Axial flux motor distributed driving control system and control method

Abstract

The invention provides an axial magnetic flux motor distributed driving control system, which comprises an axial magnetic flux motor, a data acquisition module, a data fusion processing module, a real-time control module and a controller module, and is characterized in that the signal end of the data acquisition module is connected with the signal end of the data fusion processing module and the signal end of the axial magnetic flux motor. Useful information is extracted through the data fusion processing module, a reliable basis is provided for a control decision, then the real-time control module calculates an optimal control strategy through a real-time control algorithm according to the change of the vehicle state, a control instruction is generated, the control instruction is executed through the controller module, and the control strategy is optimized. According to the invention, the real-time control algorithm is applied to the distributed driving control system of the axial flux motor, so that the purpose of calculating the optimal control strategy in real time according to the state change of the vehicle is realized, the system can realize accurate, efficient and reliable control under complex working conditions, and the problem of complexity of the control strategy is effectively solved.

Description

Technical Field

[0001] The present invention relates to a control system and a control method, in particular to a distributed drive control system and a control method for an axial flux motor, belonging to the technical field of drive control systems. Background Art

[0002] Distributed drive control system is an advanced motor drive method in electric vehicles. It combines the unique advantages of axial flux motors with the flexibility and efficiency of distributed drive systems. Distributed drive systems use multiple motors to drive their respective wheels, achieving independent control of each wheel. This control method allows the vehicle to flexibly adjust the driving torque and speed of each wheel according to different driving conditions and road conditions, thereby improving the stability and passability of the vehicle.

[0003] Combining the axial flux motor with the distributed drive system can give full play to the advantages of both and form an electric vehicle drive solution with higher performance, higher efficiency and more flexible layout. This system can greatly improve the overall performance and energy utilization of electric vehicles, and is one of the important directions for the future development of electric vehicles.

[0004] Although the existing axial flux motor distributed drive control system has many advantages, it also has some problems:

[0005] The axial flux motor distributed drive system needs to control the torque and speed of multiple motors at the same time to achieve independent control and precise adjustment of each wheel, which increases the complexity of the control system and requires the design of more advanced control algorithms and strategies. Independent control and precise adjustment require the control system to have a high degree of real-time performance and be able to respond quickly to changes in vehicle status and make corresponding adjustments. However, existing control strategies often cannot fully meet this requirement, resulting in limited control effects. Therefore, an axial flux motor distributed drive control system and control method are proposed. Summary of the invention

[0006] In view of this, the present invention provides an axial flux motor distributed drive control system and control method to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0007] The technical solution of the embodiment of the present invention is implemented as follows: an axial flux motor distributed drive control system, comprising an axial flux motor, a data acquisition module, a data fusion processing module, a real-time control module and a controller module, wherein the signal end of the data acquisition module is connected to the signal end of the data fusion processing module and the signal end of the axial flux motor, the signal end of the data fusion processing module is connected to the signal end of the real-time control module, the signal end of the real-time control module is connected to the signal end of the controller module, and the signal end of the axial flux motor is connected to the signal end of the controller module;

[0008] The data acquisition module is used to collect state parameters of the vehicle and state parameters of the axial flux motor, the state parameters of the vehicle include vehicle speed, wheel speed, steering angle and acceleration, and the state parameters of the axial flux motor include current, voltage and temperature;

[0009] The data fusion processing module is used to fuse and process the state parameter data of the vehicle and the state parameter data of the axial flux motor, extract feature information, and filter out noise and interference;

[0010] The controller module is used to independently control the torque and speed of each axial flux motor to independently drive the wheels of the vehicle;

[0011] The real-time control module is used to calculate the optimal control strategy through a real-time control algorithm according to the change of the vehicle state and generate a control instruction;

[0012] The real-time control algorithm comprises the following steps:

[0013] Step 1: Construct a mathematical model of the axial flux motor and a dynamic model of the vehicle, and integrate the axial flux motor model and the vehicle dynamic model to form a complete system model;

[0014] Step 2: Select state variables that reflect the dynamic behavior of the system according to the system model, including the speed, torque, temperature of the motor, and the speed, acceleration, and yaw rate of the vehicle, and set the prediction range;

[0015] Step 3: Design an objective function based on the control objective. The objective function is used to quantify the performance of the system and guide the optimization process in the desired direction. The control objectives include minimizing energy consumption, improving vehicle stability, and tracking the desired trajectory.

[0016] Step 4: At each sampling moment, according to the current system state and the prediction results, the optimal control input sequence is calculated in real time, the first element of the calculated optimal control input sequence is applied to the axial flux motor distributed drive control system, and a control instruction is generated;

[0017] Step 5: Continuously monitor changes in vehicle status and system performance, including the operating status of the motor, the driving status of the vehicle, and changes in the external environment.

[0018] Further preferably, the formula of the real-time control algorithm is:

[0019]

[0020] Where x(k) is the state variable, u(k) is the control input, and k is the time step.

[0021] Further preferably, in step three, the formula of the objective function is:

[0022]

[0023] Among them, Z is the objective function, Cij is the coefficient of the first-order term, Xi is the decision variable, n is the number of decision variables, and Ci is the coefficient.

[0024] Further preferably, the signal end of the data acquisition module is connected to a fault diagnosis module, and the fault diagnosis module is used to monitor the operating status of the axial flux motor in real time and send a warning signal when a fault is found.

[0025] Further preferably, the signal end of the axial flux motor is connected to a thermal management module, and the thermal management module is used to adjust and control the temperature of the axial flux motor;

[0026] The thermal management module consists of a radiator, a temperature sensor and a heat exchanger.

[0027] Further preferably, the signal end of the fault diagnosis module is connected to a user interaction module, and the user interaction module is used to provide an interactive interface to display the vehicle status and the working status of the control system. The user interaction module continues to run after the system is started to provide real-time feedback to the user.

[0028] Further preferably, the signal end of the data acquisition module is connected to a data storage module, and the data storage module is used to store the working data and control strategy of the axial flux motor, and the signal end of the real-time control module is connected to the signal end of the data storage module.

[0029] Further preferably, the signal end of the axial flux motor is connected to an energy management module, and the energy management module is used to optimize the distribution and use of energy and adjust the distribution of electrical energy.

[0030] Further preferably, the signal end of the energy management module is connected to a power supply module, and the power supply module is used to manage the power supply of the entire system, including battery charge and discharge management and voltage stabilization.

[0031] A distributed drive control method for an axial flux motor comprises the following steps:

[0032] S1: Obtaining the state parameters of the vehicle and the state parameters of the axial flux motor, including vehicle speed, wheel speed, steering angle, acceleration, current, voltage and temperature;

[0033] S2: integrating and processing the state parameter data of the vehicle and the state parameter data of the axial flux motor;

[0034] S3: According to the changes in vehicle status, the optimal control strategy is calculated through the real-time control algorithm and control instructions are generated;

[0035] S4: independently controlling the torque and speed of each axial flux motor according to the control command to independently drive the wheels of the vehicle;

[0036] S5: monitor the operating status of the axial flux motor in real time and send an early warning signal when a fault is found;

[0037] S6: The interactive interface displays the vehicle status and the working status of the control system. The user interaction module continues to run after the system is started to provide real-time feedback to the user.

[0038] Since the embodiment of the present invention adopts the above technical solution, it has the following advantages: the present invention extracts useful information through the data fusion processing module to provide a reliable basis for control decisions, and then the real-time control module calculates the optimal control strategy according to the changes in the vehicle state through the real-time control algorithm, and generates control instructions, and the control instructions are executed by the controller module. The present invention achieves the goal of calculating the optimal control strategy in real time according to the changes in the vehicle state by applying the real-time control algorithm to the distributed drive control system of the axial flux motor, so that the system can achieve accurate, efficient and reliable control under complex working conditions, effectively solving the complexity problem of the control strategy.

[0039] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a structural diagram of the distributed drive control system of the axial flux motor of the present invention;

[0042] Figure 2 It is a flow chart of the steps of the distributed drive control method of the axial flux motor of the present invention. DETAILED DESCRIPTION

[0043] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0044] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0045] like Figure 1-Figure 2 As shown, an embodiment of the present invention provides an axial flux motor distributed drive control system, including an axial flux motor, a data acquisition module, a data fusion processing module, a real-time control module and a controller module, wherein a signal end of the data acquisition module is connected to a signal end of the data fusion processing module and a signal end of the axial flux motor, a signal end of the data fusion processing module is connected to a signal end of the real-time control module, a signal end of the real-time control module is connected to a signal end of the controller module, and a signal end of the axial flux motor is connected to a signal end of the controller module;

[0046] The data acquisition module is used to collect the vehicle state parameters and the axial flux motor state parameters. The vehicle state parameters include vehicle speed, wheel speed, steering angle and acceleration, and the axial flux motor state parameters include current, voltage and temperature, thereby providing real-time and accurate data support for the control system to ensure the accuracy of the control strategy;

[0047] The data fusion processing module is used to fuse and process the vehicle state parameter data and the axial flux motor state parameter data, extract feature information, filter out noise and interference, and thus improve the reliability and accuracy of the data, providing a reliable basis for control decisions;

[0048] The controller module is used to independently control the torque and speed of each axial flux motor to independently drive the wheels of the vehicle;

[0049] The real-time control module is used to calculate the optimal control strategy and generate control instructions according to the changes in vehicle status through real-time control algorithms;

[0050] The real-time control algorithm includes the following steps:

[0051] Step 1: Construct a mathematical model of the axial flux motor, which includes the electromagnetic, thermal and mechanical characteristics of the motor. The model should be able to accurately reflect the relationship between the input and output of the motor, as well as the changes in motor parameters with temperature, load, etc.;

[0052] Construct a dynamic model of the vehicle, including the longitudinal, lateral and vertical dynamics of the vehicle, as well as the interaction between the wheels and the ground. This model will be used to predict the vehicle's response to different control inputs;

[0053] Integrate the axial flux motor model and the vehicle dynamics model to form a complete system model for predicting future system states;

[0054] Step 2: Select state variables that reflect the dynamic behavior of the system according to the system model, including the speed, torque, temperature of the motor, and the speed, acceleration, and yaw rate of the vehicle, and set the prediction range;

[0055] This determines how far into the future the algorithm can predict. The choice of prediction range should take into account the requirements of computing resources and control performance.

[0056] During the prediction process, various constraints of the system need to be considered, including the input and output limits of the motor, and the driving safety constraints of the vehicle;

[0057] Step 3: Design the objective function according to the control goal. The objective function is used to quantify the performance of the system and guide the optimization process in the desired direction. The control goals include minimizing energy consumption, improving vehicle stability, and tracking the desired trajectory.

[0058] Step 4: At each sampling moment, according to the current system state and the prediction results, the optimal control input sequence is calculated in real time, the first element of the calculated optimal control input sequence is applied to the axial flux motor distributed drive control system, and a control instruction is generated;

[0059] Step 5: Continuously monitor changes in vehicle status and system performance, including the operating status of the motor, the driving status of the vehicle, and changes in the external environment;

[0060] At each new sampling moment, the prediction, optimization and control input implementation process is repeated based on the latest system status and monitoring results, which enables the real-time control algorithm to adapt to the uncertainty and time-varying nature of the system, ensuring that the vehicle always remains in the optimal or near-optimal operating state.

[0061] In one embodiment, the formula of the real-time control algorithm is:

[0062]

[0063] Where x(k) is the state variable, u(k) is the control input, and k is the time step.

[0064] The formula of the objective function is:

[0065]

[0066] Among them, Z is the objective function, Cij is the coefficient of the first-order term, Xi is the decision variable, n is the number of decision variables, and Ci is the coefficient.

[0067] In one embodiment, the signal end of the data acquisition module is connected to a fault diagnosis module, which is used to monitor the operating status of the axial flux motor in real time and send a warning signal when a fault is found, so as to improve the reliability and safety of the system and reduce the impact of the fault on vehicle driving.

[0068] In one embodiment, the signal end of the axial flux motor is connected to a thermal management module, and the thermal management module is used to adjust and control the temperature of the axial flux motor;

[0069] The thermal management module consists of a radiator, a temperature sensor, and a heat exchanger. By taking heat dissipation measures, it can ensure that the system operates within the allowable temperature range, prevent performance degradation and damage caused by overheating, and improve the reliability and life of the system.

[0070] In one embodiment, the signal end of the fault diagnosis module is connected to a user interaction module, which is used to provide an interactive interface to display the vehicle status and the working status of the control system. The user interaction module continues to run after the system is started to provide real-time feedback to the user, making it easier for the user to understand the vehicle condition and improve driving experience and safety.

[0071] In one embodiment, the signal end of the data acquisition module is connected to a data storage module, which is used to store the working data and control strategy of the axial flux motor. The signal end of the real-time control module is connected to the signal end of the data storage module. By storing the data, historical data can be easily retrieved.

[0072] In one embodiment, the signal end of the axial flux motor is connected to an energy management module, which is used to optimize the distribution and use of energy and adjust the distribution of electrical energy to improve energy utilization efficiency, extend the vehicle's cruising range, and reduce energy consumption costs.

[0073] In one embodiment, the signal end of the energy management module is connected to a power supply module, which is used to manage the power supply of the entire system, including battery charge and discharge management and voltage stabilization. It is started first before the system starts to ensure that each module obtains a stable power supply.

[0074] A distributed drive control method for an axial flux motor comprises the following steps:

[0075] S1: Obtaining the state parameters of the vehicle and the state parameters of the axial flux motor, including vehicle speed, wheel speed, steering angle, acceleration, current, voltage and temperature;

[0076] S2: integrating and processing the state parameter data of the vehicle and the state parameter data of the axial flux motor;

[0077] S3: According to the changes in vehicle status, the optimal control strategy is calculated through the real-time control algorithm and control instructions are generated;

[0078] S4: independently controlling the torque and speed of each axial flux motor according to the control command to independently drive the wheels of the vehicle;

[0079] S5: monitor the operating status of the axial flux motor in real time and send an early warning signal when a fault is found;

[0080] S6: The interactive interface displays the vehicle status and the working status of the control system. The user interaction module continues to run after the system is started to provide real-time feedback to the user.

[0081] When the present invention is working: the state parameters of the vehicle and the state parameters of the axial flux motor are obtained through the data acquisition module, the state parameter data of the vehicle and the state parameter data of the axial flux motor are fused and processed through the data fusion processing module, and then the real-time control module calculates the optimal control strategy according to the change of the vehicle state through the real-time control algorithm, and generates control instructions. The controller module independently controls the torque and speed of each axial flux motor according to the control instructions, and independently drives the wheels of the vehicle. During the working process, the fault diagnosis module monitors the operating status of the axial flux motor in real time, and sends a warning signal when a fault is found. The vehicle status and the working status of the control system can be displayed through the interactive interface, providing real-time feedback for the user.

[0082] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An axial flux motor distributed drive control system, comprising an axial flux motor, a data acquisition module, a data fusion processing module, a real-time control module and a controller module, characterized in that: The signal end of the data acquisition module is connected to the signal end of the data fusion processing module and the signal end of the axial flux motor, the signal end of the data fusion processing module is connected to the signal end of the real-time control module, the signal end of the real-time control module is connected to the signal end of the controller module, and the signal end of the axial flux motor is connected to the signal end of the controller module; The data acquisition module is used to collect state parameters of the vehicle and state parameters of the axial flux motor, the state parameters of the vehicle include vehicle speed, wheel speed, steering angle and acceleration, and the state parameters of the axial flux motor include current, voltage and temperature; The data fusion processing module is used to fuse and process the state parameter data of the vehicle and the state parameter data of the axial flux motor, extract feature information, and filter out noise and interference; The controller module is used to independently control the torque and speed of each axial flux motor to independently drive the wheels of the vehicle; The real-time control module is used to calculate the optimal control strategy through a real-time control algorithm according to the change of the vehicle state and generate a control instruction; The real-time control algorithm comprises the following steps: Step 1: Construct a mathematical model of the axial flux motor and a dynamic model of the vehicle, and integrate the axial flux motor model and the vehicle dynamic model to form a complete system model; Step 2: Select state variables that reflect the dynamic behavior of the system according to the system model, including the speed, torque, temperature of the motor, and the speed, acceleration, and yaw rate of the vehicle, and set the prediction range; Step 3: Design an objective function based on the control objective. The objective function is used to quantify the performance of the system and guide the optimization process in the desired direction. The control objectives include minimizing energy consumption, improving vehicle stability, and tracking the desired trajectory. Step 4: At each sampling moment, according to the current system state and the prediction results, the optimal control input sequence is calculated in real time, the first element of the calculated optimal control input sequence is applied to the axial flux motor distributed drive control system, and a control instruction is generated; Step 5: Continuously monitor changes in vehicle status and system performance, including the operating status of the motor, the driving status of the vehicle, and changes in the external environment.

2. The axial flux motor distributed drive control system according to claim 1, characterized in that: The formula of the real-time control algorithm is: Where x(k) is the state variable, u(k) is the control input, and k is the time step.

3. The axial flux motor distributed drive control system according to claim 2, characterized in that: In step three, the formula of the objective function is: Among them, Z is the objective function, Cij is the coefficient of the first-order term, Xi is the decision variable, n is the number of decision variables, and Ci is the coefficient.

4. The axial flux motor distributed drive control system according to claim 3, characterized in that: The signal end of the data acquisition module is connected to a fault diagnosis module, and the fault diagnosis module is used to monitor the operating state of the axial flux motor in real time and send an early warning signal when a fault is found.

5. The axial flux motor distributed drive control system according to claim 4, characterized in that: The signal end of the axial flux motor is connected to a thermal management module, and the thermal management module is used to adjust and control the temperature of the axial flux motor; The thermal management module consists of a radiator, a temperature sensor and a heat exchanger.

6. The axial flux motor distributed drive control system according to claim 5, characterized in that: The signal end of the fault diagnosis module is connected to a user interaction module, which is used to provide an interactive interface to display the vehicle status and the working status of the control system. The user interaction module continues to run after the system is started to provide real-time feedback to the user.

7. The axial flux motor distributed drive control system according to claim 6, characterized in that: The signal end of the data acquisition module is connected to a data storage module, and the data storage module is used to store the working data and control strategy of the axial flux motor. The signal end of the real-time control module is connected to the signal end of the data storage module.

8. The axial flux motor distributed drive control system according to claim 7, characterized in that: The signal end of the axial flux motor is connected to an energy management module, and the energy management module is used to optimize the distribution and use of energy and adjust the distribution of electrical energy.

9. The axial flux motor distributed drive control system according to claim 8, characterized in that: The signal end of the energy management module is connected to a power supply module, and the power supply module is used to manage the power supply of the entire system, including battery charge and discharge management and voltage stabilization.

10. A distributed drive control method for an axial flux motor, applied to the distributed drive control system for an axial flux motor as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Obtaining the state parameters of the vehicle and the state parameters of the axial flux motor, including vehicle speed, wheel speed, steering angle, acceleration, current, voltage and temperature; S2: integrating and processing the state parameter data of the vehicle and the state parameter data of the axial flux motor; S3: According to the changes in vehicle status, the optimal control strategy is calculated through the real-time control algorithm and control instructions are generated; S4: independently controlling the torque and speed of each axial flux motor according to the control command to independently drive the wheels of the vehicle; S5: monitor the operating status of the axial flux motor in real time and send an early warning signal when a fault is found; S6: The interactive interface displays the vehicle status and the working status of the control system. The user interaction module continues to run after the system is started to provide real-time feedback to the user.

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