CN112977093A - Control method for preset performance of electric automobile - Google Patents
Control method for preset performance of electric automobile Download PDFInfo
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- CN112977093A CN112977093A CN202110388518.7A CN202110388518A CN112977093A CN 112977093 A CN112977093 A CN 112977093A CN 202110388518 A CN202110388518 A CN 202110388518A CN 112977093 A CN112977093 A CN 112977093A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims abstract description 22
- 238000004364 calculation method Methods 0.000 claims abstract description 4
- 238000010276 construction Methods 0.000 claims abstract description 4
- 230000009466 transformation Effects 0.000 claims description 3
- 230000001052 transient effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- 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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- Mechanical Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a control method of preset performance of an electric automobile, which comprises system state signal acquisition, tracking error calculation, preset performance function design, error conversion function design, feedback control algorithm design and control output signal construction; the control error of the current system is calculated by acquiring the difference value between the system state signal and the expected state, the conversion of the control error and the restraint system is completed according to an error conversion function designed by a preset performance function to obtain a conversion error signal, a feedback control algorithm aiming at the conversion error signal is designed to obtain a control output signal, and finally the control signal is applied to the motor through PWM design. The invention can effectively improve the control quality and the resource utilization efficiency of the motor controller and can ensure the control performance of the motor.
Description
Technical Field
The invention particularly relates to a control method for preset performance of an electric automobile.
Background
Currently, in the control of the motor of the electric vehicle, in order to improve the control quality with limited energy consumption, it is important to ensure specific preset performance, such as convergence speed, arrival time, or maximum overshoot. The preset performance control is a control method for presetting dynamic and steady-state performance, which is researched from the viewpoint of improving the control performance.
The existing motor control algorithm for the electric automobile focuses on stability and safety more, and the consideration on control quality is insufficient. Under the condition of limited energy supply, how to ensure the control quality of the motor by using limited resources is an urgent problem to be solved.
Disclosure of Invention
In order to solve the problems in the background art, the present invention provides a method for controlling a preset performance of an electric vehicle.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a control method for the preset performance of an electric automobile comprises the steps of system state signal acquisition, tracking error calculation, preset performance function design, error conversion function design, feedback control algorithm design and control output signal construction;
the control error of the current system is calculated by acquiring the difference value between the system state signal and the expected state, the conversion of the control error and the restraint system is completed according to an error conversion function designed by a preset performance function to obtain a conversion error signal, a feedback control algorithm aiming at the conversion error signal is designed to obtain a control output signal, and finally the control signal is applied to the motor through PWM design.
Preferably, the system state signal is acquired by defining a performance function of the output rotating speed of the motor and introducing an error transformation process under the condition that the initial motor state is known.
Preferably, the error conversion function is designed to keep the tracking error within the control range constrained by the performance function, and meanwhile, the control indexes of the convergence rate, the arrival time and the steady-state error meet the preset requirements.
Preferably, the tracking error should converge to a predetermined arbitrary small residual set, and the minimum convergence rate satisfies a preset value, and the maximum overshoot does not exceed the preset value, so as to ensure that the transient error of the tracking error is within a preset range.
Through the technical scheme, the control method for the preset performance of the electric automobile can effectively improve the control quality and the resource utilization efficiency of the motor controller and guarantee the control performance of the motor.
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.
FIG. 1 is a block diagram of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a control method of preset performance of an electric automobile, which comprises the steps of system state signal acquisition, tracking error calculation, preset performance function design, error conversion function design, feedback control algorithm design and control output signal construction, as shown in figure 1;
the control error of the current system is calculated by acquiring the difference value between the system state signal and the expected state, the conversion of the control error and the restraint system is completed according to an error conversion function designed by a preset performance function to obtain a conversion error signal, a feedback control algorithm aiming at the conversion error signal is designed to obtain a control output signal, and finally the control signal is applied to the motor through PWM design.
The system state signal acquisition is that under the condition that the initial motor state is known, a performance function of the output rotating speed of the motor is defined and an error transformation process is introduced, the error conversion function design enables the tracking error to be kept in a control range constrained by the performance function, meanwhile, control indexes of convergence speed, arrival time and steady-state error meet preset requirements, the tracking error is converged to a preset arbitrarily small residual error set, meanwhile, the minimum convergence rate meets a preset value, the maximum overshoot does not exceed the preset value, and the transient error of the tracking error is guaranteed to be in the preset range.
The control method for the preset performance of the electric automobile can effectively improve the control quality and the resource utilization efficiency of the motor controller and guarantee the control performance of the motor.
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 (4)
1. A control method for the preset performance of an electric automobile is characterized by comprising the steps of system state signal acquisition, tracking error calculation, preset performance function design, error conversion function design, feedback control algorithm design and control output signal construction;
the control error of the current system is calculated by acquiring the difference value between the system state signal and the expected state, the conversion of the control error and the restraint system is completed according to an error conversion function designed by a preset performance function to obtain a conversion error signal, a feedback control algorithm aiming at the conversion error signal is designed to obtain a control output signal, and finally the control signal is applied to the motor through PWM design.
2. The method for controlling the preset performance of the electric vehicle according to claim 1, wherein the system state signal is acquired by defining a performance function of the output rotation speed of the motor and introducing a process of error transformation under the condition that the initial motor state is known.
3. The method as claimed in claim 2, wherein the error transfer function is designed to keep the tracking error within the control range of the performance function constraint, and to make the control indexes of the convergence rate, the arrival time and the steady-state error meet the preset requirements.
4. The method of claim 3, wherein the tracking error is converged to a predetermined set of small residuals, the minimum convergence rate satisfies the predetermined value, and the maximum overshoot does not exceed the predetermined value, thereby ensuring the transient error of the tracking error is within the predetermined range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110388518.7A CN112977093B (en) | 2021-04-12 | 2021-04-12 | Control method for preset performance of electric automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110388518.7A CN112977093B (en) | 2021-04-12 | 2021-04-12 | Control method for preset performance of electric automobile |
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| CN112977093A true CN112977093A (en) | 2021-06-18 |
| CN112977093B CN112977093B (en) | 2024-06-04 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140107877A1 (en) * | 2012-10-17 | 2014-04-17 | Kia Motors Corporation | Method and system for controlling anti-jerk of electric vehicle |
| CN106444368A (en) * | 2015-11-18 | 2017-02-22 | 南京航空航天大学 | Near space vehicle preset performance attitude tracking control method with input nonlinearity |
| CN106788036A (en) * | 2016-12-30 | 2017-05-31 | 南京邮电大学 | The modified active disturbance rejection positioner and its method for designing of a kind of direct current generator |
| CN107015562A (en) * | 2017-04-26 | 2017-08-04 | 华南理工大学 | A kind of underactuated surface vessels control method for meeting default tracking performance |
| CN110247586A (en) * | 2019-07-12 | 2019-09-17 | 上海大学 | The automobile-used permanent magnet synchronous motor torque distribution method of Electric Transit based on efficiency optimization |
| CN110376882A (en) * | 2019-04-28 | 2019-10-25 | 天津大学 | Pre-determined characteristics control method based on finite time extended state observer |
| CN110460271A (en) * | 2019-07-31 | 2019-11-15 | 长春精钰电子科技股份有限公司 | A kind of motor speed smooth starting control method of automobile power back door |
| CN111736472A (en) * | 2020-07-22 | 2020-10-02 | 安徽工业大学 | Motor self-adaptive preset performance asymptotic control method based on RISE |
-
2021
- 2021-04-12 CN CN202110388518.7A patent/CN112977093B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140107877A1 (en) * | 2012-10-17 | 2014-04-17 | Kia Motors Corporation | Method and system for controlling anti-jerk of electric vehicle |
| CN106444368A (en) * | 2015-11-18 | 2017-02-22 | 南京航空航天大学 | Near space vehicle preset performance attitude tracking control method with input nonlinearity |
| CN106788036A (en) * | 2016-12-30 | 2017-05-31 | 南京邮电大学 | The modified active disturbance rejection positioner and its method for designing of a kind of direct current generator |
| CN107015562A (en) * | 2017-04-26 | 2017-08-04 | 华南理工大学 | A kind of underactuated surface vessels control method for meeting default tracking performance |
| CN110376882A (en) * | 2019-04-28 | 2019-10-25 | 天津大学 | Pre-determined characteristics control method based on finite time extended state observer |
| CN110247586A (en) * | 2019-07-12 | 2019-09-17 | 上海大学 | The automobile-used permanent magnet synchronous motor torque distribution method of Electric Transit based on efficiency optimization |
| CN110460271A (en) * | 2019-07-31 | 2019-11-15 | 长春精钰电子科技股份有限公司 | A kind of motor speed smooth starting control method of automobile power back door |
| CN111736472A (en) * | 2020-07-22 | 2020-10-02 | 安徽工业大学 | Motor self-adaptive preset performance asymptotic control method based on RISE |
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