A pure electric vehicle hub motor anti-interference intelligent controller

Abstract

The invention discloses an anti-interference intelligent controller for a hub motor of a pure electric vehicle, which is composed of a load compensation controller, a state feedback controller, a voltage decoupling controller, a controller parameter optimization module and a voltage limiting controller, and the load compensation controller The input is the load torque T l and speed ω, the output is voltage u d1 , u q1 ; The state feedback controller input is the reference speed ω ref , reference current i d ref , Optimal controller gain matrix K best , ω and current i d i q , the output is voltage u d2 , u q2 ; the voltage decoupling controller inputs are ω and i d , the output is the voltage u d3 , u q3 ; The controller parameter optimization module inputs are ω and i d and ω ref and i d ref , the output is K best ; The input of the pressure limiting controller is ω, i q And the voltage and the global optimal parameter K of the state feedback controller obtained through the gray wolf optimization algorithm best , to increase the maximum voltage supplied to the motor when the vehicle starts, accelerates and climbs.

Description

technical field [0001] The invention belongs to the field of pure electric vehicle control, in particular to an intelligent controller for a hub motor system used in pure electric vehicles. Background technique [0002] With the aggravation of energy crisis, environmental pollution and other issues, it is becoming increasingly important to improve energy utilization efficiency. Compared with traditional internal combustion engine vehicles, pure electric vehicles have lower emissions and higher energy efficiency. For traditional vehicles, clutches, transmissions, drive shafts, differentials and even transfer cases are all essential components, but these components are heavy and complicated, which is not conducive to improving the economy and power of the vehicle. The use of hub motors solves these problems well. The use of hub motors not only makes the structure of the car simpler, but also saves a lot of space for the vehicle, and the transmission efficiency is also greatl...

AI Technical Summary

Problems solved by technology

The shortcomings of this control method are also obvious. There are three PI controllers in the entire control system, and at least six controller parameters need to be tuned, which will bring a lot of workload in practical applications; and due to the inherent defects of the double closed-loop control structure , the dynamic characteristics of the system will be limited

[0006] The Chinese patent application number is 201110358020.2, and the document titled "Electronic differential speed and speed regulation centralized controller for dual hub motors" discloses the differential speed control under the working conditions such as car turning. The Chinese patent application number is 201210098727.9, and the name is " A hub motor hybrid drive control system and its control method” and Chinese patent application number 201220144616.2, titled “A hub motor hybrid drive control system” discloses single-axis drive and four-wheel drive under different working conditions The conversion control focuses on the cooperation between different motors, and does not involve improving the control performance control of a single hub motor

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