependence on motor parameters such as motor zero position, stator resistance, flux linkage, quadrature-direct axis inductance and the like, the identification of the motor parameters usually needs a plurality of auxiliary instruments, the operation is troublesome, the measurement cost is high, the design of the PI parameters lacks an effective method, and technicians often need to perform repeated test adjustment depending on experience, therefore, the integral vehicle maximum torque segmented PI control method for the electric vehicle consumes a large amount of manpower and material resources, and the control efficiency is low.
Disclosure of Invention
the invention aims to provide a method for controlling the maximum torque of the whole electric vehicle, and the method is used for solving the problems that the existing segmented PI control method for the maximum torque of the whole electric vehicle consumes a large amount of manpower and material resources and is low in control efficiency.
In order to solve the above problems, the present invention provides the following technical solutions:
The method for controlling the maximum torque of the whole electric automobile comprises the following steps:
(1) Calculating a real-time modulation ratio mr according to the motor vector parameter;
(2) Recording the maximum value and the minimum value of the modulation ratio vibration amplitude of the motor, and recording as mrmax and mrmin respectively;
(3) determining a maximum torque range Tmin-Tmax allowed to be output by the motor;
(4) and (4) judging the relation between the real-time modulation ratio mr and the mrmax and mrmin according to the obtained parameters from the step (1) to the step (3) to calculate the maximum torque Tlim allowed to be output by the current motor.
specifically, the specific calculation process of step (1) is as follows:
wherein ud and uq refer to voltage components on d and q axes obtained after current loop regulation;
The sampled battery voltage udc refers to the voltage of the battery pack of the whole vehicle collected by the motor driver.
specifically, in the step (3), a torque-modulation ratio relation curve is drawn through the real-time modulation ratio mr and the Tmin to Tmax.
Specifically, the specific calculation process of step (4) is as follows:
compared with the prior art, the invention has the following beneficial effects:
(1) the invention does not depend on motor parameters and a motor system model, effectively avoids the influence of the change of the motor parameters on the torque control of the whole electric vehicle, and can adapt to the maximum torque control of the whole electric vehicle.
(2) the invention adaptively adjusts the output torque amplitude limit value, judges the maximum allowable output torque through the modulation ratio, and achieves the effect of automatically adjusting the maximum allowable output torque under different working conditions of different rotating speeds, different direct current bus voltages, different road surface gradients and the like.
(3) The algorithm has high response speed, the maximum torque allowed to be output by the whole vehicle is calculated according to the actual modulation ratio, namely the larger or smaller the actual modulation ratio is, the larger or smaller the maximum torque allowed to be output is, and the response speed can be changed according to different use condition changes.
(4) the invention has small calculation amount and less occupied DSP chip resources, thereby having high operation speed.
Drawings
FIG. 1 is a block diagram of a torque control method of the present invention;
FIG. 2 is a flow chart of the algorithm of the present invention;
In the drawings, the names of the parts corresponding to the reference numerals are as follows:
Detailed Description
The present invention is further illustrated by the following figures and examples, which include, but are not limited to, the following examples.
As shown in fig. 1 and 2, a method for controlling the maximum torque of the whole electric vehicle mainly includes a modulation ratio calculation module, a torque-modulation ratio curve drawing module, and a maximum torque calculation module, and the specific processes of the three parts are as follows:
(1) Real-time calculation of debugging ratio is realized according to ud and uq calculated by the motor vector control PI and udc obtained by sampling battery voltage by the following formula;
The motor vector control PI is a universal double closed-loop motor control algorithm, and controls a motor by simulating the control of a direct current motor through coordinate transformation; ud and uq refer to voltage components on d and q axes obtained after current loop adjustment; the sampled battery voltage udc refers to the voltage of the battery pack of the whole vehicle collected by the motor driver; the motor driver is a device for converting the electric energy stored by the power battery into the electric energy required by the driving motor;
(2) Recording the maximum value and the minimum value of the vibration amplitude of the modulation ratio of the motor, respectively recording the maximum value and the minimum value as mrmax and mrmin, determining the maximum torque range Tmin-Tmax allowed to be output by the motor, and drawing a torque-modulation ratio relation curve through the real-time modulation ratio mr and the Tmin-Tmax; the torque-modulation ratio curve drawing module mainly realizes the function of drawing a relation curve between the maximum torque of the whole vehicle and the real-time modulation ratio in a whole vehicle control program;
(3) judging the relation between the real-time modulation ratio mr and the mrmax and mrmin according to the following formula to calculate the maximum torque Tlim allowed to be output by the current motor;
The maximum torque Tlim allowed to be output by the motor at the present time is the maximum opening degree of the accelerator pedal, that is, the maximum torque allowed to be output by the motor when the accelerator pedal is fully depressed.
and finishing the three processes, and finishing the self-adaptive control process of the maximum output torque of the whole electric automobile.
As shown in figure 1, the motor is a permanent magnet synchronous motor, and is used in a small-sized logistics pure electric automobile driving system, the rated power is 30kW, the peak power is 60kW, the rated line voltage of the motor is 210V, the rated current is 100A, the rated rotating speed is 3000r/min, the peak rotating speed is 8500r/min, and the system direct current bus voltage udc is 320V. And calculating a real-time modulation ratio mr according to the driving condition and the experimental condition of the electric automobile, and determining the maximum value of the allowable output torque as the amplitude limiting value of the actual output torque.
As shown in fig. 2, in a small-sized logistic electric vehicle drive system, a torque switching point modulation ratio mrmin is set to 0.2 and mrmax is set to 0.6, and a maximum torque range Tmin to Tmax of allowable motor output is set to 60Nm to 120 Nm. After the algorithm judges that the torque switching control is started, the control algorithm calculates the real-time modulation ratio mr along with the increase or decrease of the rotating speed of the motor, the maximum value of the allowable output torque can be calculated according to a formula, and finally the actual output torque is subjected to amplitude limiting.
The invention is well implemented in accordance with the above-described embodiments. It should be noted that, based on the above structural design, in order to solve the same technical problems, even if some insubstantial modifications or colorings are made on the present invention, the adopted technical solution is still the same as the present invention, and therefore, the technical solution should be within the protection scope of the present invention.
Claims (4)
1. the method for controlling the maximum torque of the whole electric automobile is characterized by comprising the following steps of:
(1) calculating a real-time modulation ratio mr according to the motor vector parameter;
(2) Recording the maximum value and the minimum value of the modulation ratio vibration amplitude of the motor, and recording as mrmax and mrmin respectively;
(3) Determining a maximum torque range Tmin-Tmax allowed to be output by the motor;
(4) And (4) judging the relation between the real-time modulation ratio mr and the mrmax and mrmin according to the obtained parameters from the step (1) to the step (3) to calculate the maximum torque Tlim allowed to be output by the current motor.
2. the method for controlling the maximum torque of the whole electric vehicle according to claim 1, wherein the specific calculation process of the step (1) is as follows:
Wherein ud and uq refer to voltage components on d and q axes obtained after current loop regulation;
the sampled battery voltage udc refers to the voltage of the battery pack of the whole vehicle collected by the motor driver.
3. The method for controlling the maximum torque of the whole electric automobile according to claim 1, wherein in the step (3), a torque-modulation ratio relation curve is drawn through real-time modulation ratios mr and Tmin-Tmax.
4. The method for controlling the maximum torque of the whole electric vehicle according to claim 1, wherein the specific calculation process of the step (4) is as follows:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910855419.8A CN110539649A (en) | 2019-09-10 | 2019-09-10 | whole-vehicle maximum torque control method for electric vehicle |
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| CN201910855419.8A CN110539649A (en) | 2019-09-10 | 2019-09-10 | whole-vehicle maximum torque control method for electric vehicle |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008152929A1 (en) * | 2007-06-12 | 2008-12-18 | Kabushiki Kaisha Yaskawa Denki | Motor control device and its control method |
| CN101529714A (en) * | 2006-10-19 | 2009-09-09 | 三菱电机株式会社 | Vector controller of permanent magnet synchronous motor |
| JP2009303414A (en) * | 2008-06-16 | 2009-12-24 | Toyota Motor Corp | Vehicle and control method therefor |
| CN101803177A (en) * | 2007-09-25 | 2010-08-11 | 三菱电机株式会社 | Controller for electric motor |
| CN106911275A (en) * | 2015-12-22 | 2017-06-30 | 广州汽车集团股份有限公司 | Electric automobile method for controlling permanent magnet synchronous motor and control system |
| CN107592047A (en) * | 2017-09-18 | 2018-01-16 | 四川爱迪特斯科技有限公司 | A kind of adaptive field weakening control method of permagnetic synchronous motor |
| CN109274306A (en) * | 2017-07-18 | 2019-01-25 | 上海大郡动力控制技术有限公司 | Method for promoting electric car ipm motor controller peak power output |
| CN110323973A (en) * | 2019-04-26 | 2019-10-11 | 电子科技大学 | Electric automobile whole maximum torque control method |
-
2019
- 2019-09-10 CN CN201910855419.8A patent/CN110539649A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101529714A (en) * | 2006-10-19 | 2009-09-09 | 三菱电机株式会社 | Vector controller of permanent magnet synchronous motor |
| WO2008152929A1 (en) * | 2007-06-12 | 2008-12-18 | Kabushiki Kaisha Yaskawa Denki | Motor control device and its control method |
| CN101803177A (en) * | 2007-09-25 | 2010-08-11 | 三菱电机株式会社 | Controller for electric motor |
| JP2009303414A (en) * | 2008-06-16 | 2009-12-24 | Toyota Motor Corp | Vehicle and control method therefor |
| CN106911275A (en) * | 2015-12-22 | 2017-06-30 | 广州汽车集团股份有限公司 | Electric automobile method for controlling permanent magnet synchronous motor and control system |
| CN109274306A (en) * | 2017-07-18 | 2019-01-25 | 上海大郡动力控制技术有限公司 | Method for promoting electric car ipm motor controller peak power output |
| CN107592047A (en) * | 2017-09-18 | 2018-01-16 | 四川爱迪特斯科技有限公司 | A kind of adaptive field weakening control method of permagnetic synchronous motor |
| CN110323973A (en) * | 2019-04-26 | 2019-10-11 | 电子科技大学 | Electric automobile whole maximum torque control method |
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Application publication date: 20191206 |