CN114454729B - Vehicle acceleration limiting method and system - Google Patents
Vehicle acceleration limiting method and system Download PDFInfo
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- CN114454729B CN114454729B CN202210186767.2A CN202210186767A CN114454729B CN 114454729 B CN114454729 B CN 114454729B CN 202210186767 A CN202210186767 A CN 202210186767A CN 114454729 B CN114454729 B CN 114454729B
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- 230000001133 acceleration Effects 0.000 title claims abstract description 118
- 230000000670 limiting effect Effects 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000009466 transformation Effects 0.000 claims description 15
- 230000008054 signal transmission Effects 0.000 claims description 10
- 238000005070 sampling Methods 0.000 claims description 5
- 230000009977 dual effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a vehicle acceleration limiting method and system, which are based on the conventional speed-current double-loop control, wherein an acceleration control loop is connected in parallel to a speed loop, and the input quantity of the acceleration control loop is an acceleration limiting instruction value which changes along with the speed change and an acceleration observation value output by an extended state observer, and the acceleration limiting instruction value and the acceleration observation value output by an extended state observer are output as correction values of a Q-axis current instruction. When the acceleration observation is less than the acceleration limit, the acceleration control loop is disabled; when the acceleration observation value is larger than the limit value, the acceleration control loop starts closed-loop adjustment, the Q-axis current instruction value is adjusted in real time according to different rotating speed working conditions, and abstract limit conditions are more embodied by limiting the acceleration. The acceleration is limited, and the limiting effect of the maximum current is ensured. And in the dimension of driving feeling, the efficiency of vehicle performance calibration is improved.
Description
Technical Field
The invention relates to the technical field of industrial vehicles, in particular to a vehicle acceleration limiting method and system.
Background
In industrial vehicle applications, for the purposes of hardware life and safety, customer requirements, etc., there are generally the following requirements: 1, limiting the maximum current of the motor during operation, and meeting the consideration of hardware life and safety; 2 limiting the maximum loading speed of full load by limiting the maximum current of each rotating speed point; 3, reducing high-speed weak magnetic pressure by limiting the maximum current of the Q axis of each rotating speed point, and preventing the system from being out of control due to voltage saturation during deep weak magnetic; for off-road industrial vehicle applications, a dual closed loop control system of rotational speed and current requires current limiting to meet the above objectives. At present, a current limiting method conventionally applied to the field of industrial vehicles is BPC current curve limiting, and the above object is achieved by a method of directly limiting current. Although the method can meet the requirements, there is still room for optimization and improvement, and table lookup is performed according to the feedback real-time rotation speed. And obtaining a limiting value of the current at each rotating speed through a rotating speed-current correspondence table, limiting the amplitude of the output Iq value according to the current limiting, and directly limiting the current of each rotating speed section. However, the current curve is used as a limitation, the physical relationship is not direct enough, and it is difficult to combine the current limitation with the driving experience. From the motor kinematics equation, it can be seen that the acceleration= (electromagnetic torque-load torque-friction torque)/moment of inertia, from the viewpoint of driving feel, the variable with the highest experience correlation is acceleration, and the limiting method and the basis are not directly embodied in a conventional double-loop control loop. The conventional method for directly limiting the current makes the driving feel difficult to consider when the parameter is calibrated, and the calibration efficiency is not high enough.
Therefore, it has been a considerable problem to provide a vehicle acceleration limiting method and system that is intuitive, efficient and from the standpoint of driving experience, and limits the motor operating current at various operating points.
Disclosure of Invention
The invention aims to provide a vehicle acceleration limiting method and a vehicle acceleration limiting system for limiting motor running current at each working point from the viewpoint of visual and effective driving experience.
The purpose of the invention is realized in the following way:
a vehicle acceleration limiting method comprising the steps of: step 1: an acceleration control loop is connected in parallel with the existing conventional rotating speed-current double closed-loop control loop in the motor controller to form a motor controller circuit; step 2: setting a speed-acceleration limit curve according to the motor controller circuit in step 1; step 3: according to the speed-acceleration limiting curve obtained in the step 2, taking the actual rotating speed of the motor as an input quantity, looking up a table to obtain a required acceleration limiting instruction, and inputting the required acceleration limiting instruction as an instruction of an acceleration control loop; step 4: an extended state observer of the acceleration control loop obtains an acceleration observation value according to the actual rotating speed of the motor, and the acceleration observation value is input into the acceleration control loop and is used as feedback input of the acceleration control loop; step 5: the acceleration control loop is adjusted according to the acceleration observation value; step 6: the output of the acceleration control loop regulator is used as a correction value for the Q-axis current for current limiting.
In the step 4, when the acceleration observed value is smaller than the acceleration limit value, the acceleration control loop is not active; when the acceleration observation is greater than the limit, the acceleration control loop begins closed loop adjustment.
The industrial vehicle acceleration limiting system comprises an existing conventional rotating speed-current double closed-loop control loop which is positioned in a controller, and an acceleration control loop which is connected with the existing conventional rotating speed-current double closed-loop control loop in parallel, wherein the acceleration control loop comprises a PI regulator, a table look-up curve and an extended state observer, and one ends of the table look-up curve, the PI regulator and the extended state observer are connected with the existing conventional rotating speed-current double closed-loop control loop.
In the conventional rotating speed-current double closed-loop control system, an accelerator and an accelerator pedal send out rotating speed instructions to a controller; after receiving the rotating speed instruction, the controller makes a difference with the actual rotating speed and then sends the difference to the PI regulator, and a speed closed loop is constructed to obtain current instructions of the D axis and the Q axis; the actual rotation speed is obtained by a speed calculation module of the encoder pulse signal transmission software; an acceleration limiting loop is incorporated. Acquiring the rotating speed information, and looking up a table corresponding to a rotating speed-acceleration offline table to obtain an acceleration limiting instruction value corresponding to the rotating speed, wherein the actual acceleration value of an acceleration control loop is obtained by a state observer; when the actual value of the acceleration is smaller than the limit command value, the acceleration control loop is not active; when the output value is larger than the command value, the acceleration control loop is adjusted, and the output value of the acceleration control loop is taken as a loop adjustment value of the Q-axis command current. After obtaining a D, Q shaft current command value, feeding the value into a PI regulator after making a difference with actual current feedback, and constructing a current closed loop; the actual current feedback is obtained by sampling by a Hall current sensor and then carrying out coordinate transformation; the command from the current loop regulator is sent to the SVPWM modulation module to generate PWM pulse after coordinate transformation; the angle used for coordinate transformation is obtained by an angle calculation module of the encoder pulse signal transmission software; PWM pulse acts on the hardware power module to drive the IGBT to be switched on and off, and the motor is controlled to operate.
The beneficial effects of the invention are as follows: the invention starts from the acceleration dimension, achieves the current limiting effect by controlling the variable which is the strongest in relation to the driving feeling, and simultaneously ensures the rationality and the optimal efficiency of calibration.
Drawings
FIG. 1 is a circuit diagram of a conventional speed-current dual closed-loop control loop in a motor controller;
fig. 2 is a circuit diagram of a motor controller according to the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
A vehicle acceleration limiting method comprising the steps of: step 1: an acceleration control loop is connected in parallel with the existing conventional rotating speed-current double closed-loop control loop in the motor controller to form a motor controller circuit; as shown in fig. 1, the conventional rotating speed-current double closed-loop control loop comprises an accelerator and an accelerator pedal, wherein the accelerator pedal sends out a rotating speed command to a controller; after receiving the rotating speed instruction, the controller makes a difference with the actual rotating speed and then sends the difference to the PI regulator, and a speed closed loop is constructed to obtain current instructions of the D axis and the Q axis; the actual rotation speed is obtained by a speed calculation module of the encoder pulse signal transmission software; D. the Q-axis current instruction and the actual current feedback are fed into a PI regulator after being subjected to difference, and a current closed loop is constructed; the actual current feedback is obtained by sampling by a Hall current sensor and then carrying out coordinate transformation; the command from the current loop regulator is sent to the SVPWM modulation module to generate PWM pulse after coordinate transformation; the angle used for coordinate transformation is obtained by an angle calculation module of the encoder pulse signal transmission software; PWM pulse acts on the hardware power module to drive the IGBT to be switched on and off, and the motor is controlled to operate.
As shown in fig. 2, the acceleration control loop includes a PI regulator, a table look-up curve, and an extended state observer, where the table look-up curve, the PI regulator, and the other end of the extended state observer are connected with the existing conventional rotating speed-current dual closed loop control loop, and the table look-up curve is obtained by an engineer on site according to the driving experience and experience of the customer, and then a program is recorded for table look-up. The look-up table curve is used for outputting corresponding acceleration instruction values according to the current vehicle speed.
Step 2: according to the motor controller circuit in step 1, a speed-acceleration limit curve is set, which is a curve of the rotational speed and the acceleration. The curve is obtained by testing and calibrating on site according to experience and experience of a customer.
Step 3: and (3) according to the speed-acceleration limiting curve obtained in the step (2), taking the actual rotating speed of the motor as an input quantity, and looking up a table to obtain a required acceleration limiting instruction which is used as an instruction input of an acceleration control loop.
Step 4: an extended state observer of the acceleration control loop obtains an acceleration observation value according to the actual rotating speed of the motor, and the acceleration observation value is input into the acceleration control loop and is used as feedback input of the acceleration control loop; when the acceleration observation is less than the acceleration limit, the acceleration control loop is disabled; when the acceleration observation is greater than the limit, the acceleration control loop begins closed loop adjustment.
Step 5: the acceleration control loop adjusts based on the acceleration observations.
Step 6: the output of the acceleration control loop regulator is used as a correction value of the Q-axis current for current limitation, and the abstract limitation condition is more represented by limiting the acceleration. The acceleration is limited, and the limiting effect of the maximum current is ensured. And in the dimension of driving feeling, the efficiency of vehicle performance calibration is improved.
As shown in fig. 1 and 2, the vehicle acceleration limiting system comprises an existing conventional rotating speed-current double closed-loop control loop which is positioned in a controller, and an acceleration control loop which is connected with the existing conventional rotating speed-current double closed-loop control loop in parallel, wherein the acceleration control loop comprises a PI regulator, a table look-up curve and an extended state observer, and the other ends of the table look-up curve, the PI regulator and the extended state observer are connected with the existing conventional rotating speed-current double closed-loop control loop, and a rotating speed instruction is sent to the controller by an accelerator and an accelerator pedal in the existing conventional rotating speed-current double closed-loop control system; after receiving the rotating speed instruction, the controller makes a difference with the actual rotating speed and then sends the difference to the PI regulator, and a speed closed loop is constructed to obtain current instructions of the D axis and the Q axis; the actual rotation speed is obtained by a speed calculation module of the encoder pulse signal transmission software; an acceleration limiting loop is incorporated. Acquiring the rotating speed information, and looking up a table corresponding to a rotating speed-acceleration offline table to obtain an acceleration limiting instruction value corresponding to the rotating speed, wherein the actual acceleration value of an acceleration control loop is obtained by a state observer; when the actual value of the acceleration is smaller than the limit command value, the acceleration control loop is not active; when the output value is larger than the command value, the acceleration control loop is adjusted, and the output value of the acceleration control loop is taken as a loop adjustment value of the Q-axis command current. After obtaining a D, Q shaft current command value, feeding the value into a PI regulator after making a difference with actual current feedback, and constructing a current closed loop; the actual current feedback is obtained by sampling by a Hall current sensor and then carrying out coordinate transformation; the command from the current loop regulator is sent to the SVPWM modulation module to generate PWM pulse after coordinate transformation; the angle used for coordinate transformation is obtained by an angle calculation module of the encoder pulse signal transmission software; PWM pulse acts on the hardware power module to drive the IGBT to be switched on and off, and the motor is controlled to operate.
The table look-up curve is obtained by testing and calibrating an engineer on site according to the driving experience and experience of a customer, and then a program is input for table look-up. The look-up table curve is used for outputting corresponding acceleration instruction values according to the current vehicle speed. The conventional rotating speed-current double closed-loop control loop comprises an accelerator and an accelerator pedal, wherein the accelerator pedal sends out a rotating speed instruction to a controller; after receiving the rotating speed instruction, the controller makes a difference with the actual rotating speed and then sends the difference to the PI regulator, and a speed closed loop is constructed to obtain current instructions of the D axis and the Q axis; the actual rotation speed is obtained by a speed calculation module of the encoder pulse signal transmission software; D. the Q-axis current instruction and the actual current feedback are fed into a PI regulator after being subjected to difference, and a current closed loop is constructed; the actual current feedback is obtained by sampling by a Hall current sensor and then carrying out coordinate transformation; the command from the current loop regulator is sent to the SVPWM modulation module to generate PWM pulse after coordinate transformation; the angle used for coordinate transformation is obtained by an angle calculation module of the encoder pulse signal transmission software; PWM pulse acts on the hardware power module to drive the IGBT to be switched on and off, and the motor is controlled to operate.
On the basis of the conventional speed-current double-loop control, an acceleration control loop is connected in parallel to a speed loop, and the input quantity of the acceleration control loop is an acceleration limit instruction value which changes along with the speed change and an acceleration observation value which is output by an extended state observer and is output as a correction value of a Q-axis current instruction. When the acceleration observation is less than the acceleration limit, the acceleration control loop is disabled; when the acceleration observation value is larger than the limit value, the acceleration control loop starts closed-loop adjustment, the Q-axis current instruction value is adjusted in real time according to different rotating speed working conditions, and abstract limit conditions are more embodied by limiting the acceleration. The acceleration is limited, and the limiting effect of the maximum current is ensured. And in the dimension of driving feeling, the efficiency of vehicle performance calibration is improved.
The invention starts from the acceleration dimension, achieves the current limiting effect by controlling the variable which is the strongest in relation to the driving feeling, and simultaneously ensures the rationality and the optimal efficiency of calibration.
Claims (1)
1. The vehicle acceleration limiting method is characterized in that: the method comprises the following steps:
step 1: an acceleration control loop is connected in parallel with the existing conventional rotating speed-current double closed-loop control loop in the motor controller to form a motor controller circuit;
step 2: setting a speed-acceleration limit curve according to the motor controller circuit in step 1;
step 3: according to the speed-acceleration limiting curve obtained in the step 2, taking the actual rotating speed of the motor as an input quantity, looking up a table to obtain a required acceleration limiting instruction, and inputting the required acceleration limiting instruction as an instruction of an acceleration control loop;
step 4: an extended state observer of the acceleration control loop obtains an acceleration observation value according to the actual rotating speed of the motor, and the acceleration observation value is input into the acceleration control loop and is used as feedback input of the acceleration control loop;
step 5: the acceleration control loop is adjusted according to the acceleration observation value;
step 6: the output of the acceleration control loop regulator is used as a correction value of the Q-axis current for limiting the current;
the conventional rotating speed-current double closed-loop control loop comprises an accelerator and an accelerator pedal, wherein the accelerator pedal sends out a rotating speed instruction to a controller; after receiving the rotating speed instruction, the controller makes a difference with the actual rotating speed and then sends the difference to the PI regulator, and a speed closed loop is constructed to obtain current instructions of the D axis and the Q axis; the actual rotation speed is obtained by a speed calculation module of the encoder pulse signal transmission software; D. the Q-axis current instruction and the actual current feedback are fed into a PI regulator after being subjected to difference, and a current closed loop is constructed; the actual current feedback is obtained by sampling by a Hall current sensor and then carrying out coordinate transformation; the command from the current loop regulator is sent to the SVPWM modulation module to generate PWM pulse after coordinate transformation; the angle used for coordinate transformation is obtained by an angle calculation module of the encoder pulse signal transmission software; PWM pulse acts on the hardware power module to drive the IGBT to be switched on and off and control the motor to operate;
the acceleration control loop comprises a PI regulator, a table look-up curve and an extended state observer, wherein the other ends of the table look-up curve, the PI regulator and the extended state observer are connected with the conventional rotating speed-current double closed-loop control loop, and the table look-up curve is used for outputting corresponding acceleration instruction values according to the current speed;
in the step 4, when the acceleration observed value is smaller than the acceleration limit value, the acceleration control loop is not active; when the acceleration observation is greater than the limit, the acceleration control loop begins closed loop adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210186767.2A CN114454729B (en) | 2022-02-28 | 2022-02-28 | Vehicle acceleration limiting method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210186767.2A CN114454729B (en) | 2022-02-28 | 2022-02-28 | Vehicle acceleration limiting method and system |
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| Publication Number | Publication Date |
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| CN114454729A CN114454729A (en) | 2022-05-10 |
| CN114454729B true CN114454729B (en) | 2024-01-23 |
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| CN202210186767.2A Active CN114454729B (en) | 2022-02-28 | 2022-02-28 | Vehicle acceleration limiting method and system |
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| CN (1) | CN114454729B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115805820A (en) * | 2022-12-07 | 2023-03-17 | 中车大连机车车辆有限公司 | Speed control method of alternating current transmission locomotive |
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| CN114454729A (en) | 2022-05-10 |
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