CN118074592B - Rotation speed control method and device, electronic equipment and storage medium - Google Patents
Rotation speed control method and device, electronic equipment and storage medium Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The application discloses a rotating speed control method, a rotating speed control device, electronic equipment and a storage medium; the method comprises the following steps: respectively obtaining the current rotating speed of the load output by the first prototype and the actual driving torque output by the second prototype; calculating theoretical adjustment torque of the first prototype according to the current load rotation speed and the preset load setting rotation speed of the first prototype; determining a driving target torque of the second prototype according to the driving actual torque output by the second prototype and a preset driving set torque of the second prototype; the theoretical adjustment torque and the driving target torque of the second prototype are heduled to obtain the load torque; and controlling the current rotating speed of the load of the first machine at the next moment according to the load torque. The embodiment of the application can effectively realize closed-loop control of the rotating speed, ensure the stability of the rotating speed under torque impact and meet the novel test requirement of the new energy power assembly on the bracket.
Description
Technical Field
The embodiment of the application relates to the technical field of automobiles, in particular to a rotating speed control method and device, electronic equipment and a storage medium.
Background
The traditional assembly is used for controlling the gantry frame in a rotating speed-torque control mode, which is also called a speed-torque control mode, and is a motor control mode, wherein the rotating speed and the torque of a motor are controlled through independent PI regulators. The control mode can realize good control effects of rotating speed and torque, and has wider speed and torque range. In this mode, the load motor is responsible for outputting rotational speed and the drive motor is responsible for outputting torque. However, in the early stage of development of the power assembly, the controller does not develop a rotating speed ring control, and under the condition, the rotating speed of the prototype cannot be accurately controlled, so that the novel test requirement of the new energy power assembly on the bracket rack cannot be met.
Disclosure of Invention
The application provides a rotating speed control method, a rotating speed control device, electronic equipment and a storage medium, which can effectively realize closed-loop control of rotating speed, ensure the stability of the rotating speed under torque impact and meet the novel test requirement of a new energy power assembly on a support rack.
In a first aspect, an embodiment of the present application provides a method for controlling a rotational speed, where the method includes:
Respectively obtaining the current rotating speed of the load output by the first prototype at the current moment and the actual driving torque output by the second prototype at the current moment;
Calculating theoretical adjustment torque of the first prototype at the current moment according to the current load rotation speed output by the first prototype at the current moment and the preset load setting rotation speed of the first prototype at the current moment;
Determining a driving target torque of the second prototype at the current moment according to the driving actual torque output by the second prototype at the current moment and a preset driving set torque of the second prototype at the current moment;
the theoretical adjusting torque of the first prototype at the current time and the driving target torque of the second prototype at the current time are heduled to obtain the load torque of the second prototype at the current time; and controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment.
In a second aspect, an embodiment of the present application further provides a rotation speed control device, where the device includes: the device comprises an acquisition module, a calculation module, a determination module and a control module; wherein,
The acquisition module is used for respectively acquiring the current rotating speed of the load output by the first prototype at the current moment and the actual driving torque output by the second prototype at the current moment;
the calculation module is used for calculating theoretical adjustment torque of the first prototype at the current moment according to the current load rotation speed output by the first prototype at the current moment and the preset load setting rotation speed of the first prototype at the current moment;
The determining module is used for determining a driving target torque of the second prototype at the current moment according to the driving actual torque of the second prototype at the current moment and the preset driving set torque of the second prototype at the current moment;
The control module is used for carrying out opposite flushing on the theoretical adjustment torque of the first prototype at the current time and the driving target torque of the second prototype at the current time to obtain the load torque of the second prototype at the current time; and controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment.
In a third aspect, an embodiment of the present application provides an electronic device, including:
One or more processors;
A memory for storing one or more programs,
When the one or more programs are executed by the one or more processors, the one or more processors implement the method for controlling rotational speed according to any embodiment of the present application.
In a fourth aspect, an embodiment of the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the rotational speed control method according to any embodiment of the present application.
The embodiment of the application provides a rotating speed control method, a rotating speed control device, electronic equipment and a storage medium, wherein the current rotating speed of a load output by a first prototype at the current moment and the actual driving torque output by a second prototype at the current moment are respectively acquired; then calculating theoretical regulating torque of the first prototype at the current moment according to the current load rotating speed output by the first prototype at the current moment and the preset load setting rotating speed of the first prototype at the current moment; meanwhile, according to the driving actual torque output by the second prototype at the current moment and the preset driving set torque of the second prototype at the current moment, determining the driving target torque of the second prototype at the current moment; then, carrying out opposite flushing on the theoretical regulating torque of the first prototype at the current moment and the driving target torque of the second prototype at the current moment to obtain the load torque of the second prototype at the current moment; and controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment. In other words, in the technical scheme of the application, torque hedging is added on the basis of a rotating speed closed-loop control algorithm, so that the rotating speed precision is greatly improved, the torque fluctuation of the wheel end is reduced, and a technical foundation is provided for the scheme of controlling the rotating speed by double torque. In the prior art, the rotating speed of the prototype cannot be accurately controlled, and the novel test requirement of the new energy power assembly on the bracket frame cannot be met. Therefore, compared with the prior art, the rotating speed control method, the rotating speed control device, the electronic equipment and the storage medium provided by the embodiment of the application can effectively realize closed-loop control of the rotating speed, ensure the stability of the rotating speed under torque impact and meet the novel test requirement of the new energy power assembly on the support rack; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.
Drawings
FIG. 1 is a schematic flow chart of a rotational speed control method according to an embodiment of the application;
Fig. 2 is a flow chart of a rotational speed control method according to another embodiment of the present application;
FIG. 3 is a flowchart illustrating a rotational speed control method according to another embodiment of the present application;
FIG. 4 is a schematic diagram of the limiting effect of the driving actual torque according to the embodiment of the present application;
Fig. 5 is a flowchart of a rotational speed control method according to another embodiment of the present application;
FIG. 6 is a schematic diagram of the effects of a given torque of a driving motor, a feedback torque of the driving motor and a feedback torque of a load motor according to an embodiment of the present application;
Fig. 7 is a schematic diagram of the effects of a given torque of a driving motor, a feedback torque of the driving motor and a given torque of a load motor according to an embodiment of the present application;
Fig. 8 is a schematic structural diagram of a rotational speed control apparatus according to an embodiment of the present application;
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings.
Fig. 1 is a schematic flow chart of a rotational speed control method according to an embodiment of the present application, where the method may be performed by a rotational speed control device or an electronic device, and the device or the electronic device may be implemented in software and/or hardware, and the device or the electronic device may be integrated into any intelligent device having a network communication function. As shown in fig. 1, the rotational speed control method may include the steps of:
S101, respectively obtaining the current rotating speed of the load output by the first prototype at the current moment and the actual driving torque output by the second prototype at the current moment.
The operating conditions of the automobile assembly in a real operating environment, such as forces, torques, rotational speeds, temperature changes, etc., experienced by components of an engine, transmission, electric drive system, etc., need to be accurately simulated by a bench test. Through the precise control of the support frame, load simulation and dynamic response test under different working conditions can be realized, and the performance of the assembly under various driving conditions is ensured. Therefore, the strict and accurate control of the support frame is an indispensable part in the development and verification processes of the automobile assembly, which is helpful for improving the product quality, shortening the research and development period and ensuring the stability and reliability of the overall performance of the automobile.
The traditional assembly is used for controlling the gantry frame in a rotating speed-torque control mode, wherein a load motor is responsible for outputting rotating speed and a driving motor is responsible for outputting torque. The driving motor in the embodiment of the application refers to a motor for directly or indirectly providing power to drive other mechanical equipment to operate. It is typically the source of the entire transmission or motion system and is responsible for converting electrical energy into mechanical energy to initiate and maintain the operation of the load, which may be a fan, pump, conveyor belt, wheel, etc. Load motors refer to motors used in electrical systems to directly or indirectly drive mechanical equipment and carry a workload. The working principle of the device is that the input electric energy is converted into mechanical energy so as to meet the torque and speed requirements required by the operation of the device. When the motor is connected to a machine, the motor is referred to as a load motor because it is subjected to and overcomes the resistive torque, i.e., load, presented by the machine. The mechanical devices here may be fans, pumps, compressors, elevators, transmissions on a production line, etc.
The first prototype in the embodiment of the application may be a load motor, and the second prototype may be a drive motor. Specifically, the current rotation speed of the load output by the first prototype at the current moment is obtained, and one of the following methods may be adopted: 1) Pulse counting method: an encoder, such as a photoelectric encoder, a magnetic encoder, etc., is mounted on the motor shaft, and generates an electric pulse signal proportional to the rotational speed when the motor rotates. The rotation speed of the motor can be calculated by detecting the number of pulses in a unit time. The method is suitable for the situations of brush direct current motors, brushless direct current motors and alternating current asynchronous motors matched with frequency converters. 2) Hall effect sensors or magneto-resistive sensors: the Hall switch or the magnetic resistance sensor is fixed inside or outside the motor, and when the motor rotates, the sensor outputs corresponding voltage or digital pulse signals along with the change of a magnetic field generated by the permanent magnet or the electromagnet. By counting and processing these signals, the motor speed can be obtained. 3) Photoelectric velocimetry: when the motor rotates, light is periodically blocked or reflected by the grating ruler, the reflective mark or the LED to form a recognizable pulse signal, so that the motor rotating speed is determined. 4) Current method: for some specific types of motors, such as permanent magnet synchronous motors, the rotational speed can be estimated indirectly by analyzing the changes in the motor current waveform, but this requires complex signal processing and algorithm support. 5) Ac induction method: in an ac motor, the rotational speed may be estimated using a phase difference or frequency analysis method, for example, in a three-phase asynchronous motor, the synchronous rotational speed of the motor may be calculated by analyzing the change in current or voltage phase, and the actual rotational speed may be calculated in combination with the slip ratio. 6) Wireless transmission or built-in sensor: the advanced or intelligent motor can be provided with a built-in rotation speed sensor and has a data wireless transmission function. The motors CAN send real-time rotation speed data to the control system directly through communication interfaces such as CAN bus, RS-485, bluetooth, wi-Fi and the like.
In addition, the driving actual torque output by the second prototype at the current time is obtained by one of the following methods: 1) Torque sensor direct measurement: a torque sensor, such as a strain gauge, magneto-electric, or resonant torque sensor, is mounted on the motor shaft, and the sensor is capable of detecting the torque acting on the shaft in real time as the motor rotates and converting it into an electrical signal for output. By reading and processing these signals, the real-time torque value of the motor can be obtained directly. 2) Kinetic model calculation: for some applications, the motor dynamic model can be used for indirect calculation based on motor parameters and a control algorithm and combined with information such as motor current, voltage and rotating speed. 3) The encoder is matched with a dynamometer for testing: on a dedicated motor performance test bench, the motor may be connected to a dynamometer having adjustable load functionality and equipped with high precision encoders to measure rotational speed and position. By applying different loads to the motor and simultaneously monitoring the rotation speed change of the motor, the actual torque can be calculated by combining the dynamic characteristics of the motor. 4) Sensorless technology: with the development of modern control theory and technology, sensorless methods for estimating motor torque based on motor internal magnetic field analysis, transient response analysis, etc., have also emerged, which generally require advanced control algorithms and processor capability support. In practical applications, a suitable method is selected according to different requirements and conditions to measure the torque. For applications where accuracy is required, the direct use of torque sensors is often the best choice.
S102, calculating theoretical adjustment torque of the first prototype at the current moment according to the current load rotation speed output by the first prototype at the current moment and the preset load setting rotation speed of the first prototype at the current moment.
In this step, the electronic device may input the current rotation speed of the load output by the first prototype at the current time and the preset set rotation speed of the load of the first prototype at the current time into a Proportional-Integral-Derivative (PID) algorithm, and output the theoretical adjustment torque of the first prototype at the current time through the PID algorithm. In the PID algorithm, it adjusts the control output to reduce the error of the system, i.e. the difference between the set point and the actual measured value, by three basic actions: 1) Proportion (P): the proportional element directly and proportionally changes the control output according to the current error magnitude. The larger the error, the larger the variation in the output of the PID algorithm, and thus the faster the response variation. 2) Integral (I): the integration section is used for accumulating and correcting errors existing for a long time. If there is a continuous error, the integral term is gradually increased until the error is eliminated, which helps to eliminate steady state errors. 3) Derivative (D): the differentiating link predicts the future error trend according to the change rate of the error, and adjusts the control output in advance according to the future error trend. Differentiation helps to improve the dynamic performance of the system, reduce overshoot and improve the stability of the system.
S103, determining the driving target torque of the second prototype at the current moment according to the driving actual torque output by the second prototype at the current moment and the preset driving set torque of the second prototype at the current moment.
In the step, the electronic equipment can judge whether the second prototype has capacity reduction at the current moment according to the driving actual torque output by the second prototype at the current moment and the preset driving set torque of the second prototype at the current moment; if the second prototype is judged to have capacity reduction at the current moment, the electronic equipment can determine the driving actual torque output by the second prototype at the current moment as the driving target torque of the second prototype at the current moment; if the second prototype is judged not to have capacity degradation at the current time, the electronic equipment can determine the driving set torque of the second prototype at the current time as the driving target torque of the second prototype at the current time.
Further, when the electronic equipment judges whether the second prototype has capacity reduction at the current moment, the absolute value of the difference value between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment can be calculated; if the absolute value of the difference between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment is greater than or equal to a preset torque floating range, the electronic equipment can judge that the second prototype has capacity reduction at the current moment; if the absolute value of the difference between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment is smaller than the torque floating range, the electronic equipment can judge that the second prototype does not have capacity degradation at the current moment.
S104, carrying out opposite flushing on the theoretical adjustment torque of the first prototype at the current time and the driving target torque of the second prototype at the current time to obtain the load torque of the second prototype at the current time.
In the step, the theoretical adjusting torque of the first prototype at the current time and the driving target torque of the second prototype at the current time are heduled to obtain the load torque of the second prototype at the current time; and controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment. Specifically, the electronic device may input the theoretical adjustment torque of the first prototype at the current time and the driving target torque of the second prototype at the current time into a predetermined torque hedging algorithm, and output the load torque of the second prototype at the current time through the torque hedging algorithm.
S105, controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment.
In this step, the electronic device may control the current rotation speed of the load of the first prototype at the next time according to the load torque of the second prototype at the current time. Namely, the electronic equipment can control the current rotating speed of the load motor according to the load torque of the drive motor at the current moment. The magnitude of the load torque affects the magnitude of the rotational speed. Under fixed power conditions, there is an inverse relationship between torque and rotational speed of the engine or motor.
According to the rotating speed control method provided by the embodiment of the application, the current rotating speed of the load output by the first prototype at the current moment and the actual driving torque output by the second prototype at the current moment are respectively obtained; then calculating theoretical regulating torque of the first prototype at the current moment according to the current load rotating speed output by the first prototype at the current moment and the preset load setting rotating speed of the first prototype at the current moment; meanwhile, according to the driving actual torque output by the second prototype at the current moment and the preset driving set torque of the second prototype at the current moment, determining the driving target torque of the second prototype at the current moment; then, carrying out opposite flushing on the theoretical regulating torque of the first prototype at the current moment and the driving target torque of the second prototype at the current moment to obtain the load torque of the second prototype at the current moment; and controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment. In other words, in the technical scheme of the application, torque hedging is added on the basis of a rotating speed closed-loop control algorithm, so that the rotating speed precision is greatly improved, the torque fluctuation of the wheel end is reduced, and a technical foundation is provided for a scheme of controlling the rotating speed by double torque. In the prior art, the rotating speed of the prototype cannot be accurately controlled, and the novel test requirement of the new energy power assembly on the bracket frame cannot be met. Therefore, compared with the prior art, the rotating speed control method provided by the embodiment of the application can effectively realize closed-loop control of the rotating speed, ensure the stability of the rotating speed under torque impact and meet the novel test requirement of the new energy power assembly on the bracket; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.
Fig. 2 is a flowchart of a rotational speed control method according to another embodiment of the present application. Further optimization and expansion based on the above technical solution can be combined with the above various alternative embodiments. As shown in fig. 2, the rotational speed control method may include the steps of:
S201, respectively obtaining the current rotating speed of the load output by the first prototype at the current moment and the actual driving torque output by the second prototype at the current moment.
The first prototype in the embodiment of the application may be a load motor, and the second prototype may be a driving motor.
S202, calculating theoretical adjustment torque of the first prototype at the current moment according to the current load rotation speed output by the first prototype at the current moment and the preset load setting rotation speed of the first prototype at the current moment.
S203, judging whether the second prototype has capacity reduction at the current moment according to the driving actual torque output by the second prototype at the current moment and the preset driving set torque of the second prototype at the current moment; if yes, executing S204; otherwise, S205 is performed.
In the step, the electronic equipment can judge whether the second prototype has capacity reduction at the current moment according to the driving actual torque output by the second prototype at the current moment and the preset driving set torque of the second prototype at the current moment; if the second prototype has a capacity reduction at the current moment, executing S204; if no degradation occurs at the current time in the second prototype, S205 is performed. Specifically, when judging whether the second prototype has capacity reduction at the current moment, the electronic equipment can calculate the absolute value of the difference value between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment; if the absolute value of the difference between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment is greater than or equal to a preset torque floating range, the electronic equipment can judge that the second prototype has capacity reduction at the current moment; if the absolute value of the difference between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment is smaller than the torque floating range, the electronic equipment can judge that the second prototype does not have capacity degradation at the current moment.
S204, determining the driving actual torque output by the second prototype at the current moment as the driving target torque of the second prototype at the current moment.
In this step, if the second prototype has a capacity reduction at the current time, the electronic device may determine the driving actual torque output by the second prototype at the current time as the driving target torque of the second prototype at the current time.
S205, determining the driving set torque of the second prototype at the current time as the driving target torque of the second prototype at the current time.
In this step, if the second prototype does not have capacity degradation at the current time, the electronic device may determine the driving setting torque of the second prototype at the current time as the driving target torque of the second prototype at the current time.
S206, carrying out opposite flushing on the theoretical adjustment torque of the first prototype at the current time and the driving target torque of the second prototype at the current time to obtain the load torque of the second prototype at the current time.
S207, controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment.
In this step, the electronic device may control the current rotation speed of the load of the first prototype at the next time according to the load torque of the second prototype at the current time. Namely, the electronic equipment can control the current rotating speed of the load motor according to the load torque of the drive motor at the current moment. The magnitude of the load torque affects the magnitude of the rotational speed. Under fixed power conditions, there is an inverse relationship between torque and rotational speed of the engine or motor.
According to the rotating speed control method provided by the embodiment of the application, the current rotating speed of the load output by the first prototype at the current moment and the actual driving torque output by the second prototype at the current moment are respectively obtained; then calculating theoretical regulating torque of the first prototype at the current moment according to the current load rotating speed output by the first prototype at the current moment and the preset load setting rotating speed of the first prototype at the current moment; meanwhile, according to the driving actual torque output by the second prototype at the current moment and the preset driving set torque of the second prototype at the current moment, determining the driving target torque of the second prototype at the current moment; then, carrying out opposite flushing on the theoretical regulating torque of the first prototype at the current moment and the driving target torque of the second prototype at the current moment to obtain the load torque of the second prototype at the current moment; and controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment. In other words, in the technical scheme of the application, torque hedging is added on the basis of a rotating speed closed-loop control algorithm, so that the rotating speed precision is greatly improved, the torque fluctuation of the wheel end is reduced, and a technical foundation is provided for a scheme of controlling the rotating speed by double torque. In the prior art, the rotating speed of the prototype cannot be accurately controlled, and the novel test requirement of the new energy power assembly on the bracket frame cannot be met. Therefore, compared with the prior art, the rotating speed control method provided by the embodiment of the application can effectively realize closed-loop control of the rotating speed, ensure the stability of the rotating speed under torque impact and meet the novel test requirement of the new energy power assembly on the bracket; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.
Fig. 3 is a flowchart of a rotational speed control method according to still another embodiment of the present application. Further optimization and expansion based on the above technical solution can be combined with the above various alternative embodiments. As shown in fig. 3, the rotational speed control method may include the steps of:
s301, respectively obtaining the current rotating speed of the load output by the first prototype at the current moment and the actual driving torque output by the second prototype at the current moment.
S302, inputting the current load rotating speed output by the first prototype at the current moment and the preset load setting rotating speed of the first prototype at the current moment into a PID algorithm, and outputting the theoretical adjustment torque of the first prototype at the current moment through the PID algorithm.
S303, calculating the absolute value of the difference value between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment.
And S304, if the absolute value of the difference between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment is greater than or equal to a preset torque floating range, judging that the second prototype has capacity reduction at the current moment.
And S305, determining the driving actual torque output by the second prototype at the current moment as the driving target torque of the second prototype at the current moment.
S306, inputting the driving actual torque output by the second prototype at the current moment into a predetermined limiting filtering algorithm, outputting the limited driving actual torque through the limiting filtering algorithm, and determining the limited driving actual torque as the driving target torque of the second prototype at the current moment.
In this step, the electronic device may input the driving actual torque output by the second prototype at the current time to a predetermined clipping filtering algorithm, output the clipped driving actual torque through the clipping filtering algorithm, and determine the clipped driving actual torque as the driving target torque of the second prototype at the current time. Fig. 4 is a schematic diagram of the clipping effect of the driving actual torque according to the embodiment of the present application. The amplitude limiting filtering algorithm in the embodiment of the application is a digital signal processing method and is used for removing noise and abnormal mutation in data. The main principle of the algorithm is to limit the variation range of the input signal by setting a threshold value, and when the signal variation exceeds the preset reasonable range, the signal value is limited within the threshold value, so that abnormal data points caused by sensor noise, transient interference or other nonlinear effects are eliminated or reduced.
S307, if the absolute value of the difference between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment is smaller than the torque floating range, judging that the second prototype does not have capacity degradation at the current moment.
And S308, determining the driving set torque of the second prototype at the current time as the driving target torque of the second prototype at the current time.
S309, carrying out opposite flushing on the theoretical adjustment torque of the first prototype at the current time and the driving target torque of the second prototype at the current time to obtain the load torque of the second prototype at the current time.
In the step, the electronic device can perform opposite-impact on the theoretical adjustment torque of the first prototype at the current time and the driving target torque of the second prototype at the current time to obtain the load torque of the second prototype at the current time. Specifically, the electronic device may input the theoretical adjustment torque of the first prototype at the current time and the driving target torque of the second prototype at the current time into a predetermined torque hedging algorithm, and output the load torque of the second prototype at the current time through the torque hedging algorithm. By way of example, the torque hedging in the embodiment of the application can be realized by calculating the average value of the two torques, so that stable torque output can be ensured, and the stability of the system to the torque impact test can be improved.
S310, controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment.
Fig. 5 is a flowchart of a rotational speed control method according to another embodiment of the present application. As shown in fig. 5, in the closed-loop control of the rotation speed, the load set rotation speed and the load current rotation speed are introduced into the control input end, the output end is the theoretical adjustment torque, and when the theoretical adjustment torque changes, the load current rotation speed also changes. When the torque suddenly changes, the closed-loop adjustment can not counteract the impact in extremely fast time, so that a torque opposite-impact algorithm is introduced, the known theoretical adjustment torque is directly compensated to the output end of the load torque in proportion, and after the compensation algorithm, the fluctuation of the rotating speed is reduced after the rotating speed is closed-loop adjusted. In consideration of the situation that the capacity reduction of the prototype possibly occurs, the theoretical adjustment torque is directly added to the torque hedging end, which is not reasonable in practice, so that capacity reduction judgment is introduced, when the difference between the driving set torque and the driving actual torque is too large, the capacity reduction of the driving motor can be considered, and the driving set torque can not be used as a reference value for torque hedging compensation any more, but is converted into the driving actual torque to be used as a reference. However, because the driving actual torque is unstable and has torque fluctuation, the driving actual torque is filtered by introducing amplitude limiting filtering, so that the stability of the driving actual torque is ensured.
Fig. 6 is a schematic diagram of the effects of a given torque of a driving motor, a feedback torque of the driving motor and a feedback torque of a load motor according to an embodiment of the present application. As shown in fig. 6, the given torque of the driving motor in fig. 6 is the driving set torque, the feedback torque of the driving motor in fig. 6 is the driving actual torque, and the feedback torque of the load motor in fig. 6 is the load torque. When the difference between the driving set torque and the driving actual torque is too large, the driving motor is considered to have capacity reduction, and the driving set torque can not be used as a reference value for torque hedging compensation any more, but is converted into the driving actual torque to be used as a reference.
Fig. 7 is a schematic diagram of the effects of a given torque of a driving motor, a feedback torque of the driving motor and a given torque of a load motor according to an embodiment of the present application. As shown in fig. 7, the given torque of the driving motor in fig. 7 is the driving set torque, the feedback torque of the driving motor in fig. 7 is the driving actual torque, and the given torque of the load motor in fig. 7 is the theoretical adjustment torque. The application introduces a torque opposite-impact algorithm, directly compensates the known theoretical regulating torque to the output end of the load torque according to a proportion, and reduces the fluctuation of the rotating speed after the rotating speed closed-loop regulation after the compensation algorithm.
According to the rotating speed control method provided by the embodiment of the application, the current rotating speed of the load output by the first prototype at the current moment and the actual driving torque output by the second prototype at the current moment are respectively obtained; then calculating theoretical regulating torque of the first prototype at the current moment according to the current load rotating speed output by the first prototype at the current moment and the preset load setting rotating speed of the first prototype at the current moment; meanwhile, according to the driving actual torque output by the second prototype at the current moment and the preset driving set torque of the second prototype at the current moment, determining the driving target torque of the second prototype at the current moment; then, carrying out opposite flushing on the theoretical regulating torque of the first prototype at the current moment and the driving target torque of the second prototype at the current moment to obtain the load torque of the second prototype at the current moment; and controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment. In other words, in the technical scheme of the application, torque hedging is added on the basis of a rotating speed closed-loop control algorithm, so that the rotating speed precision is greatly improved, the torque fluctuation of the wheel end is reduced, and a technical foundation is provided for a scheme of controlling the rotating speed by double torque. In the prior art, the rotating speed of the prototype cannot be accurately controlled, and the novel test requirement of the new energy power assembly on the bracket frame cannot be met. Therefore, compared with the prior art, the rotating speed control method provided by the embodiment of the application can effectively realize closed-loop control of the rotating speed, ensure the stability of the rotating speed under torque impact and meet the novel test requirement of the new energy power assembly on the bracket; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.
Fig. 8 is a schematic structural diagram of a rotational speed control apparatus according to an embodiment of the present application. As shown in fig. 8, the rotational speed control apparatus includes: an acquisition module 801, a calculation module 802, a determination module 803 and a control module 804; wherein,
The acquiring module 801 is configured to acquire a current load rotation speed output by the first prototype at a current time and a driving actual torque output by the second prototype at the current time respectively;
The calculating module 802 is configured to calculate a theoretical adjustment torque of the first prototype at the current time according to the current load rotation speed output by the first prototype at the current time and a predetermined load setting rotation speed of the first prototype at the current time;
the determining module 803 is configured to determine a driving target torque of the second prototype at the current time according to the driving actual torque of the second prototype output at the current time and a predetermined driving set torque of the second prototype at the current time;
The control module 804 is configured to hedging the theoretical adjustment torque of the first prototype at the current time and the driving target torque of the second prototype at the current time to obtain the load torque of the second prototype at the current time; and controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment.
The rotating speed control device can execute the method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the executing method. Technical details not described in detail in this embodiment may be referred to the rotational speed control method provided in any embodiment of the present application.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Fig. 9 shows a block diagram of an exemplary electronic device suitable for use in implementing embodiments of the application. The electronic device 12 shown in fig. 9 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 9, the electronic device 12 is in the form of a general purpose computing device. Components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 9, commonly referred to as a "hard disk drive"). Although not shown in fig. 9, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the application.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the electronic device 12, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 over the bus 18. It should be appreciated that although not shown in fig. 9, other hardware and/or software modules may be used in connection with electronic device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, implementing the rotational speed control method provided by the embodiment of the present application.
The embodiment of the application also provides a computer storage medium.
The computer-readable storage media of embodiments of the present application may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the application, which is set forth in the following claims.
Claims (8)
1. A rotational speed control method, characterized in that the method comprises:
Respectively obtaining the current rotating speed of the load output by the first prototype at the current moment and the actual driving torque output by the second prototype at the current moment;
Calculating theoretical adjustment torque of the first prototype at the current moment according to the current load rotation speed output by the first prototype at the current moment and the preset load setting rotation speed of the first prototype at the current moment;
Judging whether the capacity of the second prototype is reduced at the current moment according to the driving actual torque output by the second prototype at the current moment and the preset driving set torque of the second prototype at the current moment; if the second prototype is judged to have capacity reduction at the current moment, determining the driving actual torque output by the second prototype at the current moment as the driving target torque of the second prototype at the current moment; if the fact that capacity reduction does not occur on the second prototype at the current time is judged, determining the driving set torque of the second prototype at the current time as the driving target torque of the second prototype at the current time;
the theoretical adjusting torque of the first prototype at the current time and the driving target torque of the second prototype at the current time are heduled to obtain the load torque of the second prototype at the current time; and controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment.
2. The method according to claim 1, wherein determining whether the second prototype has a capacity reduction at the current time based on the driving actual torque output by the second prototype at the current time and the predetermined driving set torque of the second prototype at the current time includes:
Calculating the absolute value of the difference value between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment;
And if the absolute value of the difference between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment is larger than or equal to a preset torque floating range, judging that the second prototype has capacity reduction at the current moment.
3. The method according to claim 2, wherein the method further comprises:
And if the absolute value of the difference between the driving actual torque output by the second prototype at the current moment and the driving set torque of the second prototype at the current moment is smaller than the torque floating range, judging that the capacity of the second prototype is not reduced at the current moment.
4. The method according to claim 1, wherein the undershooting of the theoretical adjustment torque of the first prototype at the current time and the driving target torque of the second prototype at the current time to obtain the load torque of the second prototype at the current time includes:
And inputting the theoretical regulating torque of the first prototype at the current moment and the driving target torque of the second prototype at the current moment into a predetermined torque hedging algorithm, and outputting the load torque of the second prototype at the current moment through the torque hedging algorithm.
5. The method according to claim 1, wherein the method further comprises:
And inputting the driving actual torque output by the second prototype at the current moment into a predetermined limiting filtering algorithm, outputting the driving actual torque after limiting through the limiting filtering algorithm, and determining the driving actual torque after limiting as the driving target torque of the second prototype at the current moment.
6. A rotational speed control apparatus, characterized in that the apparatus comprises: the device comprises an acquisition module, a calculation module, a determination module and a control module; wherein,
The acquisition module is used for respectively acquiring the current rotating speed of the load output by the first prototype at the current moment and the actual driving torque output by the second prototype at the current moment;
the calculation module is used for calculating theoretical adjustment torque of the first prototype at the current moment according to the current load rotation speed output by the first prototype at the current moment and the preset load setting rotation speed of the first prototype at the current moment;
the determining module is used for judging whether the second prototype has capacity reduction at the current moment according to the driving actual torque output by the second prototype at the current moment and the preset driving set torque of the second prototype at the current moment; if the second prototype is judged to have capacity reduction at the current moment, determining the driving actual torque output by the second prototype at the current moment as the driving target torque of the second prototype at the current moment; if the fact that capacity reduction does not occur on the second prototype at the current time is judged, determining the driving set torque of the second prototype at the current time as the driving target torque of the second prototype at the current time;
The control module is used for carrying out opposite flushing on the theoretical adjustment torque of the first prototype at the current time and the driving target torque of the second prototype at the current time to obtain the load torque of the second prototype at the current time; and controlling the current rotating speed of the load of the first prototype at the next moment according to the load torque of the second prototype at the current moment.
7. An electronic device, comprising:
One or more processors;
A memory for storing one or more programs,
When executed by the one or more processors, causes the one or more processors to implement the rotational speed control method of any one of claims 1 to 5.
8. A storage medium having stored thereon a computer program, which when executed by a processor implements the rotational speed control method according to any one of claims 1 to 5.
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| CN114954030A (en) * | 2021-08-30 | 2022-08-30 | 长城汽车股份有限公司 | Torque control method of electric automobile and related device |
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| CN117445697B (en) * | 2023-12-06 | 2024-06-25 | 小米汽车科技有限公司 | Motor torque control method and device for vehicle, vehicle and medium |
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| CN114814584A (en) * | 2022-06-20 | 2022-07-29 | 无锡市朗迪测控技术有限公司 | Vehicle powertrain testing method, system, computer device and medium |
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