Shockless shifting system and shifting method for switched reluctance electric drive of pure electric heavy truck

Abstract

The present invention discloses a shockless shifting system and shifting method of a switched reluctance electric drive of a pure electric heavy-duty truck, including a switched reluctance motor, wherein the switched reluctance motor is connected to an asymmetric half-bridge power converter, and also includes a dual closed-loop control system of speed outer loop control plus torque inner loop control, wherein the dual closed-loop control system consists of three parts: a speed wide-band anti-disturbance controller, a turn-on / turn-off angle dynamic optimizer, and a direct instantaneous torque controller. The three-step shockless shifting process is performed according to the following steps: unloading and disengaging the gear → synchronously engaging the gear → loading and driving. By selecting a suitable closed-loop control system in the shifting process of the above three-step method, different control strategies are coordinated and matched with the control of the transmission system, thereby finally realizing shockless shifting of a pure electric heavy-duty truck driven by a switched reluctance electric drive system, so as to ensure the smoothness and rapidity of the vehicle shifting process.

Description

Technical Field

[0001] The present invention belongs to the technical field of switched reluctance motor control, and more specifically, relates to an impact-free shifting system and a shifting method for a switched reluctance electric drive of a pure electric heavy truck. Background Art

[0002] Pure electric heavy-duty trucks have high energy utilization and are environmentally friendly. Using pure electric heavy-duty trucks to replace traditional fuel-powered heavy-duty trucks is one of the important ways to achieve my country's "dual carbon" goals and practice a green, environmentally friendly, and low-carbon lifestyle. As the power source of pure electric heavy-duty trucks, the electric drive system has the characteristics of fast and precise speed and torque regulation, which means that the vehicle can shift gears without the coordination of synchronizers and clutches. In order to meet the convenience of operation and driving comfort, the use of automatic transmission automatic shifting is an inevitable trend in the development of pure electric vehicles. The matching and coordination of the electric drive system and the transmission is an effective way to achieve impact-free shifting of pure electric heavy-duty trucks and improve the shifting quality. By adopting different electric drive system control strategies during the shifting process, combined with the coordinated control of the electric drive system and the transmission system, the problems of long shifting time and large impact can be solved. Summary of the invention

[0003] The object of the present invention is to provide a shock-free shifting system and a shifting method for a switched reluctance electric drive of a pure electric heavy truck, so as to achieve fast and smooth shifting of the pure electric heavy truck.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] The invention discloses a non-impact shifting system for a pure electric heavy-duty truck with switched reluctance electric drive, characterized in that it includes a switched reluctance motor connected to an asymmetric half-bridge power converter, and also includes a double closed-loop control system of outer loop speed control plus inner loop torque control, wherein the double closed-loop control system includes a wide-band anti-disturbance controller, a switch-on angle / switch-off angle self-tuner, and a direct instantaneous torque controller, wherein the input end of the direct instantaneous torque controller is a reference torque T * The output end is connected to the asymmetric half-bridge power converter and transmits the control signal thereto, and also includes a current sensor and a position sensor. The current sensor detects the current of the switched reluctance motor and transmits the current signal to the DC instantaneous torque controller. The position sensor is installed on the rotor position of the switched reluctance motor and transmits the rotor angular velocity information to the DC instantaneous torque controller. It also includes a speed estimator. One end of the speed estimator is connected to the position sensor, and the other end is connected to the turn-on angle / turn-off angle self-tuner. The input end of the turn-on angle / turn-off angle self-tuner is a reference torque T *

[0006] The output end is connected to the direct instantaneous torque controller, and the turn-on angle and turn-off angle are output to the direct instantaneous torque controller.

[0007] The reference torque generator is connected to the pedal. When the pedal is depressed, the reference torque generator generates a reference torque T1.

[0008] It also includes a reference speed generator, which is respectively connected to the chaotic particle swarm algorithm optimization parameter system and the speed broadband anti-disturbance control controller, the chaotic particle swarm algorithm optimization parameter system is connected to the speed broadband anti-disturbance control controller, the reference speed generator generates a reference speed, the reference speed generator transmits the reference speed to the chaotic particle swarm algorithm optimization parameter system and the speed broadband anti-disturbance control controller respectively, the speed estimator is also respectively connected to the speed broadband anti-disturbance control controller and the chaotic particle swarm algorithm optimization parameter system and transmits the actual rotor angular velocity thereto, the speed broadband anti-disturbance control controller generates a reference torque T2 after the chaotic particle swarm algorithm optimization parameter system controls the parameters,

[0009] The reference torque T3 is a reference torque of the switched reluctance motor. * = T3, the reference torque T3 is 0, the reference torque T1, reference torque T2 and reference torque T3 are input as required. * middle.

[0010] In the above structure: at different stages of gear shifting, the switched reluctance electric drive system for pure electric heavy trucks switches between the switched reluctance electric drive dual closed-loop control system of speed outer loop control + torque inner loop control.

[0011] When a pure electric heavy truck is driving, the switched reluctance motor collects the motor speed, transmission output shaft speed, current gear information and pedal position signal in real time, calculates the target gear, and sends a shift request to the transmission, thus entering the shift process. The shift process of a pure electric heavy truck consists of three steps: unloading and disengaging → synchronous gear engagement → loading and driving. In the unloading and disengaging stage, the switched reluctance electric drive system for pure electric heavy trucks operates in the torque inner loop control mode, and uses a direct instantaneous torque controller to track the reference torque of the switched reluctance motor. The reference torque of the direct instantaneous torque controller is T3 (T3 = 0). The speed estimator calculates the actual speed of the switched reluctance motor according to the rotor position and sends it to the turn-on / turn-off angle self-tuner; the turn-on / turn-off angle self-tuner combines the current reference torque and actual speed to calculate the turn-on angle and turn-off angle, and sends them to the direct instantaneous torque controller; the direct instantaneous torque controller combines the reference torque, turn-on angle, turn-off angle and the current information collected by the current sensor to generate a control signal to achieve the reference torque tracking of the switched reluctance motor. When the synthetic electromagnetic torque output of the switched reluctance motor is close to 0, the gear is unloaded and adjusted to neutral.

[0012] After the gear is disengaged, the transmission system sends a gear disengagement completion notification to the switched reluctance electric drive system for pure electric heavy trucks, and the gear shifting process enters the synchronous gear shifting stage. At the beginning of the synchronous gear shifting stage, the switched reluctance electric drive system for pure electric heavy trucks operates in the mode of a dual closed-loop control system of speed outer loop control + torque inner loop control. The reference speed generator calculates the reference speed of the switched reluctance motor in combination with the transmission output shaft speed and the target gear information, and sends it to the chaotic particle swarm algorithm optimization parameter module; the chaotic particle swarm algorithm optimization parameter module obtains the optimized control parameters in combination with the switched reluctance motor speed, and sends them to the speed broadband anti-disturbance controller; the speed broadband anti-disturbance controller calculates the reference torque T2 according to the actual speed and reference speed of the current switched reluctance motor, and sends it to the direct instantaneous torque controller; finally, the direct instantaneous torque controller generates a control signal in combination with the reference torque, the turn-on angle, the turn-off angle, and the current information collected by the current sensor to realize the tracking of the reference speed of the switched reluctance motor by the actual speed. When the difference between the speed of the switched reluctance motor and the reference speed is less than the threshold, the control mode of the switched reluctance electric drive system is switched to the torque inner loop control mode, and the torque instantaneous controller is used to track the reference torque of the switched reluctance motor. At this time, the reference torque of the direct instantaneous torque controller is equal to T3, T3 = 0, and when the synthetic electromagnetic torque output of the switched reluctance motor is close to 0, synchronous gear shifting is achieved;

[0013] After the gear is engaged, the transmission system sends a gear engagement completion message to the switched reluctance electric drive system. When the switched reluctance electric drive system for pure electric heavy trucks receives the gear shift completion message, it is considered that the transmission system has engaged a new gear. The gear shift enters the loading drive stage. The switched reluctance electric drive system for pure electric heavy trucks operates in the torque inner loop control mode and uses a direct instantaneous torque controller to track the reference torque of the switched reluctance motor. The reference torque generator calculates the reference torque T1 based on the pedal position information and sends it to the direct instantaneous torque controller as the reference torque input; the direct instantaneous torque controller generates a control signal based on the reference torque, the turn-on angle, the turn-off angle, and the current information collected by the current sensor to realize the tracking of the reference torque by the actual synthetic electromagnetic torque of the switched reluctance motor. At this time, the switched reluctance motor returns to the normal loading working state and completes the impact-free gear shifting process.

[0014] As a preferred technical solution of the present invention: the direct instantaneous torque controller includes a hysteresis selector, a hysteresis comparator and a torque estimator, the hysteresis selector and the torque estimator are respectively connected to the hysteresis controller, and the hysteresis controller outputs a switch tube control signal to the asymmetric half-bridge power converter.

[0015] As a preferred technical solution of the present invention: the input of the hysteresis selector is the turn-on angle, the turn-off angle and the rotor position angle, and outputs the serial number of the hysteresis comparator to the hysteresis controller. Combined with the conduction condition of the motor winding, the rotor position is divided into three position intervals and numbered.

[0016] As a preferred technical solution of the present invention: the input of the hysteresis controller is the reference torque T * The difference between the actual synthetic electromagnetic torque and the actual synthetic electromagnetic torque is calculated, and a control signal is output to the asymmetric half-bridge power converter. Combined with the static torque characteristics and electromotive force characteristics of the switched reluctance motor, three different hysteresis comparators are set in three different position intervals and numbered, namely hysteresis comparator 1, hysteresis comparator 2 and hysteresis comparator 3, and the numbering order corresponds to the rotor position interval.

[0017] As a preferred technical solution of the present invention: the torque estimator combines the motor single-phase winding current signal with the rotor position signal to estimate the motor's synthetic electromagnetic torque online and in real time.

[0018] In the above structure: the hysteresis selector generates the serial number of the hysteresis comparator according to the rotor position collected by the position sensor and the opening angle and the closing angle calculated by the opening / closing angle self-tuner, and sends it to the hysteresis controller, thereby selecting the corresponding hysteresis comparator 1, hysteresis comparator 2, and hysteresis comparator 3 in the hysteresis controller; the torque estimator calculates the synthetic electromagnetic torque of the switched reluctance motor according to the rotor position collected by the position sensor and the current signal collected by the current sensor, and sends it to the hysteresis controller; the hysteresis controller combines the reference torque and the synthetic electromagnetic torque of the switched reluctance motor and uses the selected hysteresis comparator to generate a switch tube control signal, thereby realizing the tracking control of the synthetic electromagnetic torque of the switched reluctance motor to the reference torque.

[0019] As a preferred technical solution of the present invention: the chaotic particle swarm algorithm comprises the following steps:

[0020] Initialize the algorithm parameters of the particle swarm;

[0021] The chaotic map is used to initialize the position of the particle chaos variables, and the variable positions involved are the control parameters of the extended state observer in the active disturbance rejection controller;

[0022] Update the current position and velocity of the current particle;

[0023] Optimize the position of particle chaos variables;

[0024] Calculate the optimal fitness function value and global optimal position of the chaotic variable individuals;

[0025] Update individual and global optimal positions;

[0026] Determine whether the particle has reached the maximum number of iterations or the minimum fitness threshold.

[0027] If it is reached, the data is output; if it is not reached, the current position and speed of the particle are repeatedly updated.

[0028] The fitness function of the chaotic particle swarm algorithm is: the sum of the integral of the absolute value of the speed error output by the control system and the acceleration conversion rate within one control cycle of the speed loop.

[0029] In the above structure: by using the chaotic particle swarm algorithm, the control parameters of the extended state observer in the anti-disturbance controller are optimized to meet the minimum fitness function: within one control cycle of the speed loop, the sum of the absolute value of the speed error output by the control system and the acceleration conversion rate. In this way, the high anti-interference ability and robustness of the switched reluctance motor under wide-band speed regulation are achieved. The specific process of parameter optimization based on the chaotic particle swarm algorithm is as follows Figure 3 As shown, the variable positions in the figure are the control parameters to be optimized.

[0030] A shifting method for a non-impact shifting control system of a switched reluctance electric drive system for a pure electric heavy truck, characterized in that it comprises the following steps:

[0031] S1. Uninstall and remove the block:

[0032] The dual closed-loop control system operates in the torque inner loop control mode and uses a direct instantaneous torque controller to track the reference torque of the switched reluctance motor. The reference torque T * Equal to T3, T3 = 0, when the synthetic electromagnetic torque output of the switched reluctance motor is close to 0, the gear is unloaded and the gear is adjusted to neutral;

[0033] S2. Synchronous gear shifting:

[0034] The reference speed generator calculates the reference speed of the switched reluctance motor according to the target gear information and the transmission output shaft speed. The switched reluctance electric drive system for pure electric heavy trucks adopts a dual closed-loop control system of speed outer loop control plus torque inner loop control to achieve the tracking of the reference speed by the actual speed of the switched reluctance motor. When the difference between the speed of the switched reluctance motor and the reference speed is less than the threshold, the dual closed-loop control system is switched to the torque inner loop control mode, and the torque instantaneous controller is used to track the reference torque of the switched reluctance motor. The reference torque T of the direct instantaneous torque controller * Equal to T3, T3 = 0, when the combined electromagnetic torque output of the switched reluctance motor is close to 0, synchronous gear shifting is achieved;

[0035] S3. Load the driver:

[0036] The reference torque generator calculates the reference torque T1 according to the pedal position information. The dual closed-loop control system operates in the torque inner loop control mode and uses a direct instantaneous torque controller to track the reference torque of the switched reluctance motor. The reference torque T of the direct instantaneous torque controller is * When the time is equal to T1, the switched reluctance motor returns to the normal loaded working state and the shock-free shifting process is completed.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The present invention reduces the gear shifting time by adopting different electric drive system control strategies during the gear shifting process and combining the coordinated control of the electric drive system and the transmission system, which is beneficial to the stable driving of the vehicle, reduces the gear shifting shock, enhances the smoothness of the gear shifting process, and improves the gear shifting quality, driving comfort and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is the overall control block diagram of the impact-free control in the present invention;

[0040] Figure 2It is a block diagram of direct instantaneous torque control in the present invention;

[0041] Figure 3 It is the flow chart of the chaotic particle swarm algorithm in the present invention. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0043] like Figure 1-3 As shown: The present invention proposes a non-impact shifting system of a pure electric heavy-duty truck switched reluctance electric drive, including a switched reluctance motor, the switched reluctance motor is connected to an asymmetric half-bridge power converter, and also includes a double closed-loop control system of speed outer loop control plus torque inner loop control, the double closed-loop control system includes a speed wide-band anti-disturbance controller, a turn-on angle / turn-off angle self-tuner and a direct instantaneous torque controller, the input end of the direct instantaneous torque controller is a reference torque T * The output end is connected to the asymmetric half-bridge power converter and transmits the control signal thereto, and also includes a current sensor and a position sensor. The current sensor detects the current of the switched reluctance motor and transmits the current signal to the DC instantaneous torque controller. The position sensor is installed on the rotor position of the switched reluctance motor and transmits the rotor angular velocity information to the DC instantaneous torque controller. It also includes a speed estimator. One end of the speed estimator is connected to the position sensor, and the other end is connected to the turn-on angle / turn-off angle self-tuner. The input end of the turn-on angle / turn-off angle self-tuner is a reference torque T * The output end is connected to the direct instantaneous torque controller, and the turn-on angle and turn-off angle are output to the direct instantaneous torque controller.

[0044] The reference torque generator is connected to the pedal. When the pedal is depressed, the reference torque generator generates a reference torque T1.

[0045] It also includes a reference speed generator, which is respectively connected to the chaotic particle swarm algorithm optimization parameter system and the speed broadband anti-disturbance control controller, the chaotic particle swarm algorithm optimization parameter system is connected to the speed broadband anti-disturbance control controller, the reference speed generator generates a reference speed, the reference speed generator transmits the reference speed to the chaotic particle swarm algorithm optimization parameter system and the speed broadband anti-disturbance control controller respectively, the speed estimator is also respectively connected to the speed broadband anti-disturbance control controller and the chaotic particle swarm algorithm optimization parameter system and transmits the actual rotor angular velocity thereto, the speed broadband anti-disturbance control controller generates a reference torque T2 after the chaotic particle swarm algorithm optimization parameter system controls the parameters,

[0046] The reference torque T3 is a reference torque of the switched reluctance motor.* = T3, the reference torque T3 is 0, the reference torque T1, reference torque T2 and reference torque T3 are input as required. * middle.

[0047] Working principle of the present invention:

[0048] At different stages of gear shifting, the switched reluctance electric drive system for pure electric heavy trucks switches between the switched reluctance electric drive dual closed-loop control system of speed outer loop control + torque inner loop control.

[0049] When a pure electric heavy truck is driving, the switched reluctance motor collects the motor speed, transmission output shaft speed, current gear information and pedal position signal in real time, calculates the target gear, and sends a shift request to the transmission, thus entering the shift process. The shift process of a pure electric heavy truck consists of three steps: unloading and disengaging → synchronous gear engagement → loading and driving. In the unloading and disengaging stage, the switched reluctance electric drive system for pure electric heavy trucks operates in the torque inner loop control mode, and uses a direct instantaneous torque controller to track the reference torque of the switched reluctance motor. The reference torque of the direct instantaneous torque controller is T3 (T3 = 0). The speed estimator calculates the actual speed of the switched reluctance motor according to the rotor position and sends it to the turn-on / turn-off angle self-tuner; the turn-on / turn-off angle self-tuner combines the current reference torque and actual speed to calculate the turn-on angle and turn-off angle, and sends them to the direct instantaneous torque controller; the direct instantaneous torque controller combines the reference torque, turn-on angle, turn-off angle and the current information collected by the current sensor to generate a control signal to achieve the reference torque tracking of the switched reluctance motor. When the synthetic electromagnetic torque output of the switched reluctance motor is close to 0, the gear is unloaded and adjusted to neutral.

[0050] After the gear is disengaged, the transmission system sends a gear disengagement completion notification to the switched reluctance electric drive system for pure electric heavy trucks, and the gear shifting process enters the synchronous gear shifting stage. At the beginning of the synchronous gear shifting stage, the switched reluctance electric drive system for pure electric heavy trucks operates in the mode of a dual closed-loop control system of speed outer loop control + torque inner loop control. The reference speed generator calculates the reference speed of the switched reluctance motor in combination with the transmission output shaft speed and the target gear information, and sends it to the chaotic particle swarm algorithm optimization parameter module; the chaotic particle swarm algorithm optimization parameter module obtains the optimized control parameters in combination with the switched reluctance motor speed, and sends them to the speed broadband anti-disturbance controller; the speed broadband anti-disturbance controller calculates the reference torque T2 according to the actual speed and reference speed of the current switched reluctance motor, and sends it to the direct instantaneous torque controller; finally, the direct instantaneous torque controller generates a control signal in combination with the reference torque, the turn-on angle, the turn-off angle, and the current information collected by the current sensor to realize the tracking of the reference speed of the switched reluctance motor by the actual speed. When the difference between the speed of the switched reluctance motor and the reference speed is less than the threshold, the control mode of the switched reluctance electric drive system is switched to the torque inner loop control mode, and the torque instantaneous controller is used to track the reference torque of the switched reluctance motor. At this time, the reference torque of the direct instantaneous torque controller is equal to T3, T3 = 0, and when the synthetic electromagnetic torque output of the switched reluctance motor is close to 0, synchronous gear shifting is achieved;

[0051] After the gear is engaged, the transmission system sends a gear engagement completion message to the switched reluctance electric drive system. When the switched reluctance electric drive system for pure electric heavy trucks receives the gear shift completion message, it is considered that the transmission system has engaged a new gear. The gear shift enters the loading drive stage. The switched reluctance electric drive system for pure electric heavy trucks operates in the torque inner loop control mode and uses a direct instantaneous torque controller to track the reference torque of the switched reluctance motor. The reference torque generator calculates the reference torque T1 based on the pedal position information and sends it to the direct instantaneous torque controller as the reference torque input; the direct instantaneous torque controller generates a control signal based on the reference torque, the turn-on angle, the turn-off angle, and the current information collected by the current sensor to realize the tracking of the reference torque by the actual synthetic electromagnetic torque of the switched reluctance motor. At this time, the switched reluctance motor returns to the normal loading working state and completes the impact-free gear shifting process.

[0052] In this embodiment: the direct instantaneous torque controller includes a hysteresis selector, a hysteresis comparator and a torque estimator, the hysteresis selector and the torque estimator are respectively connected to the hysteresis controller, and the hysteresis controller outputs a switch tube control signal to the asymmetric half-bridge power converter.

[0053] In this embodiment: the input of the hysteresis selector is the turn-on angle, the turn-off angle and the rotor position angle, and outputs the serial number of the hysteresis comparator to the hysteresis controller. Combined with the conduction condition of the motor winding, the rotor position is divided into three position intervals and numbered.

[0054] In this embodiment: the input of the hysteresis controller is the reference torque T * The difference between the actual synthetic electromagnetic torque and the actual synthetic electromagnetic torque is calculated, and a control signal is output to the asymmetric half-bridge power converter. Combined with the static torque characteristics and electromotive force characteristics of the switched reluctance motor, three different hysteresis comparators are set in three different position intervals and numbered, namely hysteresis comparator 1, hysteresis comparator 2 and hysteresis comparator 3, and the numbering order corresponds to the rotor position interval.

[0055] In this embodiment: the torque estimator estimates the synthetic electromagnetic torque of the motor online and in real time by combining the motor single-phase winding current signal with the rotor position signal.

[0056] The hysteresis selector generates the serial number of the hysteresis comparator according to the rotor position collected by the position sensor and the opening angle and the closing angle calculated by the opening / closing angle self-tuner, and sends it to the hysteresis controller, so as to select the corresponding hysteresis comparator 1, hysteresis comparator 2, and hysteresis comparator 3 in the hysteresis controller; the torque estimator calculates the synthetic electromagnetic torque of the switched reluctance motor according to the rotor position collected by the position sensor and the current signal collected by the current sensor, and sends it to the hysteresis controller; the hysteresis controller combines the reference torque and the synthetic electromagnetic torque of the switched reluctance motor with the selected hysteresis comparator to generate the switch tube control signal, so as to realize the tracking control of the synthetic electromagnetic torque of the switched reluctance motor to the reference torque.

[0057] In this embodiment: the chaotic particle swarm algorithm includes the following steps:

[0058] Initialize the algorithm parameters of the particle swarm;

[0059] The chaotic map is used to initialize the position of the particle chaos variables, and the variable positions involved are the control parameters of the extended state observer in the active disturbance rejection controller;

[0060] Update the current position and velocity of the current particle;

[0061] Optimize the position of particle chaos variables;

[0062] Calculate the optimal fitness function value and global optimal position of the chaotic variable individuals;

[0063] Update individual and global optimal positions;

[0064] Determine whether the particle has reached the maximum number of iterations or the minimum fitness threshold.

[0065] If it is reached, the data is output; if it is not reached, the current position and speed of the particle are repeatedly updated.

[0066] The fitness function of the chaotic particle swarm algorithm is: the sum of the integral of the absolute value of the speed error output by the control system and the acceleration conversion rate within one control cycle of the speed loop.

[0067] By using the chaotic particle swarm algorithm, the control parameters of the extended state observer in the anti-disturbance controller are optimized to meet the minimum fitness function: within one control cycle of the speed loop, the sum of the absolute value of the speed error output by the control system and the acceleration conversion rate. This achieves high anti-interference ability and robustness under wide-band speed regulation of the switched reluctance motor. The specific process of parameter optimization based on the chaotic particle swarm algorithm is as follows: Figure 3 As shown, the variable positions in the figure are the control parameters to be optimized.

[0068] The shifting method of the impact-free shifting system of the switched reluctance electric drive of a pure electric heavy-duty truck comprises the following steps:

[0069] S1. Uninstall and remove the block:

[0070] The dual closed-loop control system operates in the torque inner loop control mode and uses a direct instantaneous torque controller to track the reference torque of the switched reluctance motor. The reference torque T * Equal to T3, T3 = 0, when the synthetic electromagnetic torque output of the switched reluctance motor is close to 0, the gear is unloaded and the gear is adjusted to neutral;

[0071] S2. Synchronous gear shifting:

[0072] The reference speed generator calculates the reference speed of the switched reluctance motor according to the target gear information and the transmission output shaft speed. The switched reluctance electric drive system for pure electric heavy trucks adopts a dual closed-loop control system of speed outer loop control plus torque inner loop control to achieve the tracking of the reference speed by the actual speed of the switched reluctance motor. When the difference between the speed of the switched reluctance motor and the reference speed is less than the threshold, the dual closed-loop control system is switched to the torque inner loop control mode, and the torque instantaneous controller is used to track the reference torque of the switched reluctance motor. The reference torque T of the direct instantaneous torque controller * Equal to T3, T3 = 0, when the combined electromagnetic torque output of the switched reluctance motor is close to 0, synchronous gear shifting is achieved;

[0073] S3. Load the driver:

[0074] The reference torque generator calculates the reference torque T1 according to the pedal position information. The dual closed-loop control system operates in the torque inner loop control mode and uses a direct instantaneous torque controller to track the reference torque of the switched reluctance motor. The reference torque T of the direct instantaneous torque controller is * When the time is equal to T1, the switched reluctance motor returns to the normal loaded working state and the shock-free shifting process is completed.

[0075] The present invention reduces the gear shifting time by adopting different electric drive system control strategies during the gear shifting process and combining the coordinated control of the electric drive system and the transmission system, which is beneficial to the stable driving of the vehicle, reduces the gear shifting shock, enhances the smoothness of the gear shifting process, and improves the gear shifting quality, driving comfort and safety.

[0076] The above description is only a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent change made based on the technical essence of the present invention still falls within the scope of protection required by the present invention.

Claims

1. A shockless shift control system for a switched reluctance electric drive system for a pure electric heavy truck, characterized in that: The invention comprises a switched reluctance motor connected to an asymmetric half-bridge power converter, and also comprises a double closed-loop control system of speed outer loop control plus torque inner loop control, wherein the double closed-loop control system comprises a speed wide-band anti-disturbance controller, a turn-on angle / turn-off angle self-tuner and a direct instantaneous torque controller, wherein the input end of the direct instantaneous torque controller is a reference torque T * The output end is connected to the asymmetric half-bridge power converter and transmits the control signal to it. The invention also includes a current sensor and a position sensor. The current sensor detects the current of the switched reluctance motor and transmits the current signal to the DC instantaneous torque controller. The position sensor is installed on the rotor position of the switched reluctance motor and transmits the rotor angular velocity information to the DC instantaneous torque controller. The invention also includes a speed estimator. One end of the speed estimator is connected to the position sensor, and the other end is connected to the turn-on / turn-off angle self-tuner. The input end of the turn-on / turn-off angle self-tuner is the reference torque T * The output end is connected to the direct instantaneous torque controller, and the turn-on angle and turn-off angle are output to the direct instantaneous torque controller. The reference torque generator is connected to the pedal. When the pedal is depressed, the reference torque generator generates a reference torque T1. It also includes a reference speed generator, which is respectively connected to the chaotic particle swarm algorithm optimization parameter system and the speed broadband anti-disturbance control controller, the chaotic particle swarm algorithm optimization parameter system is connected to the speed broadband anti-disturbance control controller, the reference speed generator generates a reference speed, the reference speed generator transmits the reference speed to the chaotic particle swarm algorithm optimization parameter system and the speed broadband anti-disturbance control controller respectively, the speed estimator is also respectively connected to the speed broadband anti-disturbance control controller and the chaotic particle swarm algorithm optimization parameter system and transmits the actual rotor angular velocity thereto, the speed broadband anti-disturbance control controller generates a reference torque T2 after the chaotic particle swarm algorithm optimization parameter system controls the parameters, The reference torque T3 is a reference torque of the switched reluctance motor. * = equal to reference torque T3, the reference torque T3 is 0, the reference torque T1, reference torque T2 and reference torque T3 are input as required. * middle.

2. The impact-free shift control system of a switched reluctance electric drive system for a pure electric heavy truck according to claim 1, characterized in that: The direct instantaneous torque controller comprises a hysteresis selector, a hysteresis comparator and a torque estimator. The hysteresis selector and the torque estimator are respectively connected to the hysteresis controller, and the hysteresis controller outputs a control signal to the asymmetric half-bridge power converter.

3. The impact-free shift control system of the switched reluctance electric drive system for a pure electric heavy truck according to claim 2, characterized in that: The input of the hysteresis selector is the turn-on angle, turn-off angle and rotor position angle, and outputs the serial number of the hysteresis comparator to the hysteresis controller. Combined with the conduction condition of the motor winding, the rotor position is divided into three position intervals and numbered.

4. A shockless shift control system for a switched reluctance electric drive system for a pure electric heavy truck according to claim 2 or 3, characterized in that: The input of the hysteresis controller is the reference torque T * The difference between the actual synthetic electromagnetic torque and the actual synthetic electromagnetic torque is calculated, and a control signal is output to the asymmetric half-bridge power converter. Combined with the static torque characteristics and electromotive force characteristics of the switched reluctance motor, three different hysteresis comparators are set in three different position intervals and numbered, namely hysteresis comparator 1, hysteresis comparator 2 and hysteresis comparator 3, and the numbering order corresponds to the rotor position interval.

5. The shockless shift control system of the switched reluctance electric drive system for a pure electric heavy truck according to claim 2, characterized in that: The torque estimator estimates the synthetic electromagnetic torque of the motor online and in real time by combining the motor single-phase winding current signal with the rotor position signal.

6. The shockless shift control system of the switched reluctance electric drive system for a pure electric heavy truck according to claim 1, characterized in that: The chaotic particle swarm algorithm comprises the following steps: Initialize the algorithm parameters of the particle swarm; The chaotic map is used to initialize the position of the particle chaos variables, and the variable positions involved are the control parameters of the extended state observer in the active disturbance rejection controller; Update the current position and velocity of the current particle; Optimize the position of particle chaos variables; Calculate the optimal fitness function value and global optimal position of the chaotic variable individuals; Update individual and global optimal positions; Determine whether the particle has reached the maximum number of iterations or the minimum fitness threshold. If it is reached, the data is output; if it is not reached, the current position and speed of the particle are repeatedly updated. The fitness function of the chaotic particle swarm algorithm is: the sum of the integral of the absolute value of the speed error output by the control system and the acceleration conversion rate within one control cycle of the speed loop.

7. A shifting method for a shockless shifting control system of a switched reluctance electric drive system for a pure electric heavy truck according to any one of claims 1 to 6, characterized in that: The following steps are included: S1. Uninstall and remove the block: The dual closed-loop control system operates in the torque inner loop control mode and uses a direct instantaneous torque controller to track the reference torque of the switched reluctance motor. The reference torque T * Equal to the reference torque T3, T3 = 0, when the synthetic electromagnetic torque output of the switched reluctance motor is close to 0, the gear is unloaded and the gear is adjusted to neutral; S2. Synchronous gear shifting: The reference speed generator calculates the reference speed of the switched reluctance motor according to the target gear information and the transmission output shaft speed. The switched reluctance electric drive system for pure electric heavy trucks adopts a dual closed-loop control system of speed outer loop control plus torque inner loop control to achieve the tracking of the reference speed by the actual speed of the switched reluctance motor. When the difference between the speed of the switched reluctance motor and the reference speed is less than the threshold, the dual closed-loop control system is switched to the torque inner loop control mode, and the torque instantaneous controller is used to track the reference torque of the switched reluctance motor. The reference torque T of the direct instantaneous torque controller * Equal to the reference torque T3, T3 = 0, when the output of the switch reluctance motor's synthetic electromagnetic torque is close to 0, synchronous gear shifting is achieved; S3. Load the driver: The reference torque generator calculates the reference torque T1 according to the pedal position information. The dual closed-loop control system operates in the torque inner loop control mode and uses a direct instantaneous torque controller to track the reference torque of the switched reluctance motor. The reference torque T of the direct instantaneous torque controller is * Equal to the reference torque T1, the switched reluctance motor returns to the normal loaded working state, completing the shock-free shifting process.

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