A multi-modal motor torque ripple suppression control system and method

Abstract

This invention discloses a multimodal motor torque jitter suppression control system and method, belonging to the field of electric vehicle drive control technology. The system includes a condition detection module, a core processing module, a multimodal torque suppression module, an execution module, a motor controller, and a drive motor connected in sequence. The condition detection module collects motor and vehicle status data; the core processing module detects the dominant motor jitter frequency and identifies the condition based on the data collected by the condition detection module, and dynamically switches the multimodal torque suppression path according to the identification result; the multimodal torque suppression module provides the multimodal torque suppression path and synthesizes the outputs of each path; the execution module converts the synthesized torque signal into a motor control signal; and the motor controller controls the drive motor according to the motor control signal. This invention achieves adaptive motor torque jitter suppression based on operating conditions.

Description

Technical Field

[0001] This invention belongs to the field of electric vehicle electric drive control technology. Specifically, this invention relates to a multi-mode motor torque jitter suppression control system and method. Background Technology

[0002] In the field of electric vehicle drive control technology, motor torque jitter mainly originates from cogging torque, torque zero-crossing impact, and sudden load changes. The generation mechanism of motor torque jitter has a significant operating condition dependence: under low-speed creep conditions, cogging torque is the main source of jitter; during torque zero-crossing switching, sudden changes in gear backlash and friction characteristics lead to impacts; under periodic load disturbance conditions, torque fluctuations at the mechanical resonant frequency are particularly prominent. A single sensor cannot fully characterize these complex operating conditions. While existing technologies have proposed solutions to suppress motor torque jitter, they still have the following shortcomings: (1) Software compensation depends on pre-calibration: For example, the back EMF waveform needs to be obtained in advance for harmonic current injection, which has poor adaptability; (2) Limitations of a single algorithm: The PI regulator has limited effect on suppressing periodic jitter, and the PR resonant filter needs to be precisely matched to the jitter frequency; (3) Insufficient hardware coordination: The torque control and operating condition identification modules are separated, and the response delay causes shock.

[0003] Therefore, this invention proposes a multimodal motor torque jitter suppression control system and method. Summary of the Invention

[0004] The present invention aims to overcome the shortcomings of the prior art and proposes a multimodal motor torque jitter suppression control system and method to achieve the following objective: to realize adaptive motor torque jitter suppression according to operating conditions.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A multimodal motor torque jitter suppression control system, the system comprising, in sequence, a working condition detection module, a core processing module, a multimodal torque suppression module, an execution module, a motor controller, and a drive motor, wherein: The operating condition detection module is used to collect motor and vehicle status data, which includes at least motor speed and current, and pedal opening. The core processing module is used to detect the motor-dominant vibration frequency and identify the operating condition based on the data collected by the operating condition detection module, and dynamically switch the multi-modal torque suppression path according to the operating condition identification result. The multimodal torque suppression module is used to provide a multimodal torque suppression path and synthesize the outputs of each path; The execution module is used to convert the synthesized torque signal into a motor control signal; The motor controller is used to control the drive motor according to the motor control signal.

[0006] Preferably, the operating condition detection module includes a motor speed sensor, a current Hall sensor, and a vehicle CAN bus interface, wherein: The motor speed sensor is used to collect motor speed in real time; The current Hall sensor is used to collect the motor's operating current in real time; The vehicle CAN bus interface is used to acquire pedal opening signals from the vehicle's CAN network in real time.

[0007] Preferably, the core processing module includes a jitter frequency analysis unit and a working condition identification unit, wherein; The jitter frequency analysis unit is used to perform a fast Fourier transform on the motor speed signal to extract the dominant jitter frequency. The operating condition identification unit is used to determine the operating condition based on the dominant vibration frequency, motor speed and current, and pedal opening, and select a multimodal torque suppression path according to the operating condition identification result.

[0008] Preferably, the core processing module uses an FPGA chip.

[0009] Preferably, the multimodal torque suppression module includes a parallel adaptive PR resonator, a torque gradient limiter, and a feedforward compensator, wherein: An adaptive PR resonator is used to dynamically adjust the center frequency based on the dominant jitter frequency. Torque gradient limiter, used to enable slope control when torque crosses zero; The feedforward compensator is used to perform torque compensation based on a pre-stored cogging torque compensation curve.

[0010] Preferably, the multimodal torque suppression module synthesizes the outputs of each path, as expressed by the following formula: Tout = Lim(Tref) + Tpr + Tff; Where Tref represents the target torque expected by the user based on the current pedal opening; Lim(Tref) represents the output of the torque gradient limiter after limiting the target torque Tref; Tpr represents the torque suppression amount output by the adaptive PR resonator; Tff represents the torque compensation amount output by the feedforward compensator; and Tout represents the final output torque after multimodal synthesis.

[0011] Preferably, the core processing module dynamically switches the multimodal torque suppression path based on the operating condition identification result, including: If |torque| < 5 Nm and speed < 100 rpm, then the feedforward compensator is activated; If the torque crosses zero, the torque gradient limiter is activated; If periodic jitter is detected, i.e., the dominant jitter frequency is greater than the preset value, the adaptive PR resonator is activated.

[0012] Preferably, the execution module includes a DAC circuit.

[0013] This invention also provides a method for suppressing torque jitter in a multimodal motor. Using the aforementioned multimodal motor torque jitter suppression control system, the method includes: Collect motor and vehicle status data; Based on the motor and vehicle status data, the motor-dominant vibration frequency is detected and the operating condition is identified, and the multi-modal torque suppression path is dynamically switched according to the operating condition identification result. The outputs of each channel are combined; The synthesized torque signal is converted into a motor control signal; The drive motor is controlled according to the motor control signal.

[0014] The technical effects of this invention are as follows: This invention addresses the poor adaptability of traditional single suppression strategies. Existing technologies often employ single PR resonator suppression, feedforward compensation, or gradient limiting, which cannot adapt to jitter characteristics under different operating conditions, resulting in limited suppression effectiveness. This invention, through a multi-modal torque suppression module and an adaptive switching mechanism, dynamically selects the suppression strategy based on operating conditions and jitter frequency, achieving precise suppression across all operating conditions. Furthermore, existing PR resonator suppression methods require pre-calibration of jitter frequency parameters, failing to adapt to dynamic changes in jitter frequency. This invention, through real-time extraction of the dominant jitter frequency using FFT, dynamically adjusts the PR resonator center frequency, eliminating the need for pre-calibration and improving system flexibility and adaptability. Attached Figure Description

[0015] Figure 1 This is a diagram illustrating the architecture of a multimodal motor torque jitter suppression control system, provided in an embodiment of the present invention. Detailed Implementation

[0016] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. This is to help those skilled in the art to have a more complete, accurate, and in-depth understanding of the inventive concept and technical solutions of the present invention, and to facilitate its implementation. It should be noted that the terms "first," "second," etc., used in this application are only for the convenience of describing the technical solutions and to distinguish components; the corresponding component configurations may be the same or different, and are not intended to limit the scope of this application. To make the technical solutions of the present invention clearer, the present invention will be explained and illustrated through the following embodiments.

[0017] This invention provides a multi-modal motor torque jitter suppression control system, specifically a torque jitter suppression system architecture that detects operating conditions in real time and adaptively switches suppression strategies. For example... Figure 1 As shown, the system includes a working condition detection module, a core processing module, a multimodal torque suppression module, an execution module, a motor controller, and a drive motor connected in sequence, wherein: The operating condition detection module is used to collect motor and vehicle status data, which includes at least motor speed and current, and pedal opening. The core processing module is used to detect the motor-dominant vibration frequency and identify the operating condition based on the data collected by the operating condition detection module, and dynamically switch the multi-modal torque suppression path according to the operating condition identification result. The multimodal torque suppression module is used to provide a multimodal torque suppression path and synthesize the outputs of each path; The execution module is used to convert the synthesized torque signal into a motor control signal; The motor controller is used to control the drive motor according to the motor control signal.

[0018] Specifically, the operating condition detection module in this embodiment includes a motor speed sensor, a current Hall sensor, and a vehicle CAN bus interface, wherein: The motor speed sensor is used to collect motor speed in real time, and commonly used sensors include magnetic encoders (17-bit resolution). The current Hall sensor is used to collect the motor's operating current in real time; The vehicle CAN bus interface is used to collect pedal opening signals from the vehicle's CAN network in real time. The pedal opening signals can be used to obtain the target torque that the user expects to output through the current vehicle's preset pedal opening-torque mapping table.

[0019] The multimodal torque suppression module in this embodiment includes a parallel adaptive PR resonator, a torque gradient limiter, and a feedforward compensator, wherein: An adaptive PR resonator is used to dynamically adjust the center frequency based on the dominant jitter frequency. The adaptive PR resonator can update the PR resonator parameters in real time, avoiding the problem of pre-calibration required by traditional methods. The torque gradient limiter is used to enable slope control when the torque crosses zero. Typically, the gradient limiter is automatically activated when torque commutation is detected, keeping the rate of torque change within 50 Nm / ms. The feedforward compensator is used to perform torque compensation based on a pre-stored cogging torque compensation curve.

[0020] The parallel adaptive PR resonator, torque gradient limiter and feedforward compensator constitute the multimodal torque suppression path. The state reconstruction of the entire multimodal torque suppression module, that is, the start and stop state of each path, is dynamically set by the core processing module according to the working condition identification results.

[0021] The core processing module of this embodiment uses an FPGA chip and also incorporates a multi-channel parallel computing unit, including a jitter frequency analysis unit and a working condition identification unit. The jitter frequency analysis unit is used to perform a fast Fourier transform (FFT) on the motor speed signal to extract the dominant jitter frequency; The operating condition identification unit is used to determine the operating condition based on the dominant vibration frequency, motor speed and current, and pedal opening, and select a multimodal torque suppression path according to the operating condition identification result.

[0022] In this embodiment, the operating condition identification unit of the core processing module dynamically switches the multimodal torque suppression path according to the operating condition identification result, including: If |torque| < 5 Nm and speed < 100 rpm, then the feedforward compensator is activated; If the torque crosses zero, the torque gradient limiter is activated; If periodic jitter is detected, i.e., the dominant jitter frequency is greater than the preset value, the adaptive PR resonator is activated.

[0023] For example, when |torque| < 5 Nm and speed < 100 rpm, and the torque crosses zero, the feedforward compensator and torque gradient limiter are activated simultaneously. In specific implementations, the judgment conditions for various operating conditions and their corresponding multimodal torque suppression paths can be flexibly set according to the actual situation. This embodiment is only a partial example.

[0024] Subsequently, for the multiple outputs of the multimodal torque suppression path under various operating conditions, the multimodal torque suppression module synthesizes the outputs of each path, as expressed by the following formula: Tout = Lim(Tref) + Tpr + Tff; Where Tref represents the target torque expected by the user based on the current pedal opening; Lim(Tref) represents the output of the torque gradient limiter after limiting the target torque Tref; Tpr represents the torque suppression amount output by the adaptive PR resonator; Tff represents the torque compensation amount output by the feedforward compensator; and Tout represents the final output torque after multimodal synthesis.

[0025] The final output multimodal synthesized torque Tout is converted into a control command that the motor controller can execute through the execution module. In this embodiment, the execution module adopts a DAC circuit. At this time, the digital torque command is processed by the DAC circuit and converted into an analog voltage signal, which is output to the torque command input terminal of the motor controller. Thus, the motor controller controls the drive motor according to the input torque command.

[0026] This invention also provides a method for suppressing torque jitter in a multimodal motor. Using the aforementioned multimodal motor torque jitter suppression control system, the method includes: Collect motor and vehicle status data; Based on the motor and vehicle status data, the motor-dominant vibration frequency is detected and the operating condition is identified, and the multi-modal torque suppression path is dynamically switched according to the operating condition identification result. The outputs of each channel are combined; The synthesized torque signal is converted into a motor control signal; The drive motor is controlled according to the motor control signal.

[0027] In summary, this embodiment can dynamically reconstruct the multimodal torque suppression module according to operating conditions, achieving effective suppression across various operating ranges and overcoming the problem of single strategies failing or even deteriorating under mismatched operating conditions. Furthermore, through real-time FFT analysis and online parameter updates of the adaptive PR resonator, the system does not require pre-calibration of the resonant frequency under each operating condition, automatically adapting to frequency drift caused by changes in vehicle speed, load, and temperature, significantly reducing calibration workload and maintenance costs.

[0028] This invention achieves high-precision, adaptive suppression of motor torque jitter under all operating conditions through hardware architecture optimization and control strategy innovation. It features a simple structure, fast response, high stability, compatibility with permanent magnet synchronous motors and induction motors, and requires no modification to the mechanical structure. It is particularly suitable for equipment with high requirements for operational stability, such as new energy vehicles, industrial robots, and precision machine tools.

[0029] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A multi-mode motor torque jitter suppression control system, characterized in that: The system includes, in sequence, a working condition detection module, a core processing module, a multimodal torque suppression module, an execution module, a motor controller, and a drive motor, wherein: The operating condition detection module is used to collect motor and vehicle status data, which includes at least motor speed and current, and pedal opening. The core processing module is used to detect the motor-dominant vibration frequency and identify the operating condition based on the data collected by the operating condition detection module, and dynamically switch the multi-modal torque suppression path according to the operating condition identification result. The multimodal torque suppression module is used to provide a multimodal torque suppression path and synthesize the outputs of each path; The execution module is used to convert the synthesized torque signal into a motor control signal; The motor controller is used to control the drive motor according to the motor control signal.

2. The multi-mode motor torque jitter suppression control system according to claim 1, characterized in that: The operating condition detection module includes a motor speed sensor, a current Hall sensor, and a vehicle CAN bus interface, wherein: The motor speed sensor is used to collect motor speed in real time; The current Hall sensor is used to collect the motor's operating current in real time; The vehicle CAN bus interface is used to acquire pedal opening signals from the vehicle's CAN network in real time.

3. The multi-mode motor torque jitter suppression control system according to claim 1, characterized in that: The core processing module includes a jitter frequency analysis unit and a working condition identification unit, wherein; The jitter frequency analysis unit is used to perform a fast Fourier transform on the motor speed signal to extract the dominant jitter frequency. The operating condition identification unit is used to determine the operating condition based on the dominant vibration frequency, motor speed and current, and pedal opening, and select a multimodal torque suppression path according to the operating condition identification result.

4. The multi-mode motor torque jitter suppression control system according to claim 3, characterized in that: The core processing module uses an FPGA chip.

5. The multi-mode motor torque jitter suppression control system according to claim 1, characterized in that: The multimodal torque suppression module includes a parallel adaptive PR resonator, a torque gradient limiter, and a feedforward compensator, wherein: An adaptive PR resonator is used to dynamically adjust the center frequency based on the dominant jitter frequency. Torque gradient limiter, used to enable slope control when torque crosses zero; The feedforward compensator is used to perform torque compensation based on a pre-stored cogging torque compensation curve.

6. The multi-mode motor torque jitter suppression control system according to claim 5, characterized in that: The multimodal torque suppression module synthesizes the outputs of each path, as expressed by the following formula: Tout = Lim(Tref) + Tpr + Tff; Where Tref represents the target torque expected by the user based on the current pedal opening; Lim(Tref) represents the output of the torque gradient limiter after limiting the target torque Tref; Tpr represents the torque suppression amount output by the adaptive PR resonator; Tff represents the torque compensation amount output by the feedforward compensator; and Tout represents the final output torque after multimodal synthesis.

7. A multi-mode motor torque jitter suppression control system according to claim 5, characterized in that: The core processing module dynamically switches the multimodal torque suppression path based on the operating condition identification results, including: If |torque| < 5 Nm and speed < 100 rpm, then the feedforward compensator is activated; If the torque crosses zero, the torque gradient limiter is activated; If periodic jitter is detected, i.e., the dominant jitter frequency is greater than the preset value, the adaptive PR resonator is activated.

8. The multi-mode motor torque jitter suppression control system according to claim 1, characterized in that: The execution module includes a DAC circuit.

9. A method for suppressing torque jitter in a multimodal motor, using a multimodal motor torque jitter suppression control system according to any one of claims 1-8, characterized in that: The method includes: Collect motor and vehicle status data; Based on the motor and vehicle status data, the motor-dominant vibration frequency is detected and the operating condition is identified, and the multi-modal torque suppression path is dynamically switched according to the operating condition identification result. The outputs of each channel are combined; The synthesized torque signal is converted into a motor control signal; The drive motor is controlled according to the motor control signal.

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