A driving motor rotating speed control system and a design method thereof, and a new energy vehicle

Abstract

The application discloses a kind of drive motor speed control system and its design method, new energy vehicle.Drive motor speed control system includes load observer, speed regulator, damping torque unit, motor torque synthesis unit;Load observer is used to obtain estimated load and estimated speed in real time;Speed regulator is used to receive motor target speed and feedback speed, and according to motor target speed and feedback speed, the output torque of speed regulator is calculated;Damping torque unit is used to receive feedback speed, and according to feedback speed, damping torque is calculated;Motor torque synthesis unit is used to receive estimated load, the output torque of speed regulator and damping torque, and according to estimated load, the output torque of speed regulator and damping torque, motor target torque is calculated;Wherein, feedback speed includes estimated speed or the running speed in the mechanical movement process of drive motor.Implementation improves the anti-interference and robustness of drive motor speed control in the process of vehicle gear shifting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a driving motor speed control system and a design method thereof, and a new energy vehicle. BACKGROUND

[0002] The electric drive system of a new energy commercial vehicle often adopts a multi-gear transmission to meet the application scenarios with a wide range of load changes. The electric drive multi-gear transmission of a commercial vehicle is often not equipped with a synchronizer to achieve low cost and long service life. The multi-gear transmission without a synchronizer puts higher requirements on the dynamic performance and steady-state error of the motor speed control during gear shifting. In the prior art, a PI+load torque estimation is usually used to achieve speed control, and the load torque estimation method has little guiding significance for meeting the speed control requirements of gear shifting. Therefore, it is urgent for technical personnel in the field to design and implement a speed control related parameter identification method according to the performance indicators of the motor speed control during gear shifting. SUMMARY

[0003] The present application provides a driving motor speed control system and a design method thereof, and a new energy vehicle to improve the anti-interference and robustness of the driving motor speed control during vehicle gear shifting.

[0004] In a first aspect, the present application provides a driving motor speed control system, which comprises a load observer, a speed regulator, a damping torque unit, and a motor torque synthesis unit. The load observer is connected to the speed regulator, the damping torque unit, and the motor torque synthesis unit. The motor torque synthesis unit is connected to the speed regulator and the damping torque unit.

[0005] The load observer is configured to obtain an estimated load and an estimated speed in real time.

[0006] The speed regulator is configured to receive a motor target speed and a feedback speed, and calculate a speed regulator output torque based on the motor target speed and the feedback speed.

[0007] The damping torque unit is configured to receive the feedback speed and calculate a damping torque based on the feedback speed.

[0008] The motor torque synthesis unit is configured to receive the estimated load, the speed regulator output torque, and the damping torque, and calculate a motor target torque based on the estimated load, the speed regulator output torque, and the damping torque.

[0009] The feedback speed comprises the estimated speed or a running speed during mechanical movement of the driving motor.

[0010] Optionally, the load observer comprises a Luenberger 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 method for designing a drive motor speed control system, for forming the drive motor speed control system described in any one of the second aspects, the method for designing a drive motor speed control system comprising:

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

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

[0021] Obtaining a 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] Obtaining the speed change rate of the drive motor during mechanical motion and the preset speed regulator output torque according to the preset speed;

[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 driving motor according to the parameter information;

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

[0028] According to the state space equation of mechanical motion of the driving motor and the general equation of the Luenberger observer, the load observer is constructed.

[0029] Optionally, the state space equation of mechanical motion of the driving motor is constructed according to the parameter information, and the method comprises the following steps.

[0030] The mechanical motion equation of the driving motor is constructed according to the parameter information.

[0031] The general equation of the state space is acquired.

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

[0033] Optionally, the speed regulator is constructed according to the moment of inertia, and the method comprises the following steps.

[0034] The first inertia link of the moment of inertia and the speed regulator is acquired according to the moment of inertia.

[0035] The time constant is acquired according to the first inertia link.

[0036] The response adjustment time of the load observer is acquired.

[0037] The proportional coefficient of the speed regulator is acquired according to the response adjustment time of the load observer and the preset output torque of the speed regulator.

[0038] The speed regulator is constructed according to the proportional coefficient of the speed regulator.

[0039] Optionally, the motor torque synthesis unit is constructed according to the load observer, the speed regulator and the damping torque unit, and the method comprises the following steps.

[0040] The load torque is acquired according to the load observer.

[0041] The output torque of the speed regulator is acquired according to the speed regulator.

[0042] The damping torque is acquired according to the damping torque unit.

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

[0044] In a third aspect, an embodiment of the present application provides a new energy vehicle, and the new energy vehicle comprises the driving motor speed control system according to any one of the first aspect.

[0045] The technical solution of an embodiment of the present invention provides a 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 connected to the speed regulator, the damping torque unit, and the motor torque synthesis unit, respectively, and the motor torque synthesis unit is connected to the speed regulator and the damping torque unit, respectively. The load observer is configured to obtain an estimated load and an estimated speed in real time. The speed regulator is configured to receive a motor target speed and a feedback speed, and calculate a speed regulator output torque based on the motor target speed and the feedback speed. The damping torque unit is configured to receive a feedback speed and calculate a damping torque based on the feedback speed. The motor torque synthesis unit is configured to receive an estimated load, a speed regulator output torque, and a damping torque, and calculate a motor target torque based on the estimated load, the speed regulator output torque, and the damping torque. The feedback speed includes an estimated speed or an operating speed during mechanical motion of the drive motor. This improves the anti-interference and robustness of the drive motor speed control during vehicle gear shifting.

[0046] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily 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 structural diagram 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 according to an embodiment of the present invention;

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

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

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

[0054] Figure 7 This is a flow chart of another design method for 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 solutions of the present invention, the technical solutions 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 embodiments described are only part of the embodiments of the present invention, not all of the embodiments. According to the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0056] It should be noted that the terms "first", "second", etc. in the description 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 numbers 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 thereof 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 This is a schematic diagram of the structure of a drive motor speed control system provided by an embodiment of the present invention. 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 comprises 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 with 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 with the speed regulator 102 and the damping torque unit 103 respectively; the load observer 101 is used to acquire 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 comprises the estimated speed or the running speed in the mechanical movement process of the drive motor 105.

[0058] The load observer 101 receives the running speed of the mechanical motion system of the driving motor 105 and the motor target torque fed back by the motor torque synthesizing unit 104 at the previous moment in real time, and then obtains the estimated load and the estimated speed according to the running speed and the motor target torque at the previous moment, and outputs the estimated speed to the speed regulator 102 and the damping torque unit 103. The estimated load can include the torque disturbance caused by external interference and the load disturbance caused by load; the estimated load can also be understood as the load torque. The speed regulator is used to receive the target speed and the feedback speed, the target speed can be set according to the shift demand, and the feedback speed includes the estimated speed and the running speed in the mechanical motion process of the driving motor 105, and the running speed can also be understood as the real-time running speed value of the driving motor 105. The speed regulator 102 can calculate the speed regulator output torque according to the target speed and the estimated speed, or the speed regulator 102 can also calculate the speed regulator output torque according to the target speed and the running speed. The estimated speed can be understood as the speed value obtained by filtering the calculated speed. For example, when the running speed received by the speed regulator 102 fluctuates greatly, the estimated speed is selected to calculate the speed regulator output torque, so as to ensure the speed regulation accuracy. The speed regulator 102 can select according to the specific state of the estimated speed and the running speed to output the speed regulator output torque, and the embodiment of the application is not limited specifically. 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 running speed in the mechanical motion process of the driving motor 105, and then obtains the damping torque according to the running speed; the damping torque unit 103 can select according to the specific state of the estimated speed and the running speed to output the damping torque, and the embodiment of the application is not limited specifically. The motor torque synthesizing unit 104 is used to receive the estimated load output by the load observer 101, the speed regulator output torque output by the speed regulator 102 and the damping torque output by the damping torque unit 103, 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 driving motor 105 also includes torque disturbance in the actual mechanical motion process, and the driving motor 105 mainly regulates the speed according to the motor target torque, so as to realize accurate shift of the driving motor 105 and ensure high anti-interference and high robustness of the speed regulation of the driving motor 105.

[0059] The embodiment of the present invention comprises a drive 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 used to obtain an estimated load and an estimated speed in real time. The speed regulator is used to receive a motor target speed and a feedback speed, and calculate the speed regulator output torque based on the motor target speed and the feedback speed. The damping torque unit is used to receive the feedback speed and calculate the damping torque based on 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 based on the estimated load, the speed regulator output torque, and the damping torque. The feedback speed includes the estimated speed or the operating speed of the drive motor during mechanical motion. This improves the anti-interference and robustness of the drive motor speed control during vehicle gear shifting.

[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. 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 for a drive motor speed control system provided by an embodiment of the present invention, such as Figure 2 As shown in FIG, the design method of the drive motor speed control system includes:

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

[0066] Among them, the mechanical motion state of the drive motor is simulated in advance, and the corresponding parameter information of the mechanical motion of the drive motor is identified, and the parameter information includes the moment of inertia and the damping coefficient. For example, the mechanical motion transfer function of the drive motor can be used. Correspondingly, relevant parameter information is obtained, where 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] A load observer is constructed based on the moment of inertia and damping coefficient of the drive motor during mechanical motion, and in conjunction with the motor's mechanical motion equations and general state-space expressions. This load observer can be a Romberg-type motor load observer. For the established drive motor speed control system, the load observer receives feedback speed and the previous motor target torque and outputs estimated load and speed in real time.

[0069] S103: constructing a speed regulator according to the moment of inertia.

[0070] The speed regulator can be a proportional speed regulator. There is a corresponding relationship between the moment of inertia and the proportional speed regulator. A speed regulator can be constructed based on the moment of inertia acquired during the mechanical motion of the drive motor. For the established drive motor speed control system, the speed regulator can receive the motor's target speed and feedback speed to output the speed regulator's output torque.

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

[0072] A damping torque unit can be constructed based on the acquired damping coefficient during the mechanical motion of the drive motor, so that the damping torque unit can output a damping torque based on 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 using 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 inputs. For the resulting drive motor speed control system, the motor torque synthesis unit receives the estimated load, speed regulator output torque, and damping torque to output a motor target torque, thereby facilitating the drive motor to complete a gear shift operation based on 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 anti-interference 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 for a drive motor speed control system provided by an embodiment of the present invention, such as Figure 3 As shown in FIG, 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 mechanical motion and recorded at different target speeds and after the target speed is stabilized.

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

[0081] The speed regulator in the drive motor speed control system can control the damping coefficient. The speed regulator is generally a prior art technology, so the damping coefficient can be obtained by using a proportional speed regulator in the prior art. Based on 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 preset rotating speed of the driving motor can be set as a value between 0 and 1000 rpm.

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

[0086] The driving motor moves mechanically at the preset rotating speed, and then the rotating speed change rate in the mechanical movement of the driving motor and the preset rotating speed regulator output torque are obtained. The rotating speed change rate can be calculated according to 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 rotating speed change rate and the preset rotating speed regulator output torque.

[0088] The moment of inertia is obtained according to the damping coefficient, the rotating speed change rate and the preset rotating 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: trqSpdCtlOut-B*ω m =J*ω m Delta / T; wherein, ω m Delta is the adjacent mechanical angular velocity sampling difference, T is the motor angular velocity sampling period, trqSpdCtlOut is the rotating speed regulator output torque, ω m is the motor mechanical angular velocity, J is the moment of inertia, and B is the damping coefficient.

[0089] S206, constructing a load observer according to the parameter information.

[0090] S207, constructing a rotating speed regulator according to the moment of inertia.

[0091] S208, constructing a damping torque unit according to the damping coefficient.

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

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

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

[0095] Optional, Figure 4 A flow chart of another design method for a drive motor speed control system provided by an embodiment of the present invention, such as Figure 4 As shown in FIG, 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 : Obtaining a damping coefficient of the drive motor at different target speeds according to the target speed and the speed error.

[0098] S303: Obtain a preset rotation speed.

[0099] S304 , obtaining a speed change rate of the driving motor during mechanical motion and a preset speed regulator output torque according to a 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 driving 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-type 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 Lumberg observer, and y is the actual output of the Lumberg observer.

[0105] S308 , constructing a load observer based on the state space equation of the mechanical motion of the drive motor and the general equation of the Lumberg-type observer.

[0106] Among them, the load observer can be constructed based on the state space equation of the mechanical motion of the driving motor and the general equation of the Lumberg 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, Where 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 t is determined according to the shift speed control response time tSpdResp. s , select t s =0.5*tSpdResp, according to the formula Can be obtained

[0107] S309: construct a speed regulator according to the moment of inertia.

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

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

[0110] S312: 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.

[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 Lumberg-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 Lumberg-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 improve the anti-interference and robustness of the drive motor speed control during vehicle gear shifting.

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

[0113] S401, obtaining the 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: Obtain a preset rotation speed.

[0116] S404 , obtaining a speed change rate of the driving motor during mechanical motion and a preset speed regulator output torque according to a 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: Construct a mechanical motion equation of the driving motor according to the parameter information.

[0119] Among them, the mechanical motion equation of the driving 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 based on the above-mentioned mechanical motion equation of the driving motor and the general state space equation:

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

[0125] S410 , constructing a load observer based on the state space equation of the mechanical motion of the drive motor and the general equation of the Romberg type observer.

[0126] S411: Construct a speed regulator according to the moment of inertia.

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

[0128] S413: Construct 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 mechanical motion equation of the drive motor according to parameter information; obtains a general state space equation; constructs a state space equation of the mechanical motion of the drive motor according to the mechanical motion equation of the drive motor and the general state space equation; 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 Romberg-type observer 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 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 vehicle gear shifting.

[0131] Optional, Figure 6 A flow chart of another design method for a drive motor speed control system provided by an embodiment of the present invention, such as Figure 6 As shown in FIG, 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 : Obtaining a damping coefficient of the drive motor at different target speeds according to the target speed and the speed error.

[0134] S503: Obtain a preset rotation speed.

[0135] S504 , obtaining a speed change rate of the driving motor during mechanical motion and a preset speed regulator output torque according to a 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: Construct 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-type observer.

[0141] S510 , constructing a load observer based on the state space equation of the mechanical motion of the drive 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 composed of the moment of inertia and the speed regulator. The time constant τ and the speed regulator proportional coefficient K P satisfy

[0146] S513: Obtain the 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 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 is 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: Construct a motor torque synthesis unit according to the load observer, the speed regulator, and the damping torque unit.

[0153] S518 , forming a drive 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 based on the moment of inertia; obtains the time constant based on the first-order inertia link; obtains the load observer response adjustment time; obtains the speed regulator proportional coefficient based on the load observer response adjustment time and the preset speed regulator output torque; and constructs the speed regulator based on the speed regulator proportional coefficient to ensure that the speed regulator meets the usage 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 for a drive motor speed control system provided by an embodiment of the present invention, such as Figure 7 As shown in FIG, the design method of the drive motor speed control system includes:

[0156] S601: Obtain the speed error of the driving motor at different target speeds.

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

[0158] S603: Obtain a preset rotation speed.

[0159] S604 , obtaining a speed change rate of the driving motor during mechanical motion and a preset speed regulator output torque according to a 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: Construct 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-type observer.

[0165] S610: Construct a load observer based on the state space equation of the mechanical motion of the drive motor and the general equation of the Lumberg-type observer.

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

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

[0168] S613: Obtain the 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: Obtain the load torque according to the load observer.

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

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

[0175] S620: Build 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. The motor torque synthesis unit then outputs the motor target torque to drive the motor to complete the gear shifting operation.

[0177] S621 , 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.

[0178] This embodiment of the present invention obtains load torque from a load observer; obtains speed regulator output torque from a speed regulator; obtains damping torque from a damping torque unit; and constructs a motor torque synthesis unit based on the load torque, speed regulator output torque, and damping torque. Furthermore, a drive motor speed control system is formed based on the load observer, speed regulator, damping torque unit, and motor torque synthesis unit. This drive motor speed control system improves the interference resistance and robustness of drive motor speed control during vehicle gear shifting.

[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 embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A design method for a drive motor speed control system, characterized in that: The design method of the drive motor speed control system includes: Acquiring parameter information of the 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; forming a drive motor speed control system according to the load observer, the speed regulator, the damping torque unit and the motor torque integration unit; Obtaining parameter information of the mechanical motion of the drive motor, including the moment of inertia and damping coefficient, including: Obtain the speed error of the drive 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; Obtaining the speed change rate of the drive motor during mechanical motion and the preset speed regulator output torque according to the preset speed; The moment of inertia is obtained according to the damping coefficient, the speed change rate and the preset speed regulator output torque.

2. The design method of the drive motor speed control system according to claim 1, characterized in that: Constructing a load observer according to the parameter information, including: Constructing a state space equation for the mechanical motion of the driving motor according to the parameter information; Obtain the general equations for the Lumberg-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.

3. The design method of the drive motor speed control system according to claim 2, characterized in that: The state space equation for the mechanical motion of the driving motor is constructed according to the parameter information, including: Constructing a mechanical motion equation of the driving motor according to the parameter information; Obtain the general equations of 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 general state space equation.

4. The design method of the drive motor speed control system according to claim 1, 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 constructed according to the speed regulator proportionality factor.

5. The design method of the drive motor speed control system according to claim 1, 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 the load torque according to the load observer; obtaining 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.

6. A drive motor speed control system, characterized in that: The drive motor speed control system is designed and formed using the design method of any one of claims 1 to 5, wherein the drive motor speed control system includes a load observer, a speed regulator, a damping torque unit, and a motor torque synthesis unit; the load observer is connected to the speed regulator, the damping torque unit, and the motor torque synthesis unit, respectively; and the motor torque synthesis unit is connected to the speed regulator and the damping torque unit, respectively. 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 configured to receive the estimated load, the speed regulator output torque, and the damping torque, and calculate a motor target torque based on 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.

7. The driving motor speed control system according to claim 6, characterized in that: The load observer includes a Romberg-type motor load observer.

8. The driving motor speed control system according to claim 6, characterized in that: The speed regulator includes a proportional speed regulator.

9. A new energy vehicle, characterized in that: The new energy vehicle includes the drive motor speed control system according to any one of claims 6 to 8.

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