Active anti-shake control method for pure electric buses based on current compensation, storage medium, and equipment

Abstract

The present invention belongs to the technical field of electric vehicle anti-shake control, and specifically relates to a pure electric bus active anti-shake control method based on current compensation, a storage medium, and a device. The method is optimized from the control and strategy level, actively observing and identifying the jitter of the motor speed, calculating the suppression increment based on the observed fluctuation amount and adding it to the current loop to actively suppress the further deterioration of the speed fluctuation; the motor controller observes the motor operating status in real time, predicts the output speed of the motor, actively identifies the jitter state of the motor speed, and then actively injects id / iq compensation current, so that the motor controller outputs a torque suitable for the stable operation of the whole vehicle, thereby achieving stable operation. The method of the present invention can actively observe the motor speed and can quickly identify the fluctuation of the transmission system, thereby calculating the compensation current and suppressing the deterioration of the jitter.

Description

Technical Field

[0001] The present invention belongs to the technical field of anti-shake control for electric vehicles, and in particular relates to a method, storage medium, and device for active anti-shake control of a pure electric bus based on current compensation. Background Art

[0002] With the increasing demand for pure electric buses, electrification is a must-do for all major bus manufacturers. Compared to traditionally powered buses, pure electric buses utilize an electric motor drive system instead of a traditional engine. Therefore, their drive systems primarily rely on rigid connections. Active anti-shake features are essential for these motor drive systems to mitigate vehicle vibration caused by these rigid connections.

[0003] When a vehicle is electrically driven or electrically braked, the mechanical backlash of the drivetrain and the cogging torque of the motor cause power transmission disturbances, causing the vehicle to vibrate. Using a traditional torque current loop to regulate the output makes it difficult to suppress these transmission disturbances and maintain stable driving and braking. While these mechanical or motor characteristics can be optimized in mechanical and motor design, the effects are minimal and process limitations arise, increasing mechanical design and production complexity, further increasing costs and ultimately outweighing the benefits.

[0004] Further research revealed two main improvement options: The first involves increasing filtering at low speeds and low torque to reduce the impact of overly rapid responses. However, this approach has poor adaptability to rough driving conditions and, in some cases, can result in a sluggish torque response, impacting the driving experience. The second approach involves adding cogging torque to reduce transmission state changes and thus vibration. However, this approach can cause vehicle jitter when shifting gears and cannot suppress vibration caused by the motor's cogging torque or resonance.

[0005] In order to solve the problems of vibration and noise generated by the electric drive and braking of the entire vehicle due to the disturbance caused by the rigid connection of the bus's electric transmission system and the uneven torque output caused by the motor's slot torque, the inventors provide a pure electric bus active anti-shake control method based on current compensation and a storage medium and device. Summary of the Invention

[0006] The purpose of the present invention is to overcome the above-mentioned problems existing in the prior art and to provide a pure electric bus active anti-shake control method based on current compensation and a storage medium and device.

[0007] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0008] A method for active anti-shake control of a pure electric bus based on current compensation includes the following steps:

[0009] S1. Observe the motor speed using a motor observer and calculate the rate of change of the motor speed using a Kalman filter method;

[0010] S2. Using the calculated motor speed change rate, a gain proportional method is used to calculate a first compensation increment △Is1 required to suppress motor speed fluctuations. Using the first compensation increment △Is1 as input, a second compensation increment △Is2 is calculated to adapt to fluctuations at different speeds. Based on the second compensation increment △Is2, a third compensation increment △Is3 is calculated to adapt to the braking process.

[0011] S3, comparing the calculated third compensation increment △Is3 with the current calibration data Is, performing a limiting process, and obtaining the optimal compensation increment △Is;

[0012] S4. Based on the obtained optimal compensation increment △Is, use the MTPA maximum torque current ratio to allocate △Iq and △Id current instructions, and superimpose △Iq and △Id on the basis of the target current instructions Iq and Id to obtain a current instruction that suppresses current jitter.

[0013] Furthermore, in step S1, the motor observer measures the real-time position value of the motor through the rotary transformer, and converts the motor speed by calculating the cycle change rate; wherein,

[0014] Period deviation value: Δpos=Pos k -Pos k-1 ;

[0015] Sampling period: ΔT = T k -T K-1 ;

[0016] Motor speed:

[0017] Where motorPolse is the number of motor pole pairs; RotorPolse is the number of resolver pole pairs; and FullFrq is the set maximum frequency.

[0018] Furthermore, in step S1, the calculation process of the Kalman filter method is:

[0019] Prior error covariance matrix:

[0020] Kalman gain:

[0021] Posterior estimate: X k =X K-1 +K k *(Zk -X K-1 )

[0022] X K-1 =X k ;

[0023] Update the error covariance matrix:

[0024] P K-1 =PK;

[0025] X k is an estimated value, Z k is the measured value; Q = 2, R = 10;

[0026] Speed ​​change rate: △S=X k -Z k .

[0027] Furthermore, in step S2, the first compensation increment ΔIs1 is calculated according to formula (I):

[0028]

[0029] Where Is is the current calibration data, and Gain_p is the adjustment parameter proportional gain.

[0030] Furthermore, in step S2, the second compensation increment ΔIs2 is calculated according to formula (II):

[0031]

[0032] Where Z k is the measured value.

[0033] Furthermore, in step S2, the third compensation increment ΔIs3 is calculated according to formula (III):

[0034] △Is3=△Is2*(1-BrakePerc) (III)

[0035] Where BrakePerc is the brake pedal opening.

[0036] Furthermore, in step S3, the specific operation of the clipping process is:

[0037]

[0038] ΔTor_Is=|max_Is|-|Is|

[0039]

[0040] Furthermore, in step S4, MTPA calculates ΔI dThe formula is:

[0041]

[0042] MTPA calculation △I q The formula is:

[0043]

[0044] Inject △Iq and △Id into the target's Iq and Id. The specific operations are:

[0045] Iq_New=Iq+ΔIq; Id_New=Id+ΔId;

[0046] Iq=Iq_New, Id=Id_New, as target input.

[0047] A computer storage medium stores a computer program, which, when executed by a processor, implements the active anti-shake control method for a pure electric bus according to the present invention.

[0048] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the active anti-shake control method for a pure electric bus as described in the present invention when executing the computer program.

[0049] The beneficial effects of the present invention are:

[0050] 1. The present invention proposes an active anti-shake control method for pure electric buses based on id / iq current compensation. This method is optimized from the control and strategy levels, actively observes and identifies the jitter of the motor speed, calculates the suppression increment based on the observed fluctuation amount and adds it to the current loop, thereby actively suppressing the further deterioration of the speed fluctuation. The motor controller observes the motor operating status in real time, predicts the output speed of the motor, actively identifies the jitter state of the motor speed, and then actively injects id / iq compensation current, so that the motor controller outputs a torque suitable for the stable operation of the whole vehicle, thereby achieving stable operation. This method can actively observe the motor speed and can quickly identify the fluctuation of the transmission system, thereby calculating the compensation current and suppressing the deterioration of the jitter.

[0051] 2. The method of the present invention can effectively suppress the vibration caused by mechanical clearance and the vibration caused by motor tooth torque, and can be observed and compensated during the entire process of vehicle operation; the method of the present invention can maximize the stability of vehicle operation, improve vehicle comfort, and reduce the failure rate of the transmission system.

[0052] Of course, any product implementing the present invention does not necessarily need to achieve all of the above advantages at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 A flowchart of the method of the present invention;

[0055] Figure 2 Schematic diagram of the compensation increment ΔIs of the present invention;

[0056] Figure 3 This is a schematic diagram of the compensation control effect of the present invention;

[0057] Figure 4 This is a schematic diagram comparing the control effects of the actual application of the present invention. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0059] The relevant specific embodiments of the present invention are:

[0060] Example 1

[0061] like Figure 1 As shown, this embodiment provides a pure electric bus active anti-shake control method based on current compensation, including the following steps:

[0062] S1. Observe the motor speed using a motor observer and calculate the rate of change of the motor speed using a Kalman filter method;

[0063] S2. Using the calculated motor speed change rate, a gain proportional method is used to calculate a first compensation increment △Is1 required to suppress motor speed fluctuations. Using the first compensation increment △Is1 as input, a second compensation increment △Is2 is calculated to adapt to fluctuations at different speeds. Based on the second compensation increment △Is2, a third compensation increment △Is3 is calculated to adapt to the braking process.

[0064] S3, comparing the calculated third compensation increment △Is3 with the current calibration data Is, performing a limiting process, and obtaining the optimal △Is;

[0065] S4. Based on the obtained optimal ΔIs, use the MTPA maximum torque current ratio to allocate ΔIq and ΔId current commands, and superimpose ΔIq and ΔId on the basis of Iq and Id of the target current commands to obtain a current command that suppresses current jitter.

[0066] In step S1, the motor observer measures the real-time position value of the motor through the rotary transformer, and converts the motor speed by calculating the cycle change rate; wherein,

[0067] Period deviation value: Δpos=Pos k -Pos k-1 ;

[0068] Sampling period: ΔT = T k -T K-1 ;

[0069] Motor speed:

[0070] Where motorPolse is the number of motor pole pairs; RotorPolse is the number of resolver pole pairs; and FullFrq is the set maximum frequency.

[0071] The calculation process of the Kalman filter method is:

[0072] Prior error covariance matrix:

[0073] Kalman gain:

[0074] Posterior estimate: X k =X K-1 +K k *(Z k -X K-1 )

[0075] X K-1 =X k ;

[0076] Update the error covariance matrix:

[0077] P K-1 =P K ;

[0078] X k is an estimated value, Z k is the measured value; Q = 2, R = 10;

[0079] Speed ​​change rate: △S=X k -Z k .

[0080] In step S2, the first compensation increment ΔIs1 is calculated according to formula (I):

[0081]

[0082] Where Is is the current calibration data, and Gain_p is the adjustment parameter proportional gain.

[0083] The second compensation increment △Is2 is calculated according to formula (II):

[0084]

[0085] Where Z k is the measured value.

[0086] The third compensation increment △Is3 is calculated according to formula (III):

[0087] ΔIs3=ΔIs2*(1-BrakePerc) (III)

[0088] Where BrakePerc is the brake pedal opening.

[0089] In step S3, the specific operation of the limit processing is:

[0090]

[0091] ΔTor_Is=|max_Is|-|Is|

[0092]

[0093] MTPA calculation △I d The formula is:

[0094]

[0095] MTPA calculation △I q The formula is:

[0096]

[0097] Inject △Iq and △Id into the target's Iq and Id. The specific operations are:

[0098] Iq_New=Iq+ΔIq; Id_New=Id+ΔId;

[0099] Iq=Iq_New, Id=Id_New, as target input.

[0100] Example 2

[0101] The active anti-shake control method for pure electric buses based on current compensation provided in Example 1 was tested and verified on a KST model of a bus manufacturer in Xiamen. p =5090 has a better effect, but when Gain_p is increased, the jitter becomes more severe. Figure 2-Figure 4 The data was measured on a real vehicle, using VH6501 hardware and canoe software to monitor the required variables (motor speed and compensation increment ΔIs) in real time, as measured during normal driving. A custom-developed host computer modified the Gain_p parameter in real time, monitoring the speed optimization direction and adjusting the proportional parameters based on the optimization results. Ultimately, the optimal performance was achieved when Gain_p = 5090. Figure 2 The vertical axis represents the ΔIs amplitude, and the horizontal axis represents the time node; Figure 4 The vertical axis is the motor speed and the horizontal axis is the time node.

[0102] Example 3

[0103] This embodiment provides a computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the active anti-shake control method for a pure electric bus as described in the first embodiment.

[0104] Example 4

[0105] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The computer device is characterized in that when the processor executes the computer program, the active anti-shake control method for a pure electric bus as described in the first embodiment is implemented.

[0106] The preferred embodiments of the present invention disclosed above are merely intended to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A pure electric bus active anti-shake control method based on current compensation, characterized in that: The steps include: S1. Observe the motor speed using a motor observer and calculate the rate of change of the motor speed using a Kalman filter method; S2. Calculate the first compensation increment ΔIs1 required to suppress the motor speed fluctuation using the calculated motor speed change rate using the gain ratio method; Taking the first compensation increment △Is1 as input, calculate the second compensation increment △Is2 that adapts to the fluctuations at different speeds; Calculating a third compensation increment △Is3 adapted to the braking process based on the second compensation increment △Is2; S3, comparing the calculated third compensation increment △Is3 with the current calibration data Is, performing a limiting process, and obtaining the optimal compensation increment △Is; S4. Based on the obtained optimal compensation increment △Is, use the MTPA maximum torque current ratio to allocate △Iq and △Id current instructions, and superimpose △Iq and △Id on the basis of the target current instructions Iq and Id to obtain a current instruction that suppresses current jitter.

2. The active anti-shake control method for a pure electric bus according to claim 1, characterized in that: In step S1, the motor observer measures the real-time position value of the motor through the rotary transformer, and converts the motor speed by calculating the cycle change rate; wherein, Period deviation value: Δpos=Pos k -Pos k-1 ; Sampling period: ΔT = T k -T K-1 ; Motor speed: Where motorPolse is the number of motor pole pairs; RotorPolse is the number of resolver pole pairs; and FullFrq is the set maximum frequency.

3. The active anti-shake control method for a pure electric bus according to claim 2, characterized in that: In step S1, the calculation process of the Kalman filter method is: Prior error covariance matrix: Kalman gain: Posterior estimate: X k =X K-1 +K k *(Z k -X K-1 ) X K-1 =X k ; Update the error covariance matrix: P K-1 =P K ; X k is an estimated value, Z k is the measured value; Q = 2, R = 10; Speed ​​change rate: ΔS = X k -Z k .

4. The active anti-shake control method for a pure electric bus according to claim 3, characterized in that: In step S2, the first compensation increment ΔIs1 is calculated according to formula (I): Where Is is the current calibration data, and Gain_p is the adjustment parameter proportional gain.

5. The active anti-shake control method for a pure electric bus according to claim 4, characterized in that: In step S2, the second compensation increment ΔIs2 is calculated according to formula (II): Where Z k is the measured value.

6. The active anti-shake control method for a pure electric bus according to claim 5, characterized in that: In step S2, the third compensation increment ΔIs3 is calculated according to formula (III): ΔIs3=ΔIs2*(1-BrakePerc) (III) Where BrakePerc is the brake pedal opening.

7. The active anti-shake control method for a pure electric bus according to claim 1, characterized in that: In step S3, the specific operation of the limit processing is: ΔTor_Is=|max_Is|-|Is| 8. The active anti-shake control method for a pure electric bus according to claim 1, characterized in that: In step S4, MTPA calculates ΔI d The formula is: MTPA calculation △I q The formula is: Inject △Iq and △Id into the target's Iq and Id. The specific operations are: Iq_New=Iq+ΔIq; Id_New=Id+ΔId; Iq=Iq_New, Id=Id_New, as target input.

9. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the active anti-shake control method for a pure electric bus according to any one of claims 1 to 8 is implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the pure electric bus active anti-shake control method according to any one of claims 1 to 8 is implemented.

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