New energy electric vehicle anti-shake control method based on PR filter

Abstract

The invention discloses a new energy electric vehicle anti-shake control method based on a PR filter. The method comprises the following steps that: a PR band-pass filter is designed to obtain a rotating speed jitter amount based on a calculated rotating speed, and a high-order Kalman filter is designed to obtain a jitter acceleration; PD control is adopted, the motor rotating speed jitter amountserves as proportional error input, the motor rotating speed jitter acceleration amount serves as differential error input, and introduction of noise signals in the acceleration graph area process isgreatly avoided; and after the closed-loop control compensation torque is obtained, smooth filtering is conducted on the compensation torque, and it is ensured that the compensation torque cannot suddenly change. According to the method, PD control is adopted to carry out jitter suppression control on the whole vehicle; the jitter acceleration of the whole vehicle is observed in real time throughthe closed-loop Kalman observer, noise interference caused by PR filtering in the high-speed stage is restrained, the applicable rotating speed range is wider, signal delay caused by a second-order filter is avoided, the real-time restraining effect on jitter is better, and the driving experience of a driver is improved.

Description

technical field [0001] The invention relates to the field of electric vehicles, in particular to a new energy electric vehicle anti-shake control method based on a PR filter. Background technique [0002] As the core part of electric vehicles, vehicle drive motor technology is the key to making a good car. Because new energy electric vehicles have two working conditions of electric and power generation, they need to switch frequently between positive and negative torque. Moreover, the starting torque of new energy electric vehicles is generally large. Most electric vehicle manufacturers now use the chassis of traditional fuel vehicles as the chassis of electric vehicles, which does not match the current characteristics of new energy vehicles such as fast acceleration and switching between positive and negative torque. During starting and switching between positive and negative torques, it is very easy to have the vibration problem of the whole vehicle. [0003] Chinese pate...

AI Technical Summary

Problems solved by technology

[0004] The present invention mainly solves the technical problem that the whole vehicle shakes during starting and switching between positive and negative torques of the original electric vehicle, and provides a new energy electric vehicle anti-shake control method based on a PR filter, which uses PD control to control the whole vehicle. Vibration suppression control, through the closed-loop Kalman observer to observe the vibration acceleration of the vehicle in real time, suppress the noise interference caused by the PR filter at the high-speed stage, the applicable speed range is wider, and the signal delay caused by the second-order filter is avoided. The suppression effect is better, which improves the driver's driving experience

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