CN113002320B - Electric vehicle self-adaptive motor driving device matched with different tires and control method thereof - Google Patents

Electric vehicle self-adaptive motor driving device matched with different tires and control method thereof Download PDF

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CN113002320B
CN113002320B CN202110171058.2A CN202110171058A CN113002320B CN 113002320 B CN113002320 B CN 113002320B CN 202110171058 A CN202110171058 A CN 202110171058A CN 113002320 B CN113002320 B CN 113002320B
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speed
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adaptive
electric vehicle
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CN113002320A (en
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王秋伟
赵又群
张陈曦
徐涛
冯兆龙
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Nanjing University of Aeronautics and Astronautics
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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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • 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
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—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
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • B60L2250/28—Accelerator pedal thresholds
    • 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 relates to the technical field of active safety of electric vehicles, in particular to an electric vehicle self-adaptive motor driving device matched with different tires and a control method thereof, wherein the electric vehicle self-adaptive motor driving device is connected with an accelerator, a hub motor system and wheels of an electric vehicle; the electric vehicle self-adaptive motor driving device comprises a driver intention interpreter, a self-adaptive control unit, a power supply and a wheel sensor; the driver intention interpreter obtains expected driving speed and acceleration according to the depth of an accelerator, transmits signals to the adaptive control unit, simultaneously monitors speed signals of wheels in real time by the wheel sensor, transmits the wheel signals to the adaptive control unit, the adaptive control unit internally contains an adaptive algorithm, and controls a power supply to output corresponding current according to the received signals, so that the hub motor system outputs proper torque, and the electric vehicle can output expected speed in a self-adaptive mode even if being assembled with tires of different models.

Description

Electric vehicle self-adaptive motor driving device matched with different tires and control method thereof
Disclosure of Invention
The invention relates to an electric vehicle self-adaptive motor driving device matched with different tires, which is connected with an accelerator, a hub motor system and wheels of an electric vehicle;
the electric vehicle self-adaptive motor driving device comprises a driver intention interpreter, a self-adaptive control unit, a power supply and a wheel sensor;
the driver intention interpreter is connected with an accelerator and the adaptive control unit and is used for obtaining the expected speed and the expected acceleration according to the depth of the accelerator and transmitting the obtained expected speed and the obtained expected acceleration signals to the adaptive control unit;
the wheel sensor is connected with the wheel and the self-adaptive control unit and used for monitoring an actual speed signal of the wheel in real time and transmitting the actual speed signal of the wheel to the self-adaptive control unit;
the power supply is connected with the self-adaptive control unit and the hub motor system, and the current output to the hub motor system by the power supply is controlled according to the received expected speed signal and the received actual speed signal, so that the torque output by the hub motor system is controlled, and finally the electric vehicle can self-adaptively output the expected speed even if being assembled with different tires.
The invention discloses a control method of an electric vehicle self-adaptive motor driving device matched with different tires, which comprises the following steps:
s1, obtaining an expected speed V according to the depth of an accelerator m And desired acceleration
Figure GDA00038993064100000110
The total pedal travel of the electric vehicle is set to be L, the depth of stepping on the accelerator pedal by a driver is set to be L', and the maximum speed of the electric vehicle is set to be V max Considering that the actual accelerator-stepped vehicle speed does not reach the corresponding desired speed immediately but after a certain delay, the desired speed V for the vehicle is obtained when the depth of the accelerator pedal is L m Can be calculated using the following formula:
Figure GDA0003899306410000011
wherein G(s) is a second-order inertia element,
Figure GDA0003899306410000012
wherein λ is 1 ，λ 2 Are all control coefficients, lambda is adopted in the invention 1 =0.1 and λ 2 =1,s is the complex variable in the Laplace transform;
calculating the desired speed V m Corresponding first derivative
Figure GDA0003899306410000013
Figure GDA0003899306410000014
Is the desired acceleration, the driver's intention interpreter and the desired speed V m And desired acceleration
Figure GDA0003899306410000015
Transmitting to the self-adaptive control unit;
s2, according to the wheel speed omega and the wheel acceleration
Figure GDA0003899306410000016
Calculating the actual speed V and the actual acceleration of the vehicle
Figure GDA0003899306410000017
Based on monitoring wheel speed omega and wheel acceleration
Figure GDA0003899306410000018
The actual speed V and the actual acceleration of the vehicle can be obtained
Figure GDA0003899306410000019
The manner of calculation is as follows,
Figure GDA0003899306410000021
where V is the actual vehicle speed calculated from the wheel speed ω,
Figure GDA0003899306410000022
based on wheel acceleration
Figure GDA0003899306410000023
And calculating the actual acceleration of the vehicle, wherein R is the radius of the wheel.
S3, designing a self-adaptive law of estimated rotational inertia of the wheel and a power supply current control law, calculating the output current of a power supply, controlling the drive torque output by a hub system by controlling the power supply current, and finally enabling the actual speed V and the expected speed V of the vehicle m Equal;
the adaptation law for designing the estimated moment of inertia of the wheel is as follows,
Figure GDA0003899306410000024
wherein gamma is a strictly positive real number,
Figure GDA0003899306410000025
the following power supply current control law is designed,
Figure GDA0003899306410000026
wherein i is a power supply current output to the hub motor system, and λ is a control parameter and is a strict positive real number;
Figure GDA0003899306410000027
the moment of inertia is estimated for the wheel,
Figure GDA0003899306410000028
a vehicle speed error; k is the electromagnetic torque coefficient of the hub motor system;
Figure GDA0003899306410000029
drawings
FIG. 1 is a block diagram of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in FIG. 1, the invention relates to an electric vehicle self-adaptive motor driving device matched with different tires, which is connected with an accelerator, a hub motor system and wheels of an electric vehicle;
the electric vehicle self-adaptive motor driving device comprises a driver intention interpreter, a self-adaptive control unit, a power supply and a wheel sensor;
the driver intention interpreter is connected with an accelerator and the adaptive control unit and is used for obtaining the expected speed and the expected acceleration according to the depth of the accelerator and transmitting the obtained expected speed and the obtained expected acceleration signals to the adaptive control unit;
the wheel sensor is connected with the wheel and the adaptive control unit and used for monitoring the actual speed signal of the wheel in real time and transmitting the actual speed signal of the wheel to the adaptive control unit.
The self-adaptive control unit is internally provided with a self-adaptive algorithm, and controls the current output by the power supply to the in-wheel motor system according to the received expected speed signal and the actual speed signal, so that the torque output by the in-wheel motor system is controlled, and finally, the electric vehicle can adaptively output the expected speed even if being assembled with different tires.
The driver intention interpreter is used for obtaining the expected speed and the expected acceleration according to the depth of the throttle, and the specific method is as follows,
the total pedal travel of the electric vehicle is set to be L, the depth of stepping on the accelerator pedal by a driver is set to be L', and the maximum speed of the electric vehicle is set to be V max Considering that the actual accelerator pedal vehicle speed does not reach the corresponding expected speed immediately but after a certain delay, the expected speed V for the vehicle is obtained when the depth of the accelerator pedal is L m Can be calculated using the following formula:
Figure GDA0003899306410000031
wherein G(s) is a second-order inertia element,
Figure GDA0003899306410000032
wherein λ is 1 ，λ 2 Selecting different coefficient values for controlling the coefficients according to different driving styles; in the present invention, lambda is selected 1 =0.1 and λ 2 And 1, so that the signal response passing through the formula (2) is fast, the overshoot error is not too large, and the precision is reliable. s is the complex number in the Laplace transform. While equation (1) is guaranteedEvidence that there is at least a corresponding first derivative of the desired velocity
Figure GDA0003899306410000033
And second derivative
Figure GDA0003899306410000034
This is necessary for the design of the adaptive algorithm, the driver intention interpreter will expect the vehicle speed V m And their corresponding first derivatives
Figure GDA0003899306410000035
To the adaptive control unit.
The wheel sensor is used for monitoring the wheel speed omega and the wheel acceleration in real time
Figure GDA0003899306410000036
The actual wheel speed and acceleration can be converted into a vehicle speed actual speed and a vehicle actual acceleration, calculated as follows,
Figure GDA0003899306410000037
wherein V is the actual speed of the vehicle calculated from the wheel speed,
Figure GDA0003899306410000038
r is the wheel radius, which is the actual acceleration of the vehicle calculated from the wheel acceleration,
the wheel sensor calculates the wheel speed and the wheel acceleration signal to obtain the actual speed V and the actual acceleration of the vehicle
Figure GDA0003899306410000039
And passed to the adaptive control unit.
The adaptive control unit contains an adaptive algorithm, as follows,
the wheel rotation can be described by the following equation,
Figure GDA00038993064100000310
j is the actual moment of inertia of the wheel, tires mounted on the vehicle are different, and the moment of inertia corresponding to the wheel is also different; t is driving torque output by an electric automobile hub motor system;
the driving torque output by the in-wheel motor system is directly controlled by current, and can be described by the following formula,
T＝ki (5)
wherein, i is the current that the power provided, and k is the electromagnetic torque coefficient of in-wheel motor system.
Combining the formulas (4) and (5), the adaptive control unit can control the output torque of the hub motor system by controlling the power supply current, so as to realize the wheel speed change, namely the vehicle speed change, but because the electric vehicle is possibly provided with different wheel tires, the actual moment of inertia J of the wheel is unknown, the moment of inertia of the wheel needs to be estimated, and the estimated moment of inertia of the wheel is set as
Figure GDA0003899306410000041
Wheel moment of inertia estimation error
Figure GDA0003899306410000042
In order to realize the purpose,
Figure GDA0003899306410000043
wheel moment of inertia estimation error
Figure GDA0003899306410000044
The derivative of (a) is that,
Figure GDA0003899306410000045
and defining a vehicle speed error
Figure GDA0003899306410000046
In order to realize the purpose,
Figure GDA0003899306410000047
where V is the actual speed of the vehicle, V m Is the desired speed of the vehicle
The derivative of the vehicle speed error can be obtained from equation (7)
Figure GDA0003899306410000048
In order to realize the purpose,
Figure GDA0003899306410000049
considering that the actual moment of inertia J of the wheel is unknown, the following power supply current control law is designed,
Figure GDA00038993064100000410
wherein, λ is a control parameter and is a strict positive real number;
Figure GDA00038993064100000411
the moment of inertia is estimated for the wheel,
Figure GDA00038993064100000412
a vehicle speed error; k is the electromagnetic moment coefficient of the hub motor system.
A control strategy in the form of equation (9) includes an estimated moment of inertia of the wheel
Figure GDA00038993064100000413
And its expected speed V and vehicle speed error
Figure GDA00038993064100000414
This allows the wheels to move as desired by the driver even if the actual moment of inertia J of the wheels is unknown.
Equations (4) and (5) are substituted for equation (9) to obtain a dynamic equation of the vehicle speed error,
Figure GDA00038993064100000415
Figure GDA00038993064100000416
order to
Figure GDA00038993064100000417
And formula (6) is substituted for formula (11),
Figure GDA0003899306410000051
formula (8) is available in place of formula (12),
Figure GDA0003899306410000052
the Lyapunov function is defined as follows,
Figure GDA0003899306410000053
wherein γ is a strictly positive real number, thereby ensuring that the Lyapunov function represented by formula (14) is a positive definite function; and the derivative of the Lyapunov function represented by equation (14) is negative, then it is ensured that the wheel motion is consistent with the desired motion.
So as to obtain a derivative of the signal as,
Figure GDA0003899306410000054
wherein, due to
Figure GDA0003899306410000055
The moment of inertia of the wheel is unknown and is slowly time-varying, i.e. the moment of inertia does not vary rapidly, so
Figure GDA0003899306410000056
Therefore, it is not only easy to use
Figure GDA0003899306410000057
The adaptation law for designing the estimated moment of inertia of the wheel is as follows,
Figure GDA0003899306410000058
formula (16) can be obtained by substituting formula (15),
Figure GDA0003899306410000059
substituting formula (13) into formula (17),
Figure GDA00038993064100000510
the above formula is negative, which ensures the convergence of the whole adaptive control law, that is, the vehicle speed error can be converged to 0 under the designed current control law formula (9) and the wheel estimated moment of inertia adaptive law formula (16), so that the actual vehicle speed can run according to the expected speed of the driver, and the adaptive control unit controls the current law as follows:
Figure GDA0003899306410000061
the above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all methods, designs and parameter adjustments made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (2)

1. A control method of an electric vehicle self-adaptive motor driving device matched with different tires is characterized in that the electric vehicle self-adaptive motor driving device is connected with an accelerator, a hub motor system and wheels of an electric vehicle; the electric vehicle self-adaptive motor driving device comprises a driver intention interpreter, a self-adaptive control unit, a power supply and a wheel sensor;
the driver intention interpreter is connected with the accelerator and the adaptive control unit and is used for obtaining the expected speed and the expected acceleration according to the accelerator depth and transmitting the obtained expected speed and the obtained expected acceleration signals to the adaptive control unit;
the wheel sensor is connected with the wheel and the self-adaptive control unit and used for monitoring an actual speed signal of the wheel in real time and transmitting the actual speed signal of the wheel to the self-adaptive control unit;
the power supply is connected with the self-adaptive control unit and the hub motor system, and the current output to the hub motor system by the power supply is controlled according to the received expected speed signal and the actual speed signal, so that the torque output by the hub motor system is controlled, and finally, the electric vehicle can self-adaptively output the expected speed even if being assembled with different tires;
the control method comprises the following steps:
s1, obtaining an expected speed V according to the depth of an accelerator m And desired acceleration
Figure FDA0003899306400000011
The total pedal travel of the electric vehicle is set to be L, the depth of stepping on the accelerator pedal by a driver is set to be L', and the maximum speed of the electric vehicle is set to be V max Considering that the actual accelerator pedal vehicle speed does not reach the corresponding expected speed immediately but after a certain delay, the expected speed V for the vehicle is obtained when the depth of the accelerator pedal is L m Can be calculated using the following formula:
Figure FDA0003899306400000012
wherein G(s) is a second-order inertia element,
Figure FDA0003899306400000013
wherein λ is 1 ，λ 2 Is a control coefficient, s is a complex variable in the Laplace transform;
calculating the desired speed V m Corresponding first derivative
Figure FDA0003899306400000014
Figure FDA0003899306400000015
Is the desired acceleration, the driver's intention interpreter and the desired speed V m And desired acceleration
Figure FDA0003899306400000016
Transmitting to the adaptive control unit;
s2, according to the wheel speed omega and the wheel acceleration
Figure FDA0003899306400000017
Calculating the actual speed V and the actual acceleration of the vehicle
Figure FDA0003899306400000018
Based on monitored wheel speed omega and wheel acceleration
Figure FDA0003899306400000021
The actual speed V and the actual acceleration of the vehicle can be obtained
Figure FDA0003899306400000022
The manner of calculation is as follows,
Figure FDA0003899306400000023
where V is the actual vehicle speed calculated from the wheel speed ω,
Figure FDA0003899306400000024
based on wheel acceleration
Figure FDA0003899306400000025
Calculating the actual acceleration of the vehicle, wherein R is the radius of the wheel;
s3, designing a self-adaptive law of wheel estimated rotational inertia and a power supply current control law, calculating power supply output current, controlling the power supply current to control the driving torque output by a hub system, and finally enabling the actual speed V and the expected speed V of the vehicle m Equal;
the adaptation law for designing the estimated moment of inertia of the wheel is as follows,
Figure FDA0003899306400000026
wherein gamma is a strictly positive real number,
Figure FDA0003899306400000027
the following power supply current control law is designed,
Figure FDA0003899306400000028
wherein i is a power supply current output to the hub motor system, and λ is a control parameter and is a strict positive real number;
Figure FDA0003899306400000029
the moment of inertia is estimated for the wheel,
Figure FDA00038993064000000210
a vehicle speed error; k is the electromagnetic torque coefficient of the hub motor system;
Figure FDA00038993064000000211
2. the method for controlling adaptive motor driving device for electric vehicle according to claim 1, wherein λ is 1 =0.1 and λ 2 ＝1。
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104228609A (en) * 2014-09-25 2014-12-24 吉林大学 Vehicle speed control method for wheel hub motor-driven vehicle
CN106671762A (en) * 2016-12-19 2017-05-17 北京理工大学 Distributed drive pure electric automobile
CN107472082A (en) * 2017-07-20 2017-12-15 北京长城华冠汽车科技股份有限公司 Driving moment distribution method, system and the electric automobile of four-drive electric car
CN108859862A (en) * 2018-03-22 2018-11-23 武汉理工大学 A kind of adaptive driving control system of distributed driving off-road vehicle
CN110962626A (en) * 2019-12-27 2020-04-07 吉林大学 Self-adaptive electronic differential control method for multi-shaft hub motor driven vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104228609A (en) * 2014-09-25 2014-12-24 吉林大学 Vehicle speed control method for wheel hub motor-driven vehicle
CN106671762A (en) * 2016-12-19 2017-05-17 北京理工大学 Distributed drive pure electric automobile
CN107472082A (en) * 2017-07-20 2017-12-15 北京长城华冠汽车科技股份有限公司 Driving moment distribution method, system and the electric automobile of four-drive electric car
CN108859862A (en) * 2018-03-22 2018-11-23 武汉理工大学 A kind of adaptive driving control system of distributed driving off-road vehicle
CN110962626A (en) * 2019-12-27 2020-04-07 吉林大学 Self-adaptive electronic differential control method for multi-shaft hub motor driven vehicle

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