Gear switching control method of permanent magnet synchronous tractor

Abstract

The invention belongs to the technical field of gear switching control, and particularly relates to a gear switching control method of a permanent magnet synchronous tractor, which comprises the following steps of: acquiring whole vehicle information; processing the collected whole vehicle information, and generating control commands including an inching processing command, a door limit processing command, an N returning processing command, a gear processing command, a hovering processing command and a hovering exit processing command; according to the generated control command, the motor torque is processed in combination with a gear mark, a hovering mark and a hovering exit mark; and controlling the motor to realize gear switching according to the control command and the torque processing result. According to the invention, through the complete process of collecting the information of the whole vehicle, generating various control commands, processing the torque of the motor and finally controlling the gear switching of the motor, the synchronism and softness of the gear switching of the permanent magnet synchronous tractor are realized on the whole, the problem of unstable operation caused by asynchronous switching or violent impact is avoided, and the service life of the permanent magnet synchronous tractor is prolonged. And the running smoothness of the vehicle is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of gear switching control, and in particular relates to a gear switching control method for a permanent magnet synchronous tractor. Background Art

[0002] With the rapid development of the rail transit industry, tractors, as key traction equipment in subway and other rail transit systems, have a direct impact on operational efficiency, safety, and equipment life due to the performance and control accuracy of their power systems. Traditional subway tractor power systems are mostly driven by asynchronous motors, with gear shifting controlled by single or multiple controllers. However, asynchronous motors have inherent drawbacks such as poor low-speed, high-torque performance and low operating efficiency. During gear shifts, they are prone to large torque fluctuations and insufficient switching synchronization, resulting in poor vehicle operation stability and even abnormal noise and mechanical shock. These factors not only affect ride comfort but also shorten the service life of the motor controller and related mechanical components, increasing maintenance costs.

[0003] As permanent magnet synchronous motor technology matures, its high efficiency, high power density, and excellent low-speed high torque performance are becoming increasingly prominent, offering significant advantages in tractor powertrain applications. However, in multi-motor drive scenarios, permanent magnet synchronous motors face new challenges in gear shift control. Since tractors are typically driven by two or more permanent magnet synchronous motors, gear shifting must ensure synchronization of multiple motors to avoid power shocks caused by uneven torque distribution or shift timing differences between motors. Furthermore, sudden torque changes during the shifting process can cause motor controller overloads, abnormal noise, or even engine failures. Inappropriate shifting logic can also accelerate motor controller aging, reducing system reliability.

[0004] Furthermore, tractors operate in a complex environment, involving multiple operating conditions such as forward, reverse, and hovering, and must respond to safety signals such as emergency stops and door limit switches. Traditional gear shift control methods struggle to balance adaptability to these conditions, operational safety, and smooth shifting. For example, in scenarios like inching and shifting back to neutral, the lack of targeted torque processing and flag control logic can easily lead to risks such as the vehicle slipping backward or hovering unsteadily. Furthermore, the inability to quickly cut off or adjust motor output when doors are open or emergency stops are triggered poses a serious threat to operational safety.

[0005] Therefore, in view of the power system characteristics of permanent magnet synchronous traction vehicles, there is an urgent need for a gear switching control method that can achieve gear switching synchronization and softness, avoid large torque shock, adapt to multiple working conditions and ensure safety, so as to solve the problems of poor operating stability, short equipment life, and prominent safety hazards in the existing technology, and meet the high performance and high reliability requirements of modern rail transit for traction vehicle power control. Summary of the Invention

[0006] The purpose of the present invention is to solve the above-mentioned technical problems and provide a gear shift control method for a permanent magnet synchronous traction vehicle, comprising the following steps:

[0007] Collect vehicle information;

[0008] Process the collected vehicle information and generate control commands including jog processing commands, door limit processing commands, return to N processing commands, gear processing commands, hovering processing commands and hovering exit processing commands;

[0009] According to the generated control command, the motor torque is processed in combination with the gear flag, the hovering flag and the hovering exit flag;

[0010] According to the control command and torque processing results, the motor is controlled to achieve gear switching to ensure the synchronization and smoothness of gear switching.

[0011] Preferably, the collection of vehicle information specifically includes: collecting status information of the operating lever; collecting the trigger signal of the brake; collecting the effective signal of the forward jog; collecting the effective signal of the reverse jog; collecting the trigger signal of the emergency stop button; collecting the switch signal of the door limit; collecting the real-time feedback torque, real-time feedback speed and real-time feedback fault information of at least two permanent magnet synchronous motors.

[0012] Preferably, the execution process of the jog processing command includes:

[0013] For forward jogging, when it is detected that the current forward jogging is valid and the forward jogging in the previous cycle is invalid, the forward jogging flag is set; when the count exceeds the preset maximum allowable delay period, or the torque of all motors is less than the preset torque threshold, the forward jogging flag is cleared;

[0014] For reverse jog, when it is detected that the current reverse jog is valid and the reverse jog in the previous cycle is invalid, the reverse jog flag is set; when the count exceeds the preset maximum allowable delay period, or the torque of all motors is less than the preset torque threshold, the reverse jog flag is cleared.

[0015] Preferably, the execution process of the door limit processing command is: when the system has a gear position and detects that the door is not closed, the door limit flag is set to associate with the motor drive control.

[0016] Preferably, the execution process of the return-to-N processing command is: when controlling the vehicle to return to the N gear, no time judgment and torque judgment are performed, so as to quickly enter the hovering torque processing and maintain the torque driving direction according to the previous operation gear.

[0017] Preferably, the execution process of the gear processing command is: according to the validity of the forward jog signal or the reverse jog signal, the forward gear flag or the reverse gear flag is set accordingly to keep the driving direction unchanged when the vehicle is hovering.

[0018] Preferably, the execution process of the hover processing command includes:

[0019] The hover flag is set when the following conditions are met:

[0020] When entering the hovering state for the first time, the current hovering flag is invalid, the forward jog signal is invalid, the reverse jog signal is invalid, all motor speeds are less than the preset speed threshold, the current gear is N, and the door limit is valid;

[0021] If the hover flag is valid and the time count is greater than the time threshold, it is determined that the hover flag is set for the first time;

[0022] When one of the following conditions is met, the hover flag and the time count are cleared:

[0023] The current gear is not N, the first entry into the hover mark is valid, forward jogging is valid, and backward jogging is valid.

[0024] Preferably, the execution process of the hover exit processing command is: when the hover flag changes from valid to invalid, the hover exit flag is set; when the time count exceeds the preset processing cycle, or all motor torques are less than the preset torque threshold, the hover exit flag is cleared, and during the hover exit process, the motor torque returns to zero before responding to the drive command.

[0025] Preferably, the torque processing process is: adjusting the motor torque according to the N gear flag, the forward jog flag, the reverse jog flag and the hover exit flag.

[0026] Preferably, the process of controlling the motor to achieve gear switching is: controlling the direction of the motor controller according to the control command generated by the control processing module and the torque processing result of the torque processing module.

[0027] The beneficial effects of the present invention are:

[0028] The present invention realizes the synchronization and smoothness of gear switching of permanent magnet synchronous tractors as a whole by collecting vehicle information, generating multiple types of control commands, processing motor torque and ultimately controlling the complete process of motor gear switching, avoiding the problem of unstable operation caused by asynchronous switching or severe impact, improving the smoothness of vehicle operation, and helping to ensure the stability and service life of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1This is a schematic diagram of the forward inching flag processing flow of the present invention;

[0030] Figure 2 This is a schematic diagram of the backward inching flag processing flow of the present invention;

[0031] Figure 3 This is a schematic diagram of the door limit processing command flow of the present invention;

[0032] Figure 4 This is a schematic diagram of the N return processing command flow of the present invention;

[0033] Figure 5 This is a schematic diagram of the gear position processing command flow of the present invention;

[0034] Figure 6 It is a schematic diagram of the hover processing command flow of the present invention;

[0035] Figure 7 This is a schematic diagram of the hover exit processing flow of the present invention;

[0036] Figure 8 It is a schematic diagram of the torque processing process of the present invention;

[0037] Figure 9 It is a schematic diagram of the gear switching process of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0039] It should be noted that all terms used in the present invention to indicate direction and position, such as "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside", "top", "low", "lateral", "longitudinal", "center", etc., are only used to explain the relative positional relationship and connection status between the various components in a certain specific state (as shown in the accompanying drawings). They are only for the convenience of describing the present invention, and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the present invention. In addition, the descriptions of "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features.

[0040] In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical connections; direct connections or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0041] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0042] like Figures 1-9 As shown, the gear switching control method of the permanent magnet synchronous traction vehicle includes the following steps:

[0043] Collect vehicle information;

[0044] Process the collected vehicle information and generate control commands including jog processing commands, door limit processing commands, return to N processing commands, gear processing commands, hovering processing commands and hovering exit processing commands;

[0045] According to the generated control command, the motor torque is processed in combination with the gear flag, the hovering flag and the hovering exit flag;

[0046] According to the control command and torque processing results, the motor is controlled to achieve gear switching to ensure the synchronization and smoothness of gear switching.

[0047] The present invention realizes the synchronization and smoothness of gear switching of permanent magnet synchronous tractors as a whole by collecting vehicle information, generating multiple types of control commands, processing motor torque and ultimately controlling the complete process of motor gear switching, avoiding the problem of unstable operation caused by asynchronous switching or severe impact, improving the smoothness of vehicle operation, and helping to ensure the stability and service life of the power system.

[0048] As a preferred example of the present application, the vehicle information collection specifically includes: collecting the status information of the operating lever; collecting the brake trigger signal; collecting the effective signal of the forward jog; collecting the effective signal of the reverse jog; collecting the trigger signal of the emergency stop button; collecting the switch signal of the door limit; collecting the real-time feedback torque, real-time feedback speed and real-time feedback fault information of each of the two permanent magnet synchronous motors (motor 1 and motor 2);

[0049] By collecting information such as the operating lever status, brake signal, forward / reverse jog signal, emergency stop signal, door limit signal, and the torque, speed, and fault of the dual motors, the accuracy of subsequent control command generation and torque processing can be ensured, providing comprehensive and real-time data support for gear shift control and reducing control errors caused by missing or delayed information.

[0050] As a preferred example of the present application, the execution process of the jog processing command includes:

[0051] like Figure 1 As shown, for forward jogging, when it is detected that the current forward jogging is valid and the forward jogging in the previous cycle is invalid, the forward jogging flag is set; when the count exceeds the preset maximum allowable delay period A, or the torque of all motors is less than the preset torque threshold B, the forward jogging flag is cleared;

[0052] like Figure 2 As shown, for backward jogging, when it is detected that the current backward jogging is valid and the backward jogging in the previous cycle is invalid, the backward jogging flag is set; when the count exceeds the preset maximum allowable delay period A, or the torque of all motors is less than the preset torque threshold B, the backward jogging flag is cleared;

[0053] Forward and reverse jogging uses flag setting and clearing logic (cleared when the count exceeds the preset period or the torque is less than the threshold), which not only ensures the effective execution of the jogging operation, but also promptly terminates the jogging operation when the conditions are met. This avoids the risk of slipping on a slope due to torque unloading timeout, and prevents impact caused by excessive torque, thus balancing operational flexibility and equipment safety.

[0054] In the forward jog flag processing, the maximum allowed delay period is set. When the count exceeds A, the forward jog flag is forcibly cleared to prevent the delay caused by the unloading torque exceeding the specified time and prevent the vehicle from sliding backward on the slope.

[0055] The torque of motor 1 and motor 2 is less than the specified torque value. This torque setting is mainly based on the torque value allowed from motor start to shutdown. If it is too large, the motor shutdown impact will be too large, and if it is too small, the shutdown time will be too long. The appropriate value can meet the requirements of fast switching and greatly improve the service life of the product.

[0056] In the processing of the backward jog flag, the maximum allowed delay period is set. When the count exceeds A, the forward jog flag is forcibly cleared to prevent the delay caused by the unloading torque exceeding the specified time and prevent the vehicle from sliding backward on the slope;

[0057] The torque of motors 1 and 2 is less than the specified torque value. This torque setting is mainly based on the torque value allowed from motor start to shutdown. If it is too large, the motor shutdown impact will be too large, and if it is too small, the shutdown time will be too long. An appropriate value can not only meet the requirements of fast switching, but also greatly improve the service life of the product.

[0058] like Figure 3 As shown, as a preferred example of the present application, the execution process of the door limit processing command is as follows: when the system has a gear position and detects that the door is not closed, the door limit flag is set to associate with the motor drive control;

[0059] When the system has a gear (specifically, the current gear is not in N gear, the forward inching is valid or the reverse inching is valid) and the door is not closed, the door limit flag is associated with the motor drive, which can effectively prevent the vehicle from accidentally starting and driving when the door is not closed properly. The power output association under unsafe working conditions is cut off from the control logic, ensuring the safety of personnel and equipment.

[0060] like Figure 4 As shown in FIG. 1 , as a preferred example of the present application, the execution process of the return-to-N processing command is as follows: when the vehicle is controlled to return to the N gear (i.e., the current output gear is not in the N gear or the current acquisition gear is in the N gear), the N gear flag is set, and no time judgment or torque judgment is performed during this process, so as to quickly enter the hovering torque processing and maintain the torque driving direction according to the previously operated gear;

[0061] When returning to N gear, no time and torque judgment is performed. The vehicle can quickly enter the hovering torque processing and maintain the previous driving direction, which facilitates the vehicle to hover stably in scenarios such as temporary parking and prevents slipping. It also enhances parking reliability, especially in special road conditions such as slopes.

[0062] like Figure 5 As shown in the figure, as a preferred example of the present application, the execution process of the gear processing command is as follows: according to the validity of the forward jog signal or the reverse jog signal, the forward gear flag or the reverse gear flag is set accordingly to keep the driving direction unchanged when the vehicle is hovering;

[0063] The corresponding gear position flag is set according to the forward / reverse jog signal to ensure that the vehicle's driving direction remains unchanged when in hovering state, avoiding abnormal power output caused by confusion in driving direction during hovering, and ensuring the stability of the hovering state and the continuity of subsequent operations.

[0064] like Figure 6As shown in FIG. 1 , as a preferred example of the present application, the execution process of the hover processing command includes:

[0065] The hover flag is set when the following conditions are met:

[0066] When entering the hovering state for the first time, the current hovering flag is invalid, the forward jog signal is invalid, the reverse jog signal is invalid, all motor speeds are less than the preset speed threshold C, the current gear is N, and the door limit is valid;

[0067] If the hover flag is valid and the time count is greater than the time threshold D, it is determined that the hover flag is set for the first time;

[0068] When one of the following conditions is met, the hover flag and the time count are cleared:

[0069] If the gear is not N at the moment, the first entry into the hover sign is valid, forward jogging is valid, and reverse jogging is valid;

[0070] By setting a speed threshold, the vehicle can quickly enter the hovering state. The hovering flag is set and cleared using signals such as gear position, emergency stop, and threshold position, ensuring that the hovering state is initiated and exited in appropriate scenarios. This avoids unnecessary power interruption or output and improves the vehicle's control accuracy in hovering conditions.

[0071] In this embodiment, the allowable range of the motor speed C is set to 1.5 times the rated speed, which enables the vehicle to quickly enter hovering.

[0072] like Figure 7 As shown, as a preferred example of the present application, the execution process of the hover exit processing command is as follows: when the hover flag changes from valid to invalid (the current hover flag is invalid and the hover flag in the previous cycle is valid), the hover exit flag is set; when the time count exceeds a preset processing period E (this value is the maximum processing period. If the value is calibrated too large, the torque unloading is too slow, which will cause the vehicle gear shift delay to be too long. If it is too short, it will cause vehicle noise or equipment damage. Calibration of a suitable value based on torque unloading will make the vehicle shift fast and smooth. It is set according to actual needs), or when all motor torques are less than a preset torque threshold B, the hover exit flag is cleared. Otherwise, the time count is cleared, and during the hover exit process, the motor torque returns to zero before responding to the drive command;

[0073] When exiting from hovering, the flag position and clearing logic ensure that the motor torque returns to zero before responding to the drive command. This prevents violent output of the motor controller due to sudden changes in the drive direction, avoiding problems such as abnormal noise and equipment damage. At the same time, the exit rhythm is controlled through a preset processing cycle, taking into account both exit speed and smoothness.

[0074] like Figure 7As shown, as a preferred example of the present application, the torque processing process is: according to the N gear sign, forward jog sign, reverse jog sign and hover exit sign, the motor torque is adjusted and processed, and the motor torque is adjusted according to the N gear, forward / reverse jog and hover exit flags, thereby realizing dynamic adaptation of the torque, avoiding the loss of the motor controller due to unreasonable torque output, reducing the risk of abnormal noise or explosion caused by large torque switching, and extending the life of the equipment.

[0075] like Figure 8 As shown, as a preferred example of the present application, the process of controlling the motor to achieve gear switching is: controlling the direction of the motor controller according to the control command generated by the control processing module and the torque processing result of the torque processing module, and controlling the direction of the motor controller according to the control command and the torque processing result, thereby ensuring the coordination of the motor action during gear switching, further enhancing the softness and synchronization of the switching process, and ensuring the smoothness of the gear switching from the execution level.

[0076] In addition, it should be noted that the control commands in this application are executed by the vehicle controller.

[0077] The embodiments of the present application are described above in conjunction with the accompanying drawings. Unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A gear shift control method for a permanent magnet synchronous traction vehicle, characterized in that , including the following steps: Collect vehicle information; Process the collected vehicle information and generate control commands including jog processing commands, door limit processing commands, return to N processing commands, gear processing commands, hovering processing commands and hovering exit processing commands; According to the generated control command, the motor torque is processed in combination with the gear flag, the hovering flag and the hovering exit flag; According to the control command and torque processing results, the motor is controlled to achieve gear switching.

2. The gear shift control method of a permanent magnet synchronous traction vehicle according to claim 1, characterized in that: The collection of vehicle information specifically includes: collecting status information of the operating lever; collecting the trigger signal of the brake; collecting the effective signal of the forward jog; collecting the effective signal of the reverse jog; collecting the trigger signal of the emergency stop button; collecting the switch signal of the door limit; collecting the real-time feedback torque, real-time feedback speed and real-time feedback fault information of at least two permanent magnet synchronous motors.

3. The gear shift control method of a permanent magnet synchronous traction vehicle according to claim 2, characterized in that: The execution process of the jog processing command includes: For forward jogging, when it is detected that the current forward jogging is valid and the forward jogging in the previous cycle is invalid, the forward jogging flag is set; when the count exceeds the preset maximum allowable delay period, or the torque of all motors is less than the preset torque threshold, the forward jogging flag is cleared; For reverse jog, when it is detected that the current reverse jog is valid and the reverse jog in the previous cycle is invalid, the reverse jog flag is set; when the count exceeds the preset maximum allowable delay period, or the torque of all motors is less than the preset torque threshold, the reverse jog flag is cleared.

4. The gear shift control method of a permanent magnet synchronous traction vehicle according to claim 3, characterized in that: The execution process of the door limit processing command is as follows: when the system has a gear position and detects that the door is not closed, the door limit flag is set to associate with the motor drive control.

5. The gear shift control method of a permanent magnet synchronous traction vehicle according to claim 4, characterized in that: The execution process of the return-to-N processing command is as follows: when controlling the vehicle to return to the N gear, no time judgment and torque judgment are performed, so as to quickly enter the hovering torque processing and maintain the torque driving direction according to the previous operation gear.

6. The gear shift control method of a permanent magnet synchronous traction vehicle according to claim 5, characterized in that: The execution process of the gear processing command is: according to the validity of the forward jog signal or the reverse jog signal, the forward gear flag or the reverse gear flag is set accordingly to keep the driving direction unchanged when the vehicle is hovering.

7. The gear shift control method of a permanent magnet synchronous traction vehicle according to claim 6, characterized in that: The execution process of the hover processing command includes: The hover flag is set when the following conditions are met: When entering the hovering state for the first time, the current hovering flag is invalid, the forward jog signal is invalid, the reverse jog signal is invalid, the speed of all motors is less than the preset speed threshold, the current gear is N gear, and the door limit is valid; If the hover flag is valid and the time count is greater than the time threshold, it is determined that the hover flag is set for the first time; When one of the following conditions is met, the hover flag and time count are cleared: The current gear is not N, the first entry into the hover mark is valid, forward jogging is valid, and backward jogging is valid.

8. The gear shift control method for a permanent magnet synchronous traction vehicle according to claim 7, characterized in that: The execution process of the hover exit processing command is as follows: when the hover flag changes from valid to invalid, the hover exit flag is set; when the time count exceeds the preset processing cycle, or the torque of all motors is less than the preset torque threshold, the hover exit flag is cleared, and during the hover exit process, the motor torque returns to zero before responding to the drive command.

9. The gear shift control method of a permanent magnet synchronous traction vehicle according to claim 8, characterized in that: The torque processing process is as follows: adjusting the motor torque according to the N gear flag, the forward jog flag, the reverse jog flag and the hover exit flag.

10. The gear shift control method of a permanent magnet synchronous traction vehicle according to claim 1, characterized in that: The process of controlling the motor to achieve gear switching is: controlling the direction of the motor controller according to the control command generated by the control processing module and the torque processing result of the torque processing module.

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