Gear shift control method for permanent magnet synchronous traction vehicle

Abstract

The present application belongs to the technical field of gear switching control, and particularly relates to a gear switching control method for a permanent magnet synchronous traction vehicle, comprising the following steps: collecting vehicle information; processing the collected vehicle information to generate control commands including a notch processing command, a threshold processing command, a return N processing command, a gear processing command, a hovering processing command and a hovering exit processing command; processing motor torque according to the generated control commands in combination with a gear flag, a hovering flag and a hovering exit flag; and controlling the motor to realize gear switching according to the control commands and the torque processing result. The present application realizes the synchronization and softness of gear switching of the permanent magnet synchronous traction vehicle as a whole through the complete process of collecting vehicle information, generating multiple types of control commands, processing motor torque and finally controlling the motor to switch gears, avoids the problem of unstable operation caused by asynchronous switching or violent impact, and improves the smoothness of vehicle operation.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of gear switching control, and particularly relates to a gear switching control method for a permanent magnet synchronous traction vehicle. BACKGROUND

[0002] With the rapid development of the rail transit industry, as a key traction equipment in the rail transit system such as a subway, the performance and control precision of the power system of a traction vehicle directly affect the operation efficiency, safety and service life of the equipment. The power system of a traditional subway traction vehicle is usually driven by an asynchronous motor, and gear switching control is realized through a single or multiple controllers. However, the asynchronous motor has inherent defects such as poor low-speed large-torque performance and low running efficiency, and problems such as large torque fluctuation and insufficient switching synchronization may occur during gear switching, which leads to poor vehicle running smoothness, and even phenomena such as abnormal noise and mechanical impact, which not only affects the riding comfort, but also shortens the service life of the motor controller and related mechanical parts, and increases the maintenance cost.

[0003] With the maturity of permanent magnet synchronous motor technology, its characteristics such as high efficiency, high power density and excellent low-speed large-torque performance gradually stand out, and the application advantage in the power system of a traction vehicle is significant. However, in the multi-motor driving scene of a traction vehicle, the gear switching control of a permanent magnet synchronous motor faces new challenges: since a traction vehicle is usually driven by two or more permanent magnet synchronous motors, the synchronization of the actions of the multiple motors needs to be ensured during gear switching, so as to avoid power impact caused by uneven torque distribution or switching time difference between the motors; at the same time, torque mutation during switching may cause motor controller overload, abnormal noise and even "motor explosion", and unreasonable switching logic may also accelerate the aging of the motor controller and reduce the system reliability.

[0004] In addition, the running environment of a traction vehicle is complex, involving multiple working conditions such as forward, backward and hovering, and safety signals such as emergency stop and door position need to be responded, and the traditional gear switching control method is difficult to balance the working condition adaptability, operation safety and switching softness. For example, in the scene of inching operation and returning to N gear, if there is no specific torque processing and flag control logic, the vehicle may slip backward and hover unstably; when the door is not closed or the emergency stop is triggered, if the motor output cannot be quickly cut off or adjusted, the operation safety will be seriously threatened.

[0005] Therefore, in view of the characteristics of the power system of a permanent magnet synchronous traction vehicle, a gear switching control method is needed, which can realize the synchronization and softness of gear switching, avoid large torque impact, adapt to multiple working conditions and ensure safety, so as to solve the problems of poor running smoothness, short equipment life and prominent safety hazards in the prior art, and meet the high performance and high reliability requirements of modern rail transit for traction vehicle power control. SUMMARY

[0006] The application aims to provide a gear switching control method for a permanent magnet synchronous traction vehicle, which comprises the following steps:

[0007] Collecting vehicle information;

[0008] Processing the collected vehicle information to generate control commands including a creep processing command, a door limit processing command, a reverse N processing command, a gear processing command, a hovering processing command and a hovering exit processing command;

[0009] Processing motor torque according to the generated control commands in combination with gear flag, hovering flag and hovering exit flag;

[0010] Controlling the motor to realize gear switching according to the control commands and torque processing results to ensure the synchronization and softness of gear switching.

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

[0012] Preferably, the execution process of the creep processing command comprises:

[0013] For forward creep, when it is detected that the current forward creep is effective and the last cycle forward creep is ineffective, the forward creep flag bit is set; when the count exceeds the preset maximum allowed delay period or the torque of all motors is less than the preset torque threshold, the forward creep flag bit is cleared.

[0014] For reverse creep, when it is detected that the current reverse creep is effective and the last cycle reverse creep is ineffective, the reverse creep flag bit is set; when the count exceeds the preset maximum allowed delay period or the torque of all motors is less than the preset torque threshold, the reverse creep flag bit is cleared.

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

[0016] Preferably, the execution process of the reverse N processing command is: when the vehicle is controlled to reverse N gear, no time judgment and torque judgment are performed to quickly enter the hovering torque processing, and the driving direction of the torque is maintained according to the previous operation gear.

[0017] Preferably, the execution process of the gear processing command is: according to the validity of the forward creep signal or the backward creep signal, the forward gear flag bit or the backward gear flag bit is set to keep the driving direction unchanged when the vehicle hovers.

[0018] Preferably, the execution process of the hovering processing command comprises:

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

[0020] The first time the hovering state is entered, the current hovering flag is invalid, the forward creep signal is invalid, the backward creep signal is invalid, all motor speeds are less than a preset speed threshold, the current gear is N gear, and the threshold bit is valid.

[0021] If the hovering flag is valid and the time count is greater than a time threshold, it is judged that the first time the hovering flag is set.

[0022] The hovering flag and the time count are cleared when one of the following conditions is met:

[0023] The current gear is not N gear, the first time the hovering flag is valid, the forward creep is valid, and the backward creep is valid.

[0024] Preferably, the execution process of the hovering exit processing command is: when the hovering flag bit changes from valid to invalid, the hovering exit flag bit is set; when the time count exceeds a preset processing period or all motor torques are less than a preset torque threshold, the hovering exit flag bit is cleared, and in the hovering exit process, the motor torque is zeroed before responding to the driving command.

[0025] Preferably, the process of the torque processing is: according to the N gear flag, the forward creep flag, the backward creep flag and the hovering exit flag, the motor torque is adjusted and processed.

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

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

[0028] The present application realizes the synchronization and softness of the permanent magnet synchronous traction vehicle gear switching by collecting vehicle information, generating multiple control commands, processing motor torque and finally controlling the motor to switch gears, avoids the problem of unstable operation caused by asynchronous switching or violent impact, improves the smoothness of vehicle operation, and helps to ensure the stability and service life of the power system. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1is a forward point motion flag processing flowchart of the present application;

[0030] Figure 2 is a backward point motion flag processing flowchart of the present application;

[0031] Figure 3 is a threshold position processing command flowchart of the present application;

[0032] Figure 4 is a return N processing command flowchart of the present application;

[0033] Figure 5 is a gear processing command flowchart of the present application;

[0034] Figure 6 is a hovering processing command flowchart of the present application;

[0035] Figure 7 is a hovering exit processing flowchart of the present application;

[0036] Figure 8 is a torque processing flowchart of the present application;

[0037] Figure 9 is a gear switching flowchart of the present application. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0039] It should be noted that all the terms for indicating direction and position in the present application, such as “up”, “down”, “left”, “right”, “front”, “back”, “vertical”, “horizontal”, “inner”, “outer”, “top”, “low”, “lateral”, “longitudinal”, “center” and the like, are only used to explain the relative position relationship, connection condition and the like between components in a certain state (as shown in the drawings), and are only for the convenience of describing the present application, and thus cannot be understood as a limitation on the present application. In addition, the description of “first”, “second” and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features.

[0040] In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral connection, can be mechanical connection, can be direct connection, can also be indirect connection through intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0042] As shown in Figures 1-9 The gear switching control method of the permanent magnet synchronous traction vehicle comprises the following steps:

[0043] Collecting vehicle information;

[0044] Processing the collected vehicle information to generate control commands including notch processing commands, threshold processing commands, return N processing commands, gear processing commands, hovering processing commands and hovering exit processing commands;

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

[0046] According to the control commands and the torque processing results, the motor is controlled to realize gear switching, so as to ensure the synchronization and softness of gear switching.

[0047] The present application realizes the synchronization and softness of the gear switching of the permanent magnet synchronous traction vehicle as a whole through the complete process of collecting vehicle information, generating multiple types of control commands, processing motor torque and finally controlling the motor to switch gears, avoids the problem of unstable operation caused by asynchronous switching or violent impact, improves the smoothness of vehicle operation, and helps to ensure the stability and service life of the power system.

[0048] As a preferred example of the present application, the collected vehicle information specifically includes: collecting the state information of the operating lever; collecting the trigger signal of the brake; collecting the valid signal of the forward creep; collecting the valid signal of the reverse creep; 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 the two permanent magnet synchronous motors (motor 1 and motor 2) respectively;

[0049] By collecting the operating lever state, brake signal, forward / reverse creep signal, emergency stop signal, door limit signal, and torque, speed, and fault information 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 shifting control and reducing control errors caused by missing or lagging information.

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

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

[0052] As shown in Figure 2 For reverse creep, when it is detected that the current reverse creep is valid and the previous cycle reverse creep is invalid, the reverse creep flag bit is set; when the count exceeds the preset maximum allowed delay period A, or the torque of all motors is less than the preset torque threshold B, the reverse creep flag bit is cleared.

[0053] The setting and clearing of the forward and reverse creep flag bits through the setting and clearing logic (clearing when the count exceeds the preset period or the torque is less than the threshold) not only ensures the effective execution of the creep operation, but also terminates the creep in time when the conditions are met, avoiding the risk of rear sliding on the slope caused by torque unloading timeout, and preventing impact caused by excessive torque, balancing the operation flexibility and device safety.

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

[0055] The torque of motor 1 and motor 2 is less than the specified torque value, which is mainly set according to the torque value allowed for motor start and stop. Too large torque will cause too large impact when the motor stops, and too small torque will cause too long time, so appropriate value can meet the requirement of fast switching and greatly improve the product service life.

[0056] In the process of the reverse creep flag bit, a maximum allowable delay period is set. When the count exceeds A, the forward creep flag bit is forcibly cleared to prevent delay caused by unloading torque exceeding the specified period and prevent the vehicle from slipping backward on a slope;

[0057] The torque of the motors 1 and 2 is less than a specified torque value. The torque is mainly set with reference to the torque value allowed when the motor starts and stops. If the torque is too large, the motor will stop with too large an impact. If the torque is too small, the time will be too long. The appropriate value can meet the requirements of fast switching and greatly improve the service life of the product.

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

[0059] When the system has a gear (specifically, the current gear is not in the N gear, the forward creep is valid or the reverse creep is valid) and the door is not closed, the motor drive is associated through the door gear limit flag bit, which can effectively prevent the vehicle from starting to run in the case that the door is not closed, cut off the power output association in the unsafe working condition from the control logic, and protect the safety of personnel and equipment.

[0060] As shown in Figure 4 As a preferred example of the present application, the execution process of the 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 collected gear is in the N gear), the N gear flag bit is set, and no time judgment and torque judgment are performed in this process to quickly enter the hover torque processing and maintain the driving direction according to the previous operation gear;

[0061] When returning to the N gear, no time and torque judgment is performed to quickly enter the hover torque processing and maintain the previous driving direction, which is convenient for the vehicle to hover stably in the temporary parking scene and prevent the vehicle from slipping, especially in the special road conditions such as the slope, which enhances the reliability of parking.

[0062] As shown in Figure 5 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 creep signal or the reverse creep signal, the forward gear flag bit or the reverse gear flag bit is set to maintain the driving direction unchanged when the vehicle hovers;

[0063] According to the validity of the forward / reverse creep signal, the corresponding gear flag bit is set to ensure that the driving direction of the vehicle is unchanged in the hover state, avoid the abnormal power output caused by the driving direction confusion in the hover state, and protect the stability of the hover state and the continuity of the subsequent operation.

[0064] As shown in Figure 6As shown, as a preferred example of this application, the execution process of the hover processing command includes:

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

[0066] Upon first entering hover mode, the current hover 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 threshold is valid.

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

[0068] The hover flag and time counter will be reset to zero if one of the following conditions is met:

[0069] The current gear is not in neutral (N). The first time the hover indicator appears, forward jogging is effective, and backward jogging is effective.

[0070] By setting a speed threshold, the vehicle can quickly enter a hovering state; combined with signals such as gear position, emergency stop, and threshold position, the hovering flag is set and cleared to ensure that the hovering state is started and exited under reasonable scenarios, avoiding unnecessary power interruption or output, and improving the control accuracy of the vehicle in hovering conditions.

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

[0072] like Figure 7 As shown in the preferred example of this 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 previous cycle hover flag is valid), the hover exit flag is set; when the time count exceeds the preset processing cycle E (this value is the maximum processing cycle. If this value is too large, the torque unloading will be too slow, which will cause the vehicle gear shifting delay to be too long. If it is too short, it will cause vehicle noise or equipment damage. According to the torque unloading, a suitable value will make the vehicle shifting both fast and smooth. It is set according to actual needs), or when all motor torques are less than the preset torque threshold B, the hover exit flag is cleared. Conversely, 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 the hovering state, the system uses a flag position and zeroing logic to ensure that the motor torque returns to zero before responding to the drive command. This prevents the motor controller from violently outputting due to sudden changes in drive direction, avoiding problems such as abnormal noise and equipment damage. At the same time, the exit rhythm is controlled by a preset processing cycle, balancing exit speed and smoothness.

[0074] like Figure 7As shown in the preferred example of the present application, the process of torque processing is: according to the N gear flag, the forward creep flag, the reverse creep flag and the hover exit flag, the motor torque is adjusted and processed, the motor torque is adjusted according to the N gear, the forward / reverse creep and the hover exit flag, the dynamic adaptation of the torque is realized, the unreasonable torque output is avoided to cause the damage of the motor controller, the abnormal sound or the risk of the motor caused by the large torque switching is reduced, and the service life of the equipment is prolonged.

[0075] As shown in the preferred example of the present application, the process of torque processing is: according to the N gear flag, the forward creep flag, the reverse creep flag and the hover exit flag, the motor torque is adjusted and processed, the motor torque is adjusted according to the N gear, the forward / reverse creep and the hover exit flag, the dynamic adaptation of the torque is realized, the unreasonable torque output is avoided to cause the damage of the motor controller, the abnormal sound or the risk of the motor caused by the large torque switching is reduced, and the service life of the equipment is prolonged. Figure 8 As shown in the preferred example of the present application, the process of torque processing is: according to the N gear flag, the forward creep flag, the reverse creep flag and the hover exit flag, the motor torque is adjusted and processed, the motor torque is adjusted according to the N gear, the forward / reverse creep and the hover exit flag, the dynamic adaptation of the torque is realized, the unreasonable torque output is avoided to cause the damage of the motor controller, the abnormal sound or the risk of the motor caused by the large torque switching is reduced, and the service life of the equipment is prolonged.

[0076] In addition, it should be noted that the control command in the present application is executed by the vehicle-mounted controller.

[0077] The embodiments of the present application are described above in combination with the drawings, and the embodiments and the features in the embodiments in the present application can be combined with each other without conflict, the present application is not limited to the above-mentioned specific embodiments, the above-mentioned specific embodiments are only illustrative, not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims, all of which belong to the protection of the present application.

Claims

1. A method of gear shift control for a permanent magnet synchronous traction vehicle, characterized in that , comprising the following steps: Collecting vehicle information; Processing the collected vehicle information to generate control commands including jog processing commands, door limit processing commands, reverse N processing commands, gear processing commands, hovering processing commands and hovering exit processing commands; Processing motor torque according to the generated control commands in combination with gear flag, hovering flag and hovering exit flag; Controlling the motor to realize gear switching according to the control commands and torque processing results; The collection of vehicle information specifically includes: collecting the state information of the operating lever; collecting the trigger signal of the brake; collecting the valid signal of the forward jog; collecting the valid signal of the reverse jog; collecting the trigger signal of the emergency stop button; collecting the on-off 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 at least two permanent magnet synchronous motors; The execution process of the jog processing command includes: For forward jog, when it is detected that the current forward jog is valid and the last cycle forward jog is invalid, the forward jog flag bit is set; when the count exceeds the preset maximum allowed delay period or the torque of all motors is less than the preset torque threshold, the forward jog flag bit is cleared; For reverse jog, when it is detected that the current reverse jog is valid and the last cycle reverse jog is invalid, the reverse jog flag bit is set; when the count exceeds the preset maximum allowed delay period or the torque of all motors is less than the preset torque threshold, the reverse jog flag bit is cleared; The execution process of the door limit processing command is: when the system has a gear and it is detected that the door is not closed, the door limit flag bit is set to associate the motor drive control; The execution process of the reverse N processing command is: when the vehicle is controlled to reverse N, no time judgment and torque judgment is performed to quickly enter the hovering torque processing, and the driving direction is maintained according to the previous operating gear; 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 bit or the reverse gear flag bit is set to keep the driving direction unchanged when the vehicle is hovering; The execution process of the hovering processing command includes: When the following conditions are met, the hovering flag bit is set: First entering the hovering state, 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, and the door limit is valid; If the hovering flag is valid and the time count is greater than the time threshold, it is judged that the first entering the hovering flag is set; When one of the following conditions is met, the hovering flag and the time count are cleared: The current gear is not N, the first entering the hovering flag is valid, the forward jog is valid, and the reverse jog is valid.

2. The gear shift control method of a permanent magnet synchronous traction vehicle according to claim 1, characterized in that: The execution process of the hovering exit processing command is: when the hovering flag bit changes from valid to invalid, the hovering exit flag bit is set; when the time count exceeds the preset processing period or the torque of all motors is less than the preset torque threshold, the hovering exit flag bit is cleared, and in the hovering exit process, the motor torque is zero before responding to the drive command.

3. The permanent magnet synchronous traction vehicle gear shift control method according to claim 2, characterized in that: The torque processing procedure is as follows: the motor torque is adjusted according to the N gear indicator, forward jog indicator, reverse jog indicator, and hover exit indicator.

4. The permanent magnet synchronous traction vehicle gear shift control method according to claim 3, characterized in that: The process of controlling the motor to switch gears is as follows: the direction of the motor controller is controlled according to the control command generated by the control processing module and the torque processing result of the torque processing module.

Images