Driving motor rotating speed control system, design method thereof and new energy vehicle

Abstract

The invention discloses a driving motor rotating speed control system, a design method thereof and a new energy vehicle. The driving motor rotating speed control system comprises a load observer, a rotating speed regulator, a damping torque unit and a motor torque comprehensive unit; the load observer is used for acquiring an estimated load and an estimated rotating speed in real time; the rotating speed regulator is used for receiving the motor target rotating speed and the feedback rotating speed and calculating the rotating speed regulator output torque according to the motor target rotating speed and the feedback rotating speed; the damping torque unit is used for receiving the feedback rotating speed and calculating damping torque according to the feedback rotating speed; the motor torque integration unit is used for receiving the estimated load, the output torque of the rotating speed regulator and the damping torque, and calculating the target torque of the motor according to the estimated load, the output torque of the rotating speed regulator and the damping torque; wherein the feedback rotating speed comprises the estimated rotating speed or the operation rotating speed in the mechanical movement process of the driving motor. The anti-interference performance and robustness of driving motor rotating speed control in the vehicle gear shifting process are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a drive motor speed control system and a design method thereof, and a new energy vehicle. Background Art

[0002] The electric drive system of new energy commercial vehicles often uses multi-speed transmissions to meet the application scenarios with a wide range of load changes. Most commercial vehicle electric drive multi-speed transmissions do not have synchronizers to achieve low cost and long life. The multi-speed transmission without synchronizers has higher requirements on the dynamic performance and steady-state error of the motor speed control during the shifting process. In the prior art, PI+load torque estimation is usually used to achieve speed control, among which the load torque estimation method has little guiding significance for speed control that meets the shifting requirements. Therefore, it is urgently needed for technicians in this field to forward design and implement the performance indicators of motor speed control based on the shifting, and provide a method for identifying the parameters related to speed control. Summary of the invention

[0003] The present invention provides a drive motor speed control system and a design method thereof, and a new energy vehicle, so as to improve the anti-interference and robustness of the drive motor speed control during the vehicle shifting process.

[0004] In a first aspect, an embodiment of the present invention provides a drive motor speed control system, the drive motor speed control system comprising a load observer, a speed regulator, a damping torque unit, and a motor torque synthesis unit; the load observer is respectively connected to the speed regulator, the damping torque unit, and the motor torque synthesis unit, and the motor torque synthesis unit is respectively connected to the speed regulator and the damping torque unit;

[0005] The load observer is used to obtain the estimated load and estimated speed in real time;

[0006] The speed regulator is used to receive the motor target speed and the feedback speed, and calculate the speed regulator output torque according to the motor target speed and the feedback speed;

[0007] The damping torque unit is used to receive the feedback speed and calculate the damping torque according to the feedback speed;

[0008] The motor torque synthesis unit is used to receive the estimated load, the speed regulator output torque and the damping torque, and calculate the motor target torque according to the estimated load, the speed regulator output torque and the damping torque;

[0009] The feedback speed includes the estimated speed or the operating speed during the mechanical movement of the driving motor.

[0010] Optionally, the load observer includes a Romberg-type motor load observer.

[0011] Optionally, the speed regulator includes a proportional speed regulator.

[0012] In a second aspect, an embodiment of the present invention provides a design method for a drive motor speed control system, which is used to form the drive motor speed control system described in any one of the second aspects. The design method for the drive motor speed control system includes:

[0013] Acquiring parameter information of mechanical motion of the drive motor, wherein the parameter information includes moment of inertia and damping coefficient;

[0014] constructing a load observer according to the parameter information;

[0015] constructing a speed regulator according to the rotational inertia;

[0016] constructing a damping torque unit according to the damping coefficient;

[0017] constructing a motor torque synthesis unit according to the load observer, the speed regulator and the damping torque unit;

[0018] A drive motor speed control system is formed according to the load observer, the speed regulator, the damping torque unit and the motor torque integration unit.

[0019] Optionally, obtaining parameter information of mechanical motion of the driving motor, wherein the parameter information includes moment of inertia and damping coefficient; including:

[0020] Obtain the speed error of the driving motor at different target speeds;

[0021] Acquire the damping coefficient of the drive motor at different target speeds according to the target speed and the speed error;

[0022] Get the preset speed;

[0023] According to the preset speed, the speed change rate of the driving motor during mechanical movement and the preset speed regulator output torque are obtained;

[0024] The moment of inertia is obtained according to the damping coefficient, the speed change rate and the preset speed regulator output torque.

[0025] Optionally, constructing a load observer according to the parameter information includes:

[0026] Constructing a state space equation for the mechanical motion of the drive motor according to the parameter information;

[0027] Obtain the general equations for the Romberg-type observer;

[0028] A load observer is constructed according to the state space equation of the mechanical motion of the drive motor and the general equation of the Romberg type observer.

[0029] Optionally, constructing a state space equation for driving the mechanical motion of the motor according to the parameter information includes:

[0030] Constructing a mechanical motion equation of the drive motor according to the parameter information;

[0031] Obtain the general equations of the state space;

[0032] The state space equation of the mechanical motion of the drive motor is constructed according to the mechanical motion equation of the drive motor and the state space general equation.

[0033] Optionally, a speed regulator is constructed according to the rotational inertia, including:

[0034] Obtaining the moment of inertia and the first-order inertia link of the speed regulator according to the moment of inertia;

[0035] Obtaining a time constant according to the first-order inertia link;

[0036] Get the load observer response adjustment time;

[0037] Obtaining a speed regulator proportional coefficient according to the load observer response adjustment time and the preset speed regulator output torque;

[0038] The speed regulator is designed according to the speed regulator proportionality factor.

[0039] Optionally, a motor torque synthesis unit is constructed according to the load observer, the speed regulator and the damping torque unit, including:

[0040] Obtaining load torque according to the load observer;

[0041] Acquiring a speed regulator output torque according to the speed regulator;

[0042] Acquiring a damping torque according to the damping torque unit;

[0043] A motor torque synthesis unit is constructed according to the load torque, the speed regulator output torque and the damping torque.

[0044] In a third aspect, an embodiment of the present invention provides a new energy vehicle, wherein the new energy vehicle includes the drive motor speed control system described in any one of the first aspects.

[0045] The technical solution of the embodiment of the present invention provides a driving motor speed control system, including a load observer, a speed regulator, a damping torque unit, and a motor torque synthesis unit; the load observer is respectively connected to the speed regulator, the damping torque unit and the motor torque synthesis unit, and the motor torque synthesis unit is respectively connected to the speed regulator and the damping torque unit; the load observer is used to obtain the estimated load and estimated speed in real time; the speed regulator is used to receive the motor target speed and feedback speed, and calculate the speed regulator output torque according to the motor target speed and feedback speed; the damping torque unit is used to receive the feedback speed and calculate the damping torque according to the feedback speed; the motor torque synthesis unit is used to receive the estimated load, the speed regulator output torque and the damping torque, and calculate the motor target torque according to the estimated load, the speed regulator output torque and the damping torque; wherein the feedback speed includes the estimated speed or the running speed during the mechanical movement of the driving motor. In order to improve the anti-interference and robustness of the driving motor speed control during the vehicle shifting process.

[0046] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 A schematic diagram of the structure of a drive motor speed control system provided by an embodiment of the present invention;

[0049] Figure 2 A flow chart of a design method for a drive motor speed control system provided by an embodiment of the present invention;

[0050] Figure 3 A flow chart of another method for designing a drive motor speed control system provided by an embodiment of the present invention;

[0051] Figure 4 A flow chart of another method for designing a drive motor speed control system provided by an embodiment of the present invention;

[0052] Figure 5 A flow chart of another method for designing a drive motor speed control system provided by an embodiment of the present invention;

[0053] Figure 6A flow chart of another method for designing a drive motor speed control system provided by an embodiment of the present invention;

[0054] Figure 7 A flow chart of another method for designing a drive motor speed control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. According to the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0056] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0057] Figure 1 The present invention provides a schematic diagram of a drive motor speed control system. This embodiment is applicable to the drive motor speed control situation. The method can be executed by a drive motor speed control device. The drive motor speed control device can be implemented in the form of hardware and / or software. The drive motor speed control device can be configured in new energy vehicles. Figure 1As shown, the drive motor speed control system 100 includes a load observer 101, a speed regulator 102, a damping torque unit 103, and a motor torque synthesis unit 104; the load observer 101 is connected to the speed regulator 102, the damping torque unit 103 and the motor torque synthesis unit 104 respectively, and the motor torque synthesis unit 104 is connected to the speed regulator 102 and the damping torque unit 103 respectively; the load observer 101 is used to obtain the estimated load and the estimated speed in real time; the speed regulator 102 is used to receive the motor target speed and the feedback speed, and calculate the speed regulator output torque according to the motor target speed and the feedback speed; the damping torque unit 103 is used to receive the feedback speed, and calculate the damping torque according to the feedback speed; the motor torque synthesis unit 104 is used to receive the estimated load, the speed regulator output torque and the damping torque, and calculate the motor target torque according to the estimated load, the speed regulator output torque and the damping torque; wherein the feedback speed includes the estimated speed or the running speed during the mechanical movement of the drive motor 105.

[0058] Among them, the load observer 101 receives in real time the operating speed output by the mechanical motion system of the drive motor 105 and the motor target torque at the last moment fed back by the motor torque synthesis unit 104, and then obtains the estimated load and estimated speed in real time according to the calculated speed and the motor target torque at the last moment, and outputs the estimated speed to the speed regulator 102 and the damping torque unit 103. The estimated load may include torque interference generated by external interference and load interference generated by the load; the estimated load may also be understood as load torque. The speed regulator is used to receive the target speed and the feedback speed. The target speed can be set accordingly according to the shifting requirements. The feedback speed includes the estimated speed and the operating speed during the mechanical motion of the drive motor 105. The operating speed can also be understood as the speed value of the real-time operation of the drive motor 105. The speed regulator 102 can calculate the output torque of the speed regulator according to the target speed and the estimated speed, or the speed regulator 102 can also calculate the output torque of the speed regulator according to the target speed and the operating speed. The estimated speed can be understood as the speed value obtained by filtering the calculated speed. Exemplarily, when the operating speed received by the speed regulator 102 has large fluctuations, the estimated speed is selected to calculate the output torque of the speed regulator to ensure the speed control accuracy. The speed regulator 102 can be selected according to the specific state of the estimated speed and the operating speed to output the speed regulator output torque, which is not specifically limited in the embodiment of the present invention. The damping torque unit 103 receives the estimated speed output by the load observer 101, and then obtains the damping torque according to the estimated speed; or the damping torque unit 103 receives the operating speed during the mechanical movement of the drive motor 105, and then obtains the damping torque according to the operating speed; the damping torque unit 103 can be selected according to the specific state of the estimated speed and the operating speed to output the damping torque, which is not specifically limited in the embodiment of the present invention. The motor torque integration unit 104 is used to receive the estimated load output by the load observer 101, the speed regulator output torque and the damping torque output by the speed regulator 102, and calculate the motor target torque according to the estimated load, the speed regulator output torque and the damping torque output by the damping torque unit 103. The actual mechanical movement of the drive motor 105 also includes torque interference. The drive motor 105 mainly controls the speed according to the motor target torque to achieve precise gear shifting of the drive motor 105, thereby ensuring high anti-interference and high robustness of the speed control of the drive motor 105.

[0059] The embodiment of the present invention includes a load observer, a speed regulator, a damping torque unit, and a motor torque synthesis unit through a driving motor speed control system; the load observer is used to obtain the estimated load and estimated speed in real time; the speed regulator is used to receive the motor target speed and feedback speed, and calculate the speed regulator output torque according to the motor target speed and feedback speed; the damping torque unit is used to receive the feedback speed, and calculate the damping torque according to the feedback speed; the motor torque synthesis unit is used to receive the estimated load, the speed regulator output torque and the damping torque, and calculate the motor target torque according to the estimated load, the speed regulator output torque and the damping torque; wherein the feedback speed includes the estimated speed or the running speed during the mechanical movement of the driving motor. In order to improve the anti-interference and robustness of the driving motor speed control during the vehicle shifting process.

[0060] Optionally, the load observer 101 includes a Romberg-type motor load observer.

[0061] The load observer 101 may be a Romberg-type motor load observer, which has the advantages of fast dynamic response and high precision, and can effectively avoid chattering of the speed control system of the drive motor 105 .

[0062] Optionally, the speed regulator 102 includes a proportional speed regulator.

[0063] The speed regulator 102 may be a proportional speed regulator, including a proportional coefficient K p , a proportional speed regulator is a control system used to adjust the speed of mechanical equipment. It controls the speed of the drive motor 105 by comparing the difference between the feedback speed and the set target speed, and adjusting the speed regulator output torque accordingly. In the proportional speed regulator, the opening of the regulating valve will be adjusted accordingly according to the difference between the feedback speed and the set target speed. When the feedback speed is lower than the set target speed, the regulating valve will open wider, increase the fluid flow, and accelerate the equipment; on the contrary, if the actual speed is higher than the set target speed, the regulating valve will close smaller, reduce the fluid flow, and cause the equipment to slow down. The use of a proportional speed regulator can make the speed of the equipment track the target speed quickly and smoothly, thereby speeding up the response speed of the drive motor speed control system.

[0064] According to the same inventive concept, an embodiment of the present invention further provides a design method for a drive motor speed control system, and the design method for a drive motor speed control system is used to form a drive motor speed control system provided by any embodiment of the present invention. Figure 2 A flow chart of a design method of a drive motor speed control system provided by an embodiment of the present invention, such as Figure 2 As shown, the design method of the drive motor speed control system includes:

[0065] S101, obtaining parameter information of mechanical motion of a driving motor, wherein the parameter information includes moment of inertia and damping coefficient.

[0066] The mechanical motion state of the drive motor is simulated in advance, and the parameter information related to the mechanical motion of the drive motor is correspondingly identified, and the parameter information includes the moment of inertia and the damping coefficient. Correspondingly, relevant parameter information is obtained, J is the moment of inertia, B is the damping coefficient, and S is a complex variable.

[0067] S102: construct a load observer according to the parameter information.

[0068] Among them, according to the moment of inertia and damping coefficient of the driving motor during mechanical motion, and in combination with the motor mechanical motion equation and the general expression of the state space, a load observer is constructed, and the load observer can be a Romberg type motor load observer. For the formed driving motor speed control system, the load observer can receive the feedback speed and the motor target torque at the previous moment to output the estimated load and estimated speed in real time.

[0069] S103, constructing a speed regulator according to the rotational inertia.

[0070] Among them, the speed regulator can be a proportional speed regulator, and there is a corresponding relationship between the moment of inertia and the proportional speed regulator. The speed regulator can be constructed for the moment of inertia of the drive motor during the mechanical movement. For the formed drive motor speed control system, the speed regulator can receive the motor target speed and feedback speed to output the speed regulator output torque.

[0071] S104: construct a damping torque unit according to the damping coefficient.

[0072] The damping torque unit can be constructed based on the damping coefficient of the drive motor during mechanical motion, so that the damping torque unit can output the damping torque according to the feedback speed and the damping coefficient. For the formed drive motor speed control system, the damping torque unit can receive the feedback speed and output the damping torque.

[0073] S105, constructing a motor torque synthesis unit according to the load observer, the speed regulator and the damping torque unit.

[0074] The motor torque synthesis unit is constructed according to the estimated load output by the load observer, the speed regulator output torque output by the speed regulator, and the damping torque output by the damping torque unit as input quantities. For the formed drive motor speed control system, the motor torque synthesis unit can receive the estimated load, the speed regulator output torque, and the damping torque to output the motor target torque, thereby facilitating the drive motor to complete the gear shifting operation according to the motor target torque.

[0075] S106, forming a driving motor speed control system according to the load observer, the speed regulator, the damping torque unit and the motor torque integration unit.

[0076] The embodiment of the present invention obtains parameter information of the mechanical motion of the drive motor, the parameter information including the moment of inertia and the damping coefficient; constructs a load observer according to the parameter information; constructs a speed regulator according to the moment of inertia; constructs a damping torque unit according to the damping coefficient; constructs a motor torque synthesis unit according to the load observer, the speed regulator and the damping torque unit; and then forms a drive motor speed control system according to the load observer, the speed regulator, the damping torque unit and the motor torque synthesis unit. The drive motor speed control system can be used to improve the interference resistance and robustness of the drive motor speed control during the vehicle gear shifting process.

[0077] Optional, Figure 3 A flow chart of another design method of a drive motor speed control system provided by an embodiment of the present invention, such as Figure 3 As shown, the design method of the drive motor speed control system includes:

[0078] S201, obtaining a speed error of the driving motor at different target speeds.

[0079] The speed error is obtained when the driving motor is in the process of mechanical movement and recorded at different target speeds and after the target speed is stable.

[0080] S202, obtaining a damping coefficient of the drive motor at different target speeds according to the target speed and the speed error.

[0081] Among them, the speed regulator in the drive motor speed control system can control the damping coefficient. The speed regulator is usually a prior art, so the damping coefficient can be obtained with the help of a proportional speed regulator in the prior art. According to different target speeds and their corresponding speed errors, the damping coefficient of the drive motor at different target speeds is calculated accordingly. Specifically, the damping coefficient can be calculated according to the first formula, which is: Among them, nRef is the target speed, nErr is the speed error, K p is the proportional coefficient of the speed regulator, and B is the damping coefficient.

[0082] In addition, considering that temperature has a significant impact on the damping coefficient, at least three temperatures, low temperature, normal temperature and high temperature, are selected to identify the damping coefficient to achieve temperature correction of the damping coefficient.

[0083] S203, obtaining a preset rotation speed.

[0084] The drive motor may be given a preset speed, which may be a value between 0 and 1000 rpm.

[0085] S204, obtaining the speed change rate of the driving motor during the mechanical movement and the preset speed regulator output torque according to the preset speed.

[0086] The drive motor performs mechanical motion at a preset speed, and then the speed change rate of the drive motor during the mechanical motion and the preset speed regulator output torque are correspondingly obtained. The speed change rate can be calculated based on the adjacent mechanical angular velocity sampling difference and the motor angular velocity sampling period.

[0087] S205, obtaining the moment of inertia according to the damping coefficient, the speed change rate and the preset speed regulator output torque.

[0088] The moment of inertia is obtained according to the damping coefficient, the speed change rate and the preset speed regulator output torque. The obtained moment of inertia can also be filtered to eliminate noise interference and improve data quality. Specifically, the moment of inertia can be calculated according to the second formula, which is: trqSpdCtlOut-B*ω m =J*ω m Delta / T; where ω m Delta is the difference between adjacent mechanical angular velocity samples, T is the motor angular velocity sampling period, trqSpdCtlOut is the output torque of the speed regulator, ω m is the motor mechanical angular velocity, J is the moment of inertia, and B is the damping coefficient.

[0089] S206: construct a load observer according to the parameter information.

[0090] S207, constructing a speed regulator according to the rotational inertia.

[0091] S208: construct a damping torque unit according to the damping coefficient.

[0092] S209: construct a motor torque synthesis unit according to the load observer, the speed regulator and the damping torque unit.

[0093] S210: forming a driving motor speed control system according to the load observer, the speed regulator, the damping torque unit and the motor torque integration unit.

[0094] The embodiment of the present invention obtains the speed error of the driving motor at different target speeds; obtains the damping coefficient of the driving motor at different target speeds according to the target speed and the speed error; obtains the preset speed; obtains the speed change rate and the preset speed regulator output torque during the mechanical movement of the driving motor according to the preset speed; obtains the moment of inertia according to the damping coefficient, the speed change rate and the preset speed regulator output torque, thereby ensuring the recognition effect of the mechanical movement of the driving motor, so as to ensure that the formed driving motor speed control system can improve the anti-interference and robustness of the driving motor speed control during the vehicle gear shifting process.

[0095] Optional, Figure 4 A flow chart of another design method of a drive motor speed control system provided by an embodiment of the present invention, such as Figure 4 As shown, the design method of the drive motor speed control system includes:

[0096] S301, obtaining a speed error of the driving motor at different target speeds.

[0097] S302: Obtain a damping coefficient of the drive motor at different target speeds according to the target speed and the speed error.

[0098] S303, obtaining a preset rotation speed.

[0099] S304, obtaining the speed change rate of the driving motor during the mechanical movement and the preset speed regulator output torque according to the preset speed.

[0100] S305, obtaining the moment of inertia according to the damping coefficient, the speed change rate and the preset speed regulator output torque.

[0101] S306, constructing a state space equation for driving the mechanical motion of the motor according to the parameter information.

[0102] Among them, the state space equation of the mechanical motion of the drive motor is Among them, ω m is the motor angular velocity; T L is the load torque; T E is the motor target torque, B is the damping coefficient, and J is the moment of inertia.

[0103] S307, obtaining the general equation of the Lumberg observer.

[0104] Among them, the general equation of the Lumberg observer is Where L is the feedback gain of the Lumberg observer, a-Lc is the Lumberg observer system matrix, a and b are both known values; u is the input of the Romberg observer, and y is the actual output of the Romberg observer.

[0105] S308, constructing a load observer according to the state space equation of the mechanical motion of the drive motor and the general equation of the Romberg type observer.

[0106] Among them, the load observer can be constructed based on the state space equation of the mechanical motion of the drive motor and the general equation of the Romberg type observer. The load observer is in, To estimate the speed, To estimate the load. To ensure that the output of the load observer is close to the true value, it is necessary to ensure that all eigenvalues ​​of a-Lc have negative real parts, that is, Among them, λ is the characteristic root, and I is the unit matrix. As can be seen from equation (8), the load observer response is a second-order system, the damping ratio ζ=0.8 is selected, and the load observer response adjustment time tSpdResp is determined according to the gear shift speed control response time tSpdResp. s , select t s =0.5*tSpdResp, according to the formula Can be obtained

[0107] S309, constructing a speed regulator according to the rotational inertia.

[0108] S310: construct a damping torque unit according to the damping coefficient.

[0109] S311, constructing a motor torque synthesis unit according to the load observer, the speed regulator and the damping torque unit.

[0110] S312, forming a driving motor speed control system according to the load observer, the speed regulator, the damping torque unit and the motor torque integration unit.

[0111] The embodiment of the present invention constructs a state-space equation of the mechanical motion of the drive motor according to parameter information; obtains a general equation of a Romberg-type observer; constructs a load observer according to the state-space equation of the mechanical motion of the drive motor and the general equation of the Romberg-type observer; constructs a speed regulator according to the moment of inertia; constructs a damping torque unit according to the damping coefficient; constructs a motor torque synthesis unit according to the load observer, the speed regulator and the damping torque unit; and then forms a drive motor speed control system according to the load observer, the speed regulator, the damping torque unit and the motor torque synthesis unit. The drive motor speed control system can be used to improve the anti-interference and robustness of the drive motor speed control during the vehicle gear shifting process.

[0112] Optional, Figure 5 A flow chart of another design method of a drive motor speed control system provided by an embodiment of the present invention, such as Figure 5 As shown, the design method of the drive motor speed control system includes:

[0113] S401, obtaining a speed error of the driving motor at different target speeds.

[0114] S402, obtaining a damping coefficient of the drive motor at different target speeds according to the target speed and the speed error.

[0115] S403, obtaining a preset rotation speed.

[0116] S404, obtaining the speed change rate of the driving motor during the mechanical movement and the preset speed regulator output torque according to the preset speed.

[0117] S405, obtaining the moment of inertia according to the damping coefficient, the speed change rate and the preset speed regulator output torque.

[0118] S406, constructing a mechanical motion equation of the driving motor according to the parameter information.

[0119] Among them, the mechanical motion equation of the drive motor is ω m is the motor angular velocity; T L is the load torque; T E is the motor target torque, B is the damping coefficient, and J is the moment of inertia.

[0120] S407, obtaining a general state space equation.

[0121] The general state space equation is Among them, the system matrix Control Matrix Observation matrix c = [1 0].

[0122] S408, constructing a state space equation for the mechanical motion of the drive motor according to the mechanical motion equation of the drive motor and the general state space equation.

[0123] Among them, the state space equation of the mechanical motion of the driving motor can be constructed according to the above-mentioned mechanical motion equation of the driving motor and the general state space equation, and the state space equation of the mechanical motion of the driving motor can be obtained as follows:

[0124] S409, obtaining the general equation of the Lumberg observer.

[0125] S410, constructing a load observer according to the state space equation of the mechanical motion of the driving motor and the general equation of the Romberg type observer.

[0126] S411, constructing a speed regulator according to the rotational inertia.

[0127] S412: construct a damping torque unit according to the damping coefficient.

[0128] S413, constructing a motor torque synthesis unit according to the load observer, the speed regulator and the damping torque unit.

[0129] S414, forming a driving motor speed control system according to the load observer, the speed regulator, the damping torque unit and the motor torque integration unit.

[0130] The embodiment of the present invention constructs a driving motor mechanical motion equation according to parameter information; obtains a state space general equation; constructs a state space equation of the driving motor mechanical motion according to the driving motor mechanical motion equation and the state space general equation; obtains a Romberg-type observer general equation; constructs a load observer according to the state space equation of the driving motor mechanical motion and the Romberg-type observer general equation; constructs a speed regulator according to the moment of inertia; constructs a damping torque unit according to the damping coefficient; constructs a motor torque synthesis unit according to the load observer, the speed regulator and the damping torque unit; and then forms a driving motor speed control system according to the load observer, the speed regulator, the damping torque unit and the motor torque synthesis unit. The driving motor speed control system can be used to improve the anti-interference and robustness of the driving motor speed control during the vehicle gear shifting process.

[0131] Optional, Figure 6 A flow chart of another design method of a drive motor speed control system provided by an embodiment of the present invention, such as Figure 6 As shown, the design method of the drive motor speed control system includes:

[0132] S501, obtaining a speed error of the driving motor at different target speeds.

[0133] S502: Obtain a damping coefficient of the drive motor at different target speeds according to the target speed and the speed error.

[0134] S503, obtaining a preset rotation speed.

[0135] S504, obtaining the speed change rate of the driving motor during the mechanical movement and the preset speed regulator output torque according to the preset speed.

[0136] S505, obtaining the moment of inertia according to the damping coefficient, the speed change rate and the preset speed regulator output torque.

[0137] S506, constructing a mechanical motion equation of the driving motor according to the parameter information.

[0138] S507, obtaining a general state space equation.

[0139] S508, constructing a state space equation for the mechanical motion of the drive motor according to the mechanical motion equation of the drive motor and the general state space equation.

[0140] S509, obtaining the general equation of the Lumberg observer.

[0141] S510, constructing a load observer according to the state space equation of the mechanical motion of the driving motor and the general equation of the Romberg type observer.

[0142] S511, obtaining the moment of inertia and the first-order inertia link of the speed regulator according to the moment of inertia.

[0143] Among them, the speed regulator is a proportional speed regulator, and the moment of inertia and the speed regulator constitute a first-order inertia link.

[0144] S512, obtaining a time constant according to the first-order inertia link.

[0145] Among them, the time constant can be obtained according to the first-order inertia link formed by the moment of inertia and the speed regulator. The time constant τ and the speed regulator proportional coefficient K P satisfy

[0146] S513, obtaining a load observer response adjustment time.

[0147] S514, obtaining a speed regulator proportional coefficient according to the load observer response adjustment time and the preset speed regulator output torque.

[0148] Among them, in order to ensure that the speed response meets the gear shifting requirements, the load observer response adjustment time t s , shift speed control response time tSpdResp and time constant τ, satisfying t s ≤4*τ≤tSpdResp can determine the speed regulator proportional coefficient K p scope.

[0149] S515: construct a speed regulator according to the speed regulator proportional coefficient.

[0150] Among them, a proportional speed regulator is constructed according to the proportional coefficient of the speed regulator. The speed regulator output torque output by the proportional speed regulator is filtered, and a first-order low-pass filter can be selected, and the filtering time constant It also includes adding saturation processing to the torque after filtering, where the upper and lower limits of the saturation processing can be selected according to actual needs to avoid overload operation of the drive motor and improve the stability and safety of the drive motor.

[0151] S516: construct a damping torque unit according to the damping coefficient.

[0152] S517, constructing a motor torque synthesis unit according to the load observer, the speed regulator and the damping torque unit.

[0153] S518, forming a driving motor speed control system according to the load observer, the speed regulator, the damping torque unit and the motor torque integration unit.

[0154] The embodiment of the present invention obtains the moment of inertia and the first-order inertia link of the speed regulator according to the moment of inertia; obtains the time constant according to the first-order inertia link; obtains the load observer response adjustment time; obtains the speed regulator proportional coefficient according to the load observer response adjustment time and the preset speed regulator output torque; and constructs the speed regulator according to the speed regulator proportional coefficient to ensure that the speed regulator meets the use requirements, thereby ensuring that the drive motor speed control system can improve the anti-interference and robustness of the drive motor speed control during the vehicle gear shifting process.

[0155] Optional, Figure 7 A flow chart of another design method of a drive motor speed control system provided by an embodiment of the present invention, such as Figure 7 As shown, the design method of the drive motor speed control system includes:

[0156] S601, obtaining a speed error of the driving motor at different target speeds.

[0157] S602: Obtain a damping coefficient of the drive motor at different target speeds according to the target speed and the speed error.

[0158] S603, obtaining a preset rotation speed.

[0159] S604, obtaining the speed change rate of the driving motor during the mechanical movement and the preset speed regulator output torque according to the preset speed.

[0160] S605, obtaining the moment of inertia according to the damping coefficient, the speed change rate and the preset speed regulator output torque.

[0161] S606, constructing a mechanical motion equation of the driving motor according to the parameter information.

[0162] S607, obtaining a general state space equation.

[0163] S608, constructing a state space equation for the mechanical motion of the drive motor according to the mechanical motion equation of the drive motor and the general state space equation.

[0164] S609, obtaining the general equation of the Lumberg observer.

[0165] S610, constructing a load observer according to the state space equation of the mechanical motion of the driving motor and the general equation of the Romberg type observer.

[0166] S611, obtaining the moment of inertia and the first-order inertia link of the speed regulator according to the moment of inertia.

[0167] S612, obtaining a time constant according to the first-order inertia link.

[0168] S613, obtaining a load observer response adjustment time.

[0169] S614, obtaining a speed regulator proportional coefficient according to the load observer response adjustment time and the preset speed regulator output torque.

[0170] S615: construct a speed regulator according to the speed regulator proportional coefficient.

[0171] S616: construct a damping torque unit according to the damping coefficient.

[0172] S617, obtaining load torque according to the load observer.

[0173] S618: Obtain the speed regulator output torque according to the speed regulator.

[0174] S619: Obtain damping torque according to the damping torque unit.

[0175] S620: construct a motor torque synthesis unit according to the load torque, the speed regulator output torque, and the damping torque.

[0176] The motor torque synthesis unit is constructed based on the estimated load output by the load observer, the speed regulator output torque output by the speed regulator, and the damping torque output by the damping torque unit as input quantities, so that the motor torque synthesis unit outputs the motor target torque, so that the drive motor completes the gear shifting operation.

[0177] S621, forming a driving motor speed control system according to the load observer, the speed regulator, the damping torque unit and the motor torque integration unit.

[0178] The embodiment of the present invention obtains the load torque according to the load observer; obtains the speed regulator output torque according to the speed regulator; obtains the damping torque according to the damping torque unit; and constructs the motor torque synthesis unit according to the load torque, the speed regulator output torque and the damping torque. Then, a drive motor speed control system is formed according to the load observer, the speed regulator, the damping torque unit and the motor torque synthesis unit. The drive motor speed control system can improve the anti-interference and robustness of the drive motor speed control during the vehicle shifting process.

[0179] According to the same inventive concept, an embodiment of the present invention further provides a new energy vehicle, which includes a drive motor speed control system provided by any embodiment of the present invention. Therefore, the new energy vehicle provided by the embodiment of the present invention includes the technical features of the drive motor speed control system provided by any embodiment of the present invention, and can achieve the beneficial effects of the drive motor speed control system provided by any embodiment of the present invention. The similarities can be referred to the above description of the drive motor speed control system provided by the embodiment of the present invention, and will not be repeated here.

[0180] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A drive motor speed control system, characterized in that: The driving motor speed control system comprises a load observer, a speed regulator, a damping torque unit, and a motor torque synthesis unit; the load observer is respectively connected to the speed regulator, the damping torque unit, and the motor torque synthesis unit, and the motor torque synthesis unit is respectively connected to the speed regulator and the damping torque unit; The load observer is used to obtain the estimated load and estimated speed in real time; The speed regulator is used to receive the motor target speed and the feedback speed, and calculate the speed regulator output torque according to the motor target speed and the feedback speed; The damping torque unit is used to receive the feedback speed and calculate the damping torque according to the feedback speed; The motor torque synthesis unit is used to receive the estimated load, the speed regulator output torque and the damping torque, and calculate the motor target torque according to the estimated load, the speed regulator output torque and the damping torque; The feedback speed includes the estimated speed or the operating speed during the mechanical movement of the driving motor.

2. The driving motor speed control system according to claim 1, characterized in that: The load observer includes a Romberg-type motor load observer.

3. The driving motor speed control system according to claim 1, characterized in that: The speed regulator comprises a proportional speed regulator.

4. A design method for a drive motor speed control system, characterized in that: Used to form a drive motor speed control system according to any one of claims 1 to 3, the design method of the drive motor speed control system comprises: Acquiring parameter information of mechanical motion of the drive motor, wherein the parameter information includes moment of inertia and damping coefficient; constructing a load observer according to the parameter information; constructing a speed regulator according to the rotational inertia; constructing a damping torque unit according to the damping coefficient; constructing a motor torque synthesis unit according to the load observer, the speed regulator and the damping torque unit; A drive motor speed control system is formed according to the load observer, the speed regulator, the damping torque unit and the motor torque integration unit.

5. The design method of the drive motor speed control system according to claim 4 is characterized in that: Acquiring parameter information of the mechanical motion of the drive motor, wherein the parameter information includes the moment of inertia and the damping coefficient; including: Obtain the speed error of the driving motor at different target speeds; Obtaining a damping coefficient of the drive motor at different target speeds according to the target speed and the speed error; Get the preset speed; According to the preset speed, the speed change rate of the driving motor during mechanical movement and the preset speed regulator output torque are obtained; The moment of inertia is obtained according to the damping coefficient, the speed change rate and the preset speed regulator output torque.

6. The design method of the drive motor speed control system according to claim 4 is characterized in that: Constructing a load observer according to the parameter information includes: Constructing a state space equation for the mechanical motion of the drive motor according to the parameter information; Obtain the general equations for the Romberg-type observer; A load observer is constructed according to the state space equation of the mechanical motion of the drive motor and the general equation of the Romberg type observer.

7. The design method of the driving motor speed control system according to claim 6 is characterized in that: The state space equation of the mechanical motion of the driving motor is constructed according to the parameter information, including: Constructing a mechanical motion equation of the drive motor according to the parameter information; Obtain the general equations of the state space; The state space equation of the mechanical motion of the drive motor is constructed according to the mechanical motion equation of the drive motor and the state space general equation.

8. The design method of the drive motor speed control system according to claim 4 is characterized in that: A speed regulator is constructed according to the rotational inertia, including: Obtaining the moment of inertia and the first-order inertia link of the speed regulator according to the moment of inertia; Obtaining a time constant according to the first-order inertia link; Get the load observer response adjustment time; Obtaining a speed regulator proportional coefficient according to the load observer response adjustment time and the preset speed regulator output torque; The speed regulator is designed according to the speed regulator proportionality factor.

9. The design method of the driving motor speed control system according to claim 4 is characterized in that: A motor torque synthesis unit is constructed according to the load observer, the speed regulator and the damping torque unit, including: Obtaining load torque according to the load observer; Acquiring a speed regulator output torque according to the speed regulator; Acquiring a damping torque according to the damping torque unit; A motor torque synthesis unit is constructed according to the load torque, the speed regulator output torque and the damping torque.

10. A new energy vehicle, characterized in that: The new energy vehicle includes the drive motor speed control system according to any one of claims 1-3.

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