CN114161942B - Double-drive wheel-side switch reluctance motor driving system for miniature electric vehicle and control method - Google Patents

Double-drive wheel-side switch reluctance motor driving system for miniature electric vehicle and control method Download PDF

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Publication number
CN114161942B
CN114161942B CN202111400353.7A CN202111400353A CN114161942B CN 114161942 B CN114161942 B CN 114161942B CN 202111400353 A CN202111400353 A CN 202111400353A CN 114161942 B CN114161942 B CN 114161942B
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control
double
expected
motor
drive wheel
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CN114161942A (en
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李红伟
吴金城
胡其杰
明兴莹
亢庆林
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Southwest Petroleum University
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Southwest Petroleum University
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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
    • 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
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • 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
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0009—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • 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
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • 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
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • 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
    • 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
    • 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
    • B60L2240/425—Temperature
    • 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
    • B60L2240/429—Current
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

A double-drive wheel-side switch reluctance motor driving system for a miniature electric automobile belongs to the technical field of electric automobile driving, and comprises a main controller and two wheel-side motors; the main controller is responsible for electric energy conversion and control of a double-drive wheel-side switch reluctance motor, and the double-drive wheel-side switch reluctance motor provides power for the whole vehicle; the main controller comprises a main power unit, a DSP control unit, an electronic differential control unit and a peripheral circuit; the invention adopts the switch reluctance motor as the double-drive wheel-side motor, thereby effectively improving the energy efficiency of the whole vehicle; the electronic differential control system is adopted to effectively simplify the whole vehicle structure, so that the transmission efficiency is improved; the electronic differential system has the advantages that the total control and three-layer electronic differential control are adopted, the fault detection function is achieved, the electronic differential system is controlled more accurately, the whole system is safer, the actual vehicle running conditions can be met, and the electronic differential system has good innovation.

Description

Double-drive wheel-side switch reluctance motor driving system for miniature electric vehicle and control method
Technical Field
A double-drive wheel-side switch reluctance motor driving system and a control method for a miniature electric automobile belong to the technical field of electric automobile driving.
Background
The miniature electric automobile is one of the sustainable development research directions of the current electric automobile because of the advantages of energy conservation, environmental protection and miniature and small size. The wheel motor driving is an advanced automobile driving mode, and the traditional transmission structure is abandoned, so that the motor is directly connected with wheels through a speed reducer, the wheel motor driving device has strong technical advantages in the aspects of transmission efficiency, control performance and the like, and the energy conservation and emission reduction concepts are very well combined. Meanwhile, the traditional automobile motor control system mainly adopts an asynchronous motor and a permanent magnet synchronous motor as power driving, the traditional motor has the defects of large starting current, large impact on a battery, poor low-speed running performance and the like, the problems of poor climbing performance and large power consumption of the miniature electric automobile can be caused, the permanent magnet synchronous motor needs permanent magnet materials, has poor anti-seismic performance and is easily influenced by temperature, the danger of demagnetization caused by high temperature or occasional occurrence of short-circuit current exists, and the reliability is slightly low. The switch reluctance motor is used as a novel motor, has the advantages of small starting current, high starting torque, wide high-efficiency range, high power saving rate and the like, and is very suitable for the running working condition of the miniature electric automobile.
Disclosure of Invention
The invention aims to solve the problems of complex structure, high energy consumption and low reliability of a driving system of a miniature electric automobile, and designs a double-drive wheel-side switch reluctance motor driving system and a control method for the miniature electric automobile.
The aim of the invention can be achieved by the following technical scheme:
the double-drive wheel-side switch reluctance motor driving system for the miniature electric automobile is characterized by comprising a main controller and a double-drive wheel-side motor; the main controller comprises an electronic differential control unit, a DSP control unit, a main power unit, a signal acquisition unit and a peripheral circuit, and the double-drive wheel-side motor comprises two wheel-side switch reluctance motors.
The electronic differential control unit recalculates and sends the feedback signals sent by the signal acquisition unit to the DSP control unit to realize the control of the double-drive wheel-side motor so as to finish the actions of straight running, turning and the like of the whole vehicle;
specifically, the electronic differential control unit adopts a total control and three-layer control strategy, the electronic differential total control module can detect the fault condition of the double-drive wheel-side motor on line after obtaining the whole vehicle control signal, if no fault information exists, the whole vehicle control signal is transmitted to the upper layer control, if the fault condition exists, the whole vehicle control signal is blocked, the fault information is transmitted, and the machine is stopped in an alarm mode;
the upper control comprises a total driving torque calculation module (10) and a yaw moment related value calculation module, wherein the total driving torque calculation module calculates the expected total driving torque T of the vehicle through a whole vehicle control instruction m The yaw moment related value calculation module is used for obtaining the value Q, s related to the yaw moment related value calculation module, and then the upper layer is used for obtaining the value Q, s related to the yaw moment related value calculation moduleThe control transmits the calculation result to the middle layer control;
in the middle-layer control, a torque optimizing and distributing module is used for calculating the expected torque T of the left motor and the right motor A_req ，T B_req And a sliding mode approach law parameter K, wherein in order to improve the motor efficiency, the approach law parameter K and a yaw moment distribution parameter Q, s in a sliding mode control algorithm are used as real-time optimization variables, and a wheel center speed calculation module can calculate the expected yaw moment T in real time according to two values Q, s and the sliding mode approach law parameter K related to the expected yaw moment A_req ，T B_req Based on the Ackerman steering model considering the wheel slip angle and the expected yaw moment T A_req ，T B_req Finding the desired wheel center speeds V of the left and right rear wheels A_req ，V B_req The optimal left and right rear wheel desired wheel center speeds V A_req ，V B_req Transmitting to the lower layer control;
in the lower control, the motor expected rotation speed module is based on the expected torque T of the left and right motors A_req ，T B_req And a desired wheel center speed V A_req ，V B_req Calculating the expected rotation speed omega of the left and right rear wheels A_req ，ω B_req Then the current and rotating speed double closed-loop control module calculates and processes the current and rotating speed double closed-loop control module and transmits the current and rotating speed double closed-loop control module to the DSP control unit;
the control steps of the electronic differential control unit are as follows:
s1: the whole vehicle control instruction is transmitted to an electronic differential master control module of the electronic differential control unit;
s2: the electronic differential total control module detects fault information of the double-drive wheel-side motor, if no fault information exists, the whole vehicle control signal is transmitted to an upper control area, and if a fault condition exists, the whole vehicle control signal is blocked, the fault information is transmitted, and the machine is stopped in an alarm mode;
s3: the total driving torque calculation module of the upper control area calculates and obtains the expected total driving torque T of the vehicle according to the whole vehicle control instruction m The method comprises the steps of carrying out a first treatment on the surface of the Meanwhile, a yaw moment related numerical value calculation module calculates a vehicle state function value Q and a sliding mode switching function value s and transmits the vehicle state function value Q and the sliding mode switching function value s to a middle layer control area;
s4: middle layer controlThe torque optimizing and distributing module in the braking area calculates the expected torque T of the left motor and the right motor A_req ，T B_req The method comprises the steps of carrying out a first treatment on the surface of the Simultaneously, the wheel center speed calculation module calculates the expected wheel center speed V of the left and right rear wheels A_req ，V B_req Transmitting to the lower control layer;
s5: the motor expected rotating speed module of the lower control area is used for controlling the motor according to the expected torque T of the left motor and the right motor A_req ，T B_req Desired wheel center speed V of left and right rear wheels A_req ，V B_req Calculating the expected rotation speed omega of the left and right rear wheels A_req ，ω B_req And then the driving signals are transmitted to the current and rotating speed double closed-loop control module, and the current and rotating speed double closed-loop control module converts the driving signals into driving signals and transmits the driving signals to the DSP control unit.
The DSP control unit takes a TMS320F28335 as a core control chip, and controls the driving signals of twelve IGBT of the main power unit according to the processing signals of the signal acquisition unit and the electronic differential control signals;
the main power unit is composed of 12 IGBTs, filter capacitors, diodes and the like, and rectifies and converts the electric energy of the storage battery into the electric energy form required by the double-drive wheel motor according to the driving signals;
the signal acquisition unit is used for acquiring and processing the whole vehicle control signal, the main power unit driving control signal, the torque, the rotating speed, the current and the temperature signals of the double-drive wheel-side motor, and transmitting the processed information to the DSP control unit and the electronic differential control unit;
the double-drive wheel-side motor consists of two wheel-side switch reluctance motors, and the two motors are designed by adopting the same parameters and manufactured by the same process;
the control method of the double-drive wheel-side switch reluctance motor driving system for the miniature electric automobile comprises the following steps:
s1: starting a vehicle and a main controller;
s2: the whole vehicle control signal sends an execution command to the electronic differential control unit;
s3: the electronic differential control unit sends a control signal to the DSP control unit;
s4: the DSP control unit sends a driving signal to the main power unit;
s5: the main power unit provides electric energy for the double-drive wheel-side motor;
s6: the double-drive wheel motor drives the vehicle to run according to the whole vehicle control command;
s7: the double-drive wheel motor feeds back state information, and the state information is fed back to the electronic differential control unit and the DSP control unit through the signal acquisition unit, so that closed-loop control is realized.
Drawings
FIG. 1 is a block diagram of a dual-drive wheel-side switch reluctance motor driving system for a miniature electric vehicle according to the present invention;
FIG. 2 is a block diagram of an electronic differential control system of a dual-drive wheel-side switch reluctance motor driving system for a miniature electric vehicle.
In the figure: 1-a main controller; 2-an electronic differential control unit; a 3-DSP control unit; 4-a main power unit; 5-a signal acquisition processing unit; 6-peripheral circuitry; 7-a wheel-side switch reluctance motor A; 8-a wheel-side switch reluctance motor B; 9-a double-drive wheel motor; 10-a total driving torque calculation module; 11-a yaw moment related numerical calculation module; 12, a torque optimizing distribution module; 13-a wheel center speed calculation module; 14-a motor desired speed module; 15-a current rotating speed double closed-loop control module; and 16-an electronic differential master control module.
Detailed Description
For the convenience of those skilled in the art, the present invention will be further described with reference to the accompanying drawings
FIG. 1 is a block diagram of a dual-drive wheel-side switch reluctance motor driving system for a miniature electric vehicle according to the present invention. As can be seen from the figure: the whole system comprises a main controller (1) and a double-drive wheel-side motor (9); the main controller (1) comprises an electronic differential control unit (2), a DSP control unit (3), a main power unit (4), a signal acquisition unit (5) and a peripheral circuit (6), and the double-drive wheel-side motor (9) comprises two wheel-side switch reluctance motors (7) and (8). The main controller and the wheel side switch reluctance motor are provided with strong electric connection and weak electric signal connection.
The electronic differential control unit (2) recalculates and sends the feedback signals sent by the signal acquisition unit (5) to the DSP control unit (3) to realize the control of the double-drive wheel-side motor (9) so as to finish the actions of straight running, turning and the like of the whole vehicle;
the DSP control unit (3) takes a TMS320F28335 as a core control chip, and controls the driving signals of twelve IGBT of the main power unit (4) according to the processing signals of the signal acquisition unit and the electronic differential control signals;
the main power unit (4) is composed of 12 IGBT, filter capacitor, diode and the like, and rectifies and converts the electric energy of the storage battery into the electric energy form required by the double-drive wheel-side motor (9) according to the driving signal;
the signal acquisition unit (5) is used for acquiring and processing a whole vehicle control signal, a main power unit (4) driving control signal and a torque, a rotating speed, a current and a temperature signal of the double-drive wheel-side motor (9), and transmitting the processed information to the DSP control unit (3) and the electronic differential control unit (4);
the double-drive wheel-side motor (9) consists of two wheel-side switch reluctance motors (7) and (8), and the two motors are manufactured by adopting the same parameter design and the same process; the control method comprises the following steps:
s1: a vehicle start-up and start-up main controller (1);
s2: the whole vehicle control signal sends an execution command to the electronic differential control unit (2);
s3: the electronic differential control unit (2) sends a control signal to the DSP control unit (3);
s4: the DSP control unit (3) sends a driving signal to the main power unit (4);
s5: the main power unit (4) supplies electric energy to the double-drive wheel-side motor (9);
s6: the double-drive wheel-side motor (9) drives the vehicle to run according to the whole vehicle control command;
s7: the double-drive wheel-side motor (9) feeds back state information and feeds back the state information to the electronic differential control unit (2) and the DSP control unit (3) through the signal acquisition unit (5) to realize closed-loop control.
FIG. 2 is a block diagram of an electronic differential control system of a dual-drive wheel-side switch reluctance motor driving system for a miniature electric vehicle. As can be seen from the figures: the electronic differential control unit (2) adopts a total control and three-layer control strategy, the electronic differential total control module (16) can detect the fault condition of the double-drive wheel-side motor (9) on line after obtaining the whole vehicle control signal, if no fault information exists, the whole vehicle control signal is transmitted to the upper layer control, if the fault condition exists, the whole vehicle control signal is blocked, the fault information is transmitted, and the machine is stopped in an alarm mode;
the upper control comprises a total driving torque calculation module (10) and a yaw moment related value calculation module (11), wherein the total driving torque calculation module (10) calculates the expected total driving torque T of the vehicle through a whole vehicle control instruction m The yaw moment related value calculation module (11) is used for calculating the values Q and s related to the yaw moment related value calculation module, and then the upper control transmits the calculation result to the middle control;
in the middle layer control, a torque optimizing and distributing module (12) is used for calculating the expected torque T of the left motor and the right motor A_req ，T B_req And a slip form approach law parameter K, wherein in order to improve the motor efficiency, the approach law parameter K and a yaw moment distribution parameter Q, s in a slip form control algorithm are used as real-time optimization variables, and a wheel center speed calculation module (13) can calculate the expected yaw moment T in real time according to two values Q, s and the slip form approach law parameter K related to the expected yaw moment A_req ，T B_req Based on the Ackerman steering model considering the wheel slip angle and the expected yaw moment T A_req ，T B_req Finding the desired wheel center speeds V of the left and right rear wheels A_req ，V B_req The optimal left and right rear wheel desired wheel center speeds V A_req ，V B_req Transmitting to the lower layer control;
in the lower control, a motor expected rotation speed module (14) is used for controlling the expected torque T of the left motor and the right motor A_req ，T B_req Desired wheel center speed V of left and right rear wheels A_req ，V B_req Calculating the expected rotation speed omega of the left and right rear wheels A_req ，ω B_req And then the driving signals are transmitted to the current and rotating speed double closed-loop control module (15), and the current and rotating speed double closed-loop control module (15) converts the driving signals into driving signals and transmits the driving signals to the DSP control unit (3).
The control steps of the electronic differential control unit (2) are as follows:
s1: the control command of the whole vehicle is transmitted to an electronic differential master control module (16) of the electronic differential control unit (2);
s2: the electronic differential total control module (16) detects fault information of the double-drive wheel-side motor, if no fault information exists, the whole vehicle control signal is transmitted to an upper control area, and if a fault condition exists, the whole vehicle control signal is blocked, the fault information is transmitted, and the machine is stopped in an alarm mode;
s3: the total driving torque calculation module (10) of the upper control area calculates and obtains the expected total driving torque T of the vehicle according to the whole vehicle control instruction m The method comprises the steps of carrying out a first treatment on the surface of the Meanwhile, a yaw moment related numerical value calculation module (11) calculates a vehicle state function value Q and a sliding mode switching function value s and transmits the vehicle state function value Q and the sliding mode switching function value s to a middle-layer control area;
s4: the torque optimizing and distributing module (12) of the middle layer control area calculates the expected torque T of the left motor and the right motor A_req ，T B_req The method comprises the steps of carrying out a first treatment on the surface of the Simultaneously, a wheel center speed calculation module (13) calculates the expected wheel center speed V of the left and right rear wheels A_req ，V B_req Transmitting to the lower control layer;
s5: the motor expected rotating speed module (14) of the lower control area is based on the expected torque T of the left and right motors A_req ，T B_req Desired wheel center speed V of left and right rear wheels A_req ，V B_req Calculating the expected rotation speed omega of the left and right rear wheels A_req ，ω B_req And then the driving signals are transmitted to the current and rotating speed double closed-loop control module (15), and the current and rotating speed double closed-loop control module (15) converts the driving signals into driving signals and transmits the driving signals to the DSP control unit (3).

Claims (6)

1. The double-drive wheel-side switch reluctance motor driving system for the miniature electric automobile is characterized by comprising a main controller (1) and a double-drive wheel-side motor (9); the main controller (1) comprises an electronic differential control unit (2), a DSP control unit (3), a main power unit (4), a signal acquisition unit (5) and a peripheral circuit (6), and the double-drive wheel-side motor (9) comprises two wheel-side switch reluctance motors (7) and (8);
the electronic differential control unit (2) recalculates and sends the feedback signal sent by the signal acquisition unit (5) to the DSP control unit (3) to realize the control of the double-drive wheel-side motor (9) so as to finish the straight running and turning behaviors of the whole vehicle;
specifically, the electronic differential control unit (2) adopts a total control and three-layer control strategy, the electronic differential total control module (16) can detect the fault condition of the double-drive wheel-side motor (9) on line after obtaining the whole vehicle control signal, if no fault information exists, the whole vehicle control signal is transmitted to the upper layer control, and if the fault condition exists, the whole vehicle control signal is blocked, the fault information is transmitted and the machine is stopped in an alarm mode;
the upper control comprises a total driving torque calculation module (10) and a yaw moment related value calculation module (11), wherein the total driving torque calculation module (10) calculates the expected total driving torque of the vehicle through a whole vehicle control instruction, the yaw moment related value calculation module (11) is used for calculating a value related to the expected total driving torque, and then the upper control transmits a calculation result to the middle control;
in middle-layer control, a torque optimization distribution module (12) is used for calculating expected torques and sliding mode approach law parameters of a left motor and a right motor, in order to improve motor efficiency, the approach law parameters and the yaw moment distribution parameters in a sliding mode control algorithm are used as real-time optimization variables, a wheel center speed calculation module (13) can calculate expected yaw moment in real time according to two values related to the expected yaw moment and the sliding mode approach law parameters, and then expected wheel center speeds of a left rear wheel and a right rear wheel are calculated based on an Ackerman steering model considering a wheel side angle and the expected yaw moment, and then the optimal expected wheel center speeds of the left rear wheel and the right rear wheel are transmitted to lower-layer control;
in lower control, a motor expected rotating speed module (14) calculates expected rotating speeds of a left rear wheel and a right rear wheel according to expected torque of the left motor and expected torque of the right motor, expected wheel center speeds of the left rear wheel and the right rear wheel, the expected rotating speeds are transmitted to a current rotating speed double closed-loop control module (15), and the current rotating speed double closed-loop control module (15) converts the expected rotating speeds into driving signals and transmits the driving signals to a DSP control unit (3);
the control steps of the electronic differential control unit (2) are as follows:
s1, transmitting a whole vehicle control instruction to an electronic differential master control module (16) of an electronic differential control unit (2);
s2, an electronic differential total control module (16) detects fault information of a double-drive wheel-side motor, if no fault information exists, a whole vehicle control signal is transmitted to an upper control area, if a fault condition exists, the whole vehicle control signal is blocked, the fault information is transmitted, and an alarm is given out;
s3, a total driving torque calculation module (10) of the upper control area calculates the expected total driving torque of the vehicle according to the whole vehicle control instruction; meanwhile, a yaw moment related numerical value calculation module (11) calculates a vehicle state function value and a sliding mode switching function value, and transmits the vehicle state function value and the sliding mode switching function value to a middle layer control area;
s4, calculating to obtain expected torques of the left motor and the right motor by a torque optimizing and distributing module (12) of the middle layer control area; meanwhile, a wheel center speed calculation module (13) calculates the expected wheel center speeds of the left and right rear wheels and transmits the expected wheel center speeds to the lower control;
s5, a motor expected rotating speed module (14) of the lower control area calculates expected rotating speeds of the left rear wheel and the right rear wheel according to expected torque of the left motor and expected wheel center speeds of the right motor and expected wheel center speeds of the left rear wheel and the right rear wheel, and then the expected rotating speeds are transmitted to a current rotating speed double closed-loop control module (15), and the current rotating speed double closed-loop control module (15) converts the expected rotating speeds into driving signals and transmits the driving signals to the DSP control unit (3).
2. The driving system of the double-drive wheel-side switch reluctance motor for the miniature electric automobile according to claim 1, wherein the DSP control unit (3) takes a piece of TMS320F28335 as a core control chip, and controls driving signals of twelve IGBTs of the main power unit (4) according to processing signals of the signal acquisition unit and electronic differential control signals.
3. The driving system of the double-drive wheel-side switch reluctance motor for the miniature electric automobile according to claim 1, wherein the main power unit (4) is composed of 12 IGBTs, a filter capacitor and a diode, and the electric energy of the storage battery is rectified and converted into the electric energy form required by the double-drive wheel-side motor (9) according to driving signals.
4. The driving system of the double-drive wheel-side switch reluctance motor for the miniature electric automobile according to claim 1, wherein the signal acquisition unit (5) is used for acquiring and processing a whole vehicle control signal, a main power unit (4) driving control signal and torque, rotating speed, current and temperature signals of the double-drive wheel-side motor (9), and transmitting the processed information to the DSP control unit (3) and the electronic differential control unit (2).
5. The driving system of the double-drive wheel-side switch reluctance motor for the miniature electric automobile according to claim 1, wherein the double-drive wheel-side motor (9) consists of two wheel-side switch reluctance motors (7) and (8), and the two motors are designed by adopting the same parameter and manufactured by the same process.
6. The overall control method of the double-drive wheel-side switch reluctance motor driving system for the miniature electric automobile according to claim 1 comprises the following steps:
s1: a vehicle start-up and start-up main controller (1);
s2: the whole vehicle control signal sends an execution command to the electronic differential control unit (2);
s3: the electronic differential control unit (2) sends a control signal to the DSP control unit (3);
s4: the DSP control unit (3) sends a driving signal to the main power unit (4);
s5: the main power unit (4) supplies electric energy to the double-drive wheel-side motor (9);
s6: the double-drive wheel-side motor (9) drives the vehicle to run according to the whole vehicle control command;
s7: the double-drive wheel-side motor (9) feeds back state information and feeds back the state information to the electronic differential control unit (2) and the DSP control unit (3) through the signal acquisition unit (5) to realize closed-loop control.
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CN201472131U (en) * 2009-04-09 2010-05-19 唐山亿威永磁电机有限公司 Electric automobile driven by dual wheel rims

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