A compatible control device and method for stable micro-movement and rapid start of sightseeing vehicle

Abstract

The present invention belongs to the field of electric vehicle control, and discloses a compatible control device and method for smooth micro-motion and rapid start of a sightseeing vehicle. In the present invention, the vehicle feedback speed value and the throttle set speed value are collected in real time; the throttle set speed value after acceleration rate limitation is output as a motor correction speed value; the throttle set speed value and the speed deviation value are processed by a feedforward curve to obtain a motor control signal, and the smaller one is taken as the feedforward control signal and input into a speed regulator; the speed deviation value is adjusted by the PI parameter of the speed regulator, and is used as a compensation control signal to be superimposed with the feedforward control signal to control the motor. Therefore, when the vehicle is running at low speed, the feedforward control signal has little effect, and the smaller PI parameter set in the speed regulator allows the compensation control signal to play a major role. The vehicle runs smoothly. When the vehicle needs to start quickly, the feedforward control signal plays a major role, and the vehicle can start quickly. Therefore, it can meet the requirements of smooth micro-motion and rapid start at the same time.

Description

Technical Field

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

[0002] At present, existing sightseeing vehicles all use asynchronous motor speed control. Sightseeing vehicles have a high maximum speed and a small gearbox deceleration ratio, which makes them more sensitive to the low-speed jitter problem of asynchronous motors. A common method is to reduce the PI parameter in the proportional-integral (PI) controller to improve the low-speed jitter problem. However, reducing the PI parameter will lead to slow startup acceleration.

[0003] The patent number is CN201810279016.9, and the patent name is "A method for controlling low-speed jitter in electric vehicles." It discloses a method for controlling low-speed jitter in electric vehicles. 1) The difference between the motor speed and the vehicle speed is adjusted proportionally and differentially, and then used as a compensation torque to be superimposed on 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 vehicle jitter caused by the underdamped characteristics of the transmission system; 3) The motor torque instruction is sent to the motor for execution through the motor controller. The method provided by this prior art solution is easy to implement, does not increase system cost, and effectively solves the problem of low-speed jitter in electric vehicles. However, the introduction of a limiter may introduce phase delay while eliminating specific frequency vibrations. Inaccurate notch filter design can also suppress 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 smooth 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 set speed value and the vehicle feedback speed value; and send the acceleration command of the accelerator pedal and the accelerator set speed value to the filter, and also send the accelerator set speed value and the vehicle feedback speed value to the feedforward parameter calculation module;

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

[0009] A feedforward parameter calculation module is built-in with a first feedforward curve for expressing the corresponding relationship between the throttle set 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 feedforward parameter calculation module determines the first motor control signal corresponding to the current throttle set speed value based on the throttle set 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 based on 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, configured to compare the first motor control signal with the second motor control signal, and select the smaller control signal from 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 the 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 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 previous moment motor correction speed value and the maximum allowable speed change ΔV max The superposition value of Vacc; finally output the current motor correction speed value; among them, Vacc t Indicates the current throttle 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 set 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. It then calculates the motor correction speed value based on the throttle set speed value and outputs it to the feedforward parameter calculation module.

[0020] S3: The feedforward parameter calculation module determines a 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 a 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 and the second motor control signal, and selects the smaller control signal as a feedforward control signal to be input to the speed regulator;

[0023] S6: The speed regulator adjusts the PI parameters of the speed deviation value, 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 in 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 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 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 allowable speed change;

[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 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 vehicle feedback speed value does not reach the motor correction speed value. The feedforward control signal plays a leading role in the acceleration period, and can realize rapid starting of the vehicle. When the vehicle feedback speed value approaches or reaches the motor correction speed value, 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 smooth. Therefore, the PI parameter in the speed regulator of the sightseeing vehicle is set small to ensure smooth micro-movement of the sightseeing vehicle while also being able to 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 following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0035] Figure 1 This is a block diagram of the compatible control device for the smooth inching and rapid starting of the sightseeing vehicle in the present invention;

[0036] Figure 2 Schematic diagram of the flow of the compatible control method for smooth inching and rapid starting of a sightseeing vehicle in the present invention;

[0037] Figure 3 The figure is a schematic diagram of a specific implementation process of the compatible control device for smooth inching and rapid starting of a sightseeing vehicle in the present invention. 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 includes: 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 set speed value Vacc and the vehicle feedback speed value Vfbd; and send the acceleration command of the accelerator pedal and the accelerator set speed value Vacc to the filter, and also send the accelerator set 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. The accelerator set speed value Vacc and the vehicle feedback speed value Vfbd are collected according to the preset collection period T. The accelerator set 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 vehicle at the corresponding moment;

[0042] In the present invention, the filter is used to adjust the acceleration rate a within each acquisition period T based on the acceleration command received from the accelerator pedal using a set acceleration rate range, thereby limiting the speed change ΔV within each acquisition period T to within the set speed fluctuation range. The filter also calculates the motor correction speed value Vref based on the throttle set 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, a smooth transition and stability of vehicle driving can be ensured, and the system can be prevented from generating excessive impact due to sudden changes in the speed set value, thereby ensuring smooth operation of the system.

[0045] In the present invention, the feedforward parameter calculation module has a built-in first feedforward curve for expressing the corresponding relationship between the throttle set 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. 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 based on 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 based on 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 or 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 and the second motor control signal, and select the smaller control signal in the comparison result as the 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 this 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 sightseeing car has a high maximum speed and a small gearbox deceleration ratio, 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 for smooth micro-movement and rapid start of a sightseeing vehicle according to the present invention comprises the following steps:

[0053] S1: The signal acquisition module obtains the acceleration command of the accelerator pedal and simultaneously collects the vehicle feedback speed value Vfbd and the throttle set 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. The motor correction speed value Vref is then calculated based on the throttle speed value Vacc and output to the feedforward parameter calculation module.

[0055] S3: The feedforward parameter calculation module determines a 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 and the second motor control signal, and selects the smaller control signal 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 the 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 speed value Vacc t Calculate the current speed change ΔV in the current acquisition cycle t; |ΔV| = |Vacc t -Vref t-1 |, where Vacc t Indicates the current throttle 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 smooth transition and stability of vehicle driving, prevent the system from generating excessive impact due to sudden changes in the speed set value, and ensure stable operation of the system.

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

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

[0068] Given the speed and rotation speed deviation values, the corresponding first motor control signal and second motor control signal are obtained according to the corresponding curve; 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 conventional techniques 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 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 from the accelerator pedal, it collects the vehicle feedback speed value Vfbd and the throttle set speed value Vacc every preset acquisition period T. The throttle set speed value Vacc, which has been processed by the acceleration rate limit, is output to the feedforward parameter calculation module as the motor correction speed value Vref. The throttle set speed value Vacc is subjected to a preset first feedforward current curve to obtain a corresponding first current control signal IqFF1. The speed deviation value Verr obtained by subtracting the motor correction speed value Vref from the vehicle feedback speed value Vfbd is obtained through a preset second feedforward current curve to obtain a 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 and input into the speed regulator.

[0073] After the speed deviation value Verr is adjusted by the PI controller in the speed regulator, it is used as the compensation current control signal IqPI and superimposed with the feedforward current control signal IqFF to obtain the 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 the PI in the speed regulator plays a role in the given input control signal IqRef. The PI parameter is set to a small value, 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 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 large. 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, which can enable 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 a sightseeing vehicle with smooth micro-movement and quick start, characterized in that: include: The signal acquisition module is used to obtain the acceleration command of the accelerator pedal, the accelerator set speed value and the vehicle feedback speed value; The acceleration command of the accelerator pedal and the accelerator set speed value are sent to the filter, and the accelerator set 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 within each acquisition cycle according to the acceleration command received from the accelerator pedal, limit the speed change within each acquisition cycle to a speed fluctuation range limited by the set acceleration rate, set the maximum and minimum acceleration rates, and calculate the motor correction speed value based on the throttle set speed value, and output it to the feedforward parameter calculation module; A feedforward parameter calculation module includes a first feedforward curve for expressing the corresponding relationship between the throttle set 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, where the speed deviation value is the difference between the motor correction speed value and the vehicle feedback speed value; and a first motor control signal corresponding to the current throttle set speed value is determined based on the throttle set 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; a parameter selection unit, configured to compare the first motor control signal with the second motor control signal, and select the smaller control signal from 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 the compensation control signal to superimpose the feedforward control signal to obtain a given input control signal; A motor control unit controls the motor by giving an input control signal; When the filter calculates the motor correction speed, it first calculates the current speed change ΔV in the current acquisition cycle t based on 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 speed change allowed ΔV max Finally, the current motor correction speed value is output; Among them, Vacc t Indicates the current throttle speed value, Vref t-1 Indicates the corrected motor speed value at the last moment.

2. The compatible control device for smooth micro-movement and rapid start of a sightseeing vehicle according to claim 1, 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 period 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.

3. The compatible control device for smooth 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 that satisfies the S-shaped curve characteristics between the throttle given speed value and the motor control signal, and the preset second feedforward curve adopts a curve function that satisfies the S-shaped curve characteristics between the speed deviation value and the motor control signal.

4. The compatible control device for smooth inching and quick starting 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.

5. A control method for a sightseeing vehicle with smooth inching and quick start-up compatible control device based on any one of claims 1 to 4, 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 set 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 throttle given speed value and output to the feedforward parameter calculation module; S3: The feedforward parameter calculation module determines a 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 a 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 and the second motor control signal, and selects the smaller control signal as a feedforward control signal to be input to the speed regulator; S6: The speed regulator adjusts the PI parameters of the speed deviation value, 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.

6. The method for controlling a sightseeing vehicle with smooth inching and rapid starting according to claim 5, 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 in 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 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 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 allowable speed change; S204: Output the current motor correction speed value to the feedforward parameter calculation module.

7. The method for controlling a sightseeing vehicle with smooth inching and rapid starting according to claim 6, characterized in that: In step S203, the filter determines whether the acceleration rate limit is exceeded. Specifically, the maximum speed change ΔV allowed within the acquisition period is first calculated. 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.

8. The method for controlling a sightseeing vehicle with smooth inching and rapid starting according to claim 5, characterized in that: 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.

9. The method for controlling a sightseeing vehicle with smooth inching and rapid starting according to claim 5, characterized in that: In step S5 , the first motor control signal and the second motor control signal are both current control signals or both torque control signals.

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