Method for actively controlling judder during start-up of electric vehicle based on pole assignment

An electric vehicle, active control technology, applied in electric vehicles, control drive, power management and other directions, can solve problems affecting driving comfort, etc., and achieve the effect of convenient implementation, improved control accuracy, and simple method.

Active Publication Date: 2017-03-29
TONGJI UNIV
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Problems solved by technology

This will greatly affect the comfort of driving, and may have certain potential safety hazards

Method used

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  • Method for actively controlling judder during start-up of electric vehicle based on pole assignment
  • Method for actively controlling judder during start-up of electric vehicle based on pole assignment
  • Method for actively controlling judder during start-up of electric vehicle based on pole assignment

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Embodiment

[0034] A method for active control of starting vibration of an electric vehicle based on pole configuration, the method comprising the following steps:

[0035] Step (1) Establish the original state space model of the electric vehicle system, and determine the motor speed ω m For motor torque T m The transfer function G m (s).

[0036] Take motor speed ω m , wheel angular velocity ω w And the semi-axis torsion angle θ establishes a state space model, and its state space equation is:

[0037]

[0038] Where u is the system input, u=T m , X is the state variable, Y is the system output, A, B, C, D are the parameter matrix, Y=X=[ω m ω w θ] T .

[0039] Obtain the motor speed ω according to the Laplace transform m For motor torque T m The transfer function G m (s):

[0040]

[0041] The poles of the transfer function in formula (2) are p1=-4.845+49.733i, p2=-4.845-49.733i. The two poles lie to the left of the imaginary axis, so the system is stable.

[0042]...

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Abstract

The invention relates to a method for actively controlling judder during the start-up of an electric vehicle based on pole assignment. The method comprises the following steps: (1) establishing an electric vehicle system original-state space model and determining a transfer function G<m>(s) of the motor speed omega<m> to the motor torque T<m>; (2) building a state observer, wherein the observation values outputted by the state observer comprise the motor speed omega<m>, the wheel angular velocity omega<w> and the semi-axis torsion angle theta; (3) designing a feedback controller, connecting the output end of the state observer to the input end of the feedback controller, and connecting the output end of the feedback controller to the input end of a motor controller, so as to form a closed-loop control system; (4) generating the compensating motor torque according to the gain of the feedback controller and the observation values outputted by the state observer; and (5) subtracting the compensating motor torque from the motor expected motor torque outputted by a complete electric vehicle controller to obtain the motor torque of the closed-loop control system, and controlling the motor motion according to the obtained motor torque. Compared with the prior art, the method provided by the invention is simple and good in control effect.

Description

technical field [0001] The invention relates to a method for controlling starting jitter of an electric vehicle, in particular to an active control method for starting jitter of an electric vehicle based on pole configuration. Background technique [0002] Compared with traditional vehicles, new energy vehicles that use motors as power sources face unprecedented NVH (Noise, Vibration and Harshness) challenges due to their complex powertrain vibration characteristics. [0003] In the starting condition, the driver can easily feel a low-frequency vibration in the front and rear directions of the vehicle, and the general frequency ranges from 2 to 10 Hz. This is caused by the first-order vibration model of the transmission system. The fast response of the motor torque causes the wheel angular acceleration to have an under-damped vibration characteristic, and the first amplitude is large. This will greatly affect the comfort of driving, and may have certain potential safety haz...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60L15/28B60W30/20
CPCB60L15/28B60W30/20Y02T10/72
Inventor 郭荣王梦佳
Owner TONGJI UNIV
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