阅读说明：本技术 一种电动汽车主动防抖控制方法及系统 (Active anti-shake control method and system for electric automobile ) 是由 杨晓红 于 2021-08-27 设计创作，主要内容包括：本发明公开了一种电动汽车主动防抖控制方法及系统,所述方法主要为：系统检测整车相关参数,判断是否进入主动防抖功能,通过滤波模块与阻尼控制用来处理车辆在各种工况下转速的波动或转速变化导致的震荡,通过标定参数调取相应的滤波参数值来完成相应的控制,使得电机输出转速趋于目标转速；所述系统主要包括滤波控制模块和阻尼控制模块。本发明解决了车辆在多种工况下的使用一套参数的情况,使得系统在应对各种场景下的扭矩突变都能有很好的控制效果,提升了系统的鲁棒性；本发明对两种典型工况精确控制,降低了整车抖动,保证了整车控制的平顺性,提升了车辆的乘坐舒适感。(The invention discloses an active anti-shake control method and system for an electric automobile, wherein the method mainly comprises the following steps: the system detects the relevant parameters of the whole vehicle, judges whether the vehicle enters an active anti-shake function, processes the vibration caused by the fluctuation of the rotating speed or the change of the rotating speed of the vehicle under various working conditions through the filtering module and the damping control, and finishes the corresponding control by calling the corresponding filtering parameter value through the calibration parameter, so that the rotating speed output by the motor tends to the target rotating speed; the system mainly comprises a filtering control module and a damping control module. The invention solves the problem that the vehicle uses a set of parameters under various working conditions, so that the system has good control effect on the torque sudden change under various scenes, and the robustness of the system is improved; the invention accurately controls two typical working conditions, reduces the shaking of the whole vehicle, ensures the smoothness of the control of the whole vehicle and improves the riding comfort of the vehicle.)

1. An active anti-shake control method for an electric vehicle is characterized by comprising the following processes:

the method comprises the steps that the current rotating speed of a driving motor is collected through a rotating speed sensor of a rotary transformer installed in an electric driving system and is transmitted to a damping module in a disturbance controller, control torque is output, and finally corrected damping torque is output through relevant limitation on the torque;

the disturbance controller evaluates the existing system requirements and the current vehicle state through the data of each sensor and the motor state, judges whether to enter an active anti-shake damping mode, selects proper setting parameters and provides the parameters to a damping module of the disturbance controller;

the torque transmitted by the ECU of the whole vehicle on the vehicle is transmitted to the filtering module of the filtering controller;

the filtering controller evaluates the existing system requirements and the current vehicle state through the data of each sensor and the motor state, judges whether to enter an active anti-shake filtering mode, selects proper setting parameters, provides the appropriate setting parameters for a filtering module of the filtering controller, outputs control torque, limits the torque to the damping control of the load sudden change working condition, and finally outputs correction filtering control torque;

the difference between the modified damping control torque and the modified filtered control torque is added to the torque request as the requested torque for the electric drive as a final modified torque.

2. The active anti-shake control method for the electric vehicle according to claim 1, wherein the sensors include a vehicle speed sensor, a motor position sensor, and an accelerator pedal sensor.

3. The active anti-shake control method for the electric vehicle according to claim 1, wherein the criteria for determining whether to enter the active anti-shake damping mode are as follows: when the vehicle speed is lower than or higher than a given threshold value, or the rotating speed changes, the torque demand change is smaller than a calibration threshold value, or the motor does not work in a normal state, the damping mode is not started; otherwise, enter damping mode.

4. The active anti-shake control method for the electric vehicle according to claim 1, wherein the setting of the parameters is determined by the Bode diagram of the frequency response through the disturbance controller based on the frequency response measurement, which needs to obtain the phase at the jitter frequency and the gain at the cut-off frequency, wherein the phase at the cut-off frequency is-180 °, and the related parameter determination of the disturbance controller in the frequency range is obtained by the following formula:

Kd≤1/K*(1+(4π²·f_{critical point of} ²·T₁ ²)/(4π²·f_{Critical point of} ²·10^A/20)^(1/2)

Wherein, K: the system coefficient is generally 3-3.5; a: system gain for critical conditions; f. of_{Critical point of}: a cut-off frequency;the phase angle of the phase frequency characteristic curve;

and then, making a map within different ranges of the motor rotating speed and the working condition of the accelerator pedal to form a parameter library of disturbance control.

5. The active anti-shake control method for the electric vehicle according to claim 1, wherein the criteria for determining whether to enter the active anti-shake filtering mode are as follows: when the vehicle speed is lower than or higher than a given threshold value, or the rotating speed changes, the torque demand changes and is smaller than a calibration threshold value, or the motor does not work in a normal state, the filtering mode is not entered; otherwise, the filtering mode is entered.

6. The active anti-shake control system of the electric automobile is characterized by comprising a filtering control module and a damping control module, wherein the damping control module is used for processing the change control of the rotating speed when the external input torque is increased or decreased, corresponding filtering parameter values are called through calibration parameters to complete corresponding control, the difference between the filtering parameter values and the calibration parameters is input to an electric drive system, and the filtering parameter values and the calibration parameters are continuously adjusted through a speed closed loop, so that the output rotating speed of a motor tends to a target rotating speed; the filtering control module has the function of filtering the rotation speed fluctuation of the vehicle in a steady state by using a filter so as to keep the output rotation speed stable.

7. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the active anti-shake control method for an electric vehicle according to any one of claims 1-5.

8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the active anti-shake control method for an electric vehicle according to any one of claims 1-5 when executing the computer program.

Technical Field

The invention relates to an electric automobile, in particular to an active anti-shake control method and system for the electric automobile.

Background

Compared with the traditional fuel vehicle engine power and transmission system, a torsional damping shock absorber on the traditional diesel locomotive is not arranged between the EDS of the new energy vehicle and the wheels of the vehicle, so that the vibration on the electric drive assembly and the transmission system cannot be effectively blocked and absorbed, the electric drive assembly and the transmission system are directly coupled to the whole vehicle body through an assembly shell, a suspension and other components, and the vibration of the whole vehicle is further caused. In addition, experiments show that: the system formed by the motor drive and the transmission of the vehicle can be abstracted into a second-order oscillation link under most conditions, and when the vehicle suddenly accelerates or suddenly decelerates suddenly, the shaking phenomenon of the whole vehicle can also be caused due to the sudden change of the external load requirement. Meanwhile, the frequency of vehicle shaking is in a range which can be perceived by people, the NVH performance of the whole vehicle is seriously reduced, and the riding comfort of the whole vehicle is also reduced, so that active anti-shaking control is completely necessary to suppress shaking. There are two main methods for suppressing jitter:

1. firstly, a rotating speed sensor is used for sampling to obtain an actual rotating speed value, and the actual rotating speed value is compared with a set value to obtain a rotating speed fluctuation amount. The fluctuation of the rotating speed is obtained by using a specific frequency analysis method (such as FFT, Bode diagram), the compensating torque is obtained by a certain strategy after the fluctuation quantity of the rotating speed is obtained based on the method, and finally the jitter of the transmission system is restrained and smoothly output. However, the system has low rotational speed responsiveness because of poor real-time performance. The method is also a method for actually measuring the rotation speed fluctuation through a sensor, but the method needs large hardware cost investment, so the application is not high.

2. By adding a low-pass filter to the control loop, the fluctuation of the rotation speed caused by the rapid action of the driver is "suppressed", and the vehicle is shaken.

The above control methods are only suitable for a certain rotating speed or a certain small rotating speed range, and are not ideal for the working condition of the vehicle from large load to complete load shedding, or cause the vehicle system to be in a soft condition, because the running condition of the vehicle and the action of a speed reducer of the vehicle cause the possibility of data deterioration under a plurality of extreme conditions. For example, unexpected acceleration of the vehicle occurs when the load is removed, and slow acceleration or even the set rotation speed is not reached when the vehicle accelerates.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide an active anti-shake control method and system for an electric automobile, which can reduce the shake of the whole automobile and improve the riding comfort.

The technical scheme is as follows: as shown in fig. 1, the active anti-shake control method for the electric vehicle according to the present invention includes the following steps:

the method comprises the steps that the current rotating speed of a driving motor is collected through a rotating speed sensor of a rotary transformer installed in an electric driving system and is transmitted to a damping module in a disturbance controller, control torque is output, and finally corrected damping torque is output through relevant limitation on the torque;

the disturbance controller evaluates the existing system requirements and the current vehicle state through the data of each sensor and the motor state, judges whether to enter an active anti-shake damping mode, selects proper setting parameters and provides the parameters to a damping module of the disturbance controller;

the torque transmitted by the ECU of the whole vehicle on the vehicle is transmitted to the filtering module of the filtering controller;

the filtering controller evaluates the existing system requirements and the current vehicle state through the data of each sensor and the motor state, judges whether to enter an active anti-shake filtering mode, selects proper setting parameters, provides the appropriate setting parameters for a filtering module of the filtering controller, outputs control torque, limits the torque to the damping control of the load sudden change working condition, and finally outputs correction filtering control torque;

the difference between the modified damping control torque and the modified filtered control torque is added to the torque request as the requested torque for the electric drive as a final modified torque.

The sensor comprises a vehicle speed sensor, a motor position sensor and an accelerator pedal sensor.

The standard for judging whether to enter the active anti-shake damping mode is as follows: when the vehicle speed is lower than or higher than a given threshold value, or the rotating speed changes, the torque demand change is smaller than a calibration threshold value, or the motor does not work in a normal state, the damping mode is not started; otherwise, enter damping mode.

The setting of the parameters is determined by the Bode diagram of the frequency response by the disturbance controller based on frequency response measurements, which requires obtaining the phase at the dither frequency and the gain at the cut-off frequency, where the phase at the cut-off frequency is-180 °, and the relevant parameter determination of the disturbance controller in the frequency range is obtained by the following formula:

Kd≤1/K*(1+(4π²·f_{critical point of} ²·T₁ ²)/(4π²·f_{Critical point of} ²·10^A/20)^(1/2)

Wherein, K: the system coefficient is generally 3-3.5; a: system gain for critical conditions; f. of_{Critical point of}: a cut-off frequency;the phase angle of the phase frequency characteristic curve;

and then, making a map within different ranges of the motor rotating speed and the working condition of the accelerator pedal to form a parameter library of disturbance control.

The standard for judging whether to enter the active anti-shake filtering mode is as follows: when the vehicle speed is lower than or higher than a given threshold value, or the rotating speed changes, the torque demand changes and is smaller than a calibration threshold value, or the motor does not work in a normal state, the filtering mode is not entered; otherwise, the filtering mode is entered.

An active anti-shake control system of an electric automobile comprises a filtering control module and a damping control module, wherein the damping control module is used for processing change control of rotating speed when external input torque is increased or decreased, corresponding control is completed by calling corresponding filtering parameter values through calibration parameters, the difference between the filtering parameter values and the corresponding filtering parameter values is input to an electric drive system, and the rotating speed output by a motor is continuously adjusted through a speed closed loop, so that the rotating speed tends to a target rotating speed; the filtering control module has the function of filtering the rotation speed fluctuation of the vehicle in a steady state by using a filter so as to keep the output rotation speed stable.

A computer storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the active anti-shake control method for an electric vehicle as described above.

A computer device comprises a storage, a processor and a computer program which is stored on the storage and can be operated on the reprocessor, and when the processor executes the computer program, the active anti-shake control method for the electric vehicle is realized.

Has the advantages that: compared with the prior art, the invention has the following advantages:

1. the system has good control effect on the torque sudden change in various scenes, the robustness of the system is further improved, and the control precision and the response speed of the system are increased;

2. the acceleration and deceleration two typical working conditions are accurately controlled, so that the vehicle has quick rotating speed response and small vibration, the smoothness of the control of the whole vehicle is ensured, and the riding comfort of the vehicle is improved.

Drawings

FIG. 1 is a schematic diagram of the system of the present invention;

FIG. 2 is a flow chart of the steps of the present invention.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings.

Example 1:

fig. 1 shows a system schematic diagram of the present invention, and the active anti-shake control method for an electric vehicle according to the present invention includes the following steps:

the method comprises the steps that the current rotating speed of a driving motor is collected through a rotating speed sensor of a rotary transformer installed in an electric driving system and is transmitted to a damping module in a disturbance controller, control torque is output, and finally corrected damping torque is output through relevant limitation on the torque;

the disturbance controller evaluates the existing system requirements and the current vehicle state through the data of each sensor and the motor state, judges whether to enter an active anti-shake damping mode, selects proper setting parameters and provides the parameters to a damping module of the disturbance controller;

the torque transmitted by the ECU of the whole vehicle on the vehicle is transmitted to the filtering module of the filtering controller;

the filtering controller evaluates the existing system requirements and the current vehicle state through the data of each sensor and the motor state, judges whether to enter an active anti-shake filtering mode, selects proper setting parameters, provides the appropriate setting parameters for a filtering module of the filtering controller, outputs control torque, limits the torque to the damping control of the load sudden change working condition, and finally outputs correction filtering control torque;

the difference between the modified damping control torque and the modified filtered control torque is added to the torque request as the requested torque for the electric drive as a final modified torque.

As shown in fig. 2, which is a flowchart illustrating steps of the present invention, the active anti-shake control method for an electric vehicle according to the present invention specifically includes the following steps:

(1) the disturbance controller judges whether to enter an active anti-shake damping mode or not through the vehicle speed, the motor working state, the accelerator pedal opening and the stepping speed, and does not enter the damping mode when the vehicle speed is lower than or higher than a given threshold value, or the rotating speed changes, the torque demand changes less than a calibration threshold value, or the motor does not work in a normal state;

(2) the disturbance controller based on frequency response measurement determines the corresponding parameter value through the Bode diagram of the frequency response, the phase required at the jitter frequency, and the gain of the frequency in the critical state, wherein the phase is-180 degrees, and the related parameter determination of the disturbance controller in the frequency range is obtained through the following formula:

Kd≤1/K*(1+(4π²·f_{critical point of} ²·T₁ ²)/(4π²·f_{Critical point of} ²·10^A/20)^(1/2)

Wherein, K: the system coefficient is generally 3-3.5; a: system gain for critical conditions; f. of_{Critical point of}: a cut-off frequency;the phase angle of the phase-frequency characteristic,

then, making a map within different ranges of the motor rotating speed and the working condition of the accelerator pedal to form a parameter library of disturbance control;

(3) the disturbance control parameter base selects a proper value from the parameter base through the current system state and transmits the proper value to the double DT2 link, and the motor rotating speed is input through the double DT2 damping link and then output after corresponding torque limitation;

(4) the filtering controller judges whether to enter an active anti-shake damping mode or not according to the vehicle speed, the motor working state, the accelerator pedal opening and the stepping speed, and does not enter the filtering mode when the vehicle speed is lower than or higher than a given threshold value, or the rotating speed changes, the torque demand changes less than a calibration threshold value, or the motor does not work in a normal state;

(5) in the filtering mode, the filtering mode is divided into a 'motion mode' and a 'comfort mode', when in the motion mode, the parameter values of T and Kd of the PDT1 link enable the system to have good response, but the rotating speed can be subjected to acceptable overshoot, namely the system jitter is reduced, but a certain jitter still exists; in comfort mode, the response of the system is normal, but the system does not overshoot, i.e. the system does not jitter; firstly, determining T1, wherein k is empirical data, an initial value of 0.05-0.3 can be taken, a fine value can be obtained through calibration verification of a rack, the larger T is, the slower the response is, the more comfortable the system is, the larger Kd is, the faster the response is, the selection of Kd must ensure that the overshoot of the system is from 0 to meet an acceptable range, namely, the Kd is continuously adjusted to enable the system to be corresponding fastest without large overshoot, and then, a map is made in different motor rotating speeds and accelerator pedal working condition ranges to form a parameter base for filtering control;

(6) the filtering control parameter base selects a proper (T1, Kd) value from the parameter base through the current system state, transmits the value to a PDT1 link, inputs the motor rotating speed through a PDT1 damping link, and outputs the value after corresponding torque limitation;

(7) when the system is switched from a driving state to a free sliding state or a feeding state, at the moment, in order to enable the system to undershoot and reduce and ensure better responsiveness of the system, damping limitation is needed to be carried out on load, the increase or decrease of torque is limited through a limit value, sectional control is adopted, the descending speed is gradually slowed down in the previous section, and after the torque reaches a zero point, the descending speed is quickened, and finally the set value of the system is reached in a smooth transition mode; the whole process can be expressed by the following functions: dy/dt ═ a (y-Trqset) + B, where Trqset is the system friction torque value, the value of A, B being obtained by calibration on a bench; similarly, when the system is changed from the free-wheeling or power feeding state to the driving state, the limit value is also needed to prevent the rotation speed from shaking.

Example 2:

the invention discloses an active anti-shake control system of an electric automobile, which comprises a filtering control module and a damping control module, wherein the damping control module has the function of processing the change control of the rotating speed when the external input torque is increased or decreased, the corresponding control is completed by adjusting the corresponding filtering parameter value through a calibration parameter, the difference between the two values is input to an electric drive system, and the rotating speed output by a motor is continuously adjusted through a speed closed loop, so that the rotating speed tends to the target rotating speed; the filtering control module has the function of filtering the rotation speed fluctuation of the vehicle in a steady state by using a filter so as to keep the output rotation speed stable.

Example 3:

the invention discloses a computer storage medium, wherein a computer program is stored on the computer storage medium, and when the computer program is executed by a processor, the active anti-shake control method of an electric vehicle is realized.

Example 4:

the invention discloses computer equipment which comprises a storage, a processor and a computer program which is stored on the storage and can be operated on the reprocessor, wherein the processor executes the computer program to realize the active anti-shake control method of an electric vehicle.