A dual-motor test system driving speed-torque closed-loop control system and method

Abstract

The present invention provides a speed-torque closed-loop control system and method for a motor test system, wherein a set speed value is input into a rate limiter and a mode selector, a speed / torque signal output from the mode selector is filtered in a filter, the speed / torque is conditioned, a set speed / torque value is output from the rate limiter, the rising or falling slope of the speed / torque of the set speed / torque value is limited, the conditioned speed / torque signal obtained enters an integrator for speed / torque integration, and a reference speed / torque value of a drive motor is output, thereby effectively improving the test control accuracy, energy feedback efficiency, and system working stability requirements of a dual-motor electric closed-loop test system for a motor working control mode, thereby ensuring that the speed and torque control accuracy are improved in a transmission powertrain test, thereby ensuring the accuracy and reliability of the test results.

Description

Technical Field

[0001] The invention belongs to the technical field of motor drive control, and relates to a speed-torque closed-loop control system and method for a dual-motor test system. Background Art

[0002] The dual-motor electric closed test system composed of a drive motor and a loading motor has obvious advantages, simple structure, low energy consumption, and easy to realize automatic control. The motor is used as a loading device, and the loading is carried out through the torque of the motor. The electric energy generated by the motor is fed back through the feedback device to achieve energy closure. It is increasingly used in practical applications. However, the dual-motor electric closed test system has high requirements for the test control accuracy, energy feedback efficiency, and system working stability of the motor working control mode, which also has an important impact on the accuracy and reliability of the test. However, the existing technology is still unable to accurately control the speed of the drive motor and the torque of the loading motor, which affects the poor speed and torque control accuracy in the transmission powertrain test. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a closed-loop control method for a driving motor speed-loading motor torque mode based on a dual-motor electrically closed test system, which mainly focuses on driving motor torsional speed control and loading motor torque control to achieve the purpose of driving motor speed-loading motor torque mode.

[0004] The present invention proposes a closed-loop control method of a driving motor speed-loading motor torque mode based on a dual-motor electric closed test system.

[0005] The present invention is achieved through the following technical solutions:

[0006] A speed-torque closed-loop control system for a dual-motor test system, comprising an input module, an output module, a signal adjustment module, a rate of change limiter, an endurance test mode, a road load simulation test mode, a mode selector, a filter and an integrator;

[0007] One path of the input module is connected to the mode selector, another path of the input module is connected to the input end of the rate of change limiter, one path of the output end of the rate of change limiter is connected to the input end of the signal adjustment module, and another path of the output end of the rate of change limiter is connected to the input end of the adder-subtractor; one path of the output end of the adder-subtractor is connected to the input end of the signal adjustment module, and another path of the output end of the adder-subtractor is connected to the endurance test mode; the output end of the signal adjustment module is connected to the integrator and the output module in sequence; one path of the output end of the mode selector is connected to the input end of the filter, and another path of the output end of the mode selector is respectively connected to the endurance test mode and the road load simulation test mode, and the output end of the filter is connected to the signal adjustment module.

[0008] Preferably, the signal adjustment module includes a feedforward gainer, a proportional gainer, an integral gainer, a derivative gainer and a differential gainer, the input end of the feedforward gainer is connected to a grounder, and the output end of the feedforward gainer is connected to an integrator; the input end of the proportional gainer is connected to a rate of change limiter, and the output end of the proportional gainer is connected to an integrator; the input end of the integral gainer is connected to an adder-subtractor, and the output end of the integral gainer is connected to an integrator; the input end of the derivative gainer is connected to a filter, and the output end of the derivative gainer is connected to an integrator; the input end of the differential gainer is connected to a filter, and the output end of the differential gainer is connected to an integrator.

[0009] Preferably, an integrator is provided between the adder-subtractor and the integral gain device.

[0010] Preferably, a derivative device is provided between the filter and the derivative gain device.

[0011] Preferably, the input module includes a driving motor speed output module and a loading motor torque output module.

[0012] Preferably, the output module includes a driving motor speed output module and a loading motor torque output module.

[0013] Preferably, the closed-loop control system further includes a measurement module, and the measurement module includes a rotation speed measurement module and a torque measurement module.

[0014] Preferably, when the speed of the driving motor is controlled, the output end of the change rate limiter is provided with a normally distributed torque and speed module 1, and the output end of the speed measurement module is provided with a normally distributed module torque and speed 2, the normally distributed torque and speed module 1 is respectively connected to the proportional gain device and the adder and subtractor, and the normally distributed torque and speed module 2 is respectively connected to the road load simulation test mode and the adder and subtractor.

[0015] Preferably, when the torque of the loading motor is controlled, the torque measurement module is connected to the road load simulation test mode and the adder and subtractor respectively.

[0016] A speed-torque closed-loop control method for a dual-motor test system, comprising:

[0017] When the speed of the driving motor is controlled, a part of the set speed value is input into the mode selector to output the speed signal, the mode selector selects different test modes, the speed signal is filtered in the filter, the speed signal is input into the signal adjustment module, and after conditioning the speed signal, it enters the integrator; another part of the set speed value is input into the rate of change limiter to limit the rising or falling slope of the speed of the set speed value, and the set speed value is processed by the normal distribution module set at the output end of the rate of change limiter to drive the motor with normal distribution torque or speed. The obtained speed signal is input into the signal adjustment module, and after conditioning the speed signal, it enters the integrator, and the speed signal in the integrator is integrated, and the reference speed value of the driving motor is output through the output module;

[0018] When the torque of the loading motor is controlled, a part of the set torque value is input into the mode selector to output the torque signal. The mode selector selects different test modes, and the torque signal is filtered in the filter. The torque signal is input into the signal adjustment module, and after the torque signal is conditioned, it enters the integrator; another part of the set torque value is input into the change rate limiter to limit the rising or falling slope of the torque of the set torque value. The obtained torque signal is input into the signal adjustment module, and after the torque signal is conditioned, it enters the integrator, and the torque signal in the integrator is integrated, and the reference torque value of the loading motor is output through the output module.

[0019] Compared with the prior art, the present invention has the following beneficial technical effects:

[0020] The present invention provides a dual-motor test system driving speed-torque closed-loop control system and method, wherein a set speed value is input into a rate limiter and a mode selector, a speed signal output from the mode selector is filtered in a filter, the speed signal is conditioned, a set speed value is output from a rate limiter, the rising or falling slope of the speed of the set speed value is limited, the set speed value is subjected to a normally distributed torque or speed processing of a driving motor, the conditioned speed signal obtained enters an integrator for speed signal integration, and a reference speed value of the driving motor is output, thereby realizing that the driving motor is in an electric state in a driving motor speed-loading motor torque mode, the speed of the driving motor is controlled, and the purpose of accurately controlling the speed of the driving motor is achieved through a series of closed-loop feedback and calculation. At the same time, by setting the torque value to be input into the rate limiter and the mode selector, the mode selector outputs the torque signal, which is filtered in the filter, and the torque signal is conditioned. The set torque value output in the rate limiter limits the rising or falling slope of the torque of the set torque value. The obtained torque signal is conditioned and enters the integrator for torque signal integration, and the reference torque value of the loading motor is output, so that the loading motor is in the power generation state under the driving motor speed-loading motor torque mode, and the torque is controlled. Through a series of closed-loop feedback and calculation, the purpose of accurately controlling the torque of the loading motor is achieved, and the generated electric energy is fed back to the power grid through the DC bus to achieve energy closure. The requirements of the dual-motor electric closed test system for the test control accuracy, energy feedback efficiency, and system working stability of the motor working control mode are effectively improved, thereby ensuring that the speed and torque control accuracy are improved in the transmission powertrain test, thereby ensuring the accuracy and reliability of the test results.

[0021] Furthermore, the present invention, by providing a rate-of-change limiter and a signal conditioning module, helps to improve the accuracy of the torque output value, accelerates the torque response time, facilitates rapid closed-loop torque control, and improves the monitoring and functional safety of the vehicle torque.

[0022] Furthermore, the present invention sets a rate-of-change limiter. Since the external characteristics of the motor are affected by the DC bus voltage and speed, the higher the DC bus voltage is, the higher the speed at the inflection point of the motor's maximum torque output is. Setting the rate-of-change limiter is beneficial to controlling the safety of the motor in the driving motor speed-loading motor torque mode.

[0023] Furthermore, the present invention improves the reliability of the control method by setting up an endurance test mode, thereby ensuring the stability and accuracy of the speed and torque control in the test; by setting up the endurance test mode and the road load simulation test mode, it has high dynamic response, meets the real-time requirements of the test, and can realistically model the engine and road resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a logic principle diagram of the speed-torque closed-loop control system of the dual-motor test system of the present invention;

[0025] Figure 2 It is a logic principle diagram of a driving motor speed-loading motor torque control system of a dual-motor test system of the present invention;

[0026] Figure 3 It is a control logic diagram of the driving motor speed mode in the embodiment.

[0027] Figure 4 It is a control logic diagram of the driving motor speed mode in the embodiment. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below in conjunction with specific embodiments, which are intended to explain the present invention rather than to limit it.

[0029] The present invention proposes a closed-loop control method for a driving motor speed-loading motor torque mode based on a dual-motor electric closed test system, which mainly focuses on driving motor torsional speed control and loading motor torque control to achieve the purpose of driving motor speed-loading motor torque mode.

[0030] like Figure 1 and Figure 2 As shown, it includes an input module, an output module, a signal adjustment module, a rate of change limiter, an endurance test mode, a road load simulation test mode, a mode selector, a filter and an integrator; the mode selector is used to select different modes to achieve different corresponding speeds and control strategies for motor control.

[0031] One of the input modules is connected to the mode selector, the other of the input modules is connected to the input of the rate limiter, one of the outputs of the rate limiter is connected to the input of the signal adjustment module, and the other of the outputs of the rate limiter is connected to the input of the adder-subtractor; one of the outputs of the adder-subtractor is connected to the input of the signal adjustment module, and the other of the outputs of the adder-subtractor is connected to the endurance test mode; the output of the signal adjustment module is connected to the integrator and the output module in sequence; one of the outputs of the mode selector is connected to the input of the filter, and the other of the outputs of the mode selector is respectively connected to the endurance test mode and the road load simulation test mode, and the output of the filter is connected to the signal adjustment module. The drive motor is in an electric state in the drive motor speed-loading motor torque mode, and the speed is controlled. Through a series of closed-loop feedback and calculation, the purpose of accurately controlling the drive motor speed is achieved. The loading motor is in a power generation state in the drive motor speed-loading motor torque mode, and the torque is controlled. Through a series of closed-loop feedback and calculation, the purpose of accurately controlling the loading motor torque is achieved. At the same time, the generated electric energy is fed back to the power grid through the DC bus to achieve energy closure.

[0032] The signal adjustment module includes a feedforward gainer, a proportional gainer, an integral gainer, a derivative gainer and a differential gainer, wherein the input end of the feedforward gainer is connected to a grounder, and the output end of the feedforward gainer is connected to an integrator; the input end of the proportional gainer is connected to a rate of change limiter, and the output end of the proportional gainer is connected to an integrator; the input end of the integral gainer is connected to an adder-subtractor, and the output end of the integral gainer is connected to an integrator; the input end of the derivative gainer is connected to a filter, and the output end of the derivative gainer is connected to an integrator; the input end of the differential gainer is connected to a filter, and the output end of the differential gainer is connected to an integrator. The grounder is used to calibrate the control method to a ground zero point.

[0033] An integrator is arranged between the adder and the integral gainer. A derivative is arranged between the filter and the derivative gainer. The input module includes a drive motor speed output module and a loading motor torque output module. The output module includes a drive motor speed output module and a loading motor torque output module.

[0034] The closed-loop control system also includes a measuring module, which includes a speed measuring module and a torque measuring module. When the speed of the driving motor is controlled, the output end of the rate of change limiter is provided with a normal distribution torque and speed module 1, and the output end of the speed measuring module is provided with a normal distribution module torque and speed 2, the normal distribution torque and speed module 1 is respectively connected to the proportional gain device and the adder and subtractor, and the normal distribution torque and speed module 2 is respectively connected to the road load simulation test mode and the adder and subtractor. When the torque of the loading motor is controlled, the torque measuring module is respectively connected to the road load simulation test mode and the adder and subtractor.

[0035] The measured speed value and the measured torque value in the speed measurement module and the torque measurement module are specific values ​​measured by the sensor. The measured value and the input are controlled by this method to achieve the purpose of precise control. A speed-torque closed-loop control method for a dual-motor test system includes:

[0036] When the speed of the driving motor is controlled, a part of the set speed value is input into the mode selector to output the speed signal, the mode selector selects different test modes, the speed signal is filtered in the filter, the speed signal is input into the signal adjustment module, and after conditioning the speed signal, it enters the integrator; another part of the set speed value is input into the rate of change limiter to limit the rising or falling slope of the speed of the set speed value, and the set speed value is processed by the normal distribution module set at the output end of the rate of change limiter to drive the motor with normal distribution torque or speed. The obtained speed signal is input into the signal adjustment module, and after conditioning the speed signal, it enters the integrator, and the speed signal in the integrator is integrated, and the reference speed value of the driving motor is output through the output module;

[0037] When the torque of the loading motor is controlled, a part of the set torque value is input into the mode selector to output the torque signal. The mode selector selects different test modes, and the torque signal is filtered in the filter. The torque signal is input into the signal adjustment module, and after the torque signal is conditioned, it enters the integrator; another part of the set torque value is input into the change rate limiter to limit the rising or falling slope of the torque of the set torque value. The obtained torque signal is input into the signal adjustment module, and after the torque signal is conditioned, it enters the integrator, and the torque signal in the integrator is integrated, and the reference torque value of the loading motor is output through the output module.

[0038] The present invention will be described in detail below in conjunction with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0039] The following detailed descriptions are all descriptions of embodiments, and are intended to provide further detailed descriptions of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0040] When the embodiment 1 is the driving motor speed control mode:

[0041] like Figure 3 As shown, the flow chart of the drive motor speed control mode, in which mode 1 is the endurance test mode, and mode 2 is the road load simulation test mode. Set the required speed value, enter the mode selector, and control the drive motor speed in the following two modes (endurance test mode and road load simulation test mode): The endurance test mode is mainly for reliable control methods to ensure the stability and accuracy of speed and torque control in the test; the road load simulation test mode has high dynamic response, meets the real-time requirements of the test, and can realistically model the engine and road resistance.

[0042] Endurance test mode: enter the endurance test mode according to the set required speed value, the mode selector filters the speed signal in the filter, and divides the speed signal into two paths, one path enters the derivative for front-end conditioning of the speed signal, and then enters the derivative gain device for speed signal conditioning, and finally enters the integrator, the other speed signal directly enters the differential gain device for speed signal conditioning, and finally enters the integrator; according to the set required speed value, the rate limiter limits the rising or falling slope of the speed according to the set value, and the normal distribution module 1 is used to drive the motor normally distributed torque / drive motor normally distributed speed processing to obtain the speed signal divided into two paths, one path enters the proportional gain device for speed signal conditioning, and finally enters the integrator, the other path enters the adder and subtractor to dynamically correct the speed signal, and then one path enters the endurance test mode, the other path enters the integrator for front-end integration processing of the speed signal, and then enters the integral gain device for speed signal conditioning, and finally enters the integrator, while the grounding signal enters the feedforward gain device for speed signal conditioning, and finally enters the integrator. The above speed signals are conditioned by five gain devices (feedforward gain device, proportional gain device, integral gain device, derivative gain device, differential gain device) and then enter the integrator at the same time to integrate the speed signals and finally output the speed value (motor reference speed value).

[0043] Road load simulation test mode: Enter the road load simulation test mode according to the set required speed value. The mode selector filters the speed signal in the filter and divides the speed signal into two paths. One path enters the derivative for front-end conditioning of the speed signal, and then enters the derivative gain device for speed signal conditioning, and finally enters the integrator. The other speed signal directly enters the differential gain device for speed signal conditioning, and finally enters the integrator; according to the set required speed value, the rate limiter limits the rising or falling slope of the speed according to the set value, and the normal distribution module 2 processes the drive motor normal distribution torque 2 / drive motor normal distribution speed 2 to obtain a speed signal divided into two paths, one path enters the proportional gain device for speed signal conditioning, and finally enters the integrator, the other path enters the adder and subtractor to dynamically correct the speed signal, and then one path enters the road load simulation test mode, and the other path enters the integrator for front-end integration processing of the speed signal, and then enters the integral gain device for speed signal conditioning, and finally enters the integrator. At the same time, the grounding signal enters the feedforward gain device for speed signal conditioning, and finally enters the integrator. The above speed signals are conditioned by five gain devices (feedforward gain device, proportional gain device, integral gain device, derivative gain device, differential gain device) and then enter the integrator at the same time to integrate the speed signals and finally output the speed value (motor reference speed value).

[0044] Example 2 is when loading the motor torque control mode:

[0045] like Figure 4 As shown in the figure, the loading motor torque control mode flow chart, in which mode 1 is the endurance test mode, mode 2 is the road load simulation test mode, set the required torque value, enter the mode selector, and perform loading motor torque control in the following two modes (endurance test mode and road load simulation test mode):

[0046] Endurance test mode: Enter the endurance test mode according to the set required torque value. The mode selector filters the torque signal in the filter and divides the speed signal into two paths. One path enters the derivative for front-end torque signal conditioning, and then enters the derivative gain device for torque signal conditioning, and finally enters the integrator. The other torque signal directly enters the differential gain device for torque signal conditioning, and finally enters the integrator. According to the set required torque value, the rate limiter limits the rising or falling slope of the torque according to the set value, and the speed signal is divided into two paths. One path enters the proportional gain device for torque signal conditioning, and finally enters the integrator. The other path enters the adder and subtractor to dynamically correct the torque signal, and then enters the endurance test mode. The other path enters the integrator for front-end integration processing of the torque signal, and then enters the integral gain device for torque signal conditioning, and finally enters the integrator. At the same time, the grounding signal enters the feedforward gain device for torque signal conditioning, and finally enters the integrator. The above torque signals are conditioned by five gain devices (feedforward gain device, proportional gain device, integral gain device, derivative gain device, and differential gain device) and then enter the integrator at the same time for torque signal integration, and finally output the torque value (motor reference torque value).

[0047] Road load simulation test mode: Enter the road load simulation test mode according to the set required torque value. The mode selector filters the torque signal in the filter and divides the speed signal into two paths. One path enters the derivative for front-end torque signal conditioning, and then enters the derivative gain device for torque signal conditioning, and finally enters the integrator. The other torque signal directly enters the differential gain device for torque signal conditioning, and finally enters the integrator; According to the set required torque value, the rate limiter limits the rising or falling slope of the torque according to the set value, and the speed signal is divided into two paths. One path enters the proportional gain device for torque signal conditioning, and finally enters the integrator. The other path enters the adder and subtractor to dynamically correct the torque signal, and then enters the road load simulation test mode. The other path enters the integrator for front-end integration processing of the torque signal, and then enters the integral gain device for torque signal conditioning, and finally enters the integrator. At the same time, the grounding signal enters the feedforward gain device for torque signal conditioning, and finally enters the integrator. The above torque signals are conditioned by five gain devices (feedforward gain device, proportional gain device, integral gain device, derivative gain device, and differential gain device) and then enter the integrator at the same time for torque signal integration, and finally output the torque value (motor reference torque value).

[0048] The method of the present invention proposes a closed-loop control method for a driving motor speed-loading motor torque mode based on a dual-motor electric closed test system, which is suitable for a dual-motor electric closed test system, can stably and accurately control the driving motor speed and the loading motor torque, and provides two modes (endurance test mode and road load simulation test mode) for selection.

[0049] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A speed-torque closed-loop control system for a dual-motor test system, characterized in that: It includes an input module, an output module, a signal conditioning module, a rate of change limiter, an endurance test mode, a road load simulation test mode, a mode selector, a filter and an integrator; One path of the input module is connected to the mode selector, another path of the input module is connected to the input end of the rate of change limiter, one path of the output end of the rate of change limiter is connected to the input end of the signal adjustment module, and another path of the output end of the rate of change limiter is connected to the input end of the adder-subtractor; one path of the output end of the adder-subtractor is connected to the input end of the signal adjustment module, and another path of the output end of the adder-subtractor is connected to the endurance test mode; the output end of the signal adjustment module is connected to the integrator and the output module in sequence; one path of the output end of the mode selector is connected to the input end of the filter, and another path of the output end of the mode selector is respectively connected to the endurance test mode and the road load simulation test mode, and the output end of the filter is connected to the signal adjustment module; The signal adjustment module includes a feedforward gainer, a proportional gainer, an integral gainer, a derivative gainer and a differential gainer. The input end of the feedforward gainer is connected to a grounder, and the output end of the feedforward gainer is connected to an integrator; the input end of the proportional gainer is connected to a rate of change limiter, and the output end of the proportional gainer is connected to an integrator; the input end of the integral gainer is connected to an adder-subtractor, and the output end of the integral gainer is connected to an integrator; the input end of the derivative gainer is connected to a filter, and the output end of the derivative gainer is connected to an integrator; the input end of the differential gainer is connected to a filter, and the output end of the differential gainer is connected to an integrator.

2. According to the speed-torque closed-loop control system of the dual-motor testing system in claim 1, an integrator is arranged between the adder and subtractor and the integral gain device.

3. According to the speed-torque closed-loop control system of a dual-motor test system in claim 1, a derivative is arranged between the filter and the derivative gain device.

4. According to the speed-torque closed-loop control system of the dual-motor testing system in claim 1, the input module comprises a driving motor speed output module and a loading motor torque output module.

5. According to the speed-torque closed-loop control system of the dual-motor testing system in claim 1, the output module comprises a driving motor speed output module and a loading motor torque output module.

6. According to the speed-torque closed-loop control system of the dual-motor testing system in claim 1, the closed-loop control system further comprises a measurement module, and the measurement module comprises a speed measurement module and a torque measurement module.

7. According to the speed-torque closed-loop control system of a dual-motor test system in claim 6, when the speed of the driving motor is controlled, the output end of the rate of change limiter is provided with a normally distributed torque and speed module 1, and the output end of the speed measurement module is provided with a normally distributed module torque and speed 2, the normally distributed torque and speed module 1 is respectively connected to the proportional gain device and the adder and subtractor, and the normally distributed torque and speed module 2 is respectively connected to the road load simulation test mode and the adder and subtractor.

8. According to the speed-torque closed-loop control system of the dual-motor test system of claim 6, when the torque of the loading motor is controlled, the measuring torque module is connected to the road load simulation test mode and the adder and subtractor respectively.

9. A speed-torque closed-loop control method for a dual-motor test system, characterized in that: The control system according to any one of claims 1 to 8 comprises: When the speed of the driving motor is controlled, a part of the set speed value is input into the mode selector to output the speed signal, the mode selector selects different test modes, the speed signal is filtered in the filter, the speed signal is input into the signal adjustment module, and after conditioning the speed signal, it enters the integrator; another part of the set speed value is input into the rate of change limiter to limit the rising or falling slope of the speed of the set speed value, and the set speed value is processed by the normal distribution module set at the output end of the rate of change limiter to drive the motor with normal distribution torque or speed. The obtained speed signal is input into the signal adjustment module, and after conditioning the speed signal, it enters the integrator, and the speed signal in the integrator is integrated, and the reference speed value of the driving motor is output through the output module; When the torque of the loading motor is controlled, a part of the set torque value is input into the mode selector to output the torque signal. The mode selector selects different test modes, and the torque signal is filtered in the filter. The torque signal is input into the signal adjustment module, and after the torque signal is conditioned, it enters the integrator; another part of the set torque value is input into the change rate limiter to limit the rising or falling slope of the torque of the set torque value. The obtained torque signal is input into the signal adjustment module, and after the torque signal is conditioned, it enters the integrator, and the torque signal in the integrator is integrated, and the reference torque value of the loading motor is output through the output module.

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