A dual-motor control system and control method for a dual-motor combined drive system

Abstract

The invention discloses a dual-motor control system and a control method of a dual-motor joint drive system. The dual-motor control system adopts a multi-core single processor to control the operation of two motors with different characteristics, saving communication, storage, peripheral circuits, etc. resources, reduce the influence of different motor response speeds that may be caused by communication time differences, and the impact of ineffective coordination and cooperation, and at the same time achieve lightweight, low cost, and high reliability. And the three cores perform different tasks according to the nature of the task to optimize the division of labor and improve operating efficiency. Kernel 1 receives the demanded torque command of the vehicle, optimizes the torque distribution in real time according to the different characteristics and data of the two motors, and performs vector control on the two motors by Kernel 2 and Kernel 3 to output the corresponding torque, and dynamically adjusts the coordinating torque according to the road conditions. The state variables are applicable to various road conditions, optimize the torque distribution in real time, and minimize the loss of the controller and the dual-motor coupling drive system to achieve efficient operation.

Description

technical field [0001] 本发明涉及电动汽车电驱动技术领域,尤其涉及一种双电机联合驱动系统控制系统。 Background technique [0002] 目前纯电动汽车驱动系统大多采用单一动力源,即单电机方式进行驱动,由于在车辆加速行驶、低速行驶、高速行驶时对电机功率、速度、扭矩的需求不同,电机难以在更宽的速度范围内实现高效率驱动,从而在全运行周期整体驱动效率较低;且随着功率需求的增加,其重量、体积、直流电压、电流均不断增大。所以,多动力源驱动系统,不同运行特性的电机协调驱动的方式成为解决上述问题的重要技术发展方向。 [0003] 多动力源协调驱动可以分为集中式驱动、分布式驱动。集中式驱动即多个电机通过诸如行星齿轮等机械结构进行动力耦合,将不同动力源的输出动力进行合理、高效的合成与分解,达到系统效能最优。分布式驱动,结构简单占用空间小便于布置,且均可独立控制,比如轮边电机、轮毂电机等。目前常用的多动力源驱动系统多为双电机的联合驱动,如双电机行星耦合驱动系统等。但大多使用独立的控制器进行控制,或仅将两个控制器集中在一个壳体内组成一个双电机控制器,依然采用两个处理芯片进行控制。这种控制方式在控制器接收整车控制器发来的控制命令时,由于通讯时差可能会导致电机响应速度不一,不能有效协调配合;且动力优化分配算法需要在整车控制器中运行然后将控制命令通过CAN总线分发到各电机控制器执行,加大了整车控制器负担。 [0004] 对于多电机驱动系统扭矩分配方式有基于逻辑门限值的简单分配、有基于效率最大的优化分配等等。公开号为CN106240402B的专利申请提供了一种双电机电动汽车的控制方法及装置,其中方法包括:当后电机效率大于高效率阈值且需求扭矩大于扭矩上限值则切换为四驱模式,即当需求扭矩大于后电机两倍扭矩时将需求扭矩平均分配给前后电机,否则保持后电机扭矩不变其余分配给前电机。这种方式较为简单且依赖于阈值的设置,亦没有考虑电机效率特性,所分配结果并非最优,难以实现高、中、低全速范围的高效运行。 [0005] 以效率最优或综合经济性最优为目标的优化分配时,动态规划是目前应用较多的全局优化算法之一,但其计算庞大而且极易陷入维数灾难,不可能在车辆行驶过程中进行实时管理。而瞬时优化适用于非特定工况,可根据当前车辆运行状态实时调整动...

AI Technical Summary

Problems solved by technology

This method is relatively simple and depends on the setting of the threshold value, and does not consider the motor efficiency characteristics, the distribution result is not optimal, and it is difficult to achieve high-efficiency operation in the high, medium and low full-speed range

[0005] Dynamic programming is one of the most widely used global optimization algorithms when optimizing allocation with the goal of optimal efficiency or comprehensive economic efficiency. However, its calculation is huge and it is easy to fall into the disaster of dimensionality. for real-time management

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