CN105865731B - A kind of real-time detecting system and its control method of electric car resonance speed - Google Patents
A kind of real-time detecting system and its control method of electric car resonance speed Download PDFInfo
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Abstract
本发明涉及电动汽车驱动电机与传动系的振动耦合领域，公开了一种电动汽车共振转速的实时检测系统和控制方法，该检测系统包括采集模块、分析模块以及控制模块。采集模块布置在电机和车身结构表面的车门、后备箱盖、引擎盖、车顶、翼子板等区域，用于检测电机和车身结构表面的实时振动情况。本发明通过实时检测振动加速度信号来判断电机和车身结构表面的振动情况，一旦振动加速度超过所设阈值，此时电机的转速即为我们所要找出的目标转速，目标转速为控制模块控制电机迅速跨越目标转速提供参考依据，该系统检测效率高，应用范围广，响应迅速，能大大提高汽车驾驶的舒适度。
The invention relates to the field of vibration coupling between an electric vehicle drive motor and a drive train, and discloses a real-time detection system and control method for a resonant rotational speed of an electric vehicle. The detection system includes an acquisition module, an analysis module and a control module. The acquisition module is arranged in areas such as the door, trunk lid, hood, roof, and fenders on the surface of the motor and body structure, and is used to detect the real-time vibration of the motor and body structure surface. The present invention judges the vibration situation of the motor and the vehicle body structure surface by detecting the vibration acceleration signal in real time. Once the vibration acceleration exceeds the set threshold, the speed of the motor is the target speed we want to find out, and the target speed is the speed at which the control module controls the motor. Provide a reference basis across the target speed, the system has high detection efficiency, wide application range, quick response, and can greatly improve the driving comfort of the car.
Description
技术领域technical field
本发明属于电动汽车驱动电机与车身结构表面的振动耦合领域，更具体地说是涉及一种能实时检测电动汽车驱动电机与车身结构表面共振转速的控制系统和方法。The invention belongs to the field of vibration coupling between an electric vehicle drive motor and a vehicle body structure surface, and more specifically relates to a control system and method capable of real-time detection of the resonance speed of an electric vehicle drive motor and the surface of a vehicle body structure.
背景技术Background technique
电动汽车以其能源的洁净，满足了日趋严格的汽车排放法规的要求，对于缓解生化能源的压力和环境保护有着积极的意义。主观上很多人认为，与传统的内燃机汽车相比，电动汽车在振动与噪声方面具有非常大的优势。但实质上，驱动电机的振动和车身结构表面的振动存在着较强的耦合，匹配不好的电动汽车，其振动与噪声特性甚至还不及内燃机汽车。现阶段，对于电动汽车驱动电机与车身结构表面的振动耦合研究的文献和专利较少，大多集中在驱动电机振动与抑制、车身结构表面振动与抑制，以及驱动电机的控制方面。驱动电机的振动控制主要集中在以下几个领域：电机转子的偏心、电机气隙磁场的变化、输出转矩波动的控制以及输出转速的控制等。其中，电机输出转速的控制是最常见的方式，目前避免电动汽车共振的方法主要是通过调节电机的转速，越过共振速度点。但目前现有文献这方面的控制主要还是处于静态的，通过提前预设危险速度点来控制电机的输出转速，对电动汽车驱动电机和车身结构表面之间的振动分析大多数相对独立的，所研究对象的固有振动频率基本上为静态的，不能随着汽车的工作状态和载荷的改变而进行实时控制。即使单独的控制，其控制的实时性、准确性和鲁棒性也值得商榷。例如现有技术中存在一种避免汽车共振的控制系统，它在控制模块内预设有共振速度点及对应的共振速度上偏移量和共振速度下偏移量(共振速度点加上共振速度上偏移量为共振速度上偏移点，共振速度点加上共振速度下偏移量为共振速度下偏移点)，当数据采集模块检测到电机运行的实际转速与共振速度上偏移点或共振速度下偏移点相对应时，控制模块控制电机提高加速度以越过共振速度点。这种做法并不符合汽车实际运行的情况。根据固有频率公式可知，不同质量情况下，汽车这个系统的固有频率是不一样的，在日常使用汽车时，车内载重和乘客数量都是变化的，所以上述所举的现有技术不符合实际的汽车使用情况。驱动电机和车身结构表面之间的振动存在复杂且实时的耦合关系，随着汽车运行工况以及道路工况的变化，只有对二者的耦合关系进行实时的检测，找出实时的目标转速(即共振转速或振动加速度超过所设阈值时对应的转速)，控制模块以此为依据对电机进行调速，才能从根本上抑制或者消除耦合振动，从而提升整车的NVH特性，改善电机的工作效率，延长电机和车身结构表面的寿命。With its clean energy, electric vehicles meet the requirements of increasingly stringent vehicle emission regulations, and have positive significance for alleviating the pressure of biochemical energy and environmental protection. Subjectively, many people believe that compared with traditional internal combustion engine vehicles, electric vehicles have great advantages in terms of vibration and noise. But in essence, there is a strong coupling between the vibration of the driving motor and the vibration of the surface of the body structure, and the vibration and noise characteristics of an electric vehicle with a poor match are not even as good as those of an internal combustion engine vehicle. At this stage, there are few literatures and patents on the vibration coupling research between the electric vehicle drive motor and the surface of the body structure, and most of them focus on the vibration and suppression of the drive motor, the vibration and suppression of the surface of the body structure, and the control of the drive motor. The vibration control of the drive motor mainly focuses on the following areas: the eccentricity of the motor rotor, the change of the air gap magnetic field of the motor, the control of the output torque fluctuation and the control of the output speed, etc. Among them, the control of the output speed of the motor is the most common way. At present, the method of avoiding the resonance of electric vehicles is mainly to adjust the speed of the motor to cross the resonance speed point. However, the control in this aspect of the existing literature is still mainly static. By presetting the dangerous speed point in advance to control the output speed of the motor, most of the vibration analysis between the electric vehicle drive motor and the surface of the body structure is relatively independent. The natural vibration frequency of the research object is basically static and cannot be controlled in real time as the working state and load of the vehicle change. Even if it is a separate control, its real-time performance, accuracy and robustness are questionable. For example, there is a control system for avoiding automobile resonance in the prior art, which is preset with a resonance velocity point and a corresponding resonance velocity upper offset and a resonance velocity lower offset in the control module (resonance velocity point plus resonance velocity The upper offset is the upper offset point of the resonance velocity, and the resonance velocity point plus the lower offset of the resonance velocity is the lower offset point of the resonance velocity), when the data acquisition module detects that the actual speed of the motor is running and the upper offset point of the resonance velocity Or when the offset point at the lower resonance speed corresponds, the control module controls the motor to increase the acceleration to cross the resonance speed point. This approach does not correspond to the actual operation of the car. According to the natural frequency formula, it can be known that the natural frequency of the car system is different under different mass conditions. When using the car in daily use, the load and the number of passengers in the car change, so the above-mentioned prior art does not conform to reality. car usage. There is a complex and real-time coupling relationship between the vibration of the drive motor and the surface of the body structure. With the change of the vehicle's operating conditions and road conditions, only real-time detection of the coupling relationship between the two can be performed to find out the real-time target speed ( That is, the corresponding speed when the resonance speed or vibration acceleration exceeds the set threshold), the control module adjusts the speed of the motor based on this, in order to fundamentally suppress or eliminate the coupled vibration, thereby improving the NVH characteristics of the vehicle and improving the work of the motor efficiency, extending the life of motors and body structural surfaces.
发明内容Contents of the invention
针对上述实际需求，本发明所要解决的技术问题是提供一种电动汽车共振转速的控制方法，对驱动电机与车身结构表面的振动耦合进行实时检测，找出电动汽车在不同工况下，不同载荷下车身结构表面振动超过所设阈值时对应的电机转速，为改善耦合振动提供准确的依据，提高汽车驾驶的舒适度和安全性。In view of the above actual needs, the technical problem to be solved by the present invention is to provide a method for controlling the resonant speed of an electric vehicle, to detect the vibration coupling between the drive motor and the surface of the body structure in real time, and to find out the different loads of the electric vehicle under different working conditions. The corresponding motor speed when the surface vibration of the lower body structure exceeds the set threshold provides an accurate basis for improving the coupling vibration and improving the comfort and safety of driving.
本发明的目的是通过以下技术方案来实现的：一种电动汽车共振转速的控制方法，其特征在于，所述的一种避免电动汽车共振的实时检测系统主要包括采集模块、分析模块以及控制模块三个模块。所述采集模块由磁性固定基座、设置于磁性固定基座上的振动加速度传感器、振动数据采集卡和通电元件组成。振动加速度传感器和通电元件布置在电机和车身结构表面的车门、后备箱盖、引擎盖、车顶、翼子板。所述通电元件与所述待测电机供电连接，所述振动加速度传感器通过磁性固定基座与所述待测电机和车身结构表面粘接，用于检测所述区域的振动加速度信号。所述分析模块由抗混叠滤波器和振动数据采集分析软件组成，用于根据采集模块检测出的振动加速度信号得到所述待测电机和车身结构表面的振动模态参数，找出此时电机和车身结构表面对应的目标转速，即共振转速或振动加速度超过所设阈值时对应的转速。所述控制模块包括直流电源、电位器自动调节系统、外围电路、调速驱动器，接收来自分析模块的调速信号，用于调节电机的转速。所述的一种避免电动汽车共振的控制方法包括如下步骤：The object of the present invention is achieved through the following technical solutions: a method for controlling the resonance speed of an electric vehicle, characterized in that the described real-time detection system for avoiding resonance of an electric vehicle mainly includes an acquisition module, an analysis module and a control module Three modules. The acquisition module is composed of a magnetic fixed base, a vibration acceleration sensor arranged on the magnetic fixed base, a vibration data acquisition card and an electrification element. The vibration acceleration sensor and the electrification element are arranged on the door, the trunk lid, the engine cover, the roof, and the fender on the surface of the motor and the body structure. The energizing element is connected to the motor under test for power supply, and the vibration acceleration sensor is bonded to the motor under test and the surface of the vehicle body structure through a magnetic fixing base to detect vibration acceleration signals in the region. The analysis module is composed of an anti-aliasing filter and vibration data acquisition and analysis software, which is used to obtain the vibration modal parameters of the motor to be tested and the surface of the vehicle body structure according to the vibration acceleration signal detected by the acquisition module, and find out the vibration mode parameters of the motor at this time. The target speed corresponding to the surface of the vehicle body structure, that is, the corresponding speed when the resonance speed or the vibration acceleration exceeds the set threshold. The control module includes a DC power supply, a potentiometer automatic adjustment system, a peripheral circuit, and a speed regulation driver, and receives a speed regulation signal from the analysis module to regulate the speed of the motor. A control method for avoiding electric vehicle resonance comprises the following steps:
(1)采集模块采集电机和车身结构表面的车门、后备箱盖、引擎盖、车顶、翼子板的振动加速度信号，(1) The acquisition module collects the vibration acceleration signals of the motor and the vehicle door, trunk lid, engine cover, roof and fender on the surface of the body structure,
(2)分析模块处理和分析来自采集模块的振动加速度信号，根据阈值对比分析结果做出判断，车身结构表面是否超过所设阈值，(2) The analysis module processes and analyzes the vibration acceleration signal from the acquisition module, and makes a judgment according to the threshold value comparison analysis results, whether the body structure surface exceeds the set threshold value,
(3)如果分析模块判定此刻车身结构表面振动超过所设阈值，则此时的初始转速即为我们所要找的此时此种工况下的目标转速，控制系统进入转速控制模式，速度补偿计算器算出跨过共振速度点所需补偿的转速，然后将该速度补偿信号与初始转速信号相加，得到实际所需的转速信号，控制模块接收到实际所需的转速信号后，控制电机转速，快速跨越目标转速，(3) If the analysis module determines that the surface vibration of the body structure exceeds the set threshold at this moment, the initial speed at this time is the target speed we are looking for under this working condition at this time, the control system enters the speed control mode, and the speed compensation calculation The controller calculates the speed that needs to be compensated across the resonance speed point, and then adds the speed compensation signal to the initial speed signal to obtain the actual required speed signal. After the control module receives the actually required speed signal, it controls the motor speed. Quickly cross the target speed,
(4)如果分析模块判定此刻车身结构表面没有超过所设阈值，则不触发控制模块，采集模块和分析模块继续检测电机和车身结构表面的振动情况。(4) If the analysis module determines that the surface of the body structure does not exceed the set threshold at the moment, the control module is not triggered, and the acquisition module and the analysis module continue to detect the vibration of the motor and the surface of the body structure.
本发明与现有技术相比，具有的有益效果是：Compared with the prior art, the present invention has the beneficial effects of:
(1)对驱动电机与车身结构表面的振动耦合进行实时检测，为控制模块控制电机避开共振(或超过所设阈值的振动)提供准确依据，响应迅速，应用范围广，减振效果明显，这比在控制模块预设判断程序更具有实际意义。(1) Real-time detection of the vibration coupling between the drive motor and the surface of the body structure, providing an accurate basis for the control module to control the motor to avoid resonance (or vibration exceeding the set threshold), rapid response, wide application range, and obvious vibration reduction effect, This has more practical significance than presetting the judgment program in the control module.
(2)本专利可以对复杂道路情况和电动汽车工作情况进行更细节的分析，使各项检测指标更精确，同时将振动检测的误判降到了最低。(2) This patent can analyze complex road conditions and the working conditions of electric vehicles in more detail, so that various detection indicators are more accurate, and at the same time, the misjudgment of vibration detection is minimized.
(3)本专利可以用于指导驱动电机与结构的优化设计、匹配，提高驱动电机的工作效率，提升疲劳寿命，改善整车的NVH品质，提升车辆的舒适性，从而提高了车辆的主动安全性。(3) This patent can be used to guide the optimal design and matching of the drive motor and structure, improve the working efficiency of the drive motor, improve the fatigue life, improve the NVH quality of the vehicle, and improve the comfort of the vehicle, thereby improving the active safety of the vehicle sex.
(4)本专利还可以推广到大型水电机组、电动飞机等类似工程领域，因此也具有重要的工程应用价值。(4) This patent can also be extended to similar engineering fields such as large hydropower units and electric aircraft, so it also has important engineering application value.
附图说明Description of drawings
图1实时检测系统工作示意图。Figure 1 Schematic diagram of the real-time detection system.
图2实时检测系统工作流程图。Figure 2. Workflow diagram of the real-time detection system.
具体实施方式Detailed ways
以下将结合附图1和2，对本发明的具体实施方式做进一步详细描述。但这些实施方式不限于本发明，本领域的普通技术人员根据这些实施方式所做出的结构、方法或功能上的变换均包含在本发明的保护范围内。The specific implementation manner of the present invention will be further described in detail below in conjunction with accompanying drawings 1 and 2 . However, these embodiments are not limited to the present invention, and structural, method, or functional changes made by those skilled in the art based on these embodiments are all included in the protection scope of the present invention.
本专利发明的一种避免电动汽车共振的实时检测系统主要包括采集模块、分析模块以及控制模块三个模块。所述采集模块由磁性固定基座、设置于磁性固定基座上的振动加速度传感器，振动数据采集卡和通电元件组成，振动加速度传感器和通电元件布置在电机和车身结构表面的车门、后备箱盖、引擎盖、车顶、翼子板。所述通电元件与所述待测电机供电连接，所述振动加速度传感器通过磁性固定基座与所述待测电机和车身结构表面粘接，用于检测所述区域的振动加速度信号。所述分析模块由抗混叠滤波器和振动数据采集分析软件组成，用于根据采集模块检测出的振动加速度信号得到所述待测电机和车身结构表面的振动模态参数，找出此时电机和车身结构表面对应的目标转速(即共振转速或振动加速度超过所设阈值时对应的转速)。所述控制模块包括直流电源、电位器自动调节系统、外围电路、调速驱动器，接收来自分析模块的调速信号，进而调节电机的转速。A real-time detection system for avoiding electric vehicle resonance disclosed by this patent mainly includes three modules: an acquisition module, an analysis module and a control module. The acquisition module is composed of a magnetic fixed base, a vibration acceleration sensor arranged on the magnetic fixed base, a vibration data acquisition card and an electrification element, and the vibration acceleration sensor and the electrification element are arranged on the car door and the trunk lid on the surface of the motor and the body structure , hood, roof, fenders. The energizing element is connected to the motor under test for power supply, and the vibration acceleration sensor is bonded to the motor under test and the surface of the vehicle body structure through a magnetic fixing base to detect vibration acceleration signals in the region. The analysis module is composed of an anti-aliasing filter and vibration data acquisition and analysis software, which is used to obtain the vibration modal parameters of the motor to be tested and the surface of the vehicle body structure according to the vibration acceleration signal detected by the acquisition module, and find out the vibration mode parameters of the motor at this time. The target rotational speed corresponding to the surface of the vehicle body structure (that is, the rotational speed corresponding to when the resonance rotational speed or the vibration acceleration exceeds the set threshold). The control module includes a DC power supply, a potentiometer automatic adjustment system, a peripheral circuit, and a speed-regulating driver, and receives a speed-regulating signal from the analysis module to further adjust the speed of the motor.
具体控制方法包括如下步骤：The specific control method includes the following steps:
(1)采集模块采集电机和车身结构表面的车门、后备箱盖、引擎盖、车顶、翼子板的振动加速度信号，(1) The acquisition module collects the vibration acceleration signals of the motor and the vehicle door, trunk lid, engine cover, roof and fender on the surface of the body structure,
(2)分析模块处理和分析来自采集模块的振动加速度信号，根据阈值对比分析结果做出判断，车身结构表面振动是否超过所设阈值，(2) The analysis module processes and analyzes the vibration acceleration signal from the acquisition module, and makes a judgment according to the threshold comparison analysis results, whether the surface vibration of the vehicle body structure exceeds the set threshold,
(3)如果分析模块判定此刻车身结构表面振动是否超过所设阈值，则此时的初始转速即为我们所要找的此时此种工况下的目标转速，控制系统进入转速控制模式，速度补偿计算器算出跨过共振速度点所需补偿的转速，然后将该速度补偿信号与初始转速信号相加，得到实际所需的转速信号，控制模块接收到实际所需的转速信号后，控制电机转速，快速跨越目标转速，(3) If the analysis module determines whether the surface vibration of the vehicle body structure exceeds the set threshold at this moment, then the initial speed at this time is the target speed under this working condition we are looking for at this time, the control system enters the speed control mode, and the speed compensation The calculator calculates the speed compensation required to cross the resonance speed point, and then adds the speed compensation signal to the initial speed signal to obtain the actual required speed signal. After the control module receives the actual required speed signal, it controls the motor speed , quickly cross the target speed,
(4)如果分析模块判定此刻车身结构表面振动没有超过所设阈值，则不触发控制模块，采集模块和分析模块继续检测电机和车身结构表面的振动情况。(4) If the analysis module determines that the surface vibration of the body structure does not exceed the set threshold at the moment, the control module will not be triggered, and the acquisition module and analysis module will continue to detect the vibration of the motor and the surface of the body structure.
振动数据采集卡的通道数根据所测振动加速度信号的采集点数选择，满足实验要求。The number of channels of the vibration data acquisition card is selected according to the number of acquisition points of the measured vibration acceleration signal, which meets the experimental requirements.
为固定好振动加速度传感器，将振动加速度传感器通过螺纹连接和磁性固定基座固定为一体，再将固定为一体的振动加速度传感器和磁性固定基座通过磁性固定基座的磁力和强力胶粘接在电机和车身结构表面的车门、后备箱盖、引擎盖、车顶、翼子板。In order to fix the vibration acceleration sensor, the vibration acceleration sensor and the magnetic fixing base are fixed together through threaded connection, and then the fixed vibration acceleration sensor and the magnetic fixing base are bonded together by the magnetic force of the magnetic fixing base and superglue. Doors, trunk lids, hoods, roofs, fenders for electric motors and body structure surfaces.
将抗混叠滤波器设置在所述采集模块与所述分析模块之间，用于对采集模块检测的振动加速度信号进行滤波。An anti-aliasing filter is arranged between the acquisition module and the analysis module, for filtering the vibration acceleration signal detected by the acquisition module.
为进一步消除环境系统对振动加速度传感器的影响，所述振动加速度传感器及其磁性固定基座的外表面有隔音减震胶包裹，并且所述隔音减震胶粘性强，不易脱落，含胶量高，不易断裂。In order to further eliminate the impact of the environmental system on the vibration acceleration sensor, the outer surface of the vibration acceleration sensor and its magnetic fixing base is wrapped with sound-proof and shock-absorbing glue, and the sound-proof and shock-absorbing glue is strong and not easy to fall off. High, not easy to break.
接下来具体描述一下控制模块的工作过程，控制模块接收来自分析模块的调速信号，当电机或车身结构表面的车门、后备箱盖、引擎盖、车顶、翼子板产生共振时，通过调速驱动器改变电机转速，改变电机的振动频率，从而达到越过共振速度点的目的。整个过程中的通电元件为通电探针。Next, describe the working process of the control module in detail. The control module receives the speed regulation signal from the analysis module. The high-speed drive changes the motor speed and the vibration frequency of the motor, so as to achieve the purpose of crossing the resonance speed point. The energizing element in the whole process is the energizing probe.
以上所述的一系列详细说明仅仅是针对本发明的可行性实施方式的具体说明，它们并非用以限制本发明的保护范围，凡依据本发明的技术方案所作的任何等效实施方式或等效变换，均应包含在本发明的保护范围之内。The above-mentioned series of detailed descriptions are only specific descriptions for the feasible implementation of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent implementation or equivalent Transformation should be included within the protection scope of the present invention.
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