阅读说明：本技术 一种新能源电动卡车电机控制器调速系统 (New forms of energy electric truck motor controller speed governing system ) 是由 倪成虎 王雪翠 钟国华 蒋龙 叶奇云 于 2020-11-27 设计创作，主要内容包括：一种新能源电动卡车电机控制器调速系统,使用空间矢量调制(SVPWM)算法作为电机控制算法的新能源电动卡车。控制系统布置有电流传感器用于检测驱动电机三相电流,旋变传感器用于检测驱动电机转子当前旋转角度,并通过数学运算计算出转子当前的旋转角速度。(A new energy electric truck motor controller speed regulating system uses a space vector modulation (SVPWM) algorithm as a motor control algorithm. The control system is provided with a current sensor for detecting three-phase current of the driving motor, and a rotation sensor for detecting the current rotation angle of the rotor of the driving motor and calculating the current rotation angular speed of the rotor through mathematical operation.)

1. The utility model provides a new forms of energy electric truck motor controller speed control system which characterized in that: installed on a vehicle using a permanent magnet synchronous motor as a driving motor, comprising:

the current sensor is used for detecting three-phase current of the driving motor;

the rotary transformer sensor is used for detecting the current rotation angle of the rotor of the driving motor;

the motor controller receives a request rotating speed instruction sent by the vehicle controller;

a speed controller module for calculating the current motor according to the input signalDemand Q-axis target currentA signal;

a flux weakening controller for flux weakening management according to the current D-axis Q-axis required voltageAndthe value is calculated to obtain the current value of the D-axis current required currently.

2. A speed regulation method for a motor controller of a new energy electric truck is characterized by comprising the following steps: the method comprises the following steps:

the driving system works in a speed control mode;

the motor controller receives a request rotating speed instruction sent by the vehicle controller

Motor controller requesting rotation speedAs a target rotating speed, obtaining a real-time reference rotating speed after acceleration limitationReal-time comparison of reference rotational speeds of drive motorsWith the actual speed omega_MAnd the two speed difference e and the actual rotation speed omega are combined_MTo the speed controller module;

the speed controller module calculates the current required Q-axis target current of the motor according to the input signalA signal;

the weak magnetic controller calculates the required voltage according to the current D axis Q axisAndvalue calculation for the current required D-axis current value

The motor controller detects the three-phase current value I of the driving motor through the current sensor_a、I_bAnd I_cCombining the current rotating speed position angle theta of the motor detected by the rotary transformer sensor_MSignal to calculate the actual current I of motor on Q axis_qActual current I on the D-axis_d；

Target current of motor Q axisWith the actual current I_qDifference of (D-axis target current)With the actual current I_dThe difference value of the voltage difference values is processed by a current controller to obtain the target voltage of a Q axis and a D axisAnd

and the IGBT module is driven after the current rotor angle is subjected to SVPWM modulation to supply power to the three phases of the motor, so that the motor generates corresponding driving torque, and the vehicle is driven.

3. The new energy electric truck motor controller speed regulation method of claim 2, characterized in that: the calculation process of the speed controller is specifically as follows: target rotational speed of motorWith the actual speed omega of the motor_MThe difference value of (A) is subjected to error accumulation through an integration link, and omega is subtracted_MThe proportion term processed by the proportion link is used as the reference current i of the motor work^*；G_CC(S) is a transfer function of a motor controller system, the motor controller being dependent on a reference current i^*The motor system generates an actual current i, and the actual current i is converted into a motor output torque T after a proportion link_eIs the output torque of the motor; t is_LFor the load torque of the motor, the vehicle system is simplified into an inertia system 1/J_S(ii) a The motor driving torque minus the load torque acts on an inertia system to generate the output rotating speed omega of the motor_M。

4. The new energy electric truck motor controller speed regulation method of claim 2, characterized in that: the time domain formula obtained by the speed controller after discretizing the speed control process time is formula 1, and the time domain discrete reference current i^*The increment is as the formula 2, and the reference current i at the moment of the current n can be calculated according to the formula 1 and the formula 2^*(n)；

Δi^*(n)＝K_si*e(n)-K_sp*[ω_M(n)-ω_M(n-1)]Equation 2;

i^*(n)＝Δi^*(n)+i^*(n-1), formula 3.

The technical field is as follows:

the invention belongs to the technical field of constant-speed cruising of new energy vehicles, and particularly relates to a motor controller speed regulating system of a new energy electric truck.

Background art:

with the increasing economic development of urban vehicles, the environmental problems of vehicle noise, emission pollution and the like are more and more severe. Electric trucks have gained large-scale use in recent years, particularly in the urban sanitation, due to their zero-emission, low-noise characteristics. Various whole vehicle enterprises and modified enterprises successively release various new energy electric sprinkling, sweeping or garbage transporting vehicles based on electric truck chassis, and the vehicles are used for urban green plant maintenance, road sweeping, garbage transportation and the like. Most of these sanitation vehicles need to be kept working at a low speed for a long time, especially for watering or sweeping vehicles. Therefore, such vehicles are mostly equipped with a cruise function to reduce the driver workload. The cruise control function of an electric truck is typically implemented by a Vehicle Controller (VCU) or a Motor Controller (MCU). The patent relates to a constant speed endurance speed control algorithm placed in a motor controller.

The new energy electric truck provides power for the vehicle through the motor. Fig. 1 is a typical new energy pure electric truck drive control system, which is composed of a battery system, a vehicle controller, a motor controller and a drive motor. And the controllers transmit information and control requests through a CAN network. Typically, a motor controller provides two modes of operation, torque control and speed control. The working modes of the motor controller are managed by the vehicle controller, and the motor controller enters different working modes according to the requirements of the vehicle controller and responds to the torque or rotating speed requirements controlled by the vehicle. Therefore, the speed control function can be put in a vehicle controller or a motor controller, and the constant speed endurance of the vehicle is realized.

FIG. 2 is a simplified motor speedA degree control system for controlling the degree of the workpiece,target speed, omega, for the operation of the motor_MThe actual rotation speed of the motor. The method comprises the following steps that 1, a speed control system calculates a target current of a motor system according to a target rotating speed and an actual rotating speed difference of a motor, and is a main related part of the patent. Reference 2 indicates a current control system, which controls the output of the actual current according to a target current control system of the system, but is not referred to in this patent. And 3, the system current and the torque are transmitted, which is not referred to in the patent. And 4, vehicle dynamics, which is not referred to in the patent.

Conventional proportional-integral-derivative (PID) throttle control algorithms are widely used in speed control systems, shown in part 1 of fig. 2. For a stable system, a group of proportional, integral and differential control parameters can be found through theoretical calculation or an experimental calibration mode, and balance between response speed and overshoot can be found. However, for a sprinkler or sweeper, the mass of the sprinkler or sweeper greatly changes with the mass of the vehicle, which causes the dynamic characteristics of the vehicle to change, as shown in part 4 of fig. 2. The calibrated parameter will tilt towards one of the two indicators of response speed or overshoot, resulting in the other indicator failing to meet the control demand.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

The invention content is as follows:

the invention aims to provide a new energy electric truck motor controller speed regulation system, so as to overcome the defects that the dynamic characteristics of a controlled object of a speed control system directly influenced by the change of the vehicle mass in the prior art are changed, and the electric truck vehicle is subjected to constant-speed cruise control by using the traditional PID algorithm in a low-speed variable load state, so that satisfactory response and overshoot characteristics are difficult to continuously obtain.

In order to achieve the purpose, the invention provides a new energy electric truck motor controller speed regulation system, which is characterized in that: installed on a vehicle using a permanent magnet synchronous motor as a driving motor, comprising:

the current sensor is used for detecting three-phase current of the driving motor;

the rotary transformer sensor is used for detecting the current rotation angle of the rotor of the driving motor;

the motor controller receives a request rotating speed instruction sent by the vehicle controller;

the speed controller module is used for calculating the current required Q-axis target current of the motor according to the input signalA signal;

a flux weakening controller for flux weakening management according to the current D-axis Q-axis required voltageAndthe value is calculated to obtain the current value of the D-axis current required currently.

A speed regulation method for a motor controller of a new energy electric truck is carried out according to the following steps:

the driving system works in a speed control mode;

the motor controller receives a request rotating speed instruction sent by the vehicle controller

Motor controller requesting rotation speedAs a target rotating speed, obtaining a real-time reference rotating speed after acceleration limitationReal-time comparison of reference rotational speeds of drive motorsWith the actual speed omega_MAnd the two speed difference e and the actual rotation speed omega are combined_MTo the speed controller module;

the speed controller module calculates the current required Q-axis target current of the motor according to the input signalA signal.

In order to prevent the back electromotive force generated by the high-speed rotation of the motor from exceeding the supply voltage, the motor is usually subjected to field weakening treatment. A weak magnetic controller responsible for weak magnetic management is arranged in the motor control, and the weak magnetic controller calculates the required voltage according to the current D axis Q axisAndvalue calculation for the current required D-axis current value

The motor controller detects the three-phase current value I of the driving motor through the current sensor_a、I_bAnd I_cCombining the current rotating speed position angle theta of the motor detected by the rotary transformer sensor_MSignal to calculate the actual current I of motor on Q axis_qActual current I on the D-axis_d；

Target current of motor Q axisWith the actual current I_qDifference of (D-axis target current)With the actual current I_dAfter the difference value is processed by the current controller, the current controller uses the PID control algorithm to obtain the target voltage of the Q axis and the D axisAnd

and the IGBT module is driven after the current rotor angle is subjected to SVPWM modulation to supply power to the three phases of the motor, so that the motor generates corresponding driving torque, and the vehicle is driven.

Preferably, in the above technical solution, the calculation process of the speed controller is specifically: target rotational speed of motorWith the actual speed omega of the motor_MThe difference value of (A) is subjected to error accumulation through an integration link, and omega is subtracted_MThe proportion term processed by the proportion link is used as the reference current i of the motor work^*；G_CC(S) is a transfer function of a motor controller system, the motor controller being dependent on a reference current i^*The motor system generates an actual current i, and the motor current and the motor output torque are approximately in a proportional relation, so that the actual current i is converted into the motor output torque T after passing through a proportional link_eIs the output torque of the motor; t is_LFor the load torque of the motor, the vehicle system is simplified into an inertia system 1/J_S(ii) a The motor driving torque minus the load torque acts on an inertia system to generate the output rotating speed omega of the motor_M。

Preferably, in the above technical solution, a time domain formula obtained by discretizing the speed control process time by the speed controller is formula 1, and the time domain discrete reference current i^*Increment as in equation 2, according to equation 1, formula

Equation 2 can calculate the reference current i at the moment of current n^*(n)；

Δi^*(n)＝K_si*e(n)-K_sp*[ω_M(n)-ω_M(n-1)]Disclosure of the inventionFormula 2;

i^*(n)＝Δi^*(n)+i^*(n-1), formula 3.

Compared with the prior art, the invention has the following beneficial effects:

the invention provides a novel integral-proportional speed control algorithm with a feedforward algorithm, which can automatically adapt to the change of the mass of the whole vehicle and ensure that the vehicle can achieve satisfactory quick speed response without overshoot in different load states.

Description of the drawings:

FIG. 1 is a typical new energy electric vehicle drive control system;

FIG. 2 is a simplified motor speed control system;

FIG. 3 is a block diagram of a motor control suitable for use with the present patent;

FIG. 4 is a block diagram of an integral-proportional control algorithm for the speed controller;

fig. 5 is a flowchart of calculating a reference current value.

The specific implementation mode is as follows:

the following detailed description of specific embodiments of the invention is provided, but it should be understood that the scope of the invention is not limited to the specific embodiments.

Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.

The constant-speed cruise speed control algorithm is suitable for a new energy electric truck with a permanent magnet synchronous motor as a driving motor of a vehicle and a space vector modulation (SVPWM) algorithm as a motor control algorithm. The control system is provided with a current sensor for detecting three-phase current of the driving motor, a rotation sensor for detecting the current rotation angle of the rotor of the driving motor and calculating the current rotation angular speed omega of the rotor through mathematical operation_M. FIG. 3 is a block diagram of a motor control system suitable for use with the present invention, the motor controller receiving a vehicle when the drive system is operating in a speed control modeRequested speed command sent by controllerMotor controller requesting rotation speedAs a target rotating speed, obtaining a real-time reference rotating speed after acceleration limitationReal-time comparison of reference rotational speeds of drive motorsWith the actual speed omega_MAnd the two speed difference e and the actual rotation speed omega are combined_MTo the speed controller module. The speed controller module calculates the current required Q-axis target current of the motor according to the input signalA signal.

In order to prevent the back electromotive force generated by the high-speed rotation of the motor from exceeding the supply voltage, the motor is usually subjected to field weakening treatment. A weak magnetic controller responsible for weak magnetic management is arranged in the motor control, and the weak magnetic controller calculates the required voltage according to the current D axis Q axisAndvalue calculation for the current required D-axis current value

The motor controller detects the three-phase current value I of the driving motor through the current sensor_a、I_bAnd I_cCombining the current rotating speed position angle theta of the motor detected by the rotary transformer sensor_MSignal, the actual of the motor on the Q axis can be calculatedCurrent I_qActual current I on the D-axis_d。

Target current of motor Q axisWith the actual current I_qDifference of (D-axis target current)With the actual current I_dAfter the difference value is processed by the current controller, the current controller uses the PID control algorithm to obtain the target voltage of the Q axis and the D axisAndand the IGBT module is driven after the current rotor angle is subjected to SVPWM modulation to supply power to the three phases of the motor, so that the motor generates corresponding driving torque, and the vehicle is driven.

FIG. 4 is a block diagram of an integral-proportional control algorithm of the present disclosure relating to the speed controller described above. Target rotational speed of motorWith the actual speed omega of the motor_MThe difference value of (A) is subjected to error accumulation through an integration link, and omega is subtracted_MThe proportion term processed by the proportion link is used as the reference current i of the motor work^*。

G_CC(S) is a transfer function of a motor controller system, the motor controller being dependent on a reference current i^*The motor system generates an actual current i, and the motor current and the motor output torque are approximately in a proportional relation, so that the actual current i is converted into the motor output torque T after passing through a proportional link_eThe output torque of the motor. T is_LFor the load torque of the motor, the vehicle system is simplified into an inertia system 1/J_S. The motor driving torque minus the load torque acts on an inertia system to generate the output rotating speed omega of the motor_M. The content within the dashed box is the speed controller. The time domain formula obtained by discretizing the time of the speed control process is formula (1), and the time domain discrete reference current i^*The increments follow as equation (2). According to the formula (1) and the formula (2), the reference current at the moment of the current n can be calculated as the formula (3).

Δi^*(n)＝K_si*e(n)-K_sp*[ω_M(n)-ω_M(n-1)]In the formula (2),

i^*(n)＝Δi^*(n)+i^*(n-1) formula (3),

calculating the reference current value i at n time points according to the flow of FIG. 5^*(n)。

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.