Adaptive suppression method for rapid acceleration shaking of pure electric vehicle

Abstract

The invention discloses an adaptive suppression method for rapid acceleration shaking of a pure electric vehicle. The adaptive suppression method comprises the following steps that a vehicle control unit works out the torque required by a driver; the vehicle control unit receives an actual revolving speed signal feed back from a motor and conducts filtering through a high-order band filter; a deviation revolving speed is obtained by subtracting the control target zero revolving speed and revolving speed of the motor after filtering; a self-adaptive anti-shake dynamic torque output by a PID controller is obtained through a PID control algorithm according to the deviation revolving speed; the maximum saturation value and the minimum saturation value of the self-adaptive anti-shake dynamic torque output by the PID controller are limited to obtain the final self-adaptive anti-shake dynamic torque; and the torque required by the driver and the self-adaptive anti-shake dynamic torque are added, and the final targeted torque value sent to a motor controller is obtained. Compared with a PID control method aiming at limiting the torque growth slope and utilizing the motor revolving speed smoothing value, the adaptive suppression method is good in adaptability, can achieve calibration and verification easily and can take vehicle comfort and accelerating performance into consideration.

Description

technical field [0001] The invention relates to the technical field of electric vehicle drive control, in particular to an adaptive suppression method for rapid acceleration vibration of pure electric vehicles. Background technique [0002] With the gradual shortage of global oil resources and the increasingly prominent environmental problems, pure electric vehicles have gradually entered the stage of industrialization due to their advantages such as low noise and zero emissions. It is more and more inclined to improve the overall performance of power, economy, handling stability, driving comfort and so on. [0003] At present, the power transmission system of pure electric vehicles mostly adopts the structural form of a driving motor combined with a single-stage reducer. Since the transmission system is rigidly connected, there is a large gap between the gears, and the moment of inertia of the traction motor itself is also small, during rapid acceleration. The torque rises...

AI Technical Summary

Problems solved by technology

However, since the filtered value of the motor speed is used as the control target value, and the motor speed of the actual vehicle is dynamically changing with the change of driving conditions, it is difficult to satisfy the driver's driving intention if the filtered motor speed is used as the target value

In addition, the rotational speed filter is calculated by means of first-order filtering. The corresponding relationship between the time constant required for filtering and the rotational speed difference is very heavy or difficult to obtain through real vehicle calibration.

[0006] Therefore, the existing pure electric rapid acceleration vibration suppression method cannot take into account the comfort and acceleration of the vehicle at the same time, and does not take into account the influence of the difference in vehicle consistency on the control method

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