CN103944476B

CN103944476B - Torque controller of electric vehicle

Info

Publication number: CN103944476B
Application number: CN201410081961.XA
Authority: CN
Inventors: 郑宏; 刘良忠; 凡时财; 徐红兵
Original assignee: University of Electronic Science and Technology of China
Current assignee: University of Electronic Science and Technology of China
Priority date: 2014-03-07
Filing date: 2014-03-07
Publication date: 2017-01-25
Anticipated expiration: 2034-03-07
Also published as: CN103944476A

Abstract

The invention discloses a torque controller of an electric vehicle. A PI torque controller is combined with a sliding-mode torque controller, a switch module weights a torque current obtained by the PI torque controller and a torque current obtained by the sliding-mode torque controller through different weight coefficients according to a motor speed error to obtain given torque currents, when the motor speed error |delta omega [r] | is larger than or equal to delta omega [r] max, the torque current is completely provided by the sliding-mode torque controller to improve following performance of the rotating speed; when the motor speed error |delta omega [r]| is smaller than delta omega [r] min, the torque current is provided by the PI torque controller, so that floating tracking of the given rotating speed is ensured; when the motor speed error |delta omega [r] | is larger than the delta omega [r] min and smaller than the delta omega [r] max, the two torque controllers operate at the same time so that smooth transition can be ensured. According to the torque controller of the electric vehicle, due to the fact that the PI torque controller is combined with the sliding-mode torque controller, control rapidity is improved, the magnitude of shakes of sliding mode control can be reduced, the rapid following performance of control over an induction motor is improved, and stability of rotating speed control is improved.

Description

An electric vehicle torque controller

技术领域technical field

本发明属于电动汽车电机控制技术领域，更为具体地讲，涉及一种电动汽车转矩控制器。The invention belongs to the technical field of electric vehicle motor control, and more specifically relates to an electric vehicle torque controller.

背景技术Background technique

随着社会的发展以及能源、环保等问题的日益突出，纯电动汽车以其零排放，噪声低等优点越来越受到世界各国的重视，电动汽车已成为21世纪汽车产业的发展方向，是绿色车辆最主要的发展方向之一。驱动电机以及电机驱动控制器作为“三横”技术的重要部分，是提供电动汽车驱动动力的直接提供机构，其驱动特性的好坏直接决定了电动汽车行驶性能的好坏。在传统电动汽车控制系统中转矩控制器一般采用的传统的PI转矩控制器和滑模转矩控制器。With the development of society and the increasingly prominent issues of energy and environmental protection, pure electric vehicles have attracted more and more attention from all over the world due to their advantages of zero emission and low noise. Electric vehicles have become the development direction of the automobile industry in the 21st century. One of the most important development directions of vehicles. As an important part of the "three-horizontal" technology, the drive motor and the motor drive controller are the direct supply mechanism that provides the driving power of the electric vehicle. The quality of its driving characteristics directly determines the driving performance of the electric vehicle. In the traditional electric vehicle control system, the torque controller generally adopts the traditional PI torque controller and the sliding mode torque controller.

图1是基于PI转矩控制器的一种电动汽车驱动系统原理框图。如图1所示，PI(Proportional Integral，比例积分)转矩控制器12根据油门踏板11的给定转速和电机17反馈的实际转速ω_r生成给定转矩电流i_sq，其控制公式为：Figure 1 is a block diagram of an electric vehicle drive system based on PI torque controller. As shown in Figure 1, PI (Proportional Integral, proportional integral) torque controller 12 according to the given speed of accelerator pedal 11 and the actual rotational speed ω _r fed back by the motor 17 to generate a given torque current i _sq , the control formula of which is:

i_sq(t)＝K_pe(t)+K_i∫e(t)dti _sq (t)＝K _p e(t)+K _i ∫e(t)dt

其中，K_p,K_i分别为PI转矩控制器的比例系数和积分系数；e(t)为输入误差， Among them, K _p and K _i are the proportional coefficient and integral coefficient of the PI torque controller respectively; e(t) is the input error,

PI转矩控制器12提供给定转矩电流i_sq ^*给间接矢量控制模块16，该电动汽车驱动系统采用弱磁控制器13提供给定励磁电流i_sd ^*给间接矢量控制模块16，间接矢量控制模块16生成SVPWM(Space Vector Pulse Width Modulation,空间矢量脉宽调制)波来控制功率模块15的六路IGBT(Insulated Gate Bipolar Transistor，绝缘栅双极型晶体管)功率管的开通和关断时间来间接地控制电机17输出的实际转速，3/2变换模块14把采集到的电机17的三相电流i_a、i_b、i_c转换成间接矢量控制模块16所需的励磁电流i_sd和转矩电流i_sq加以闭环控制。The PI torque controller 12 provides a given torque current i _sq ^* to the indirect vector control module 16, and the electric vehicle drive system uses a field weakening controller 13 to provide a given excitation current i _sd ^* to the indirect vector control module 16, and the indirect vector The control module 16 generates SVPWM (Space Vector Pulse Width Modulation, Space Vector Pulse Width Modulation) waves to control the turn-on and turn-off times of the six-way IGBT (Insulated Gate Bipolar Transistor, insulated gate bipolar transistor) power transistors of the power module 15 to indirectly 3/2 conversion module 14 converts the collected three-phase currents ia, _ib , and _{ic of the motor 17 into excitation current i sd} _and _torque required by the indirect vector control module 16 The current i _sq is closed-loop controlled.

PI转矩控制器虽然算法简单，实用性强，但是PI转矩控制器有着固有的缺点：针对同一个控制系统不同转速的PI参数是固定不变的，因而会导致转速响应缓慢，转速超调量大，PI参数难以调节等。Although the PI torque controller has a simple algorithm and strong practicability, the PI torque controller has inherent disadvantages: the PI parameters for different speeds of the same control system are fixed, which will lead to slow speed response and speed overshoot The amount is large, and the PI parameters are difficult to adjust.

图2是基于滑模转矩控制器的一种电动汽车驱动系统的实例原理框图。如图2所示，和PI转矩控制器12一样，滑模转矩控制器22根据油门踏板21的给定转速和电机27反馈的实际转速ω_r生成给定转矩电流i_sq，其控制公式为：Fig. 2 is an example functional block diagram of an electric vehicle drive system based on a sliding mode torque controller. As shown in Fig. 2, like the PI torque controller 12, the sliding mode torque controller 22 according to the given speed of the accelerator pedal 21 and the actual rotational speed ω _r fed back by the motor 27 to generate a given torque current i _sq , the control formula of which is:

i_sq(t)＝-kx(t)-βsgn(x(t))i _sq (t)＝-kx(t)-βsgn(x(t))

$s the s g g n no ((x x ((t t)))) = = \{\begin{matrix} 11,, ((x x ((t t)))) > > 00 \\ - - 11,, ((x x ((t t)))) < < 00 \end{matrix}$

$\{\begin{matrix} k k > > 00 \\ β β > > \frac{{L L}_{r r} {T T}_{l l}}{{PL PL}_{m m}^{22} {i i}_{s the s d d}^{' '}} > > 00 \end{matrix}$

其中，k、β为滑模控制器的设定系数，可以通过设置系数k、β调整滑模控制器的收敛速度。x(t)为给定转速与实际转速ω_r(t)的误差，L_r为电机27的转子自感，T_l为电机27所能承受的最大负载转矩，P为电机27的极对数，L_m为电机27的互感，i′_sd为电机27的额定励磁电流。Among them, k and β are the setting coefficients of the sliding mode controller, and the convergence speed of the sliding mode controller can be adjusted by setting the coefficients k and β. x(t) is the given speed The error with the actual rotating speed ω _r (t), L _r is the rotor self-inductance of the motor 27, T _l is the maximum load torque that the motor 27 can bear, P is the number of pole pairs of the motor 27, L _m is the motor 27 Mutual inductance, i′ _sd is the rated excitation current of the motor 27.

同样的，滑模转矩控制器22提供给定转矩电流i_sq ^*给间接矢量控制模块26，采用弱磁控制器23提供给定励磁电流i_sd ^*给间接矢量控制模块26，间接矢量控制模块26生成SVPWM波来控制功率模块25的六路IGBT功率管的开通和关断时间来间接地控制电机27输出的实际转速，3/2变换模块24把采集到的电机27的三相电流i_a、i_b、i_c转换成间接矢量控制模块26所需的励磁电流i_sd和转矩电流i_sq加以闭环控制。Similarly, the sliding mode torque controller 22 provides a given torque current i _sq ^* to the indirect vector control module 26, and the field weakening controller 23 is used to provide a given excitation current i _sd ^* to the indirect vector control module 26, and the indirect vector control The module 26 generates SVPWM waves to control the turn-on and turn-off times of the six-way IGBT power tubes of the power module 25 to indirectly control the actual rotational speed output by the motor 27, and the 3/2 conversion module 24 converts the collected three-phase current i _a of the motor 27 , _ib , _ic are converted into excitation current _isd and torque current _isq required by the indirect vector control module 26 for closed-loop control.

滑模转矩控制器具有算法简单、响应速度快、对外界噪声干扰和参数摄动具有鲁棒性、无需系统在线辨识、物理实现简单等优点。但是滑模转矩控制器本身所固有的缺陷在于系统会在滑模面上下抖震使得电机实际转速会在给定的转速上下波动进而影响其控制器正常运行。The sliding mode torque controller has the advantages of simple algorithm, fast response speed, robustness to external noise interference and parameter perturbation, no need for system online identification, and simple physical implementation. However, the inherent defect of the sliding mode torque controller is that the system will vibrate up and down on the sliding mode surface, so that the actual speed of the motor will fluctuate up and down at a given speed, which will affect the normal operation of the controller.

发明内容Contents of the invention

本发明的目的在于克服现有技术的不足，提供一种电动汽车转矩控制器，联合使用PI转矩控制器和滑模转矩控制器，提高电动汽车驱动系统的速度快速跟随性和稳定性。The purpose of the present invention is to overcome the deficiencies of the prior art and provide a torque controller for electric vehicles, which uses a PI torque controller and a sliding mode torque controller in combination to improve the speed fast followability and stability of the electric vehicle drive system .

为实现上述发明目的，本发明电动汽车转矩控制器，包括PI转矩控制器、滑模转矩控制器、开关切换模块，其中：In order to achieve the above-mentioned purpose of the invention, the electric vehicle torque controller of the present invention includes a PI torque controller, a sliding mode torque controller, and a switch switching module, wherein:

PI转矩控制器接收来自电动汽车油门踏板的给定转速ω_r ^*和电动汽车电机的实际转速ω_r，生成转矩电流i_sq1 ^*输入开关切换模块；The PI torque controller receives the given rotational speed ω _r ^* from the accelerator pedal of the electric vehicle and the actual rotational speed ω _r of the electric vehicle motor, generates a torque current i _sq1 ^* and inputs it into the switching module;

滑模转矩控制器接收来自油门踏板的电动汽车油门踏板的给定转速ω_r ^*和电动汽车电机的实际转速ω_r，生成转矩电流i_sq2 ^*输入开关切换模块；The sliding mode torque controller receives the given rotational speed ω _r ^* of the accelerator pedal of the electric vehicle from the accelerator pedal and the actual rotational speed ω _r of the motor of the electric vehicle, generates a torque current i _sq2 ^* and inputs it to the switching module;

开关切换模块接收来自油门踏板的给定转速ω_r ^*和电机的实际转速ω_r，以及PI转矩控制器和滑模转矩控制器生成的转矩电流i_sq1 ^*和i_sq2 ^*，得到转矩电流i_sq ^*：The switch switching module receives the given speed ω _r ^* from the accelerator pedal and the actual speed ω _r of the motor, as well as the torque currents i _sq1 ^* and i _sq2 ^* generated by the PI torque controller and the sliding mode torque controller, and obtains the rotational speed Moment current i _sq ^* :

i_sq ^*＝λ*i_sq1 ^*+(1-λ)*i_sq2 ^* i _sq ^* ＝λ*i _sq1 ^* +(1-λ)*i _sq2 ^*

其中，λ为权值参数，确定方法为：Among them, λ is the weight parameter, and the determination method is:

$\{\begin{matrix} λ λ = = 11,, | | {Δω Δω}_{r r} | | \leq \leq {Δω Δω}_{r r} min min \\ λ λ = = 11 - - \frac{| | {Δω Δω}_{r r} | | - - {Δω Δω}_{r r} min min}{{Δω Δω}_{r r} max max - - {Δω Δω}_{r r} min min},, {Δω Δω}_{r r} min min < < | | {Δω Δω}_{r r} | | < < {Δω Δω}_{r r} max max \\ λ λ = = 00,, {Δω Δω}_{r r} max max \leq \leq | | {Δω Δω}_{r r} | | \end{matrix}$

其中，Δω_r＝ω_r-ω_r ^*，表示低转速误差点，表示高转速误差点。Among them, Δω _r =ω _r -ω _r ^* , Indicates the low speed error point, Indicates the high speed error point.

本发明电动汽车转矩控制器，将PI转矩控制器和滑模转矩控制器结合，由开关切换模块根据电机转速误差以不同的权值系数将PI转矩控制器和滑模转矩控制器分别得到的转矩电流进行加权得到给定转矩电流。当电机转速误差时，由滑模转矩控制器完全提供转矩电流来加快速度跟随性。当电机转速误差时，由PI转矩控制器提供以此来保证速度无静差的跟踪给定速度。当电机转速误差时，两种转矩控制器同时运行保证平滑过渡。采用这种方式，既能保证控制的快速性也能削弱滑模控制抖动，增加感应电机转速控制的快速跟随性，提高了转速控制的稳定性。The electric vehicle torque controller of the present invention combines the PI torque controller and the sliding mode torque controller, and the PI torque controller and the sliding mode torque are controlled by the switch switching module with different weight coefficients according to the motor speed error Weighting the torque currents respectively obtained by the controllers to obtain the given torque current. When the motor speed error When , the torque current is fully provided by the sliding mode torque controller to accelerate the speed following performance. When the motor speed error , it is provided by the PI torque controller to ensure that the speed has no static error tracking given speed. When the motor speed error When , the two torque controllers run simultaneously to ensure a smooth transition. This method can not only ensure the rapidity of control but also weaken the jitter of sliding mode control, increase the fast followability of the speed control of the induction motor, and improve the stability of the speed control.

附图说明Description of drawings

图1是基于PI转矩控制器的一种电动汽车驱动系统原理框图；Figure 1 is a schematic block diagram of an electric vehicle drive system based on a PI torque controller;

图2是基于滑模转矩控制器的一种电动汽车驱动系统原理框图；Fig. 2 is a schematic block diagram of an electric vehicle drive system based on a sliding mode torque controller;

图3是基于本发明电动汽车转矩控制器的电动汽车驱动系统的一种具体实施方式原理框图；Fig. 3 is a schematic block diagram of a specific embodiment of the electric vehicle drive system based on the electric vehicle torque controller of the present invention;

图4是权值参数λ的函数曲线；Fig. 4 is the function curve of weight parameter λ;

图5是基于PI转矩控制器驱动的感应电机的三相电流、转矩、实际转速示意图；Fig. 5 is a schematic diagram of three-phase current, torque and actual speed of an induction motor driven by a PI torque controller;

图6是基于滑模转矩控制器驱动的感应电机的三相电流、转矩、实际转速示意图；6 is a schematic diagram of three-phase current, torque, and actual speed of an induction motor driven by a sliding mode torque controller;

图7是基于本发明驱动的感应电机的三相电流、转矩、实际转速示意图。Fig. 7 is a schematic diagram of the three-phase current, torque and actual rotational speed of the induction motor driven by the present invention.

具体实施方式detailed description

下面结合附图对本发明的具体实施方式进行描述，以便本领域的技术人员更好地理解本发明。需要特别提醒注意的是，在以下的描述中，当已知功能和设计的详细描述也许会淡化本发明的主要内容时，这些描述在这里将被忽略。Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings, so that those skilled in the art can better understand the present invention. It should be noted that in the following description, when detailed descriptions of known functions and designs may dilute the main content of the present invention, these descriptions will be omitted here.

实施例Example

图3是基于本发明电动汽车转矩控制器的电动汽车驱动系统的一种具体实施方式原理框图。如图3所示，本发明电动汽车转矩控制器32包括PI转矩控制器321、滑模转矩控制器322、开关切换模块323。Fig. 3 is a functional block diagram of a specific embodiment of an electric vehicle drive system based on the electric vehicle torque controller of the present invention. As shown in FIG. 3 , the electric vehicle torque controller 32 of the present invention includes a PI torque controller 321 , a sliding mode torque controller 322 , and a switch switching module 323 .

PI转矩控制器321接收来自电动汽车油门踏板31的给定转速ω_r ^*和电动汽车电机37的实际转速ω_r，生成转矩电流i_sq1 ^*输入开关切换模块323。The PI torque controller 321 receives the given rotational speed ω _r ^* from the accelerator pedal 31 of the electric vehicle and the actual rotational speed ω _r of the motor 37 of the electric vehicle, generates a torque current i _sq1 ^* and inputs it to the switching module 323 .

与PI转矩控制器321一样，滑模转矩控制器322接收来自油门踏板的电动汽车油门踏板的给定转速ω_r ^*和电动汽车电机的实际转速ω_r，生成转矩电流i_sq2 ^*输入开关切换模块323。Like the PI torque controller 321, the sliding mode torque controller 322 receives the given speed ω _r ^* of the gas pedal of the electric vehicle from the accelerator pedal and the actual speed ω _r of the motor of the electric vehicle, and generates a torque current i _sq2 ^* input switch switching module 323 .

本发明中，PI转矩控制器321和滑模转矩控制器322根据各自的转矩控制方式分别生成转矩电流，但是这两个转矩电流并不是直接输入后续的间接矢量控制模块36的，而是先输入至开关切换模块323，由开关切换模块323来得到最终的给定转矩电流。In the present invention, the PI torque controller 321 and the sliding mode torque controller 322 respectively generate torque currents according to their respective torque control modes, but these two torque currents are not directly input into the subsequent indirect vector control module 36 , but first input to the switch switching module 323, and the switch switching module 323 obtains the final given torque current.

开关切换模块323接收来自油门踏板31的给定转速ω_r ^*和电机的实际转速ω_r，以及PI转矩控制器321和滑模转矩控制器322生成的转矩电流i_sq1 ^*和i_sq2 ^*，得到给定转矩电流i_sq ^*：The switch switching module 323 receives the given rotational speed ω _r ^* from the accelerator pedal 31 and the actual rotational speed ω _r of the motor, as well as the torque currents i _sq1 ^* and i _sq2 generated by the PI torque controller 321 and the sliding mode torque controller 322 ^* , get the given torque current i _sq ^* :

其中，λ为权值参数。Among them, λ is the weight parameter.

由于滑模转矩控制器有很快的响应速度，PI转矩控制器可以无静差跟踪给定速度，在本发明中，开关切换模块323需要根据电机转速误差Δω_r来切换不同的转矩控制器来控制相应的给定转矩电流i_sq ^*，以达到精确控制电机转速的目的。电机转速误差Δω_r＝ω_r-ω_r ^*。当电机转速误差Δω_r在区时，由滑模转矩控制器322完全提供给定转矩电流i_sq ^*来加快跟随性，此时权值参数λ＝0；当电机转速误差Δω_r在区时，由于滑模控制器本身的固有抖动特性不能很好地跟踪给定速度，因此此时的给定转矩电流i_sq ^*完全由PI转矩控制器提供以此来保证速度无静差的跟踪给定速度，此时权值参数λ＝1。是人为设置的转矩控制器切换的转速误差切换点，为低转速误差点，为高转速误差点，均为正值，根据实际情况设置取值，一般情况下 Since the sliding mode torque controller has a very fast response speed, the PI torque controller can track a given speed without static error. In the present invention, the switch switching module 323 needs to switch different torques according to the motor speed error Δω _r The controller controls the corresponding given torque current i _sq ^* to achieve the purpose of precisely controlling the motor speed. Motor speed error Δω _r =ω _r -ω _r ^* . When the motor speed error Δω _r is in In the time zone, the given torque current i _sq ^* is fully provided by the sliding mode torque controller 322 to speed up the followability, and the weight parameter λ=0 at this time; when the motor speed error Δω _r is at In the time zone, since the inherent jitter characteristics of the sliding mode controller itself cannot track the given speed well, the given torque current i _sq ^* at this time is completely provided by the PI torque controller to ensure that there is no static error in the speed Tracking a given speed, at this time the weight parameter λ=1. is the speed error switching point of the artificially set torque controller switching, is the low speed error point, It is a high speed error point, all of which are positive values. Set the value according to the actual situation. Generally,

由于转矩控制器的切换法则和切换过程都是在开关切换模块323中由程序实现的，所以切换法则可以灵活的设计，考虑到转矩控制器切换时候的稳定性，本发明采用变化加权的方法实现两种转矩控制器的缓慢切换。在切换过程中，即权值参数为：Since the switching law and the switching process of the torque controller are all implemented by the program in the switch switching module 323, the switching law can be flexibly designed. Considering the stability of the torque controller when switching, the present invention adopts a change weighted The method realizes the slow switching of the two torque controllers. During the switching process, i.e. The weight parameters are:

$λ λ = = 11 - - \frac{| | {Δω Δω}_{r r} | | - - {Δω Δω}_{r r} m m i i n no}{{Δω Δω}_{r r} max max - - {Δω Δω}_{r r} m m i i n no}$

综上所述，本发明中权值参数λ的确定方法为：In summary, the method for determining the weight parameter λ in the present invention is:

$\{\begin{matrix} λ λ = = 11,, | | {Δω Δω}_{r r} | | \leq \leq {Δω Δω}_{r r} min min \\ λ λ = = 11 - - \frac{| | {Δω Δω}_{r r} | | - - {Δω Δω}_{r r} min min}{{Δω Δω}_{r r} max max - - {Δω Δω}_{r r} min min},, {Δω Δω}_{r r} min min < < | | {Δω Δω}_{r r} | | < < {Δω Δω}_{r r} max max \\ λ λ = = 00,, | | {Δω Δω}_{r r} | | &GreaterEqual; &Greater Equal; {Δω Δω}_{r r} max max \end{matrix}$

可见，权值参数λ是一个以电机转速误差Δω_r为变量的分段函数。图4是权值参数λ的函数曲线。It can be seen that the weight parameter λ is a piecewise function whose variable is the motor speed error Δω _r . Fig. 4 is a function curve of the weight parameter λ.

下面以一个实例来说明本发明的有益效果。分别将PI转矩控制器、滑模转矩控制器以及本发明应用于对3KW感应电机进行间接矢量控制的Simulink仿真驱动系统。表1是3KW感应电机的技术参数。The beneficial effect of the present invention is illustrated below with an example. The PI torque controller, the sliding mode torque controller and the present invention are respectively applied to a Simulink simulation drive system for indirect vector control of a 3KW induction motor. Table 1 is the technical parameters of the 3KW induction motor.

表1Table 1

本次仿真实验是在感应电机额定负载转矩20.04N*m，给定转速为10rad/s下进行的。This simulation experiment is carried out under the rated load torque of the induction motor is 20.04N*m, and the given speed is 10rad/s.

PI转矩控制器中，比例系数K_p＝0.5，积分系数K_i＝1.4。In the PI torque controller, the proportional coefficient K _p =0.5, and the integral coefficient K _i =1.4.

滑模转矩控制器中，根据感应电机技术参数计算待定系数k和β的取值范围，其中电机所能承受的最大负载转矩T_l应为电机能够提供的额定转矩20.04N*m，则：In the sliding mode torque controller, the value ranges of the undetermined coefficients k and β are calculated according to the technical parameters of the induction motor, and the maximum load torque T _l that the motor can bear should be the rated torque 20.04N*m that the motor can provide, but:

$\{\begin{matrix} k k > > 00 \\ β β > > \frac{{L L}_{r r} {T T}_{l l}}{{PL PL}_{m m}^{22} {i i}_{s the s d d}} = = \frac{0.196 0.196 * * 20.04 20.04}{22 * * {0.187 0.187}^{22} * * 6.0 6.0} = = 9.36 9.36 \end{matrix}$

本次仿真实验中取k＝0.4，β＝9.4。并且由于滑模控制本身具有抖振特性，将滑模转矩控制器中的符号函数sgn(x(t))以连续的饱和函数sat(x(t))代替能够很大程度上削弱系统抖振。本次仿真实验中所采用的饱和函数如下：In this simulation experiment, k=0.4, β=9.4. And because the sliding mode control itself has chattering characteristics, replacing the sign function sgn(x(t)) in the sliding mode torque controller with the continuous saturation function sat(x(t)) can greatly weaken the system chattering vibration. The saturation function used in this simulation experiment is as follows:

$s the s a a t t ((x x ((t t)))) = = \{\begin{matrix} 11,, x x ((t t)) &GreaterEqual; &Greater Equal; \frac{π π}{\sqrt{22}} ϵ ϵ \\ s the s i i n no ((\frac{x x ((t t))}{\sqrt{22} ϵ ϵ})),, - - \frac{π π}{\sqrt{22}} ϵ ϵ < < x x ((t t)) < < \frac{π π}{\sqrt{22}} ϵ ϵ \\ - - 11,, x x ((t t)) \leq \leq - - \frac{π π}{\sqrt{22}} ϵ ϵ \end{matrix}$

ε为待定系数，本次仿真实验中设置ε＝1。ε is an undetermined coefficient, and ε=1 is set in this simulation experiment.

本发明电动汽车转矩控制器中所采用的PI转矩控制器和滑模转矩控制器与单独使用的PI转矩控制器和滑模转矩控制器相同。本次仿真实验中设置为0.1rad/s，设置为1rad/s。The PI torque controller and the sliding mode torque controller adopted in the electric vehicle torque controller of the present invention are the same as the PI torque controller and the sliding mode torque controller used separately. In this simulation experiment set to 0.1rad/s, Set to 1rad/s.

图5是基于PI转矩控制器驱动的感应电机的三相电流、转矩、实际转速示意图。图6是基于滑模转矩控制器驱动的感应电机的三相电流、转矩、实际转速示意图。图7是基于本发明驱动的感应电机的三相电流、转矩、实际转速示意图。对图5、图6、图7进行对比可知，三种转矩控制器的性能都能达到较好的水平，三相电流波形畸变小，输出的转矩也较为稳定。然而从转速和跟随性方面来看，PI转矩控制器需要6s达到给定转速，而本发明转矩控制器只需要1.9s即可达到给定转速。从消除静差和减弱抖震方面来看，滑模转矩控制器由于存在抖震导致最终未能稳定在给定转速，而本发明转矩控制器，由于有PI环节作用最终能够稳定在给定转速并且无抖震现象。Fig. 5 is a schematic diagram of the three-phase current, torque and actual speed of the induction motor driven by the PI torque controller. Fig. 6 is a schematic diagram of the three-phase current, torque and actual rotational speed of the induction motor driven by the sliding mode torque controller. Fig. 7 is a schematic diagram of the three-phase current, torque and actual rotational speed of the induction motor driven by the present invention. Comparing Figure 5, Figure 6, and Figure 7, it can be seen that the performance of the three torque controllers can reach a good level, the distortion of the three-phase current waveform is small, and the output torque is relatively stable. However, in terms of speed and followability, the PI torque controller needs 6s to reach the given speed, while the torque controller of the present invention only needs 1.9s to reach the given speed. From the perspective of eliminating static difference and weakening chattering, the sliding mode torque controller fails to stabilize at a given speed due to chattering, but the torque controller of the present invention can finally stabilize at a given speed due to the PI link effect. Constant speed and no chattering phenomenon.

尽管上面对本发明说明性的具体实施方式进行了描述，以便于本技术领域的技术人员理解本发明，但应该清楚，本发明不限于具体实施方式的范围，对本技术领域的普通技术人员来讲，只要各种变化在所附的权利要求限定和确定的本发明的精神和范围内，这些变化是显而易见的，一切利用本发明构思的发明创造均在保护之列。Although the illustrative specific embodiments of the present invention have been described above, so that those skilled in the art can understand the present invention, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, As long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

Claims

1. a kind of electric automobile torque controller is it is characterised in that include pi torque controller, sliding formwork torque controller, switch Handover module, wherein:

Pi torque controller receives the given rotating speed ω from electric automobile pedal_r ^*Actual speed with motor in electric automobile ω_r, generate torque current i_sq1 ^*Input switching switch handover module；

Sliding formwork torque controller receives the given rotating speed ω of the electric automobile pedal from gas pedal_r ^*With electric automobile electricity Actual speed ω of machine_r, generate torque current i_sq2 ^*Input switch handover module；

Switch handover module receives the given rotating speed ω from gas pedal_r ^*Actual speed ω with motor_r, and pi torque control Device processed and the torque current i of sliding formwork torque controller generation_sq1 ^*And i_sq2 ^*, obtain torque current i_sq ^*:

i_sq ^*=λ * i_sq1 ^*+(1-λ)*i_sq2 ^*

Wherein, λ is weighting parameter, and the method for determination is:

\{\begin{matrix} λ = 1, | δ ω_{r} | \leq δ ω_{r} \min \\ λ = 1 - \frac{| {δω}_{r} | - {δω}_{r} \min}{{δω}_{r} \max - {δω}_{r} \min}, δ ω_{r} \min < | δ ω_{r} | < δ ω_{r} \max \\ λ = 0, δ ω_{r} \max \leq | δ ω_{r} | \end{matrix}

Wherein, δ ω_r=ω_r-ω_r ^*, δ ω_rMin represents slow-speed of revolution error dot, δ ω_rMax represents high speed error point.

2. electric automobile torque controller according to claim 1 is it is characterised in that described slow-speed of revolution error dot δ ω_rMin and high speed error point δ ω_rMax meets 2 δ ω_rmin≤δω_rmax.

3. electric automobile torque controller according to claim 1 is it is characterised in that in described sliding formwork torque controller Sign function adopts continuous saturation function.