Dynamic integration compensation method and system based on motor PI control, and vehicle

Abstract

The invention provides a dynamic integration compensation method and system based on motor PI control, and a vehicle. The method comprises: a reference current is inputted into a motor control system and a feedback current of the motor control system is collected, and an error is controlled based on the reference current and the feedback current; before PI control by the motor control system, an upper integral saturation limit value and a lower integral saturation limit value are calculated according to a stored output value of the motor control system at the last time; the motor control system performs PI calculation to obtain a current output value of the motor control system; and dynamic integration compensation is carried out according to the current output value of the motor control system, the upper integral saturation limit value and the lower integral saturation limit value. Therefore, the output change rate of the system can be suppressed and system security and stability can be improved.

Description

technical field [0001] The invention relates to the technical field of automobile manufacturing, in particular to a dynamic integral compensation method, system and vehicle based on motor PI control. Background technique [0002] In the motor control system, since the control system itself is limited by the motor current and inverter drive voltage, it has nonlinear saturation characteristics, so the PI (Proportional Integral, proportional integral) output needs to be saturated to prevent the control system from outputting too much , making the system insecure. However, in the motor control system, in order to eliminate the static error and improve the control accuracy, the controller generally uses an integral link, and the integral link will cause system saturation, that is, the system stays in the saturation area for a long time, making the system in a state of out of control , to solve this problem, an anti-integral windup PI controller is usually used, which can suppres...

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Problems solved by technology

[0009] In the above-mentioned motor PI control scheme, the motor control system adopts anti-integral saturation PI control, and the integral saturation limit is fixed, and no dynamic saturation upper and lower limits are used, so that the system output change rate cannot be limited, resulting in system output The jitter is large, and it is prone to large jumps, that is, the stability of the control system is poor. Moreover, if the deviation e(k) of the PI control input of the system is large, the system will soon reach saturation, although the anti-integral saturation module can make the system gradually Exit saturation, but the response speed is slow and the adjustment time is long

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