Compatible control device and method for stable micro-motion and quick start of sightseeing vehicle

Abstract

The invention belongs to the field of control of electric vehicles, and discloses a compatible control device and method for stable micro-motion and quick start of a sightseeing vehicle. A vehicle feedback speed value and an accelerator given speed value are collected in real time; the accelerator given speed value after acceleration rate limiting processing is output as a motor correction speed value; the feed-forward curve processes the accelerator given speed value and the rotating speed deviation value to obtain a motor control signal, and the smaller one is taken as a feed-forward control signal to be input into a speed regulator; after the rotating speed deviation value is adjusted through PI parameters of the speed adjuster, the rotating speed deviation value serves as a compensation control signal to be overlapped with the feed-forward control signal to control the motor, so that when the vehicle runs at a low speed, the feed-forward control signal plays a small role, the smaller PI parameters and the compensation control signal set in the speed adjuster play main roles, and when the vehicle runs stably and needs to be started quickly, the motor is controlled. The feed-forward control signal plays a major role, and the vehicle can be quickly started, so that the vehicle can be quickly started while meeting stable micro-motion.

Description

Technical Field

[0001] The invention relates to a control method for an electric vehicle, and in particular to a compatible control device and method for stable micro-movement and rapid start of a sightseeing vehicle. Background Art

[0002] At present, the existing sightseeing vehicles all use asynchronous motor speed control. The maximum speed of sightseeing vehicles is high, and the gearbox deceleration ratio is small. They are more sensitive to the low-speed jitter problem of asynchronous motors. The commonly used method is to reduce the PI parameters in the proportional integral (PI) controller to improve the low-speed jitter problem, but reducing the PI parameters will bring about the problem of slow startup acceleration.

[0003] The patent number is CN201810279016.9, and the patent name is "A method for controlling low-speed jitter of electric vehicles". A method for controlling low-speed jitter of electric vehicles is disclosed. 1) The difference between the motor speed and the vehicle speed is adjusted by proportional differential, and then used as a compensation torque to superimpose the given torque of the vehicle controller to generate a target torque; 2) The target torque command is filtered by a notch filter and used as a motor torque execution instruction to eliminate the low-speed jitter of the vehicle caused by the under-damping characteristics of the transmission system; 3) The motor torque instruction is sent to the motor through the motor controller for execution. The method provided by this prior art solution is easy to implement, does not increase the system cost, and effectively solves the problem of low-speed jitter of electric vehicles. However, the introduction of a limiter may introduce phase delay while eliminating vibrations of a specific frequency. The inaccurate design of the notch filter will also inhibit useful control signals, resulting in a longer response time to control instructions and a slower startup speed. Summary of the invention

[0004] The purpose of the present invention is to provide a compatible control device and method for smooth micro-movement and rapid start of a sightseeing vehicle, which can simultaneously solve the problems of low-speed jitter and slow start-up acceleration of the sightseeing vehicle.

[0005] The present invention adopts the following technical solutions:

[0006] A compatible control device for stable micro-movement and rapid start of a sightseeing vehicle, comprising:

[0007] The signal acquisition module is used to obtain the acceleration command of the accelerator pedal, the accelerator given speed value and the vehicle feedback speed value; and send the acceleration command of the accelerator pedal and the accelerator given speed value to the filter, and also send the accelerator given speed value and the vehicle feedback speed value to the feedforward parameter calculation module;

[0008] The filter is used to adjust the acceleration rate in each acquisition cycle according to the acceleration command received from the accelerator pedal, limit the speed change in each acquisition cycle to the speed fluctuation range limited by the set acceleration rate, set the maximum acceleration rate and the minimum acceleration rate for the acceleration rate, and calculate the motor correction speed value according to the given throttle speed value, and output it to the feedforward parameter calculation module;

[0009] A feedforward parameter calculation module is built with a first feedforward curve for expressing the corresponding relationship between the throttle given speed value and the motor control signal, and a second feedforward curve for expressing the corresponding relationship between the speed deviation value and the motor control signal, wherein the speed deviation value is the difference between the motor correction speed value and the vehicle feedback speed value; the first motor control signal corresponding to the current throttle given speed value is determined according to the throttle given speed value and the first feedforward curve; the feedforward parameter calculation module also determines the second motor control signal corresponding to the current speed deviation value according to the speed deviation value and the second feedforward curve; and outputs the first motor control signal and the second motor control signal to the parameter selection unit;

[0010] A parameter selection unit, used for comparing the first motor control signal with the second motor control signal, and selecting the smaller control signal in the comparison result as a feedforward control signal to be input to the speed regulator;

[0011] The speed regulator is used to adjust the PI parameters of the speed deviation value, and use the adjusted result as a compensation control signal to superimpose the feedforward control signal to obtain a given input control signal;

[0012] The motor control unit controls the motor by giving an input control signal.

[0013] Preferably, when calculating the motor correction speed, the filter first calculates the current speed change ΔV of the current acquisition period t according to the current throttle given speed value, |ΔV|=|Vacc t -Vref t-1 |; According to the set acceleration rate range (a min , a max ) and the current speed change to determine whether the current acceleration rate exceeds the acceleration rate limit; if the current acceleration rate does not exceed the acceleration rate limit, the current motor correction speed value is set to the size of the current throttle given speed value; if the current acceleration rate exceeds the acceleration rate limit, the current motor correction speed value is set to the motor correction speed value at the previous moment and the maximum allowed speed change ΔV max The superposition value of Vacc; finally output the current motor correction speed value; t Indicates the current throttle given speed value, Vref t-1 Indicates the corrected motor speed value at the last moment.

[0014] Preferably, when the filter determines whether the current acceleration rate exceeds the acceleration rate limit, it first calculates the maximum speed change ΔV allowed within the acquisition period max , ΔV max =a max *T, if the current speed change is less than or equal to the maximum speed change, it means that the current acceleration rate does not exceed the acceleration rate limit; if the current speed change is greater than the maximum speed change, it means that the current acceleration rate exceeds the acceleration rate limit.

[0015] Preferably, the preset first feedforward curve adopts a curve function between the throttle given speed value and the motor control signal that satisfies the S-shaped curve characteristics, and the preset second feedforward curve adopts a curve function between the speed deviation value and the motor control signal that satisfies the S-shaped curve characteristics.

[0016] Preferably, the first motor control signal and the second motor control signal are both current control signals, or are both torque control signals.

[0017] A control method based on a compatible control device for smooth micro-movement and rapid start of a sightseeing vehicle comprises the following steps:

[0018] S1: The signal acquisition module obtains the acceleration command of the accelerator pedal, and collects the vehicle feedback speed value and the accelerator given speed value in real time according to the preset acquisition period T;

[0019] S2: The filter adjusts the acceleration rate a within the acquisition period T according to the preset acceleration rate range, thereby limiting the speed change ΔV within the acquisition period T; then the motor correction speed value is calculated according to the throttle given speed value and output to the feedforward parameter calculation module;

[0020] S3: The feedforward parameter calculation module determines the first motor control signal corresponding to the current throttle given speed value according to the throttle given speed value and the first feedforward curve, and outputs the first motor control signal to the parameter selection unit;

[0021] S4: The feedforward parameter calculation module determines the second motor control signal corresponding to the current speed deviation value according to the speed deviation value and the second feedforward curve, and outputs the second motor control signal to the parameter selection unit;

[0022] S5: the parameter selection unit compares the first motor control signal with the second motor control signal, and selects the smaller control signal in the comparison result as a feedforward control signal to be input to the speed regulator;

[0023] S6: The speed regulator adjusts the speed deviation value by PI parameters, and uses the adjusted result as a compensation control signal and superimposes it with the feedforward control signal to obtain a given input control signal;

[0024] S7: The motor control unit controls the motor by giving an input control signal.

[0025] Preferably, in step S2, when the filter calculates the motor correction speed value, the filter specifically includes the following steps:

[0026] S201: Calculate the current speed change ΔV of the current acquisition period t according to the current throttle given speed value; |ΔV|=|Vacc t -Vref t-1 |, where Vacc t Indicates the current throttle given speed value, Vref t-1 Indicates the corrected speed value of the motor at the last moment, t∈R;

[0027] S202: According to the set acceleration rate range (a min , a max ) and the current speed change to determine whether the current acceleration rate exceeds the acceleration rate limit;

[0028] S203: If the current acceleration rate does not exceed the acceleration rate limit, the current motor correction speed value is set to the value of the current throttle given speed value; if the current acceleration rate exceeds the acceleration rate limit, the current motor correction speed value is set to the sum of the motor correction speed value at the previous moment and the maximum speed change allowed;

[0029] S204: Output the current motor correction speed value to the feedforward parameter calculation module.

[0030] Preferably, in step S203, the filter determines whether the acceleration rate limit is exceeded by first calculating the maximum speed change ΔV allowed within the acquisition period. max , ΔV max =a max *, if the current speed change is less than or equal to the maximum speed change, it means that the current acceleration rate does not exceed the acceleration rate limit; if the current speed change is greater than the maximum speed change, it means that the current acceleration rate exceeds the acceleration rate limit.

[0031] Preferably, in steps S3 and S4, the preset first feedforward curve adopts a curve function between the throttle given speed value and the motor control signal that satisfies the S-shaped curve characteristics, and the preset second feedforward curve adopts a curve function between the speed deviation value and the motor control signal that satisfies the S-shaped curve characteristics.

[0032] Preferably, in step S5, the first motor control signal and the second motor control signal are both current control signals, or are both torque control signals.

[0033] The present invention can determine the given input control signal of the motor control unit by superimposing the compensation control signal and the feedforward control signal when the feedback speed value of the vehicle does not reach the corrected speed value of the motor. The feedforward control signal plays a leading role in the acceleration period, and can realize the rapid start of the vehicle. When the feedback speed value of the vehicle is close to or reaches the corrected speed value of the motor, the compensation control signal after being adjusted by the speed regulator PI plays a leading role. The PI parameter is set small and the operation is stable. Therefore, the PI parameter in the speed regulator of the sightseeing vehicle is set small to ensure the stable micro-movement of the sightseeing vehicle, and can also start quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0035] Figure 1 It is a block diagram of a compatible control device for smooth micro-movement and rapid start of a sightseeing vehicle in the present invention;

[0036] Figure 2 It is a flow chart of a compatible control method for stable micro-movement and rapid start of a sightseeing vehicle in the present invention;

[0037] Figure 3 The present invention is a schematic diagram of a specific implementation process of the compatible control device for the smooth micro-motion and rapid start of the sightseeing vehicle. DETAILED DESCRIPTION

[0038] The present invention is described in detail below with reference to the accompanying drawings and embodiments:

[0039] like Figure 1 As shown, the compatible control device for smooth micro-movement and rapid start of the sightseeing vehicle of the present invention comprises: a signal acquisition module, a filter, a feedforward parameter calculation module, a parameter selection unit, a speed regulator and a motor control unit.

[0040] In the present invention, the signal acquisition module is used to obtain the acceleration command of the accelerator pedal, the accelerator given speed value Vacc and the vehicle feedback speed value Vfbd; and send the acceleration command of the accelerator pedal and the accelerator given speed value Vacc to the filter, and also send the accelerator given speed value Vacc and the vehicle feedback speed value Vfbd to the feedforward parameter calculation module;

[0041] In this embodiment, the acceleration command of the accelerator pedal is obtained by detecting the position change information of the accelerator pedal, and the accelerator given speed value Vacc and the vehicle feedback speed value Vfbd are collected according to the preset collection period T. The accelerator given speed value Vacc refers to the motor speed output by the motor according to the acceleration command, and the vehicle feedback speed value Vfbd refers to the actual speed of the sightseeing car at the corresponding moment;

[0042] In the present invention, the filter is used to adjust the acceleration rate a within each acquisition period T according to the acceleration command received from the accelerator pedal using the set acceleration rate range, and limit the speed change ΔV within each acquisition period T to the set speed fluctuation range; the filter also calculates the motor correction speed value Vref according to the accelerator given speed value Vacc, and outputs it to the feedforward parameter calculation module;

[0043] Among them, the acceleration rate range (a min , a max ) can be set according to the actual application scenario; through the maximum acceleration rate a max and the minimum acceleration rate a min , the corresponding speed fluctuation range (ΔV min , ΔV max ); a = ΔV / T;

[0044] In this embodiment, when adjusting the acceleration rate within each acquisition period T, the filter limits the acceleration rate to a set acceleration rate range, that is, when the acceleration rate is within the set acceleration rate range, the current acceleration rate is used; when the acceleration rate is greater than or less than the set acceleration rate range, the maximum value or minimum value of the set acceleration rate range is used as the current acceleration rate; by limiting the acceleration rate, the smooth transition and stability of the vehicle driving can be ensured, and the system can be prevented from having excessive impact due to sudden changes in the speed set value, thereby ensuring the smooth operation of the system.

[0045] In the present invention, the feedforward parameter calculation module is built with a first feedforward curve for expressing the corresponding relationship between the throttle given speed value Vacc and the motor control signal, and a second feedforward curve for expressing the corresponding relationship between the speed deviation value Verr and the motor control signal, and the speed deviation value Verr is the difference between the motor correction speed value Vref and the vehicle feedback speed value Vfbd;

[0046] The feedforward parameter calculation module determines the first motor control signal corresponding to the current throttle given speed value Vacc according to the throttle given speed value Vacc and the first feedforward curve; the feedforward parameter calculation module also determines the second motor control signal corresponding to the current speed deviation value Verr according to the speed deviation value Verr and the second feedforward curve; and outputs the first motor control signal and the second motor control signal to the parameter selection unit.

[0047] In this embodiment, the first motor control signal and the second motor control signal can be current control signals at the same time, or can be torque control signals at the same time.

[0048] In the present invention, the parameter selection unit is used to compare the first motor control signal with the second motor control signal, and select the smaller control signal in the comparison result as a feedforward control signal to be input to the speed regulator.

[0049] In the present invention, the speed regulator is used to adjust the PI parameters of the speed deviation value Verr, and use the adjusted result as a compensation control signal and superimpose it with the feedforward control signal to obtain a given input control signal; the PI parameter adjustment of the speed deviation Verr belongs to the conventional technology in the field and will not be repeated here.

[0050] In this embodiment, a compensation control signal is set to compensate for the difference between the actual speed and the given speed, which can provide a faster response; since the maximum speed of the sightseeing car is high and the gearbox deceleration ratio is small, it is more sensitive to the low-speed jitter problem of the asynchronous motor; and in the present invention, by setting a smaller PI parameter for the speed regulator, the low-speed jitter problem can be better improved.

[0051] In the present invention, the motor control unit controls the motor by giving an input control signal.

[0052] like Figure 2 As shown, the control method of the compatible control device based on the smooth micro-motion and rapid start of the sightseeing vehicle of the present invention comprises the following steps:

[0053] S1: The signal acquisition module obtains the acceleration command of the accelerator pedal, and collects the vehicle feedback speed value Vfbd and the accelerator given speed value Vacc in real time according to the preset acquisition period T;

[0054] S2: The filter adjusts the acceleration rate a within the acquisition period T according to the preset acceleration rate range, thereby limiting the speed change ΔV within the acquisition period T; then the motor correction speed value Vref is calculated according to the throttle given speed value Vacc, and output to the feedforward parameter calculation module;

[0055] S3: The feedforward parameter calculation module determines the first motor control signal corresponding to the current throttle given speed value Vacc according to the throttle given speed value Vacc and the first feedforward curve, and outputs the first motor control signal to the parameter selection unit;

[0056] S4: The feedforward parameter calculation module determines the second motor control signal corresponding to the current speed deviation value Verr according to the speed deviation value Verr and the second feedforward curve, and outputs the second motor control signal to the parameter selection unit;

[0057] S5: the parameter selection unit compares the first motor control signal with the second motor control signal, and selects the smaller control signal in the comparison result as a feedforward control signal to be input to the speed regulator;

[0058] S6: The speed regulator adjusts the PI parameters of the speed deviation value Verr, and uses the adjusted result as a compensation control signal and superimposes it with the feedforward control signal to obtain a given input control signal;

[0059] S7: The motor control unit controls the motor by giving an input control signal.

[0060] In the present invention, the filter in step S2 specifically includes the following steps when calculating the motor correction speed value:

[0061] S201: According to the current throttle given speed value Vacc t Calculate the current speed change ΔV of the current acquisition cycle t; |ΔV| = |Vacc t -Vref t-1 |, where Vacc t Indicates the current throttle given speed value, Vref t-1 Indicates the corrected motor speed value at the last moment; t∈R. It should be noted that when t=1, Vref0 is set to 0;

[0062] S202: According to the set acceleration rate range (a min , a max ) and the current speed change to determine whether the current acceleration rate exceeds the acceleration rate limit; calculate the maximum speed change ΔV allowed within the acquisition cycle max , ΔV max =a max *T; If the current speed change is less than or equal to the maximum speed change, it means that the current acceleration rate does not exceed the acceleration rate limit; if the current speed change is greater than the maximum speed change, it means that the current acceleration rate exceeds the acceleration rate limit;

[0063] S203: Calculate the current motor correction speed value Vref t; If the current acceleration rate does not exceed the acceleration rate limit, the current motor correction speed value Vref t Set to the current throttle speed value Vacc t If the current acceleration rate exceeds the acceleration rate limit, the current motor correction speed value Vref t Set to the motor correction speed value Vref at the last moment t-1 The maximum allowable speed change ΔV max the sum of;

[0064] S204: Output current motor correction speed value Vref t To the feedforward parameter calculation module.

[0065] In this embodiment, the acceleration rate limiting process is used to ensure the smooth transition and stability of vehicle driving, prevent the system from generating excessive impact due to a sudden change in the speed set value, and ensure the smooth operation of the system.

[0066] In the present embodiment, in the steps S3 and S4, the first feedforward curve preset in the feedforward parameter calculation module adopts a curve function between the throttle given speed value Vacc and the motor control signal that satisfies the S-shaped curve characteristics; that is, when the throttle given speed value Vacc increases, the corresponding motor control signal also increases, and the increase rate increases from 0, increases to a peak value, and then gradually decreases to 0. When the throttle given speed value Vacc increases to a certain extent, the motor control signal approaches a specific value;

[0067] Similarly, in the steps S3 and S4, the second feedforward curve preset in the feedforward parameter calculation module adopts a curve function between the speed deviation value Verr and the motor control signal that satisfies the S-shaped curve characteristics;

[0068] The corresponding first motor control signal and second motor control signal are obtained according to the corresponding curves based on the given speed and rotation speed deviation values; in this embodiment, the first motor control signal and the second motor control signal can be current control signals at the same time, or torque control signals at the same time.

[0069] The acquisition of the first feedforward curve and the second feedforward curve belongs to the conventional technology in the art and will not be described in detail here.

[0070] In this embodiment, in step S5, after comparing the first input value with the second input value, the smaller value in the comparison result is selected to prevent the feedforward control signal from being too large, thereby protecting the motor and the battery from overload damage. At the same time, on the basis of ensuring safety, the speed deviation value is used to quickly adjust the corresponding feedforward torque or feedforward current to improve the dynamic response performance of the system. Specific embodiments

[0072] like Figure 3 As shown, after the signal acquisition module obtains the acceleration command of the accelerator pedal, the vehicle feedback speed value Vfbd and the throttle given speed value Vacc are collected once every preset acquisition period T, and the throttle given speed value Vacc processed by the acceleration rate limit is output to the feedforward parameter calculation module as the motor correction speed value Vref. The throttle given speed value Vacc obtains the corresponding first current control signal IqFF1 through the preset first feedforward current curve, and the speed deviation value Verr obtained by subtracting the motor correction speed value Vref from the vehicle feedback speed value Vfbd is obtained through the preset second feedforward current curve to obtain the corresponding second current control signal IqFF2. The first current control signal IqFF1 and the second current control signal IqFF2 are compared, and the smaller value is selected as the feedforward current control signal IqFF to be input into the speed regulator;

[0073] The speed deviation value Verr is adjusted by the PI controller in the speed regulator and is used as the compensation current control signal IqPI to be superimposed with the feedforward current control signal IqFF to obtain a given input control signal IqRef. The motor control unit controls the motor through the given input control signal IqRef.

[0074] When the accelerator is lightly pressed during low-speed operation, the vehicle feedback speed value Vfbd is close to the motor correction speed value Vref. At this time, the speed deviation value Verr gradually decreases to 0, and the corresponding second current control signal IqFF2 calculated also gradually decreases to 0. The parameter selection unit outputs the feedforward current control signal IqFF as 0. At this time, only the compensation current control signal IqPI adjusted by PI in the speed regulator plays a role in the given input control signal IqRef. The PI parameter is set small and the operation is smooth.

[0075] When the accelerator pedal is depressed deeply, the throttle given speed value Vacc obtained by the signal acquisition module is relatively large. When the obtained vehicle feedback speed value Vfbd does not reach the motor correction speed value Vref, the speed deviation value Verr is also relatively large, and the feedforward current control signal IqFF and the compensation current control signal IqPI work together. The feedforward current control signal IqFF is large and plays a major role, enabling the vehicle to start quickly. After the obtained vehicle feedback speed value Vfbd reaches the motor correction speed value Vref, the speed deviation value Verr gradually decreases to 0, and the corresponding second current control signal IqFF2 calculated gradually decreases to 0. The parameter selection unit outputs the feedforward current control signal IqFF as 0. At this time, only the compensation current control signal IqPI adjusted by PI in the speed regulator in the given input control signal IqRef plays a role, the PI parameter setting is relatively small, and the operation is stable.

Claims

1. A compatible control device for smooth micro-movement and quick start of a sightseeing vehicle, characterized in that: include: A signal acquisition module is used to obtain the acceleration command of the accelerator pedal, the accelerator given speed value and the vehicle feedback speed value; The acceleration command of the accelerator pedal and the accelerator given speed value are sent to the filter, and the accelerator given speed value and the vehicle feedback speed value are sent to the feedforward parameter calculation module; The filter is used to adjust the acceleration rate in each acquisition cycle according to the acceleration command received from the accelerator pedal, limit the speed change in each acquisition cycle to the speed fluctuation range limited by the set acceleration rate, set the maximum acceleration rate and the minimum acceleration rate for the acceleration rate, and calculate the motor correction speed value according to the given throttle speed value, and output it to the feedforward parameter calculation module; A feedforward parameter calculation module is built with a first feedforward curve for expressing the corresponding relationship between the throttle given speed value and the motor control signal, and a second feedforward curve for expressing the corresponding relationship between the speed deviation value and the motor control signal, wherein the speed deviation value is the difference between the motor correction speed value and the vehicle feedback speed value; according to the throttle given speed value and the first feedforward curve, the first motor control signal corresponding to the current throttle given speed value is determined; The feedforward parameter calculation module also determines the second motor control signal corresponding to the current speed deviation value according to the speed deviation value and the second feedforward curve; and outputs the first motor control signal and the second motor control signal to the parameter selection unit; A parameter selection unit, used for comparing the first motor control signal with the second motor control signal, and selecting the smaller control signal in the comparison result as a feedforward control signal to be input to the speed regulator; The speed regulator is used to adjust the PI parameters of the speed deviation value, and use the adjusted result as a compensation control signal to superimpose the feedforward control signal to obtain a given input control signal; The motor control unit controls the motor by giving an input control signal.

2. A compatible control device for smooth micro-movement and rapid start of a sightseeing vehicle according to claim 1, characterized in that: When the filter calculates the motor correction speed, it first calculates the current speed change ΔV of the current acquisition cycle t according to the current throttle given speed value, |ΔV|=|Vacc t -Vref t-1 |; According to the set acceleration rate range (a min , a max ) and the current speed change to determine whether the current acceleration rate exceeds the acceleration rate limit; if the current acceleration rate does not exceed the acceleration rate limit, the current motor correction speed value is set to the current throttle given speed value; If the current acceleration rate exceeds the acceleration rate limit, the current motor correction speed value is set to the motor correction speed value at the previous moment and the maximum allowed speed change ΔV max The superposition value of the current motor speed correction value is finally output; Among them, Vacc t Indicates the current throttle given speed value, Vref t-1 Indicates the corrected motor speed value at the last moment.

3. A compatible control device for smooth micro-movement and quick start of a sightseeing vehicle according to claim 2, characterized in that: When the filter determines whether the current acceleration rate exceeds the acceleration rate limit, it first calculates the maximum speed change allowed within the acquisition cycle ΔV max , ΔV max =a max *T, if the current speed change is less than or equal to the maximum speed change, it means that the current acceleration rate does not exceed the acceleration rate limit; if the current speed change is greater than the maximum speed change, it means that the current acceleration rate exceeds the acceleration rate limit.

4. The compatible control device for stable micro-movement and rapid start of a sightseeing vehicle according to claim 1, characterized in that: The preset first feedforward curve adopts a curve function between the throttle given speed value and the motor control signal that satisfies the S-shaped curve characteristics, and the preset second feedforward curve adopts a curve function between the speed deviation value and the motor control signal that satisfies the S-shaped curve characteristics.

5. The compatible control device for stable micro-movement and rapid start of a sightseeing vehicle according to claim 1, characterized in that: The first motor control signal and the second motor control signal are both current control signals, or are both torque control signals.

6. A control method for a sightseeing vehicle compatible control device for smooth micro-movement and rapid start-up based on any one of claims 1 to 5, characterized in that: The steps include: S1: The signal acquisition module obtains the acceleration command of the accelerator pedal, and collects the vehicle feedback speed value and the accelerator given speed value in real time according to the preset acquisition period T; S2: The filter adjusts the acceleration rate a within the acquisition period T according to the preset acceleration rate range, thereby limiting the speed change ΔV within the acquisition period T; Then, the motor correction speed value is calculated according to the given throttle speed value and output to the feedforward parameter calculation module; S3: The feedforward parameter calculation module determines the first motor control signal corresponding to the current throttle given speed value according to the throttle given speed value and the first feedforward curve, and outputs the first motor control signal to the parameter selection unit; S4: The feedforward parameter calculation module determines the second motor control signal corresponding to the current speed deviation value according to the speed deviation value and the second feedforward curve, and outputs the second motor control signal to the parameter selection unit; S5: the parameter selection unit compares the first motor control signal with the second motor control signal, and selects the smaller control signal in the comparison result as a feedforward control signal to be input to the speed regulator; S6: The speed regulator adjusts the speed deviation value by PI parameters, and uses the adjusted result as a compensation control signal and superimposes it with the feedforward control signal to obtain a given input control signal; S7: The motor control unit controls the motor by giving an input control signal.

7. A method for controlling the smooth micro-movement and rapid start of a sightseeing vehicle according to claim 6, characterized in that: In step S2, the filter specifically includes the following steps when calculating the motor correction speed value: S201: Calculate the current speed change ΔV of the current acquisition period t according to the current throttle given speed value; |ΔV|=|Vacc t -Vref t-1 |, where Vacc t Indicates the current throttle given speed value, Vref t-1 Indicates the corrected speed value of the motor at the last moment, t∈R; S202: According to the set acceleration rate range (a min , a max ) and the current speed change to determine whether the current acceleration rate exceeds the acceleration rate limit; S203: If the current acceleration rate does not exceed the acceleration rate limit, the current motor correction speed value is set to the value of the current throttle given speed value; if the current acceleration rate exceeds the acceleration rate limit, the current motor correction speed value is set to the sum of the motor correction speed value at the previous moment and the maximum speed change allowed; S204: Output the current motor correction speed value to the feedforward parameter calculation module.

8. The method for controlling the smooth micro-movement and rapid start of a sightseeing vehicle according to claim 7, characterized in that: In step S203, the filter determines whether the acceleration rate limit is exceeded by first calculating the maximum speed change ΔV allowed within the acquisition period. max , ΔV max =a max *T, if the current speed change is less than or equal to the maximum speed change, it means that the current acceleration rate does not exceed the acceleration rate limit; if the current speed change is greater than the maximum speed change, it means that the current acceleration rate exceeds the acceleration rate limit.

9. The method for controlling the smooth micro-movement and rapid start of a sightseeing vehicle according to claim 6, characterized in that: In the steps S3 and S4, the preset first feedforward curve adopts a curve function between the throttle given speed value and the motor control signal that satisfies the S-shaped curve characteristics, and the preset second feedforward curve adopts a curve function between the speed deviation value and the motor control signal that satisfies the S-shaped curve characteristics.

10. The method for controlling the smooth micro-movement and rapid start of a sightseeing vehicle according to claim 6, characterized in that: In the step S5, the first motor control signal and the second motor control signal are both current control signals, or are both torque control signals.

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