CN113200038A - Incremental speed control method suitable for electric vehicle - Google Patents
Incremental speed control method suitable for electric vehicle Download PDFInfo
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- CN113200038A CN113200038A CN202110672381.8A CN202110672381A CN113200038A CN 113200038 A CN113200038 A CN 113200038A CN 202110672381 A CN202110672381 A CN 202110672381A CN 113200038 A CN113200038 A CN 113200038A
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- 238000004364 calculation method Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 2
- 238000009825 accumulation Methods 0.000 abstract 1
- 230000007613 environmental effect Effects 0.000 abstract 1
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- 239000003638 chemical reducing agent Substances 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides an incremental speed control method suitable for an electric vehicle, and belongs to the technical field of vehicle control. The vehicle can be influenced by factors such as road surface change, gradient and the like in the running process to cause working condition change, and high robustness requirements are provided for a running control algorithm, particularly for an autonomous running vehicle. Aiming at the requirement of strong robust vehicle speed control, the invention provides an incremental speed control method for an electric vehicle, which estimates the magnitude of the current actually generated driving force by utilizing the quadrature axis current and the brake state of a driving motor, superposes the control quantity generated by the current control error on the current actually output control quantity to serve as a new control instruction, eliminates the influence generated by the change of external factors through the form of continuous accumulation of errors, improves the environmental adaptability and the control precision of speed control, and has the advantages of strong robustness, easy realization and the like.
Description
Technical Field
The invention belongs to the technical field of vehicle control, and relates to an incremental speed control method suitable for an electric vehicle.
Background
The vehicle running control is a key part of autonomous running of the unmanned vehicle and is an important bridge between an intelligent planning algorithm and a vehicle bottom layer control signal. However, in the driving process of the vehicle, different road surfaces such as a highway, a cement road, a sand and stone road, wading and the like, and different road conditions such as an uphill road, a downhill road, a level road and the like can be met, and great challenges are provided for the driving control method of the vehicle. If the different driving conditions are covered by the traditional PID control mode, the problems that the workload of debugging the control parameters is large, the control effect is difficult to ensure and the like exist. Meanwhile, in order to improve the robustness of the control method, integral control is required, the selection of integral gain is very critical, if the integral gain is too small, the control effect is difficult to effectively improve, and the robustness improvement effect is small; if the integral gain is large, phase lag is introduced into integral control, so that the problems of overshoot or oscillation and the like exist in a control result, and great challenges are brought to actual engineering debugging.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a speed control method for an electric vehicle, so as to improve the adaptability and control effect of the vehicle driving control method to different road surfaces and road conditions.
An incremental speed control method suitable for an electric vehicle is characterized by comprising a subtracter, a rotating speed controller, a control quantity estimation module and an adder; wherein:
the system for implementing the incremental speed control method suitable for the electric vehicle comprises n driving motors for driving control, wherein n is more than or equal to 1; the drive controller of each drive motor estimates the current quadrature axis current in real time and feeds back the quadrature axis current estimation value to the control quantity estimation module; the system for implementing the incremental speed control method for the electric vehicle at least comprises a vehicle speed measuring device for measuring the current running speed of the vehicle in real time and taking the current running speed as a speed feedback value VfbkFeeding back to the subtracter;
the subtracter is used for realizing a given speed command value VcmdAnd velocity feedback value VfbkTo obtain a velocity control error VerrTo the rotational speed controller;
the rotation speed controller controls the error V according to the speederrCalculated by proportional control or proportional-derivative control forA desired control increment Δ F for eliminating speed control error is given to the adder;
the control quantity estimation module is used for estimating the current running driving force of the vehicle, and the input signal of the control quantity estimation module is the quadrature axis current estimation value of n driving motors
And a braking state, wherein the current driving force of the vehicle is obtained by calculation according to the torque characteristic of the driving motor, the transmission relation from the driving motor to the driving wheel and the braking characteristic parameters
To the adder;
the adder is used for realizing the control increment delta F and the running driving force generated by the current n driving motors
To obtain a control command F of the driving forcecmdTo the control distribution module;
the control distribution module is used for distributing the control instructions of the driving force to the n driving motors and the brake components, calculating the control instructions of the n driving motors and the control instructions of the brake components according to the control instructions of the driving force and the control distribution strategy, and sending the control instructions to the corresponding control components.
Optionally, the control quantity estimation module uses a quadrature axis current estimation value of the kth driving motor
According to the moment coefficient of the kth driving motor
Obtaining the current driving torque estimated value of the kth driving motor
Then according to the transmission ratio R of the k-th driving motor to the related driving wheelkAnd transmission efficiency etakCalculating to obtain the moment estimated value of the k-th driving motor transmitted to the driving wheel
Reuse of drive wheel radius
To obtain
Corresponding driving force estimation value
Estimating the current generated braking force by using the braking state and the braking characteristic parameters
Finally, the current driving force is obtained through summation
Where k is 1,2, …, n.
Optionally, the control distribution module distributes the control amount to each of the driving motor and the brake component by using a daisy chain distribution manner, that is: first, F is judgedcmdWhether or not it is larger than the maximum value F of the driving force generated by the n driving motorsMAXIf F iscmdGreater than FMAXThen F will beMAXDistributing the n driving motors and simultaneously placing the brake parts in a release state; if FcmdLess than FMAXSimultaneously more than n driving motors can generate maximum braking force FMINThen F will becmdDistributing the n driving motors and simultaneously placing the brake parts in a release state; if FcmdLess than FMINThen F will beMINIs distributed to n drive motors while F is distributedcmd-FMINTo the brake elements.
By adopting the technical scheme, the influence of the change of the road surface condition on the vehicle running control effect can be effectively reduced, and the robustness of the running control performance is ensured. According to the technical scheme, the magnitude of the driving force generated by each driving motor is estimated according to the current quadrature axis current, the torque characteristic and the transmission relation of each driving motor, meanwhile, the braking force is estimated according to the braking state, the current control quantity of the vehicle can be obtained, then the control quantity generated by the control error between the given speed and the actual speed is superposed on the current control quantity to be used as a new control quantity to control, so that the control deviation generated by factors such as external road surface change and the like is eliminated, the robustness and the control precision of the system are improved, and the method has the advantages of simplicity, easiness in implementation and the like.
Drawings
FIG. 1: the invention relates to a control structure block diagram.
Detailed Description
The invention is further described with reference to the accompanying drawings and examples, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application.
For the convenience of understanding, the running control of the four-wheel electric vehicle is taken as an example for description, each wheel is assumed to be driven by a wheel hub motor, a hydraulic brake device is adopted for braking, and the wheel hub motor model, the speed reducer, the brake component parameters and the wheel size of the four wheels are all the same; each hub motor is provided with a corresponding drive controller, and the four drive controllers are connected with a vehicle running controller through a bus, receive a control command of the vehicle controller and send a feedback information value to the vehicle controller; each hub motor is provided with a corresponding brake controller, and the four brake controllers are connected with a vehicle running controller through a bus, receive control instructions of the vehicle controller and send feedback information to the vehicle controller; the vehicle is provided with an inertial navigation system for measuring the running speed of the vehicle, and the inertial navigation system is directly connected with the vehicle controller through a data interface and can adopt a Raffing IMU 560; the vehicle running controller adopts DSP2837X series chips of American TI company, a DSP microprocessor is used for finishing calculation and processing tasks and realizing a vehicle control algorithm, and the DSP is communicated with an upper layer module (such as an intelligent sensing system, a ground control station and the like) in a serial port communication mode to obtain a vehicle running speed instruction.
Firstly, a vehicle controller obtains a control error through difference calculation according to an externally given vehicle running speed instruction and an actual running speed fed back by inertial navigation, and then obtains a control quantity delta F required to be increased by utilizing proportional control; then, estimating the quadrature axis current according to the feedback of the four hub motors
And torque coefficient C of hub motormCalculating to obtain the current output torque value of the hub motor
Calculating to obtain a moment estimated value of the kth wheel according to the reduction ratio R of the speed reducer and the transmission efficiency eta
Reuse drive wheel radius RWAn estimated value of the driving force for each wheel can be obtained
According to the displacement value or pressure value of the brake component and other variables and brake characteristic parameters, four brake generated braking forces can be estimated
Then, the current running driving force can be obtained by summing
Will be provided with
Is added to the delta F to obtain a new control quantity Fcmd。
Using daisy chain method to control quantity FcmdDistributing to hub motor and brake parts, judging FcmdWhether or not it is larger than the maximum value F of the driving force generated by the n driving motorsMAXIf F iscmdGreater than FMAXThen F will beMAXIs distributed to n driving motors and is braked simultaneouslyThe vehicle part is placed in a loose state; if FcmdLess than FMAXSimultaneously more than n driving motors can generate maximum braking force FMINThen F will becmdDistributing the n driving motors and simultaneously placing the brake parts in a release state; if FcmdLess than FMINThen F will beMINIs distributed to n drive motors while F is distributedcmd-FMINTo the brake elements.
The method can realize the speed control of the four-wheel electric vehicle, can automatically correct the control deviation generated by the change of external factors such as different road surfaces, road conditions and the like in an increment compensation mode, and has simple program structure and realization principle and good control robustness.
Claims (3)
1. An incremental speed control method suitable for an electric vehicle is characterized by comprising a subtracter, a rotating speed controller, a control quantity estimation module and an adder; wherein:
the system for implementing the incremental speed control method suitable for the electric vehicle comprises n driving motors for driving control, wherein n is more than or equal to 1; the drive controller of each drive motor estimates the current quadrature axis current in real time and feeds back the quadrature axis current estimation value to the control quantity estimation module; the system for implementing the incremental speed control method for the electric vehicle at least comprises a vehicle speed measuring device for measuring the current running speed of the vehicle in real time and taking the current running speed as a speed feedback value VfbkFeeding back to the subtracter;
the subtracter is used for realizing a given speed command value VcmdAnd velocity feedback value VfbkTo obtain a velocity control error VerrTo the rotational speed controller;
the rotation speed controller controls the error V according to the speederrCalculating a required control increment delta F for eliminating a speed control error by utilizing proportional control or proportional differential control, and supplying the control increment delta F to the adder;
the control amount estimation module estimates a current driving force for running of the vehicle, which is input with informationQuadrature axis current estimation value of n driving motors
And a braking state, wherein the current driving force of the vehicle is obtained by calculation according to the torque characteristic of the driving motor, the transmission relation from the driving motor to the driving wheel and the braking characteristic parameters
To the adder;
the adder is used for realizing the control increment delta F and the running driving force generated by the current n driving motors
To obtain a control command F of the driving forcecmdTo the control distribution module;
the control distribution module is used for distributing the control instructions of the driving force to the n driving motors and the brake components, calculating the control instructions of the n driving motors and the control instructions of the brake components according to the control instructions of the driving force and the control distribution strategy, and sending the control instructions to the corresponding control components.
2. The incremental speed control method for an electric vehicle as claimed in claim 1, wherein said control amount estimating module uses an estimated value of quadrature axis current of a k-th driving motor
According to the moment coefficient of the kth driving motor
Obtaining the current driving torque estimated value of the kth driving motor
Then according to the transmission of the k-th drive motor to the relevant drive wheelRatio RkAnd transmission efficiency etakCalculating to obtain the moment estimated value of the k-th driving motor transmitted to the driving wheel
Reuse of drive wheel radius
To obtain
Corresponding driving force estimation value
Estimating the current generated braking force by using the braking state and the braking characteristic parameters
Finally, the current driving force is obtained through summation
Where k is 1,2, …, n.
3. The incremental speed control method for an electric vehicle as claimed in claim 1, wherein said control distribution module distributes the control amount to each of the driving motor and the braking component by daisy chain distribution, that is: first, F is judgedcmdWhether or not it is larger than the maximum value F of the driving force generated by the n driving motorsMAXIf F iscmdGreater than FMAXThen F will beMAXDistributing the n driving motors and simultaneously placing the brake parts in a release state; if FcmdLess than FMAXSimultaneously more than n driving motors can generate maximum braking force FMINThen F will becmdDistributing the n driving motors and simultaneously placing the brake parts in a release state; if FcmdLess than FMINThen F will beMINIs distributed to n drive motors while F is distributedcmd-FMINTo the brake elements.
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| CN202110672381.8A CN113200038B (en) | 2021-06-17 | 2021-06-17 | Incremental speed control method suitable for electric vehicle |
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| CN202110672381.8A CN113200038B (en) | 2021-06-17 | 2021-06-17 | Incremental speed control method suitable for electric vehicle |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0982172A2 (en) * | 1998-08-26 | 2000-03-01 | Nissan Motor Co., Ltd. | Automatic velocity and spacing control apparatus for automotive vehicle |
| JP2003291840A (en) * | 2002-03-29 | 2003-10-15 | Toyoda Mach Works Ltd | Vehicle controller |
| WO2007074716A1 (en) * | 2005-12-27 | 2007-07-05 | Honda Motor Co., Ltd. | Vehicle control device |
| JP2009090842A (en) * | 2007-10-10 | 2009-04-30 | Jtekt Corp | Control device for vehicle |
| US20100009807A1 (en) * | 2008-07-14 | 2010-01-14 | Denso Corporation | Vehicle control device |
| CN109747434A (en) * | 2019-01-16 | 2019-05-14 | 浙江科技学院 | Distributed-driving electric automobile torque vector distributes control method |
| CN110104113A (en) * | 2019-04-19 | 2019-08-09 | 杨震 | It is a kind of to realize the electric vehicle linear braking brake control method for increasing journey |
| CN110341496A (en) * | 2019-07-09 | 2019-10-18 | 武汉理工大学 | A kind of ramp speed operation travel control method of distributed driving off-road vehicle |
-
2021
- 2021-06-17 CN CN202110672381.8A patent/CN113200038B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0982172A2 (en) * | 1998-08-26 | 2000-03-01 | Nissan Motor Co., Ltd. | Automatic velocity and spacing control apparatus for automotive vehicle |
| JP2003291840A (en) * | 2002-03-29 | 2003-10-15 | Toyoda Mach Works Ltd | Vehicle controller |
| WO2007074716A1 (en) * | 2005-12-27 | 2007-07-05 | Honda Motor Co., Ltd. | Vehicle control device |
| JP2009090842A (en) * | 2007-10-10 | 2009-04-30 | Jtekt Corp | Control device for vehicle |
| US20100009807A1 (en) * | 2008-07-14 | 2010-01-14 | Denso Corporation | Vehicle control device |
| CN109747434A (en) * | 2019-01-16 | 2019-05-14 | 浙江科技学院 | Distributed-driving electric automobile torque vector distributes control method |
| CN110104113A (en) * | 2019-04-19 | 2019-08-09 | 杨震 | It is a kind of to realize the electric vehicle linear braking brake control method for increasing journey |
| CN110341496A (en) * | 2019-07-09 | 2019-10-18 | 武汉理工大学 | A kind of ramp speed operation travel control method of distributed driving off-road vehicle |
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