CN113415173B - New energy automobile shake suppression control method based on LPF-HPF rotating speed filtering - Google Patents
New energy automobile shake suppression control method based on LPF-HPF rotating speed filtering Download PDFInfo
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- CN113415173B CN113415173B CN202110623838.6A CN202110623838A CN113415173B CN 113415173 B CN113415173 B CN 113415173B CN 202110623838 A CN202110623838 A CN 202110623838A CN 113415173 B CN113415173 B CN 113415173B
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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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- 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
- B60L2240/421—Speed
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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
- 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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- 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
- B60L2240/48—Drive Train control parameters related to transmissions
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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)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a new energy automobile shake suppression control method based on LPF-HPF rotating speed filtering, which comprises the following steps of: A. acquiring current running state data of the whole vehicle, wherein the current running state data comprises a motor rotating speed signal, a gear signal, a whole vehicle shake suppression enabling switch signal, a motor feedback torque and a VCU torque instruction; B. smoothing the VCU torque command; C. filtering a motor rotating speed signal to obtain a rotating speed jitter amount; D. acquiring a shake suppression compensation torque quantity through a PD regulator according to the rotating speed shake quantity; E. acquiring a jitter suppression compensation torque reduction coefficient through a jitter suppression entering exiting strategy according to the current running state data of the whole vehicle; F. and calculating the VCU torque command, the shake suppression compensation torque quantity and the shake suppression compensation torque reduction coefficient after smoothing treatment through the shake suppression torque command to obtain a torque command acting on the driving motor. The invention effectively inhibits the shake of the new energy automobile generated when the new energy automobile starts or steps on the accelerator at a low point, and improves the comfort of the whole automobile.
Description
Technical Field
The invention relates to the technical field of automobile vibration suppression control, in particular to a new energy automobile vibration suppression control method based on LPF-HPF rotating speed filtering.
Background
With the continuous innovation of new energy electric automobile technology and the increase of national policy support, the market share ratio of new energy electric automobiles is continuously increased, and the safety and the comfort of the new energy electric automobiles are more and more concerned by people.
Due to the fact that a large gap exists in a transmission structure of the new energy electric automobile, the rotating speed of the whole automobile suddenly changes at the moment of positive and negative torque switching, underdamping vibration occurs inside the whole automobile, and the whole automobile obviously shakes when the whole automobile steps on an accelerator at a starting or low-speed point. This feeling of shaking seriously affects the driving comfort of the entire vehicle.
Disclosure of Invention
The invention mainly solves the technical problem that the prior new energy automobile is easy to obviously shake when starting or stepping on an accelerator at a low speed point; the method for controlling the shake suppression of the new energy automobile based on the LPF-HPF rotating speed filtering is provided, the shake generated when the new energy automobile is started or an accelerator is stepped on at a low point is suppressed, and the comfort of the whole automobile is improved.
The technical problem of the invention is mainly solved by the following technical scheme: the invention comprises the following steps:
A. acquiring current running state data of the whole vehicle, wherein the running state data comprises a motor rotating speed signal Spd, a Gear signal Gear, a whole vehicle shake suppression enabling switch signal VCU _ shuder _ enable, a motor feedback torque Trq _ Fbk and a VCU torque instruction VCU _ Trq _ cmd 1;
B. smoothing the VCU torque command VCU _ Trq _ cmd1 to obtain a smoothed VCU torque command VCU _ Trq _ cmd 2;
C. filtering the motor rotating speed signal Spd to obtain a rotating speed jitter amount Spd _ jitter;
D. acquiring a shake suppression compensation torque amount Trq _ offset through a PD regulator according to the rotating speed shake amount Spd _ jitter;
E. obtaining a shake-suppressing compensation torque reduction coefficient Derating through a shake-suppressing entry-exit strategy according to the current running state data of the whole vehicle in the step A;
F. the smoothed VCU torque command VCU _ Trq _ cmd2, the shake suppression compensation torque amount Trq _ offset, and the shake suppression compensation torque reduction coefficient Derating are calculated from the shake suppression torque command to obtain a torque command VCU _ MCU _ Trq applied to the drive motor.
The invention effectively inhibits the shake of the new energy automobile generated when the new energy automobile starts or steps on the accelerator at a low point, and improves the comfort of the whole automobile.
Preferably, the step B of smoothing the VCU torque command VCU _ Trq _ cmd1 specifically includes:
according to the motor feedback torque Trq _ Fbk and the VCU torque instruction VCU _ Trq _ cmd1, the whole vehicle calibrates the zero-crossing point torque slope under different torque instructions required by the VCU, the calibration data is made into a two-dimensional table, different torque slope limits are made on different torque instructions at the VCU zero-crossing point in a table lookup mode, and the VCU zero-crossing point torque instruction is subjected to smoothing processing.
The VCU torque instruction VCU _ Trq _ cmd1 is subjected to smoothing processing to prevent the whole vehicle torque instruction from being loaded too fast at a zero crossing point, acceleration among internal components is inconsistent, and the rotating speed is suddenly changed, so that the whole vehicle shakes finally, and the zero crossing point rotating speed shaking amplitude is effectively reduced.
Preferably, the step C specifically includes the following steps:
c1, acquiring the rotating speed fluctuation frequency according to the motor rotating speed signal Spd;
c2, designing the cut-off frequency of the LPF-HPF filter according to the rotation speed fluctuation frequency;
c3, performing low-pass filtering on the motor rotating speed signal Spd through an LPF-HPF filter to obtain a stable speed signal without jitter;
c4, comparing the motor speed signal Spd with the stable speed signal which is obtained from C3 and does not contain the shaking amount, and obtaining the speed shaking amount with larger phase delay;
and C5, carrying out high-pass filtering on the rotation speed jitter amount with larger phase delay acquired in the C4 to obtain the rotation speed jitter amount Spd _ jitter with smaller distortion degree than the motor rotation speed signal Spd.
Preferably, the proportional and differential parameters of the PD regulator are confirmed by the on-line calibration of the whole vehicle.
The design principle of upper and lower limit amplitude parameters of the PD regulator reduces the limit as much as possible on the basis of ensuring the jitter suppression performance.
Preferably, the step E specifically includes:
e1, determining whether the Gear is the N Gear according to the Gear signal Gear, if Gear is equal to the N Gear, Derating is equal to 0, otherwise, if Gear is not equal to the N Gear, entering step E2;
e2, determining whether the entire vehicle shake suppression enable switch signal VCU _ shader _ enable is tune, if VCU _ shader _ enable is tune, Derating is 0, otherwise, if VCU _ shader _ enable is not tune, entering step E3;
e3, determining the motor feedback torque Trq _ Fbk, if the motor feedback torque Trq _ Fbk satisfies the condition ((Trq _ Fbk >100Nm) | (Trq _ Fbk < -15Nm)), then Derating is 0, otherwise, if the motor feedback torque Trq _ Fbk satisfies the condition ((Trq _ Fbk > -1Nm) | (Trq _ Fbk <90Nm)), then proceeding to step E4;
e4, determining the range of the motor speed signal Spd, if Spd <2500rpm, derrating is 1, if 2500rpm < Spd <5500rpm, derrating is ∈ [0,1], and if Spd >5500rpm, derrating is 0.
By collecting the current running state of the whole vehicle, whether jitter suppression intervention is needed or not is determined, and interference of the method on other logic control of the whole vehicle is avoided.
Preferably, in step E4, when 2500rpm < Spd <5500rpm, the specific value of Derating is found by a linear two-dimensional table lookup of the motor speed signal Spd and the VCU torque command.
Preferably, in step F, the torque command VCU _ MCU _ Trq applied to the drive motor is calculated as VCU _ MCU _ Trq ═ VCU _ Trq _ cmd2-Trq _ offset × Derating.
The invention has the beneficial effects that: 1) the invention effectively inhibits the shake of the new energy automobile generated when the new energy automobile starts or steps on the accelerator at a low point, and improves the comfort of the whole automobile; 2) by collecting the current running state of the whole vehicle, whether jitter suppression intervention is needed or not is determined, and interference of the method on other logic control of the whole vehicle is avoided.
Drawings
FIG. 1 is a flow chart of a method of the present invention.
Fig. 2 is a flow chart of a jitter suppression entry exit strategy according to the present invention.
FIG. 3 is a waveform diagram of vehicle shaking during start or spot stepping on the accelerator of an actual vehicle collected by a road test by using a control method of the prior art.
FIG. 4 is a waveform diagram of vehicle shaking during starting or point-stepping on the accelerator of a real vehicle collected only for VCU zero-crossing torque command smoothing time path attempt 3 under the same working condition.
FIG. 5 is a waveform diagram of a new energy automobile shake suppression control method based on LPF-HPF rotation speed filtering, which is used for acquiring the fact that the automobile does not shake when the actual automobile starts or the accelerator is stepped on at a point under the same working condition 3.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): the method for controlling the vibration suppression of the new energy automobile based on the LPF-HPF rotational speed filtering, as shown in fig. 1, includes the following steps:
A. acquiring current running state data of the whole vehicle, wherein the running state data comprises a motor rotating speed signal Spd, a Gear signal Gear, a whole vehicle shake suppression enabling switch signal VCU _ shuder _ enable, a motor feedback torque Trq _ Fbk and a VCU torque instruction VCU _ Trq _ cmd 1;
B. smoothing the VCU torque command VCU _ Trq _ cmd1 to obtain a smoothed VCU torque command VCU _ Trq _ cmd 2;
the smoothing of the VCU torque command VCU _ Trq _ cmd1 specifically includes: according to the motor feedback torque Trq _ Fbk and the VCU torque instruction VCU _ Trq _ cmd1, the whole vehicle calibrates the zero-crossing point torque slope under different torque instructions required by the VCU, the calibration data is made into a two-dimensional table, different torque slope limits are made on different torque instructions at the VCU zero-crossing point in a table lookup mode, and the VCU zero-crossing point torque instruction is subjected to smoothing processing.
C. The method for filtering the motor rotating speed signal Spd to obtain the rotating speed jitter amount Spd _ jitter specifically comprises the following steps:
c1, acquiring the rotating speed fluctuation frequency according to the motor rotating speed signal Spd;
c2, designing the cut-off frequency of the LPF-HPF filter according to the rotating speed fluctuation frequency, wherein the cut-off frequency of the LPF filter is 7HZ, the cut-off frequency of the HPF filter is 5HZ, and the sampling period is set in the 500us interruption period;
c3, performing low-pass filtering on the motor rotating speed signal Spd through an LPF-HPF filter to obtain a stable speed signal without jitter;
c4, comparing the motor speed signal Spd with the stable speed signal which is obtained from C3 and does not contain the shaking amount, and obtaining the speed shaking amount with larger phase delay;
and C5, carrying out high-pass filtering on the rotation speed jitter amount with larger phase delay acquired in the C4 to obtain the rotation speed jitter amount Spd _ jitter with smaller distortion degree than the motor rotation speed signal Spd.
D. Acquiring a shake suppression compensation torque quantity Trq _ offset through a PD regulator according to the rotating speed shake quantity Spd _ jitter, and determining the proportion and differential parameters of the PD regulator by the on-line calibration of the whole vehicle;
E. obtaining a shake suppression compensation torque reduction coefficient Derating through a shake suppression entering exiting strategy according to the current running state data of the whole vehicle in the step a, as shown in fig. 2, specifically including:
e1, determining whether the Gear is the N Gear according to the Gear signal Gear, if Gear is equal to the N Gear, Derating is equal to 0, otherwise, if Gear is not equal to the N Gear, entering step E2;
e2, determining whether the entire vehicle shake suppression enable switch signal VCU _ shader _ enable is tune, if VCU _ shader _ enable is tune, Derating is 0, otherwise, if VCU _ shader _ enable is not tune, entering step E3;
e3, determining the motor feedback torque Trq _ Fbk, if the motor feedback torque Trq _ Fbk satisfies the condition ((Trq _ Fbk >100Nm) | (Trq _ Fbk < -15Nm)), then Derating is 0, otherwise, if the motor feedback torque Trq _ Fbk satisfies the condition ((Trq _ Fbk > -1Nm) | (Trq _ Fbk <90Nm)), then proceeding to step E4;
e4, judging the range of the motor speed signal Spd, if Spd <2500rpm, Derating is 1, if 2500rpm < Spd <5500rpm, Derating belongs to [0,1], if Spd >5500rpm, Derating is 0;
when 2500rpm < Spd <5500rpm, the specific value of Derating is known by a linear two-dimensional table lookup of motor speed signal Spd and VCU torque command.
F. The smoothed VCU torque command VCU _ Trq _ cmd2, the shake suppression compensation torque amount Trq _ offset, and the shake suppression compensation torque reduction coefficient Derating are calculated from the shake suppression torque command to obtain a torque command VCU _ MCU _ Trq to be applied to the drive motor, and the torque command VCU _ MCU _ Trq to be applied to the drive motor is calculated in the formula VCU _ MCU _ Trq ═ VCU _ Trq _ cmd2-Trq _ offset × Derating.
In order to verify the effectiveness of the method, the method carries out simulation experiments on the effect of the new energy automobile shake suppression control method based on LPF-HPF rotating speed filtering, and obtains the following results:
FIG. 3 is a diagram of a prior art control method for collecting vehicle shaking waveforms of vehicle starting or low-point stepping on the accelerator. As can be seen from FIG. 3, when the whole vehicle is started or an accelerator is stepped on at a low-speed point, the shaking amplitude of the rotating speed of the motor is large, and the body feeling is obvious;
FIG. 4 is a vehicle shake waveform collected after smoothing of VCU zero crossing torque commands only. As can be seen from FIG. 4, only the VCU zero crossing point torque instruction is subjected to smoothing processing, and when the working condition that the whole vehicle starts or the accelerator is stepped on at a low speed point is tested, the motor rotating speed shaking amplitude is improved, but the body feeling is still obvious;
fig. 5 shows the normal waveform of the whole vehicle acquired by the new energy vehicle shaking suppression control method using LPF-HPF rotational speed filtering, and as can be seen from fig. 5, the shaking problem of the whole vehicle during starting or stepping on the accelerator at a point can be effectively suppressed by the control method of the present invention, the body feeling is not obvious, and an ideal shaking suppression effect is basically realized.
Claims (7)
1. A new energy automobile shake suppression control method based on LPF-HPF rotation speed filtering is characterized by comprising the following steps:
A. acquiring current running state data of the whole vehicle, wherein the running state data comprises a motor rotating speed signal Spd, a Gear signal Gear, a whole vehicle shake suppression enabling switch signal VCU _ shuder _ enable, a motor feedback torque Trq _ Fbk and a VCU torque instruction VCU _ Trq _ cmd 1;
B. smoothing the VCU torque command VCU _ Trq _ cmd1 to obtain a smoothed VCU torque command VCU _ Trq _ cmd 2;
C. filtering the motor rotating speed signal Spd to obtain a rotating speed jitter amount Spd _ jitter;
D. acquiring a shake suppression compensation torque amount Trq _ offset through a PD regulator according to the rotating speed shake amount Spd _ jitter;
E. obtaining a shake-suppressing compensation torque reduction coefficient Derating through a shake-suppressing entry-exit strategy according to the current running state data of the whole vehicle in the step A;
F. the smoothed VCU torque command VCU _ Trq _ cmd2, the shake suppression compensation torque amount Trq _ offset, and the shake suppression compensation torque reduction coefficient Derating are calculated from the shake suppression torque command to obtain a torque command VCU _ MCU _ Trq applied to the drive motor.
2. The LPF-HPF speed filtering based shaking suppression control method for the new energy vehicle according to claim 1, wherein the step B of smoothing the VCU torque command VCU _ Trq _ cmd1 specifically includes:
according to the motor feedback torque Trq _ Fbk and the VCU torque instruction VCU _ Trq _ cmd1, the whole vehicle calibrates the zero-crossing point torque slope under different torque instructions required by the VCU, the calibration data is made into a two-dimensional table, different torque slope limits are made on different torque instructions at the VCU zero-crossing point in a table lookup mode, and the VCU zero-crossing point torque instruction is subjected to smoothing processing.
3. The LPF-HPF rotation speed filtering-based new energy automobile shake suppression control method according to claim 1, wherein the step C specifically comprises the following steps:
c1, acquiring the rotating speed fluctuation frequency according to the motor rotating speed signal Spd;
c2, designing the cut-off frequency of the LPF-HPF filter according to the rotation speed fluctuation frequency;
c3, performing low-pass filtering on the motor rotating speed signal Spd through an LPF-HPF filter to obtain a stable speed signal without jitter;
c4, comparing the motor speed signal Spd with the stable speed signal which is obtained from C3 and does not contain the shaking amount, and obtaining the speed shaking amount with larger phase delay;
and C5, carrying out high-pass filtering on the rotation speed jitter amount with larger phase delay acquired in the C4 to obtain the rotation speed jitter amount Spd _ jitter with smaller distortion degree than the motor rotation speed signal Spd.
4. The LPF-HPF rotating speed filtering-based new energy automobile shake suppression control method according to claim 1, wherein proportion and differential parameters of the PD regulator are confirmed by whole automobile on-line calibration.
5. The LPF-HPF rotation speed filtering-based new energy automobile shake suppression control method according to claim 1, wherein the step E specifically comprises the following steps:
e1, determining whether the Gear is the N Gear according to the Gear signal Gear, if Gear is equal to the N Gear, Derating is equal to 0, otherwise, if Gear is not equal to the N Gear, entering step E2;
e2, determining whether the entire vehicle shake suppression enable switch signal VCU _ shader _ enable is tune, if VCU _ shader _ enable is tune, Derating is 0, otherwise, if VCU _ shader _ enable is not tune, entering step E3;
e3, determining the motor feedback torque Trq _ Fbk, if the motor feedback torque Trq _ Fbk satisfies the condition ((Trq _ Fbk >100Nm) | (Trq _ Fbk < -15Nm)), then Derating is 0, otherwise, if the motor feedback torque Trq _ Fbk satisfies the condition ((Trq _ Fbk > -1Nm) | (Trq _ Fbk <90Nm)), then proceeding to step E4;
e4, determining the range of the motor speed signal Spd, if Spd <2500rpm, derrating is 1, if 2500rpm < Spd <5500rpm, derrating is ∈ [0,1], and if Spd >5500rpm, derrating is 0.
6. The LPF-HPF rotation speed filtering-based new energy automobile shake suppression control method according to claim 5, wherein in the step E4, when 2500rpm < Spd <5500rpm, the specific value of Derating is found by a linear two-dimensional table lookup of motor rotation speed signals Spd and VCU torque commands.
7. The LPF-HPF rpm filtering-based new energy vehicle vibration suppression control method according to claim 1, wherein in step F, the calculation formula of the torque command VCU _ MCU _ Trq applied to the driving motor is VCU _ MCU _ Trq ═ VCU _ Trq _ cmd2-Trq _ offset × degrading.
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| CN113954656B (en) * | 2021-10-27 | 2023-08-22 | 重庆金康赛力斯新能源汽车设计院有限公司 | Control method and device |
| CN114633635B (en) * | 2022-03-22 | 2023-08-22 | 苏州汇川联合动力***股份有限公司 | Motor control method, device, system and storage medium |
| CN117081441B (en) * | 2023-10-16 | 2024-02-23 | 潍柴新能源动力科技有限公司 | Control method and device of permanent magnet synchronous motor |
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