Electromechanical composite transmission system-inertia-rack load integrated simulation model construction method and system

Abstract

The invention relates to the field of vehicle testing, and discloses an electromechanical composite transmission system-inertia-rack load integrated simulation model construction method and system, and the method comprises the steps: building an electromechanical composite transmission system dynamic model and a whole-vehicle dynamic model of a tracked vehicle; based on a dynamical model of the electromechanical composite transmission system, rotating speeds and torques which should be output by a driving motor under different working conditions are calculated and serve as target rotating speed torques to control the driving motor in a closed-loop mode; based on a whole vehicle dynamics model and a load calculation model, dynamic loads of a vehicle in the driving process under different working conditions are calculated, the dynamic loads serve as target values and are transmitted to a loading motor or a dynamometer for closed-loop control, and rack simulation loading is achieved through an electric inertia simulation method. According to the invention, corresponding driving requirements can be obtained according to different working conditions, and the driving system and the loading system are controlled to enable the driving torque and the load torque of the electromechanical composite transmission system to be consistent with the driving torque and the load torque when a real vehicle runs on a road.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle testing, and in particular to a method and system for constructing an integrated simulation model of an electromechanical composite transmission system, inertia and bench load. Background Art

[0002] Traditional bench test technology usually uses a flywheel to simulate vehicle inertia, which is called mechanical inertia simulation. The introduction of a flywheel will lead to poor test versatility, inability to achieve stepless speed regulation, dynamic impact and other problems, which is not conducive to dynamic load simulation. The electrical inertia simulation method can more accurately reproduce the dynamic load of the vehicle during driving on the bench by leveraging the characteristics of the motor's large speed regulation range and fast dynamic response.

[0003] The integrated modeling of mechatronic transmission system-inertia-bench requires the establishment of vehicle dynamics model, transmission system dynamics model and inertia calculation model, and combining them with the test bench system. In existing research results, due to the drastic transient changes in inertia load during the driving of tracked vehicles, traditional test bench technology is difficult to meet the needs of dynamic load simulation, and the mechanical simulation inertia method is also difficult to perform integrated modeling. As a new type of transmission system, the test bench for the mechatronic transmission system also needs to be designed and modeled accordingly. At present, there is no integrated modeling method for mechatronic transmission system-inertia-bench. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a method and system for constructing an integrated simulation model of an electromechanical composite transmission system-inertia-bench load, which can calculate the corresponding driving requirements, vehicle operating load conditions and loading requirements according to different working conditions such as starting, acceleration, and steering, and then control the driving system and the loading system to make the driving torque and load torque of the electromechanical composite transmission system consistent with the driving torque and load torque of the actual vehicle when running on the road.

[0005] To achieve the above-mentioned purpose, in the first aspect, the technical solution adopted by the present invention is: a method for constructing an integrated simulation model of an electromechanical composite transmission system-inertia-bench load, which includes: establishing a dynamic model of the electromechanical composite transmission system and a whole vehicle dynamic model of the tracked vehicle; based on the dynamic model of the electromechanical composite transmission system, calculating the speed and torque that the drive motor should output under different working conditions, and using it as the target speed and torque to control the drive motor in a closed loop; based on the whole vehicle dynamic model and the load calculation model, calculating the dynamic load of the vehicle during driving under different working conditions, and transferring it as the target value to the loading motor or dynamometer for closed-loop control, and realizing bench simulation loading through the electric inertia simulation method.

[0006] Furthermore, a dynamic model of the electromechanical composite transmission system is established, including: based on the kinematic relationship of the planetary transmission and the characteristic parameters of the planetary gear of the power coupling mechanism driven by the double-sided motors, the kinematic and dynamic relationship from the motor to the driving wheel is established to form a dynamic model of the electromechanical composite transmission system.

[0007] Furthermore, the whole vehicle dynamics model of the tracked vehicle is a whole vehicle dynamics model under straight driving and turning conditions, so as to calculate the driving resistance torque and inertia resistance torque suffered by the tracked vehicle during driving; the whole vehicle dynamics model includes a dynamics model between the electromechanical composite transmission drive system and the tracked vehicle and a steering dynamics model of the tracked vehicle.

[0008] Furthermore, based on the dynamics model of the electromechanical hybrid transmission system, the speed and torque that the drive motor should output under different working conditions are calculated, and the speed and torque are used as the target speed and torque to control the drive motor in a closed loop, including:

[0009] Taking the test conditions as input, the kinematic and dynamic analysis of the electromechanical hybrid transmission system of the tracked armored vehicle is carried out to obtain the driving requirements corresponding to different working conditions. The driving requirements are the speed and torque that the motors on both sides need to output. The different working conditions are the vehicle straight driving condition and the vehicle turning condition.

[0010] Based on the established electromechanical hybrid transmission system drive motor dynamics model and motor vector control system, the drive demand is transmitted to the drive motor as a target value to perform closed-loop control on the drive motor, and the drive motor outputs speed and torque to the coupling transmission mechanism;

[0011] The equivalent inertia of the tracked vehicle under straight driving and turning conditions is calculated based on the transmission mechanism dynamics model of the electromechanical composite transmission system including the motor reduction gearbox, power coupling mechanism and side transmission mechanism, and the equivalent inertia of the vehicle is equivalent to the power output shaft of the electromechanical composite transmission system.

[0012] Furthermore, the calculation method of the equivalent inertia of the tracked vehicle under straight driving conditions is:

[0013]

[0014] The calculation method of the equivalent inertia of the tracked vehicle under steering conditions is:

[0015]

[0016] In the formula, is the equivalent inertia of the vehicle equivalent to the driving wheel, is the equivalent moment of inertia of the vehicle's road wheels, is the equivalent inertia of the vehicle track, is the equivalent inertia of the vehicle translation part, m is the mass of the vehicle; I1 is the equivalent moment of inertia of the output shaft of the inner transmission mechanism; I2 is the equivalent moment of inertia of the output shaft of the outer transmission mechanism, R z is the turning radius, B is the track center distance, r is the driving wheel radius, I z is the vehicle's moment of inertia.

[0017] Furthermore, based on the vehicle dynamics model and load calculation model, the dynamic load of the vehicle during driving under different working conditions is calculated and transmitted as the target value to the loading motor or dynamometer for closed-loop control, including:

[0018] The dynamic resistance of the tracked vehicle during straight driving and turning is calculated based on the vehicle dynamics model, and a load calculation model is established. The real-time inertial resistance torque of the tracked vehicle during driving is calculated based on the electric inertia simulation algorithm. The sum of the inertial resistance torque and the driving resistance torque is used as the target value of the dynamic load to be loaded.

[0019] Furthermore, the loading motor or dynamometer is closed-loop controlled, and the bench simulation loading is realized by the electric inertia simulation method, including:

[0020] A dynamic model of the bench loaded motor or loaded dynamometer is established based on the pre-calibrated or identified motor rotation inertia, resistance, inductance, flux linkage and friction factor parameters, and a dynamic model of the bench transmission shaft is established based on the pre-calibrated rotation inertia of the bench transmission components. The loaded motor or dynamometer is closed-loop controlled according to the calculated dynamic load.

[0021] In the second aspect, the technical solution adopted by the present invention is: a system for building an integrated simulation model of an electromechanical composite transmission system-inertia-bench load, which includes: a first processing module, which establishes a dynamic model of the electromechanical composite transmission system and a whole vehicle dynamic model of the tracked vehicle; a second processing module, which calculates the speed and torque that the drive motor should output under different working conditions based on the dynamic model of the electromechanical composite transmission system, and uses it as the target speed and torque to control the drive motor in a closed loop; a third processing module, which calculates the dynamic load of the vehicle during driving under different working conditions based on the whole vehicle dynamic model and the load calculation model, and transfers it as the target value to the loading motor or dynamometer for closed-loop control, and realizes bench simulation loading through the electric inertia simulation method.

[0022] In a third aspect, the technical solution adopted by the present invention is: a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, and when the instructions are executed by a computing device, the computing device executes any one of the above methods.

[0023] In a fourth aspect, the technical solution adopted by the present invention is: a computing device, comprising: one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include instructions for executing any of the above methods.

[0024] The present invention adopts the above technical solution, which has the following advantages:

[0025] The integrated simulation model of the present invention takes the whole vehicle test condition as input, dynamically models the electromechanical hybrid transmission system, the whole vehicle inertia and the test bench as a system, calculates the dynamic load and corresponding loading requirements of the whole vehicle under different conditions and controls the loading motor to load, realizes bench simulation tests of starting, acceleration and steering conditions, and lays the foundation for subsequent reliability testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is an overall flow chart of the method for constructing an integrated simulation model of an electromechanical hybrid transmission system-inertia-bench load in an embodiment of the present invention;

[0027] Figure 2 is a control block diagram of a drive motor in an embodiment of the present invention;

[0028] Figure 3 is a structural diagram of a dual-motor coupling drive system in an embodiment of the present invention;

[0029] Figure 4 1 is a schematic diagram of calculating the equivalent inertia of a tracked vehicle according to an embodiment of the present invention;

[0030] Figure 5 is a plane motion coordinate diagram established in an embodiment of the present invention;

[0031] Figure 6 This is a flow chart of the electric inertia simulation loading motor control in an embodiment of the present invention;

[0032] Figure 7 It is a block diagram of vector control of an AC asynchronous motor in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] Bench test plays an important role in vehicle reliability testing technology. Vehicle functions are becoming more and more complex, but the development cycle is becoming shorter and shorter. The actual vehicle field test method has many problems such as the consumption of manpower and material resources and poor test flexibility. Bench test technology can simulate the vehicle load conditions of the actual vehicle under various working conditions on the actual road while saving manpower and material costs, improve test flexibility, and lay the foundation for the reliability test of the whole vehicle.

[0034] With the development of dynamic modeling technology and computer technology, by establishing a more accurate dynamic model and using computer simulation technology to perform dynamic simulation, the vehicle development cycle can be further shortened, development efficiency can be improved, and development costs can be saved. According to different test requirements, the test bench should also be adjusted accordingly. Therefore, building an accurate bench integrated model is a prerequisite for conducting reliability bench testing.

[0035] Electromechanical hybrid transmission technology is a hybrid technology in which the engine drives the generator to output electrical energy to the battery and the power motor, and the power motor is used as the power source of the transmission system. It transfers energy through electromechanical coupling and has many advantages such as good speed change performance, high transmission efficiency, quiet driving, and a large torque output range.

[0036] In order to fill the gap in the current integrated modeling of electromechanical composite transmission system-inertia-bench, the present invention provides a method and system for constructing an integrated simulation model of electromechanical composite transmission system-inertia-bench load, which is used for the reliability bench test technology of electromechanical composite transmission system. The present invention includes: establishing a dynamic model of electromechanical composite transmission system and a dynamic model of tracked vehicle; based on the dynamic model of electromechanical composite transmission system, calculating the speed and torque that the drive motor should output under different working conditions, and using it as the target speed and torque to close-loop control the drive motor; based on the vehicle dynamic model and load calculation model, calculating the dynamic load of the vehicle during driving under different working conditions, using it as the target speed and torque to close-loop control the loading motor or dynamometer, and realizing bench simulation loading through the electric inertia simulation method.

[0037] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0039] In one embodiment of the present invention, a method for constructing an integrated simulation model of an electromechanical composite transmission system-inertia-bench load is provided, including a vehicle dynamics model, a drive motor system, a transmission mechanism model including a power coupling mechanism, a vehicle inertia model, a load calculation model, a loading motor system, and a bench inertia model. With the test condition as input, the driving demand is calculated according to the vehicle dynamics, and it is transferred as the target value to the drive motor system for closed-loop control, and the speed torque output by the motor is transferred to the driving wheel through the transmission mechanism; the vehicle driving resistance is calculated according to the vehicle dynamics, and the equivalent inertia of the vehicle during driving is calculated by the vehicle inertia model, and the target load torque is calculated by the electric inertia simulation algorithm of the load calculation model, and it is transferred as the target value to the loading motor system for closed-loop control, and the loading motor outputs the load torque to the driving wheel.

[0040] In this embodiment, Figure 1 As shown, the method comprises the following steps:

[0041] 1) Establish the dynamics model of the electromechanical hybrid transmission system and the dynamics model of the tracked vehicle;

[0042] 2) Based on the dynamics model of the electromechanical hybrid transmission system, the speed and torque that the drive motor should output under different working conditions are calculated, and used as the target speed and torque to control the drive motor in a closed loop;

[0043] 3) Based on the vehicle dynamics model and load calculation model of the tracked vehicle, the dynamic load of the vehicle during driving under different working conditions is calculated, and it is transferred as the target value to the loading motor or dynamometer for closed-loop control, and the bench simulation loading is realized through the electric inertia simulation method.

[0044] In the above step 1), a dynamic model of the electromechanical composite transmission system is established, including: based on the kinematic relationship of the planetary transmission and the characteristic parameters of the planetary gear of the power coupling mechanism driven by the double-sided motors, the kinematic and dynamic relationship from the motor to the driving wheel is established, which is the dynamic model of the electromechanical composite transmission system.

[0045] In the above step 1), the whole vehicle dynamics model of the tracked vehicle is a whole vehicle dynamics model under straight driving and turning conditions, so as to calculate the driving resistance torque and inertia resistance torque suffered by the tracked vehicle during driving; the whole vehicle dynamics model includes the dynamics model between the electromechanical composite transmission drive system and the tracked vehicle and the steering dynamics model of the tracked vehicle.

[0046] In the above step 2), based on the dynamic model of the electromechanical hybrid transmission system, the speed and torque that the drive motor should output under different working conditions are calculated, and the speed and torque are used as the target speed and torque to control the drive motor in a closed loop, including the following steps:

[0047] 2.1) Taking the test conditions as input, the kinematic and dynamic analysis of the electromechanical hybrid transmission system of the tracked armored vehicle is carried out to obtain the drive requirements corresponding to different working conditions. The drive requirements are the speed and torque that the motors on both sides need to output. The different working conditions are the vehicle straight driving condition and the vehicle turning condition.

[0048] Specifically, the efficiency of the transmission mechanism and the travel device must be considered when calculating the target torque of the two-side motors. The vehicle driving demand for straight driving is calculated according to the following formula (1), and the vehicle driving demand for turning driving is calculated according to the following formula (2):

[0049]

[0050] In formula (1), n zL and n zR are the speeds of the driving wheels on the left and right sides, n m is the motor speed on both sides under straight driving condition, k g is the characteristic parameter of the motor reduction gearbox, i c is the side transmission ratio, T zL and T zR are the driving wheel torques on the left and right sides, T m is the motor torque on both sides under straight driving condition, η g , η d , η c They are the efficiencies of the transmission mechanism, side transmission and travelling device respectively.

[0051]

[0052] In formula (2), V is the vehicle center of mass velocity, ρ is the relative turning radius, and n mL and n mR are the motor speeds on the left and right sides, T mL and T mR are the motor torques on the left and right sides (the right side is set as the high-speed side), r is the radius of the driving wheel, k o is the characteristic parameter of the planetary gear of the power coupling mechanism, i is the transmission ratio of the transmission system, η is the efficiency of the transmission system, μ is the steering resistance coefficient, f is the road resistance coefficient, G is the vehicle weight, L is the ground contact length of the track, and B is the center distance of the track.

[0053] 2.2) Based on the established electromechanical hybrid transmission system drive motor dynamics model and motor vector control system, the drive demand is transmitted to the drive motor as a target value to perform closed-loop control on the drive motor, and the drive motor outputs speed and torque to the coupling transmission mechanism;

[0054] In this embodiment, the drive motor is an AC permanent magnet synchronous motor, and the control method adopts an auto-disturbance rejection control based on load torque feedforward compensation.

[0055] like Figure 2 The figure shows the control block diagram of the drive motor. The dynamic model of the permanent magnet synchronous motor is established according to the following formula (3):

[0056]

[0057] In formula (3), u d ,u q ,i d ,i q , L d , L q are the components of stator voltage, current and inductance on the d and q axes respectively, R s is the stator resistance; J is the moment of inertia, T e , T L are electromagnetic torque and load torque respectively, ψ a is the flux linkage between the permanent magnet and the stator, ω e =n p ω is the motor electrical angular velocity, ω is the motor mechanical angular velocity, n p is the pole pair number; b is the viscous friction coefficient.

[0058] The electromagnetic torque and motor speed output by the motor dynamics model established by formula (3) are used as the input of the transmission mechanism dynamics model of the electromechanical hybrid transmission system established by formula (4). The speed and torque at the driving wheel of the vehicle can be calculated based on the transmission mechanism dynamics model.

[0059] 2.3) The equivalent inertia of the tracked vehicle under straight driving and turning conditions is calculated based on the transmission mechanism dynamics model of the electromechanical transmission system including the motor reduction gearbox, power coupling mechanism and side transmission mechanism, and the equivalent inertia of the vehicle is equivalent to the power output shaft of the electromechanical transmission system.

[0060] In this embodiment, the kinematic and dynamic relationship between the motor and the driving wheel can be derived based on the kinematic relationship of the planetary transmission and the characteristic parameters of the planetary gearbox of the power coupling mechanism driven by the double-side motors. Figure 3 The structure diagram of the dual-motor coupling drive system is shown below. The kinematic and dynamic relationship between the motor and the driving wheel is established according to the following formula (4):

[0061]

[0062] In formula (4), k is the characteristic parameter of the planetary gear, i c is the side transmission ratio, n mL 、n mR is the output speed of the left and right drive motors, n zL 、n zR is the speed transmitted by the transmission system to the driving wheels on the left and right sides, T mL , T mRis the output torque of the left and right drive motors, T nL , T nR It is the driving torque transmitted to the left and right driving wheels by the transmission system.

[0063] In the above step 2.3), the calculation methods of the equivalent inertia of the tracked vehicle under straight driving condition and turning condition are different and should be considered separately. Figure 4 The figure shows the calculation diagram of the equivalent inertia of a tracked vehicle. The calculation method of the equivalent inertia of a tracked vehicle under straight driving conditions is:

[0064]

[0065] In formula (5): is the equivalent inertia of the vehicle equivalent to the driving wheel, is the equivalent moment of inertia of the vehicle's road wheels, is the equivalent inertia of the vehicle track, is the equivalent inertia of the vehicle's translational part, m is the mass of the vehicle; r is the radius of the driving wheel, m LDb is the mass of the front part of the track, m LDf is the mass of the rear part of the track, α is the track approach angle, β is the track departure angle, m LDu is the mass of the track part, m r is the mass of a single road wheel, n r is the number of road wheels, r1 and r2 are the inner and outer diameters of the road wheels.

[0066] The calculation method of the equivalent inertia of the tracked vehicle under steering conditions is:

[0067]

[0068] Where I1 is the equivalent moment of inertia of the output shaft of the inner transmission mechanism; I2 is the equivalent moment of inertia of the output shaft of the outer transmission mechanism, R z is the turning radius, B is the track center distance, r is the driving wheel radius, I z is the vehicle's moment of inertia.

[0069] In the above step 3), based on the vehicle dynamics model and the load calculation model, the dynamic load of the vehicle during driving under different working conditions is calculated, and it is transmitted as the target value to the loading motor or dynamometer for closed-loop control, including the following steps:

[0070] 3.1) Calculate the dynamic resistance of the tracked vehicle during straight driving and turning based on the vehicle dynamics model;

[0071] Specifically, a vehicle dynamics model that reflects the track action efficiency and vehicle steering is established to calculate the dynamic resistance of the tracked vehicle during straight driving and steering. The dynamics model between the electromechanical hybrid transmission drive system and the tracked vehicle is expressed by equation (7), and the steering dynamics model of the tracked vehicle is expressed by equation (8):

[0072]

[0073] In formula (7), T nL , T nR is the driving torque transmitted by the transmission system to the left and right driving wheels, T L , T R is the load torque equivalent to the driving wheel, J nL , J nR is the moment of inertia of the driving wheels on the left and right sides, n zL 、n zR is the driving wheel speed.

[0074] like Figure 5 As shown, a plane motion coordinate diagram is established. The tracked vehicle geometric center C is taken as the origin, the tracked vehicle longitudinal symmetry line is taken as the horizontal coordinate, the horizontal center line is taken as the vertical coordinate, and the ground coordinate system XOY is taken as the absolute coordinate system. The two coordinate systems are set to coincide at the initial moment.

[0075]

[0076] In formula (8), M h is the steering resistance torque of the ground acting on the tracked vehicle, F h is the lateral force of the ground on the track, B is the center distance of the track, F1 and F2 are the traction forces of the ground on the vehicle caused by the driving wheels on both sides of the tracked vehicle, f1 and f2 are the rolling resistances of the tracks on both sides of the tracked vehicle, v is the linear velocity of the center of mass of the tracked vehicle, and v x 、v y is the lateral and longitudinal component of the linear velocity of the tracked vehicle’s center of mass, ω is the angular velocity of the tracked vehicle, λ is the instantaneous longitudinal forward offset of the track contact sections on both sides caused by centrifugal force, l is the vehicle length, m is the vehicle mass, I z is the moment of inertia of the whole vehicle, and H is the height of the center of gravity of the tracked vehicle.

[0077] 3.2) Establish a load calculation model, calculate the real-time inertial resistance torque of the tracked vehicle during driving based on the electric inertia simulation algorithm, and take the sum of the inertial resistance torque and the driving resistance torque as the target value of the dynamic load to be loaded.

[0078] In this embodiment, Figure 6The figure shows the control flow chart of the electric inertia simulation loading motor. The driving resistance torque of the tracked vehicle under straight driving and turning conditions is calculated according to formula (9), and the inertia resistance torque to be loaded is calculated according to formula (10):

[0079]

[0080] In formula (9), M X is the driving resistance torque, i0 is the transmission ratio of the reducer, r is the radius of the driving wheel, T f1 It represents the resistance torque equivalent to the output shaft of the inner transmission mechanism, B is the track center distance, T f2 Indicates the resistance torque equivalent to the outer transmission output shaft, M h is the steering resistance torque of the ground acting on the tracked vehicle, F r1 、F r2 It is the rolling resistance of the tracks on both sides of the tracked vehicle.

[0081]

[0082] In formula (10), T J is the electric inertia simulation torque under straight driving condition, T Jl , T Jh are the electric inertia simulation torques of the low-speed side and the high-speed side under steering conditions, T P is the output shaft torque of the transmission mechanism under straight driving conditions, T1 and T2 are the driving torques of the low-speed side and the high-speed side under steering conditions, respectively, and J m is the moment of inertia of the output shaft of the loading motor or dynamometer, J f is the equivalent inertia of the tracked vehicle, I1 and I2 are the equivalent moments of inertia of the output shafts on the low-speed side and the high-speed side, respectively.

[0083] In the above step 3), the loading motor or dynamometer is closed-loop controlled, and the bench simulation loading is realized by the electric inertia simulation method, specifically: a bench loading motor or loading dynamometer dynamic model is established based on pre-calibrated or identified parameters such as motor rotational inertia, resistance, inductance, magnetic flux and friction factor, and a bench transmission shaft dynamic model is established based on the pre-calibrated rotational inertia of the bench transmission components, and the loading motor or dynamometer is closed-loop controlled according to the calculated dynamic load.

[0084] like Figure 7 The figure shows the vector control block diagram of AC asynchronous motor. The dynamic model of the test bench transmission shaft is established according to formula (11), and the dynamic model of AC asynchronous motor (including voltage equation, flux equation and electromagnetic torque equation) is established according to formula (12):

[0085]

[0086] In formula (11), T zdis the torque at the drive end of the transmission shaft, T zl is the torque at the load end of the transmission shaft, J z is the equivalent moment of inertia of the transmission shaft, δ is the damping coefficient of the transmission shaft, ω z is the angular velocity of the transmission shaft.

[0087]

[0088] In formula (12), u sd 、u sq 、u rd 、u rq are the stator and rotor voltages in phases d and q respectively; i sd 、i sq 、i rd 、i rq are the stator and rotor currents in phases d and q respectively; ψ sd , sq , rd , rq are the stator and rotor fluxes under phases d and q respectively; T e , T L are electromagnetic torque and load torque respectively; n p is the pole pair number; R s , R r is the stator and rotor resistance; L s , L r is the stator inductance and rotor inductance; L ms Rotor mutual inductance; ω r is the given magnetic flux of the rotor; J is the moment of inertia.

[0089] In one embodiment of the present invention, a system for constructing an integrated simulation model of an electromechanical hybrid transmission system, inertia, and bench load is provided, which comprises:

[0090] The first processing module establishes a dynamics model of the electromechanical hybrid transmission system and a whole vehicle dynamics model of the tracked vehicle;

[0091] The second processing module calculates the speed and torque that the drive motor should output under different working conditions based on the dynamics model of the electromechanical hybrid transmission system, and uses it as the target speed and torque to control the drive motor in a closed loop;

[0092] The third processing module calculates the dynamic load of the vehicle during driving under different working conditions based on the vehicle dynamics model and load calculation model, and transfers it as the target value to the loading motor or dynamometer for closed-loop control, and realizes bench simulation loading through the electric inertia simulation method.

[0093] In the above embodiment, a dynamic model of the electromechanical hybrid transmission system is established, including: based on the kinematic relationship of the planetary transmission and the characteristic parameters of the planetary gear of the power coupling mechanism driven by the double-sided motors, a kinematic and dynamic relationship from the motor to the driving wheel is established, which is a dynamic model of the electromechanical hybrid transmission system.

[0094] In the above embodiment, the whole vehicle dynamics model of the tracked vehicle is a whole vehicle dynamics model under straight driving and turning conditions, so as to calculate the driving resistance torque and inertia resistance torque to which the tracked vehicle is subjected during driving; the whole vehicle dynamics model includes a dynamics model between the electromechanical composite transmission drive system and the tracked vehicle and a steering dynamics model of the tracked vehicle.

[0095] In the above embodiment, based on the dynamic model of the electromechanical hybrid transmission system, the speed and torque that the drive motor should output under different working conditions are calculated, and the speed and torque are used as the target speed and torque to control the drive motor in a closed loop, including:

[0096] Taking the test conditions as input, the kinematic and dynamic analysis of the electromechanical hybrid transmission system of the tracked armored vehicle is carried out to obtain the driving requirements corresponding to different working conditions. The driving requirements are the speed and torque that the motors on both sides need to output. The different working conditions are the vehicle straight driving condition and the vehicle turning condition.

[0097] Based on the established electromechanical hybrid transmission system drive motor dynamics model and motor vector control system, the drive demand is transmitted to the drive motor as a target value to perform closed-loop control on the drive motor, and the drive motor outputs speed and torque to the coupling transmission mechanism;

[0098] The equivalent inertia of the tracked vehicle under straight driving and turning conditions is calculated based on the transmission mechanism dynamics model of the electromechanical composite transmission system including the motor reduction gearbox, power coupling mechanism and side transmission mechanism, and the equivalent inertia of the vehicle is equivalent to the power output shaft of the electromechanical composite transmission system.

[0099] In this embodiment, the calculation method of the equivalent inertia of the tracked vehicle under the straight driving condition is:

[0100]

[0101] The calculation method of the equivalent inertia of the tracked vehicle under steering conditions is:

[0102]

[0103] In the formula, is the equivalent inertia of the vehicle equivalent to the driving wheel, is the equivalent moment of inertia of the vehicle's road wheels, is the equivalent inertia of the vehicle track, is the equivalent inertia of the vehicle translation part, m is the mass of the vehicle; I1 is the equivalent moment of inertia of the output shaft of the inner transmission mechanism; I2 is the equivalent moment of inertia of the output shaft of the outer transmission mechanism, R z is the turning radius, B is the track center distance, r is the driving wheel radius, I z is the vehicle's moment of inertia.

[0104] In the above embodiment, based on the vehicle dynamics model and the load calculation model, the dynamic load of the vehicle during driving under different working conditions is calculated, and the dynamic load is transmitted as a target value to the loading motor or dynamometer for closed-loop control, including:

[0105] The dynamic resistance of the tracked vehicle during straight driving and turning is calculated based on the vehicle dynamics model, and a load calculation model is established. The real-time inertial resistance torque of the tracked vehicle during driving is calculated based on the electric inertia simulation algorithm. The sum of the inertial resistance torque and the driving resistance torque is used as the target value of the dynamic load to be loaded.

[0106] In this embodiment, a closed-loop control is performed on the loading motor or dynamometer, and the bench simulation loading is realized by an electrical inertia simulation method, including:

[0107] A dynamic model of the bench loaded motor or loaded dynamometer is established based on pre-calibrated or identified parameters such as the motor's moment of inertia, resistance, inductance, flux linkage and friction factor. A dynamic model of the bench transmission shaft is established based on the pre-calibrated moment of inertia of the bench transmission components. The loaded motor or dynamometer is closed-loop controlled according to the calculated dynamic load.

[0108] The system provided in this embodiment is used to execute the above-mentioned method embodiments. Please refer to the above-mentioned embodiments for specific processes and detailed contents, which will not be repeated here.

[0109] A computing device provided in one embodiment of the present invention may be a terminal, which may include: a processor, a communications interface, a memory, a display screen, and an input device. The processor, the communications interface, and the memory communicate with each other through a communication bus. The processor is used to provide computing and control capabilities. The memory includes a non-volatile storage medium and an internal memory, wherein the non-volatile storage medium stores an operating system and a computer program, and the computer program is executed by the processor to implement the methods in the above embodiments; the internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be implemented through WIFI, a management network, NFC (near field communication) or other technologies. The display screen may be a liquid crystal display screen or an electronic ink display screen, and the input device may be a touch layer covered on the display screen, or a key, trackball or touchpad provided on the housing of the computing device, or an external keyboard, touchpad or mouse, etc. The processor may call the logic instructions in the memory.

[0110] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0111] In one embodiment of the present invention, a computer program product is provided, wherein the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the methods provided by the above-mentioned method embodiments.

[0112] In one embodiment of the present invention, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores server instructions, and the computer instructions enable a computer to execute the methods provided in the above embodiments.

[0113] The above embodiment provides a computer-readable storage medium, whose implementation principle and technical effect are similar to those of the above method embodiment, and will not be repeated here.

[0114] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0115] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for constructing an integrated simulation model of an electromechanical hybrid transmission system-inertia-bench load, characterized in that: include: Establish the dynamics model of the electromechanical hybrid transmission system and the whole vehicle dynamics model of the tracked vehicle; Based on the dynamics model of the electromechanical hybrid transmission system, the speed and torque that the drive motor should output under different working conditions are calculated, and used as the target speed and torque to control the drive motor in a closed loop; Based on the vehicle dynamics model and load calculation model, the dynamic load of the vehicle during driving under different working conditions is calculated, and it is transferred as the target value to the loading motor or dynamometer for closed-loop control, and the bench simulation loading is realized through the electric inertia simulation method.

2. The method for constructing an integrated simulation model of an electromechanical hybrid transmission system-inertia-bench load as claimed in claim 1, characterized in that: A dynamic model of the electromechanical composite transmission system is established, including: based on the kinematic relationship of the planetary transmission and the characteristic parameters of the planetary gear of the power coupling mechanism driven by the double-sided motors, the kinematic and dynamic relationship from the motor to the driving wheel is established to form a dynamic model of the electromechanical composite transmission system.

3. The method for constructing an integrated simulation model of an electromechanical hybrid transmission system-inertia-bench load as claimed in claim 1, characterized in that: The whole vehicle dynamics model of the tracked vehicle is a whole vehicle dynamics model under straight driving and turning conditions, so as to calculate the driving resistance torque and inertia resistance torque of the tracked vehicle during driving; the whole vehicle dynamics model includes the dynamics model between the electromechanical composite transmission drive system and the tracked vehicle and the steering dynamics model of the tracked vehicle.

4. The method for constructing an integrated simulation model of an electromechanical hybrid transmission system-inertia-bench load as claimed in claim 1, characterized in that: Based on the dynamic model of the electromechanical hybrid transmission system, the speed and torque that the drive motor should output under different working conditions are calculated and used as the target speed and torque to control the drive motor in a closed loop, including: Taking the test conditions as input, the kinematic and dynamic analysis of the electromechanical hybrid transmission system of the tracked armored vehicle is carried out to obtain the driving requirements corresponding to different working conditions. The driving requirements are the speed and torque that the motors on both sides need to output. The different working conditions are the vehicle straight driving condition and the vehicle turning condition. Based on the established electromechanical hybrid transmission system drive motor dynamics model and motor vector control system, the drive demand is transmitted to the drive motor as a target value to perform closed-loop control on the drive motor, and the drive motor outputs speed and torque to the coupling transmission mechanism; The equivalent inertia of the tracked vehicle under straight driving and turning conditions is calculated based on the transmission mechanism dynamics model of the electromechanical composite transmission system including the motor reduction gearbox, power coupling mechanism and side transmission mechanism, and the equivalent inertia of the vehicle is equivalent to the power output shaft of the electromechanical composite transmission system.

5. The method for constructing an integrated simulation model of an electromechanical hybrid transmission system-inertia-bench load as claimed in claim 4, characterized in that: The calculation method of the equivalent inertia of the tracked vehicle under straight driving conditions is: The calculation method of the equivalent inertia of the tracked vehicle under steering conditions is: In the formula, is the equivalent inertia of the vehicle equivalent to the driving wheel, is the equivalent moment of inertia of the vehicle's road wheels, is the equivalent inertia of the vehicle track, is the equivalent inertia of the vehicle translation part, m is the mass of the vehicle; I1 is the equivalent moment of inertia of the output shaft of the inner transmission mechanism; I2 is the equivalent moment of inertia of the output shaft of the outer transmission mechanism, R z is the turning radius, B is the track center distance, r is the driving wheel radius, I z is the vehicle's moment of inertia.

6. The method for constructing an integrated simulation model of an electromechanical hybrid transmission system-inertia-bench load as claimed in claim 1, characterized in that: Based on the vehicle dynamics model and load calculation model, the dynamic load of the vehicle during driving under different working conditions is calculated and transmitted as the target value to the loading motor or dynamometer for closed-loop control, including: The dynamic resistance of the tracked vehicle during straight driving and turning is calculated based on the vehicle dynamics model, and a load calculation model is established. The real-time inertial resistance torque of the tracked vehicle during driving is calculated based on the electric inertia simulation algorithm. The sum of the inertial resistance torque and the driving resistance torque is used as the target value of the dynamic load to be loaded.

7. The method for constructing an integrated simulation model of an electromechanical hybrid transmission system-inertia-bench load as claimed in claim 6, characterized in that: Closed-loop control is performed on the loading motor or dynamometer, and bench simulation loading is achieved through the electrical inertia simulation method, including: A dynamic model of the bench loaded motor or loaded dynamometer is established based on the pre-calibrated or identified motor rotation inertia, resistance, inductance, flux linkage and friction factor parameters, and a dynamic model of the bench transmission shaft is established based on the pre-calibrated rotation inertia of the bench transmission components. The loaded motor or dynamometer is closed-loop controlled according to the calculated dynamic load.

8. A mechatronic transmission system-inertia-bench load integrated simulation model construction system, characterized in that: include: The first processing module establishes a dynamics model of the electromechanical hybrid transmission system and a whole vehicle dynamics model of the tracked vehicle; The second processing module calculates the speed and torque that the drive motor should output under different working conditions based on the dynamics model of the electromechanical hybrid transmission system, and uses it as the target speed and torque to control the drive motor in a closed loop; The third processing module calculates the dynamic load of the vehicle during driving under different working conditions based on the vehicle dynamics model and load calculation model, and transfers it as the target value to the loading motor or dynamometer for closed-loop control, and realizes bench simulation loading through the electric inertia simulation method.

9. A computer-readable storage medium storing one or more programs, characterized in that: The one or more programs include instructions, which, when executed by a computing device, cause the computing device to perform any one of the methods of claims 1 to 7.

10. A computing device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include instructions for executing any one of the methods described in claims 1 to 7.

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