Range extender shafting torsional vibration active suppression method and system

Abstract

The invention provides an active suppression method and system for torsional vibration of a range extender shafting, and belongs to the technical field of range-extended hybrid electric vehicles. According to the method, firstly, active suppression is achieved through software model optimization, size and mass redundancy of a passive shock absorber is avoided, the design requirements for high power density and light weight of a vehicle are met, secondly, system time lag influence is counteracted through phase self-adaptive compensation, the precision of harmonic torque reverse counteracting is ensured, and finally, the design requirement for high power density and light weight of the vehicle is met. And typical working conditions such as idling, partial load, rated load and load sudden change are stably adapted, and the inhibiting effect and the working condition adaptability are wide.

Description

Technical Field

[0001] This invention relates to the field of range-extended hybrid electric vehicle technology, and in particular to a method and system for actively suppressing torsional vibration of the shaft system of a range extender. Background Technology

[0002] As the core power unit of the machine, the range extender is composed of a tightly coupled engine, generator and precision control system. Its shaft system is directly subjected to the dual excitation of the periodic torque pulsation of the engine and the periodic torque pulsation of the generator, which can easily cause torsional vibration.

[0003] In existing technologies, shaft torsional vibration suppression in range extenders is mainly divided into two categories: passive control and active control. 1. Passive control technology: By adding mechanical structures such as torsional dampers, flexible couplings, and damping elements, vibration isolation, damping, or absorption are achieved using the spring-damping principle. This is currently the mainstream application technology in the automotive field. However, passive control technology is only effective for high-frequency torsional vibrations. It has poor suppression effect on low- and medium-frequency torsional vibrations dominated by engine idling, start-stop, and sudden load changes. Its large size and mass contradict the high power density and lightweight design requirements of vehicles. It has poor adaptability to working conditions and cannot cope with complex and variable operating loads. In addition, it is very expensive.

[0004] 2. Active Control Technology: Leveraging the rapid controllability of motor torque, this technology generates compensating torque through control algorithms to offset vibration energy. It requires no additional mechanical hardware and boasts strong adaptability to various operating conditions. However, existing active control technologies suffer from insufficient accuracy in harmonic torque extraction. They fail to accurately identify key harmonic torques in the engine, lack phase compensation mechanisms, and do not consider compensation deviations caused by time delays in the electronic control system (current loop, PWM, filtering, inductive loads, etc.). Furthermore, their frequency mechanisms are inconsistent, failing to calculate the different frequencies corresponding to different orders of harmonic torques. Shaft system modeling is simplified, lacking a precise multi-degree-of-freedom model, resulting in limited control accuracy. Finally, they fail to form a complete closed-loop solution encompassing modeling, analysis, extraction, and control, leading to unstable suppression effects. Summary of the Invention

[0005] To address the problems in the prior art, this invention provides a method and system for actively suppressing torsional vibration in the shaft system of a range extender. Firstly, this invention achieves active suppression through software model optimization, avoiding redundancy in the size and mass of passive dampers and meeting the high power density and lightweight design requirements of vehicles. Secondly, it compensates for system time lag through phase adaptive compensation, ensuring the accuracy of harmonic torque reverse cancellation. Finally, it achieves stable adaptation to typical operating conditions such as idling, partial load, rated load, and sudden load changes, demonstrating broad adaptability in suppression effectiveness. To achieve the above objectives, the technical solution is as follows: On the one hand, the present invention provides a method for actively suppressing torsional vibration of a range extender shaft system, the method comprising: S1. Perform lumped mass modeling on the range extender shaft system to obtain the range extender shaft system model; S2. Based on the range extender shaft system model, the torsional vibration dynamic characteristics of the range extender shaft system are obtained; S3. Based on the torsional vibration dynamic characteristics of the range extender shaft system, the main torque harmonic components that cause torsional vibration are obtained by extracting the harmonic components. S4. Based on the main torque harmonic components that cause torsional vibration, the reverse compensation torque is obtained through an active suppression control strategy. S5. Based on the reverse compensation torque, the range extender shaft system is compensated to achieve active torsional vibration suppression of the range extender shaft system.

[0006] Optionally, the range extender shaft system is modeled with lumped mass to obtain a range extender shaft system model, including: The range extender shaft system is simplified into an N+2 degree-of-freedom lumped mass model using formula (1), thus obtaining the range extender shaft system model; (1) In the formula: θ Let be the angular displacement vector, N be the number of cylinders, M be the moment of inertia matrix, C be the damping matrix, K be the stiffness matrix, and T be the excitation vector.

[0007] Optionally, in S3, based on the torsional vibration dynamic characteristics of the range extender shaft system, the main torque harmonic components causing torsional vibration are obtained by extracting harmonic components, including: S31. Based on the torsional vibration dynamic characteristics of the range extender shaft system, perform low-pass filtering and remove high-frequency noise to obtain the torque signal of the first stage. S32. Based on the torque signal of the first stage, perform delay processing to obtain the torque signal of the second stage; S33. Based on the torque signal of the second stage, the harmonic components of each order of the range extender shaft system are obtained by Fourier transform. S34. Based on the harmonic components of the shaft system of the range extender, the main torque harmonic components that cause torsional vibration are obtained by analyzing the spectrum and extracting the core harmonic parameters.

[0008] Optionally, in S4, based on the main torque harmonic component causing torsional vibration, a reverse compensation torque is obtained through an active suppression control strategy, including: S41. Based on the main torque harmonic component that causes torsional vibration, obtain the generator output compensation electromagnetic torque; S42. Based on the output compensation electromagnetic torque of the generator, perform phase adaptive compensation to obtain the reverse compensation torque.

[0009] Optionally, in S41, the generator output compensating electromagnetic torque is obtained based on the main torque harmonic component causing torsional vibration, including: S411. Based on the main torque harmonic components that cause torsional vibration, the amplitude of each harmonic current on the q-axis is obtained through the generator electromagnetic torque equation. S412. Based on the amplitude of each harmonic current on the q-axis, the q-axis harmonic current command is obtained by superposition. S413. Based on the q-axis harmonic current command, it is converted into an inverter drive signal by the control unit to obtain the generator output compensation electromagnetic torque.

[0010] Optionally, the electromagnetic torque equation of the generator includes: (2) In the formula: i q ( t )for q Amplitude of shaft harmonic current, T 0 The amplitude of the core harmonic torque. δ f For magnetic linkage, l d for d Shaft inductor, l q for q Shaft inductor, i d for d shaft current, p For extreme logarithms, To compensate for the phase.

[0011] Optionally, in S42, phase adaptive compensation is performed based on the generator output compensation electromagnetic torque to obtain reverse compensation torque, including: S421. Based on the output compensation electromagnetic torque of the generator, perform phase lag compensation caused by filtering to obtain the electromagnetic torque after the first compensation. S422. Based on the electromagnetic torque after the first compensation, perform phase lag compensation caused by the motor body to obtain the electromagnetic torque after the second compensation. S423. Based on the electromagnetic torque after the second compensation, perform phase lag compensation caused by the control unit to obtain the reverse compensation torque.

[0012] On the other hand, the present invention provides an active suppression system for torsional vibration of a range extender shaft system, which is applied to a method for active suppression of torsional vibration of a range extender shaft system. The system includes: The model building module is used to perform lumped mass modeling of the range extender shaft system to obtain the range extender shaft system model. The first acquisition module is used to obtain the torsional vibration dynamic characteristics of the range extender shaft system based on the range extender shaft system model. The second acquisition module is used to obtain the main torque harmonic components that cause torsional vibration by extracting harmonic components based on the torsional vibration dynamic characteristics of the range extender shaft system. The third acquisition module is used to obtain the reverse compensation torque based on the main torque harmonic component that causes torsional vibration through an active suppression control strategy. The active suppression module is used to compensate the range extender shaft system according to the reverse compensation torque, thereby realizing active torsional vibration suppression of the range extender shaft system.

[0013] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects: The above solution achieves active suppression through software model optimization, avoiding redundancy in the size and mass of passive dampers and meeting the high power density and lightweight design requirements of vehicles. Secondly, it compensates for the system time lag through phase adaptive compensation, ensuring the accuracy of harmonic torque reverse cancellation. Thirdly, it achieves stable adaptation to typical operating conditions such as idling, partial load, rated load, and load change, with a wide range of suppression effects and adaptability to various operating conditions. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a flowchart of an embodiment of the active suppression method for torsional vibration of the range extender shaft system of the present invention; Figure 2 This is a flowchart illustrating the main torque harmonic components causing torsional vibration obtained in an embodiment of the active suppression method for torsional vibration of the range extender shaft system of the present invention; Figure 3 This is a flowchart illustrating the process of obtaining the reverse compensation torque in an embodiment of the active suppression method for torsional vibration of the range extender shaft system of the present invention. Figure 4 This is a flowchart illustrating the generator output compensation electromagnetic torque obtained in an embodiment of the active suppression method for torsional vibration of the range extender shaft system of the present invention. Figure 5 This is a detailed flowchart of the reverse compensation torque obtained in an embodiment of the active suppression method for torsional vibration of the range extender shaft system of the present invention; Figure 6 This is a system block diagram of an embodiment of the active suppression system for torsional vibration of the range extender shaft system of the present invention. Detailed Implementation

[0016] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0017] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0018] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0019] like Figure 1 The flowchart shown is an embodiment of the active suppression method for torsional vibration of the range extender shaft system according to the present invention. The present invention provides an active suppression method for torsional vibration of the range extender shaft system, which is implemented by an active suppression system for torsional vibration of the range extender shaft system. The method includes: S1. Perform lumped mass modeling on the range extender shaft system to obtain the range extender shaft system model; Specifically, the range extender shaft system is modeled with lumped mass to obtain the range extender shaft system model, which includes: The range extender shaft system is simplified into an N+2 degree-of-freedom lumped mass model using formula (1), thus obtaining the range extender shaft system model; (1) In the formula: θ Let be the angular displacement vector, N be the number of cylinders, M be the moment of inertia matrix, C be the damping matrix, K be the stiffness matrix, and T be the excitation vector.

[0020] S2. Based on the range extender shaft system model, the torsional vibration dynamic characteristics of the range extender shaft system are obtained; S3. Based on the torsional vibration dynamic characteristics of the range extender shaft system, the main torque harmonic components that cause torsional vibration are obtained by extracting the harmonic components. Specifically, such as Figure 2 The flowchart shown in the embodiment of the active suppression method for torsional vibration of the range extender shaft system of the present invention obtains the main torque harmonic components causing torsional vibration. In step S3, based on the torsional vibration dynamic characteristics of the range extender shaft system, the main torque harmonic components causing torsional vibration are obtained by extracting harmonic components, including: S31. Based on the torsional vibration dynamic characteristics of the range extender shaft system, perform low-pass filtering and remove high-frequency noise to obtain the torque signal of the first stage. S32. Based on the torque signal of the first stage, perform delay processing to obtain the torque signal of the second stage; Furthermore, based on the sampling frequency, a delay of k sampling points is set.

[0021] S33. Based on the torque signal of the second stage, the harmonic components of each order of the range extender shaft system are obtained by Fourier transform. S34. Based on the harmonic components of the shaft system of the range extender, the main torque harmonic components that cause torsional vibration are obtained by analyzing the spectrum and extracting the core harmonic parameters.

[0022] S4. Based on the main torque harmonic components that cause torsional vibration, the reverse compensation torque is obtained through an active suppression control strategy. Specifically, such as Figure 3 The flowchart shown in the embodiment of the active suppression method for torsional vibration of the range extender shaft system of the present invention illustrates the process of obtaining the reverse compensation torque. In step S4, based on the main torque harmonic component causing torsional vibration, the reverse compensation torque is obtained through an active suppression control strategy, including: S41. Based on the main torque harmonic component that causes torsional vibration, obtain the generator output compensation electromagnetic torque; Furthermore, such as Figure 4 The flowchart shown in the embodiment of the active suppression method for torsional vibration of the range extender shaft system of the present invention illustrates the process of obtaining the generator output compensation electromagnetic torque. In step S41, the generator output compensation electromagnetic torque is obtained based on the main torque harmonic component causing the torsional vibration, including: S411. Based on the main torque harmonic components that cause torsional vibration, the amplitude of each harmonic current on the q-axis is obtained through the generator electromagnetic torque equation. S412. Based on the amplitude of each harmonic current on the q-axis, the q-axis harmonic current command is obtained by superposition. S413. Based on the q-axis harmonic current command, it is converted into an inverter drive signal by the control unit to obtain the generator output compensation electromagnetic torque.

[0023] The electromagnetic torque equation of the generator includes: (2) In the formula: i q ( t )for q Amplitude of shaft harmonic current, T 0 The amplitude of the core harmonic torque. δ f For magnetic linkage, l d for d Shaft inductor, l q forq Shaft inductor, i d for d shaft current, p For extreme logarithms, To compensate for the phase.

[0024] S42. Based on the output compensation electromagnetic torque of the generator, perform phase adaptive compensation to obtain the reverse compensation torque.

[0025] Furthermore, such as Figure 5 The detailed flowchart of the active suppression method for torsional vibration of the range extender shaft system of the present invention, shown in embodiment S42, describes the process of obtaining the reverse compensation torque by performing phase adaptive compensation based on the generator output compensation electromagnetic torque to obtain the reverse compensation torque. This includes: S421. Based on the output compensation electromagnetic torque of the generator, perform phase lag compensation caused by filtering to obtain the electromagnetic torque after the first compensation. Furthermore, the formula for calculating the phase lag caused by filtering is: (3) In the formula: θ 1 The phase lag angle caused by filtering. J For rotational inertia, B The damping coefficient is... ω It represents the harmonic frequency.

[0026] S422. Based on the electromagnetic torque after the first compensation, perform phase lag compensation caused by the motor body to obtain the electromagnetic torque after the second compensation. Furthermore, the formula for calculating the phase lag caused by the motor itself is as follows: (4) In the formula: θ 2 The phase lag angle caused by the motor itself. ω For harmonic frequencies, R q for q Shaft stator resistance, l q for q Shaft inductance.

[0027] S423. Based on the electromagnetic torque after the second compensation, perform phase lag compensation caused by the control unit to obtain the reverse compensation torque.

[0028] Furthermore, the formula for calculating the phase lag caused by the control unit is: (5) In the formula: θ 3 The phase lag angle caused by the control unit, K p for q Shaft current loop PID p parameter, K i For current loop PID i parameter.

[0029] S5. Based on the reverse compensation torque, the range extender shaft system is compensated to achieve active torsional vibration suppression of the range extender shaft system.

[0030] Specifically, mathematical formulas can be used to calculate the parameters that cause phase changes in real time and identify the phase lag under different operating conditions. Among them, 180° can achieve reverse cancellation of harmonic torque. Through accurate phase identification, the q-axis harmonic current can effectively compensate for the second-order harmonic torque, thereby achieving active torsional vibration suppression.

[0031] like Figure 6 The diagram shown is a system block diagram of an embodiment of the active suppression system for torsional vibration of a range extender shaft system according to the present invention. The present invention provides an active suppression system for torsional vibration of a range extender shaft system, which is applied to a method for actively suppressing torsional vibration of a range extender shaft system. The system includes: a model building module, a first acquisition module, a second acquisition module, a third acquisition module, and an active suppression module. Specifically, The model building module is used to perform lumped mass modeling of the range extender shaft system to obtain the range extender shaft system model. The first acquisition module is used to obtain the torsional vibration dynamic characteristics of the range extender shaft system based on the range extender shaft system model. The second acquisition module is used to obtain the main torque harmonic components that cause torsional vibration by extracting harmonic components based on the torsional vibration dynamic characteristics of the range extender shaft system. The third acquisition module is used to obtain the reverse compensation torque based on the main torque harmonic component that causes torsional vibration through an active suppression control strategy. The active suppression module is used to compensate the range extender shaft system according to the reverse compensation torque, thereby realizing active torsional vibration suppression of the range extender shaft system.

[0032] This invention provides a method and system for actively suppressing torsional vibration of a range extender shaft system. First, the invention achieves active suppression through software model optimization, avoiding redundancy in the size and mass of passive dampers and meeting the high power density and lightweight design requirements of vehicles. Second, it compensates for the system time lag effect through phase adaptive compensation, ensuring the accuracy of harmonic torque reverse cancellation. Finally, it achieves stable adaptation to typical operating conditions such as idling, partial load, rated load, and load change, with a wide range of suppression effects and adaptability to various operating conditions.

[0033] It is understood that the present invention has been described through the above embodiments and should not be construed as limiting the implementation and scope of the present invention. Those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A method for actively suppressing torsional vibration of a range extender shaft system, characterized in that, The method includes: S1. Perform lumped mass modeling on the range extender shaft system to obtain the range extender shaft system model; S2. Based on the range extender shaft system model, obtain the torsional vibration dynamic characteristics of the range extender shaft system; S3. Based on the torsional vibration dynamic characteristics of the range extender shaft system, the main torque harmonic components causing torsional vibration are obtained by extracting harmonic components. S4. Based on the main torque harmonic components that cause torsional vibration, a reverse compensation torque is obtained through an active suppression control strategy. S5. Based on the reverse compensation torque, the range extender shaft system is compensated to achieve active torsional vibration suppression of the range extender shaft system.

2. The method for actively suppressing torsional vibration of the range extender shaft system according to claim 1, characterized in that, The process of performing lumped mass modeling of the range extender shaft system to obtain the range extender shaft system model includes: The range extender shaft system is simplified into an N+2 degree-of-freedom lumped mass model using formula (1), thus obtaining the range extender shaft system model; （1） In the formula: θ is the angular displacement vector, N is the number of cylinders, M is the moment of inertia matrix, C is the damping matrix, K is the stiffness matrix, and T is the excitation vector.

3. The method for actively suppressing torsional vibration of the range extender shaft system according to claim 1, characterized in that, In step S3, based on the torsional vibration dynamic characteristics of the range extender shaft system, harmonic components are extracted to obtain the main torque harmonic components causing torsional vibration, including: S31. Based on the torsional vibration dynamic characteristics of the range extender shaft system, perform low-pass filtering and remove high-frequency noise to obtain the torque signal of the first stage. S32. Based on the torque signal of the first stage, perform delay processing to obtain the torque signal of the second stage; S33. Based on the torque signal of the second stage, obtain the harmonic components of each order of the range extender shaft system through Fourier transform. S34. Based on the harmonic components of the shaft system of the range extender, the main torque harmonic components that cause torsional vibration are obtained by analyzing the spectrum and extracting the core harmonic parameters.

4. The method for actively suppressing torsional vibration of the range extender shaft system according to claim 1, characterized in that, In step S4, based on the main torque harmonic components causing torsional vibration, a reverse compensation torque is obtained through an active suppression control strategy, including: S41. Based on the main torque harmonic components that cause torsional vibration, obtain the generator output compensation electromagnetic torque; S42. Based on the output compensation electromagnetic torque of the generator, perform phase adaptive compensation to obtain the reverse compensation torque.

5. The method for actively suppressing torsional vibration of the range extender shaft system according to claim 4, characterized in that, In step S41, the generator output compensation electromagnetic torque is obtained based on the main torque harmonic components that cause torsional vibration, including: S411. Based on the main torque harmonic components that cause torsional vibration, the amplitude of each harmonic current on the q-axis is obtained through the generator electromagnetic torque equation. S412. Based on the amplitudes of each harmonic current along the q-axis, the q-axis harmonic current command is obtained by superposition. S413. According to the q-axis harmonic current command, it is converted into an inverter drive signal by the control unit to obtain the generator output compensation electromagnetic torque.

6. The method for actively suppressing torsional vibration of the range extender shaft system according to claim 5, characterized in that, The generator electromagnetic torque equation includes: （2） In the formula: i q ( t )for q Amplitude of shaft harmonic current, T 0 The amplitude of the core harmonic torque. δ f For magnetic linkage, l d for d Shaft inductor, l q for q Shaft inductor, i d for d shaft current, p For extreme logarithms, To compensate for the phase.

7. The method for actively suppressing torsional vibration of the range extender shaft system according to claim 4, characterized in that, In step S42, phase adaptive compensation is performed based on the generator output compensation electromagnetic torque to obtain the reverse compensation torque, including: S421. Based on the output compensation electromagnetic torque of the generator, perform phase lag compensation caused by filtering to obtain the electromagnetic torque after the first compensation. S422. Based on the electromagnetic torque after the first compensation, perform phase lag compensation caused by the motor body to obtain the electromagnetic torque after the second compensation. S423. Based on the electromagnetic torque after the second compensation, perform phase lag compensation caused by the control unit to obtain the reverse compensation torque.

8. A range extender shaft system torsional vibration active suppression system, used to implement the range extender shaft system torsional vibration active suppression method as described in any one of claims 1-7, characterized in that, The system includes: The model building module is used to perform lumped mass modeling of the range extender shaft system to obtain the range extender shaft system model. The first acquisition module is used to obtain the torsional vibration dynamic characteristics of the range extender shaft system based on the range extender shaft system model. The second acquisition module is used to obtain the main torque harmonic components that cause torsional vibration by extracting harmonic components based on the torsional vibration dynamic characteristics of the range extender shaft system. The third acquisition module is used to obtain the reverse compensation torque based on the main torque harmonic components that cause torsional vibration through an active suppression control strategy. An active suppression module is used to compensate the range extender shaft system according to the reverse compensation torque, thereby achieving active torsional vibration suppression of the range extender shaft system.

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