CN1927609B - Motor driving system with speed adaptation capability and controlling method thereof - Google Patents

Abstract

The invention relates to a motor drive system with vehicle speed adaptability and a control method for the system. The system includes a motor drive system controller, a first motor, a first motor controller, a second motor, and a second motor controller. It is characterized in that: both the first motor and the second motor have a double-end output shaft structure, and one output shaft of the first motor is connected to one output shaft of the second motor through at least one reducer; the motor drive system controller uses signal cables to connect with the The first motor controller is connected to the second motor controller, the first motor controller is connected to the first motor by a power cable, and the second motor controller is connected to the second motor by a power cable. Its advantage is that it can automatically change the working mode of the drive system according to the vehicle's speed, power or traction requirements, and according to the driving conditions, so as to meet the requirements of various working conditions such as low-speed climbing, medium-high speed driving, vehicle braking, and reversing. It can automatically adapt to various operating conditions of the vehicle. The drive system can be used in pure electric vehicles, fuel cell electric vehicles, hybrid electric vehicles, and various other vehicles driven by electric motors.

Description

Motor drive system with vehicle speed adaptability and control method for the system

technical field

The invention relates to a motor drive system with vehicle speed adaptability and a control method of the system, in particular to a motor drive system of an electric vehicle and a control method of the system. This drive system can be used in pure electric vehicles, fuel cell electric vehicles and hybrid electric vehicles. The drive system described in the present invention can also be applied to some special vehicles, including but not limited to the following special vehicles: mining electric wheeled trucks, armored vehicles with motor drive systems and tanks with motor drive systems, etc. .

In the present invention, the above-mentioned various types of electric vehicles and special electric vehicles are collectively referred to as electric vehicles.

technical background

For electric vehicles powered by motors, including pure electric vehicles, fuel cell electric vehicles and series hybrid electric vehicles, the power of the vehicle must meet certain requirements, including performance indicators such as climbing ability, maximum speed, acceleration ability, etc. . Therefore, the motor drive system must have mechanical characteristics compatible with the power of the vehicle, and should have high efficiency and low cost. In addition, the motor drive system should also have the braking energy feedback capability, that is, when the vehicle is in a coasting or braking state, part of the braking energy can be fed back to the electric energy storage system such as the power battery or super capacitor through the motor drive system. In order to achieve these requirements, an ideal motor drive system should have the following characteristics.

●It can output larger torque at low speed to meet the motor torque requirements for vehicle climbing

●High power at medium and high speeds, which meets the acceleration performance of the vehicle and meets the power requirements of the motor at the highest speed

●In the whole speed range, the torque has good smoothness

●The motor has the ability of four-quadrant operation

●High efficiency over the entire operating range

●On the premise of meeting the vehicle power requirements, the power should be as small as possible to increase the load rate of the motor drive system, reduce the cost and reduce the quality of the system

●Stable performance and high reliability

●Low cost, high cost performance

The mechanical characteristics of the motor drive system with the above characteristics are shown in curve 1 in Fig. 1 . For this ideal mechanical characteristic, at low speeds, the drive system has high torque, which can meet the requirements of vehicle climbing; at medium and high speeds, the drive system has appropriate power, which can meet the requirements of vehicle traction power.

In Figure 1, compared with the motor drive system corresponding to curve 1 with ideal characteristics, the motor drive system corresponding to curve 2 has the same power at medium and high speeds; the motor drive system corresponding to curve 3 has the same power at low speed maximum torque. However, the motor drive system corresponding to the curve 2 has a low maximum torque, and the climbing ability of the vehicle cannot meet the requirement with this motor drive system. The motor drive system corresponding to curve 3, although its maximum torque and power at medium and high speeds can meet the requirements, the vehicle can meet the power requirements with this motor drive system, but the power of the motor drive system is higher than the actual power The need is much greater. If the power reserve is too large, it will inevitably cause problems such as high cost, low load rate, high quality and low efficiency of the motor drive system.

The Chinese Invention Patent Application Publication discloses a "dual-motor hybrid vehicle power system", publication number: CN1420034A. Power sedans get their due. This technology is similar to the scheme adopted in the Tino, a hybrid electric sedan of Nissan Corporation of Japan. In this technical solution, two motors are included, namely a main motor and an auxiliary motor. The main motor can drive the vehicle alone, or it can be assisted. However, the main function of the auxiliary motor is to generate electricity, and one end thereof is connected with an engine, and the auxiliary motor does not participate in driving the vehicle; another function of the auxiliary motor is to start the engine. The main feature of the technical solution is that it must include an engine, which is mechanically connected with the auxiliary motor, and the engine and the dual motors together form a series hybrid power system. Therefore, the technical solution has complex structure and high cost.

To sum up, for an electric vehicle driven by a motor, the core issue of the drive system is to realize a motor drive system with mechanical characteristics similar to the above ideals. When the vehicle is working at a low speed, the drive system can generate a large torque. When the vehicle is running at medium or high speed, the motor drive system has appropriate power.

Contents of the invention

The object of the present invention is to propose a kind of motor drive system with vehicle speed adaptability and the control method of this system, this drive system has the torque speed characteristic close to above-mentioned ideal mechanical characteristic, and its mechanical characteristic and vehicle speed adapt, It can not only meet the requirements of low-speed torque, but also meet the requirements of medium and high-speed power. The motor has appropriate power, which can better solve the problems existing in the traditional motor drive system. In addition, the motor drive system with vehicle speed adaptability proposed by the present invention, in addition to being used to drive the vehicle and realize the braking energy feedback function, can also drive auxiliary equipment such as the air conditioner compressor, the brake system air compressor, and the brake steering pump. parts. The system control method of the present invention realizes effective control on the operation of the system according to different operation modes of the vehicle.

The motor drive system with vehicle speed adaptability of the present invention includes a motor drive system controller, a first motor, a first motor controller, a second motor, and a second motor controller, and is characterized in that: the first motor and the second motor Both are double-ended output shaft structures. One output shaft of the first motor is connected to one output shaft of the second motor through the first one-way clutch and reducer in sequence. The first motor is connected to the second motor through the air conditioner connection pulley and the air conditioner connection belt. The driving ends of the two one-way clutches are connected, and the driven end of the second one-way clutch is connected to the air-conditioning compressor; the first motor works in an electric state, and can rotate forward and reverse, and the first motor rotates forward , the second one-way clutch is in an overrunning state, its driving end is separated from the driven end, the air-conditioning compressor is stopped, and the first motor is used to drive the vehicle; when the first motor rotates in the opposite direction, the first one-way clutch The clutch is in an overrunning state, the first motor and the second motor are in a separated state, and the second one-way clutch is in an engaged state, the first motor drives the air-conditioning compressor to rotate, the air-conditioning system works, and the motor-driven system controller uses signal cables to communicate with the The first motor controller is connected to the second motor controller, the first motor controller is connected to the first motor by a power cable, and the second motor controller is connected to the second motor by a power cable.

The control method of the motor drive system with vehicle speed adaptability of the present invention comprises the following steps:

(1) The running state of the vehicle is divided into the following working modes: starting mode, low speed climbing mode, normal driving mode, coasting mode, braking mode, reversing mode, reversing braking mode and standby cooling mode, and will be related to The parameters corresponding to each working mode are stored in the motor drive system controller;

(2) Connect the motor drive system controller with the vehicle controller through the CAN bus;

(3) When the vehicle is running, the speed signal (V), accelerator pedal signal (Pedal_D), brake pedal signal (Pedal_B), vehicle brake status signal (Brake), and reverse status signal are monitored by the vehicle controller. (R) physical quantity information is detected, and instructions are sent to the motor drive system controller through the CAN bus. The instructions include vehicle speed signal (V), torque request signal T _cmd , brake status signal (Brake) and reversing status signal ( R);

(4) The controller of the motor drive system calculates and judges the vehicle speed signal (V), torque request signal T _cmd , braking status signal (Brake) and reversing status signal (R) according to the instructions issued by the vehicle controller. and analysis, to determine the working mode of the vehicle, and to determine the working conditions of the first motor and the second motor, and the torque of the second motor, the torque or the speed of the first motor;

(5) The motor drive system controller sends the torque command signal T _1cmd or the rotational speed signal Speed _M1 and the steering signal R ₁ of the first motor to the first motor controller according to the determined working mode of the vehicle; the motor drive system controller sends The second motor controller sends a torque command signal T _2cmd and a steering signal R ₂ of the second motor;

(6) The first motor controller and the second motor controller control the operation of the first motor and the second motor according to the commands obtained from the motor drive system controller; When the first motor rotates in the forward direction, the second one-way clutch is in an overrunning state, its driving end is separated from the driven end, the air conditioner compressor stops, and the first motor is used to drive the vehicle; the first motor reverses When rotating, the first one-way clutch is in an overrunning state, the first motor is separated from the second motor, and the second one-way clutch is in an engaged state, the first motor drives the air-conditioning compressor to rotate, and the air-conditioning system works.

The advantage of the present invention is that the driving system can automatically change the working mode of the driving system according to the speed and power or traction requirements of the vehicle, and according to the driving conditions, so as to meet the needs of the vehicle in climbing at low speeds, driving at medium and high speeds, braking, Drive requirements under various working conditions such as reversing, so that it can automatically adapt to various operating conditions of the vehicle; enable the vehicle to achieve torque and speed characteristics close to the ideal mechanical characteristics, and its characteristics are adapted to the vehicle speed, both It can meet the low-speed torque requirements, and can also meet the medium and high-speed power requirements. The motor has appropriate power and can better solve the problems existing in the traditional motor drive system. In addition, the motor drive system with vehicle speed adaptability proposed by the present invention, in addition to being used to drive the vehicle and realize the braking energy feedback function, can also drive auxiliary equipment such as the air conditioner compressor, the brake system air compressor, and the brake steering pump. parts.

Description of drawings

Figure 1 is a schematic diagram of the mechanical characteristics of different drive systems;

Fig. 2 is a schematic diagram 1 of a topology structure of a motor drive system with vehicle speed adaptability;

In the figure: 1: the first motor, 1-1: the first output shaft of the first motor, 1-2: the second output shaft of the first motor, 2: the controller of the first motor, 3: the second motor, 3-1: the first output shaft of the second motor, 3-2: the second output shaft of the second motor, 4: the controller of the second motor, 5: the first reducer, 5-1: the first Reducer input shaft, 5-2: first reducer output shaft, 7: first one-way clutch with torsional vibration damper, 7-1: first one-way clutch with torsional vibration damper 7-2: the driven end of the first one-way clutch with torsional vibration damper, 9: the third one-way clutch, 10: motor drive system controller, 12-1: the driving end air conditioner Belt coupling wheel, 12-2: driven end air conditioner belt coupling wheel, 12-3: air conditioner coupling belt, 13: air conditioner compressor, 14: transmission shaft, 15: final reducer and differential, 16: wheels, 17 : power cable, 18: signal cable;

Fig. 3 is a schematic diagram of an air-conditioning compressor driven by a motor drive system with vehicle speed adaptability;

In the figure: OWC: one-way clutch, Motor 1: first motor, AC: air conditioner compressor, R ₁ = 1: motor 1 rotates in reverse, OWC engages, and the air conditioner compressor works, R ₁ = 0: motor 1 forward Rotate, OWC is disconnected, and the air conditioner compressor does not work;

Fig. 4 is a schematic diagram of the external characteristics of the first motor;

Fig. 5 is a schematic diagram 2 of a topology structure of a motor drive system with vehicle speed adaptability;

In the picture: 8: The second one-way clutch with torsional vibration damper;

Fig. 6 is a schematic diagram 3 of the topology of the motor drive system with vehicle speed adaptability;

In the figure: 6: the second reducer;

Fig. 7 is a schematic diagram 4 of the topology structure of the motor drive system with vehicle speed adaptability;

In the figure: 11: the third reducer;

Fig. 8 is a schematic diagram 5 of the topology of the motor drive system with vehicle speed adaptability;

Fig. 9 is a schematic diagram 6 of the topology of the motor drive system with vehicle speed adaptability;

Fig. 10 is a schematic diagram of a typical electric vehicle drive system;

In the figure: DCU: motor drive system controller, MCU1: first motor controller, MCU2: second motor controller, VCU: vehicle controller, Pedal_D: accelerator pedal, Pedal_B: brake pedal, auxiliary system: air conditioning system , braking system, power steering system, reducer: planetary reducer;

Fig. 11 is a schematic diagram of the signal transmission relationship of the motor drive system controller in the electric vehicle;

Fig. 12 is a control flow chart of the motor drive system with vehicle speed adaptability.

Detailed ways

1. The present invention, the so-called motor drive system with vehicle speed adaptability, adopts a dual-motor drive mode. Its topological structure is shown in Fig. 2. Both the first motor 1 and the second motor 3 have a double-ended shaft output structure. Between the first motor 1 and the second motor 3, there is a speed reducer 5 and a one-way clutch 7 with a torsional vibration damper. The output end 1-1 of the motor 1 is connected with the input end 5-1 of the speed reducer 5; the output end 5-2 of the speed reducer is connected with the driving end 7-1 of the one-way clutch 7 having a torsional vibration damper; The driven end 7-2 of the one-way clutch 7 with a torsional vibration damper is coupled with the output end 3-2 of the motor 2-3. The function of the one-way clutch 7 with the torsional vibration damper is to engage or disengage the motor 1 and the reducer 5 with the motor 3 . The motor 1 and the motor 3 are AC motors or DC motors. AC motors such as induction motors, permanent magnet synchronous motors, permanent magnet brushless AC motors, switched reluctance motors, synchronous reluctance motors, etc.; DC motors such as permanent magnet brushed DC motors, electric excitation brushed DC motors, etc. Speed reducer 5 can select planetary speed reducer for use, also can select the speed reducer of other forms for use. The motor controller 2 and the motor controller 4 are adapted to the motor 1 and the motor 3 respectively. The motor 1 works in an electric state and can rotate forward and reverse. When the motor 1 rotates in the forward direction, its function is to provide a large driving torque for the vehicle; when the motor 1 rotates in the reverse direction, its function is to drive the auxiliary systems such as the air conditioner compressor to rotate. The motor 1 rotates in the forward direction, and the torque generated by it passes through the speed reduction and torque increase of the reducer 5. The torque output by the output end of the reducer is superimposed with the torque generated by the motor 3. The driving torque generated by the entire motor drive system, That is, the total output torque is shown in the following formula.

T=kT _M1 +T _M2

In the formula, T _M1 and T _M2 are the output torques of motor 1 and motor 3 respectively; T is the total output torque of the motor drive system; k is the speed ratio of the reducer 5, and its value is selected according to the vehicle's climbing ability, The vehicle speed requirement, the speed range of motor 1 and motor 3 are determined. Due to the effect of deceleration and torque increase, the torque of the motor 1 becomes the dominant torque when the vehicle is running at a low-speed climbing state. When the motor 1 is used to drive the vehicle, it works in the torque closed-loop mode; when the motor 1 is used to drive the air-conditioning compressor, it works in the speed closed-loop mode, and its speed is controlled by the temperature inside the cabin. The motor 3 can not only work in the electric state, but also can work in the power generation state; it can not only rotate forward, but also rotate reversely. The working states of the motor 1 and the motor 3 are controlled by the motor drive system controller 10 . The motor drive system controller 10 sends instructions to the motor controller 2 and the motor controller 4 through the signal bus to control the motor 1 and the motor 3 according to the speed, power or traction demand, forward or reverse, driving or braking status of the vehicle. working status.

The motor 1 is connected to the driving end of a one-way clutch 9 through the air-conditioning connection pulleys 12-1, 12-2 and the air-conditioning connection belt 12-3, and the driven end of the one-way clutch 9 is connected to the air-conditioning compressor 13. When the motor 1 is rotating in the forward direction, that is, when it is used to drive the vehicle, the one-way clutch 9 is in an overrunning state, its driving end is separated from the driven end, and the air conditioner compressor 13 stops; when the motor 1 is rotating in the reverse direction, it has torsional vibration deceleration The one-way clutch 7 of the device is in the overrunning state, the motor 1 and the motor 3 are in the separated state, and the one-way clutch 9 is in the engaged state, the motor 1 drives the air-conditioning compressor to rotate, and the air-conditioning system works. In the present invention, the principle of driving the air conditioner compressor by using the above-mentioned motor drive system with vehicle speed adaptability is shown in FIG. 3 . Among them, the motor 1 can not only drive the vehicle, but also drive auxiliary systems such as air-conditioning compressors, and its mechanical characteristics are shown in FIG. 4 .

The motor 1 can also drive the air compressor of the brake system and the hydraulic pump of the electro-hydraulic power steering (EHPS) system, and its structure and working principle are the same as that of driving the air-conditioning compressor. For the power steering system, when the motor is rotating in the forward direction, an auxiliary electric steering oil pump needs to be added to ensure that when the vehicle is running in the low-speed climbing mode, the electro-hydraulic power steering system can still be driven by other motors outside the system.

Both the one-way clutch 7 with the torsional vibration damper and the one-way clutch 8 with the torsional vibration damper in the following structure have two structures. The first structure is that the input end is the driving end of the torsional vibration damper, the output end is the driven end of the one-way clutch, and the driven end of the torsional vibration damper is connected with the driving end of the one-way clutch; The second structure is that the input end is the driving end of the one-way clutch, the output end is the driven end of the torsional vibration damper, and the driven end of the one-way clutch is connected with the driving end of the torsional vibration damper. According to different vehicles, one of these two structures can be adopted considering factors such as layout and installation process.

Adaptive changes in system structure

In order to adapt to different vehicles, a one-way clutch 8 with a torsional vibration damper can be added between the motor 1 and the reducer 5, and the one-way clutch 8 with a torsional vibration damper between the reducer 5 and the motor 3 can be retained or canceled. to the clutch 7. The function of the one-way clutch 8 with the torsional vibration damper is to engage or separate the reducer 5 and the motor 3 from the motor 1 . The system structure is shown in Figure 5.

In the motor drive system shown in Figure 2, the rotor of the motor 3 can be connected with the input end 6-1 of the speed reducer 6 first, and the output end 6-2 of the speed reducer 6 can be connected with the one-way clutch with the torsional vibration damper The driven end 7-2 of 7 is connected, and then connected to transmission shaft 14. The driving end 7 - 1 of the one-way clutch 7 with torsional vibration damper is still coupled to the output end 5 - 2 of the speed reducer 5 . The volume and quality of the motor 3 can be reduced through the deceleration and torque increasing effect of the reducer 6 . The system structure is shown in Figure 6.

In the motor drive system shown in FIG. 2 , a speed reducer 11 can be added at the output shaft of the drive system, as shown in FIG. 7 . Adding the speed reducer 11 can reduce the mass and volume of the drive system.

For some special vehicles, the first or second one-way clutches 7, 8 with torsional vibration dampers can be cancelled, as shown in FIG. 8 .

In addition, for applications with little impact, the torsional vibration damper in the one-way clutch 7 or 8 with the torsional vibration damper can be eliminated, and only the one-way clutch is retained, as shown in FIG. 9 .

2. The working mode and control method of the system of the present invention

2.1 Working mode of motor drive system with vehicle speed adaptability

Aiming at the operating conditions of the electric vehicle, the present invention divides the operating state of the vehicle into the following working modes: starting mode, low-speed climbing mode, normal driving mode, coasting mode, braking mode, reversing mode, reversing braking mode and standby mode. cooling mode.

start mode

The starting mode of the vehicle is defined as the mode in which the vehicle accelerates on a flat road or a slope with a not steep slope in a stationary state. When the vehicle is in launch mode, a certain amount of traction is required.

low speed climbing mode

The low-speed climbing mode is defined as a working mode in which the vehicle accelerates upward on a steep slope in a stationary (or low-speed) state. When the vehicle is in the low-speed climbing mode, it is subjected to a lot of resistance on the slope, so the traction force required by the vehicle is greater than when the vehicle is running in the starting mode.

normal driving mode

The normal driving mode of the vehicle is defined as the working mode when the vehicle is running in the forward direction after starting, and the vehicle speed exceeds a set value V ₀ (the speed value can be selected according to different vehicles).

vehicle coasting mode

Vehicle coasting mode is defined as the working mode in which the driver actively steps on the brake pedal and expects the vehicle to decelerate or suppress the increase in vehicle speed. The characteristic of the vehicle coasting mode is that the transmission system does not provide driving force, and the vehicle maintains running entirely by its kinetic energy; the mechanical braking system of the vehicle does not work. The vehicle sliding mode mainly includes the downhill driving condition of the vehicle and the slow deceleration condition of the vehicle.

vehicle braking mode

The vehicle braking mode is defined as the working mode in which the driver actively depresses the brake pedal deeply and expects the vehicle to stop, decelerate or restrain the vehicle speed. Vehicle braking mode is characterized by no propulsion from the drivetrain; the vehicle's mechanical braking system is active. The vehicle braking mode includes vehicle deceleration driving conditions and emergency braking conditions.

reverse driving mode

The reverse driving mode is defined as an operating mode in which the vehicle travels backwards.

reverse brake mode

The reverse braking mode is defined as the operating mode in which the vehicle decelerates backwards.

standby cooling mode

Standby cooling mode is defined as an operating mode in which the vehicle is stopped, but the air conditioner is on.

2.2 The working mode and control method of the motor drive system with vehicle speed adaptability

2.2.1 How the system works

FIG. 10 is a schematic diagram of a typical electric vehicle drive system, in which the above-mentioned motor drive system with vehicle speed adaptability is used. In the figure, VCU is the vehicle controller of the electric vehicle; Pedal_D is the accelerator pedal; Pedal_B is the brake pedal. Pedal_D is the accelerator pedal signal; Pedal_B is the brake pedal signal.

The structure of the above-mentioned typical electric vehicle is just an example of the application of this patent, and the application of this patent is not limited to the structure shown in this example.

Said motor drive system with vehicle speed adaptability of the present invention, its working process is as follows.

According to the measured vehicle speed signal V, accelerator pedal signal Pedal_D, brake pedal signal Pedal_B, vehicle braking state signal Brake, reversing state signal R, etc. The motor drive system controller (DCU) 10 issues commands, which include a vehicle speed signal V, a torque request signal T _cmd , a braking status signal Brake, a reversing status signal R, and the like. The motor drive system controller (DCU) 10, according to the instructions issued by the VCU, according to the vehicle speed signal V, the torque request signal T _cmd , the braking state signal Brake and the reversing state signal R, etc., can determine the vehicle's speed through calculation, judgment and analysis. Working mode, and can determine the working conditions of motor 1 and motor 3, as well as the torque of motor 3 and the torque or speed of motor 1. The DCU sends the torque command signal T _1cmd or the rotational speed signal Speed _M1 and the steering signal R ₁ of the motor 1 to the motor controller 2 according to the working mode of the determined vehicle; the DCU sends the torque command signal T _2cmd and the motor controller 4 to the motor controller 4. 3 turn signal R ₂ . The motor controller 2 and the motor controller 4 control the operation of the motor 1 and the motor 3 according to the commands obtained from the DCU.

2.2.2 System control method

Fig. 11 shows the transmission of control signals and the logic relationship of each part of the motor drive system with vehicle speed adaptability in the electric vehicle according to the present invention.

The above 8 working modes and their control strategies are as follows. The control flow of the motor drive system with vehicle speed adaptability is shown in Figure 12.

Control strategy for start-up mode

When the vehicle is in the starting mode, the torque demand T _cmd of the motor drive system is smaller than the peak torque T _2-M of the motor 3 , and the vehicle can be started at a certain acceleration only by the motor 3 . In this working mode, the motor 1 does not directly participate in driving the vehicle, and the vehicle is powered only by the motor 3 .

The vehicle controller (VCU) sends instructions to the motor drive system controller (DCU) 10 through the CAN bus according to the measured accelerator pedal signal Pedal_D, brake pedal signal Pedal_B, and vehicle speed V and other physical quantities; the motor drive system The controller (DCU) 10 judges that the vehicle is in the starting mode through calculation based on the information received from the VCU on the torque demand T _cmd of the motor drive system. In the starting mode, the motor drive system controller (DCU) 10 issues instructions to the motor controller 4 to control the torque of the motor 3 . At this time, if accessories such as air conditioners need to work, that is, AUX=1, then the DCU sends an instruction to the motor controller 2 to reverse the rotation of the motor 1 (R ₁ =1), the motor 1 rotates in the reverse direction, the one-way clutch 9 is engaged, and the motor 1 to drive the air conditioner compressor. If accessories such as the air conditioner do not need to work, that is, AUX=0, then the DCU sends an instruction to the motor controller 2 that the expected torque and speed are both zero (T _1cmd =0, Speed _1M =0), and the motor 1 does not work.

Low-speed climbing mode and its control strategy

When the vehicle is in the low-speed climbing mode, the slope resistance it receives is very large, so the traction required by the vehicle is greater than that when the vehicle is running in the starting mode. Motor 3 alone cannot meet the traction demand of the vehicle. Motor 1 and Motor 3 must Work at the same time and drive the vehicle together. In this mode, the vehicle controller (VCU) sends instructions to the motor drive system controller 10 through the CAN bus according to the measured information of physical quantities such as the accelerator pedal Pedal_D, the brake pedal Pedal_B, and the speed of the vehicle; the motor drive system The controller 10 generates the power distribution information of the motor 1 and the motor 3 through calculation according to the information received from the VCU, and sends instructions to the motor controller 2 and the motor controller 4, so that the motor 1 and the motor 3 generate the required rotation speed. moment. Wherein, after the torque generated by the motor 1 passes through the speed reducer 5, the output torque is greatly improved. The output torque is superimposed with the torque generated by the motor 3 to drive the vehicle to accelerate.

In the low-speed climbing mode, the motor 1 rotates in the forward direction, that is, R ₁ =0, the one-way clutch connected to the air-conditioning compressor is in an overrunning state, the motor 1 is separated from the air-conditioning compressor, and the air-conditioning system does not work at this time.

normal driving mode

When the vehicle is in normal driving mode, the vehicle controller (VCU) sends instructions to the motor drive system controller 10 through the signal bus according to the measured vehicle speed information and the information of the accelerator pedal Pedal_D and the brake pedal Pedal_B. According to the information received from the VCU, the motor drive system controller 10 can determine that the vehicle is in a medium-high speed driving state. At this time, the motor drive system controller 10 sends instructions to the motor 3 , the controller motor 3 generates the torque required for the vehicle to run, and the motor 3 alone drives the vehicle to run.

When the vehicle is running in normal driving mode, the rotation speed of the driving end of the one-way clutch 7 with the torsional vibration damper is lower than the rotation speed of the driven end, so the one-way clutch is in an overrunning state, that is, in a disengaged state, and the power of the motor 1 cannot be transmitted to the one-way clutch. to the driven end of the clutch.

In the normal driving mode, the motor 1 rotates in reverse, the one-way clutch connected to the air conditioner compressor is engaged, and the motor 1 drives the air conditioner compressor to work.

vehicle coasting mode

When the vehicle is in a coasting state, the vehicle controller (VCU) sends instructions to the motor drive system controller 10 according to the measured information of the brake pedal Pedal_B. The motor drive system controller 10 sends instructions to the motor 3, so that the motor 3 works in the braking state, and a part of the kinetic energy of the vehicle can be converted into electric energy through the motor 3 and the motor controller 4, which can be used for energy storage systems such as vehicle power batteries and super capacitors. Charge. At this time, according to the working state of the auxiliary air conditioning system, the motor 1 either stops or reversely rotates, and operates according to the speed mode to drive the air conditioning compressor.

When the vehicle is in a coasting state, the rotational speed of the driving end of the one-way clutch 7 with the torsional vibration damper is lower than the rotational speed of the driven end, and the one-way clutch 7 is in an overrunning state, that is, a disengaged state.

vehicle braking mode

When the vehicle is in the braking state, the vehicle controller (VCU) determines the distribution of regenerative braking torque and mechanical braking torque according to the measured vehicle speed and the signal Pedal_B of the brake pedal Pedal_B, and sends the motor drive system control The device 10 issues instructions. The motor drive system controller 10 sends instructions to the motor controller 4, so that the motor 3 works in the braking state, and a part of the kinetic energy of the vehicle can be converted into electric energy through the motor 3 and the motor controller 4 to store energy for power batteries, super capacitors, etc. System charging. The remaining kinetic energy of the vehicle is consumed by the mechanical braking system. At this time, according to the working state of the auxiliary system, the motor 1 either stops or reversely rotates, and operates according to the speed mode to drive the air conditioner compressor.

When the vehicle is in the braking state, the rotational speed of the driving end of the one-way clutch 7 with the torsional vibration damper is lower than the rotational speed of the driven end, and the one-way clutch 7 is in an overrunning state, that is, a disengaged state.

reverse driving mode

When the vehicle is in the reversing state, the vehicle controller (VCU) sends instructions to the motor drive system controller 10 according to the driver's instruction. At this time, the reversing state signal R=1, and the braking state signal Brake=0. The motor drive system controller 10 sends an instruction to the motor 3 according to the obtained instruction, so that the motor 3 works in a reverse driving state, and its rotation direction is opposite to the direction when the vehicle is moving forward. If AUX=1, the motor drive system controller 10 sends instructions to the motor controller 3 to make the motor 1 reversely rotate, and the one-way clutch 7 with the torque damper is in an overrunning state, the one-way clutch is in a disengaged state, and the one-way clutch 7 is in a disengaged state. When the clutch 9 is engaged, the motor 1 drives the air conditioner compressor to rotate. If AUX=0, the motor drive system controller 10 sends an instruction to the motor controller 3 so that the command torque of the motor 1 is zero, and the motor 1 is reversely dragged by the motor 3 .

reverse brake mode

When the vehicle is in the reverse braking state, the vehicle controller (VCU) sends an instruction to the motor drive system controller 10 according to the driver's instruction. At this time, the reverse state signal R=1, and the brake state signal Brake=1. The motor drive system controller 10 sends an instruction to the motor 3 according to the obtained instruction, so that the motor 3 works in a reverse braking state, and its rotation direction is opposite to the direction when the vehicle is moving forward. Systems such as the air conditioning work in the same way as in reverse driving mode.

standby cooling mode

In the standby cooling mode, the motor 3 does not work, the motor 1 reversely rotates according to the speed closed-loop mode, the one-way clutch 7 with the torsional vibration damper is in an overrunning state, and the power of the motor 1 cannot be transmitted to the transmission shaft. The one-way clutch 9 associated with the air-conditioning compressor is in an engaged state, and the motor 1 drives the air-conditioning compressor to run to realize the working state of the air-conditioning when it is stopped.

Claims (4)

1. motor driven systems with speed adaptation capability, comprise a motor driven systems controller (10), the first motor (1), the first electric machine controller (2), the second motor (3), the second electric machine controller (4), it is characterized in that: the first motor (1) and the second motor (3) are both-end output shaft structure, an output shaft of the first motor (1) is successively by the first free-wheel clutch (8), retarder (5) connects with an output shaft of the second motor (3), described the first motor (1) is by air-conditioning connecting belt wheel (12-1,12-2) link with the drive end of air-conditioning connecting belt (12-3) with the second free-wheel clutch (9), the driven end of this second free-wheel clutch (9) is connected to air-conditioning compressor (13); Described the first motor (1) is operated in motoring condition, and can forward and reversely rotate, the first motor (1) is when being rotated in the forward, described the second free-wheel clutch (9) is in and surmounts state, its drive end separates with driven end, air-conditioning compressor (13) stops, and the first motor (1) is used for driving Vehicle Driving Cycle; During the first motor (1) contrarotation, described the first free-wheel clutch (8) is in and surmounts state, the first motor (1) is in released state with the second motor (3), and described the second free-wheel clutch (9) is in engagement state, the first motor (1) drives air-conditioning compressor (13) rotation, a/c system work, motor driven systems controller (10) connects with the first electric machine controller (2) and the second electric machine controller (4) respectively with signal cable, the first electric machine controller (2) connects with the first motor (1) with power cable, and the second electric machine controller (4) connects with the second motor (3) with power cable.

2. motor driven systems according to claim 1 is characterized in that: described the first free-wheel clutch (8) is for having the free-wheel clutch of torsional damping arrangement.

3. motor driven systems according to claim 2, it is characterized in that: the free-wheel clutch with torsional damping arrangement is a kind of in following two kinds of structures: the first structure is, its input end is the drive end of torsional damping arrangement, mouth is the driven end of free-wheel clutch, and the driven end of torsional damping arrangement and the drive end of free-wheel clutch link; The second structure is, its input end is the drive end of free-wheel clutch, and mouth is the driven end of torsional damping arrangement, and the driven end of free-wheel clutch and the drive end of torsional damping arrangement link.

4. each described control method with motor driven systems of speed adaptation capability in 3 according to claim 1, it is characterized in that: this control method comprises the following steps:

(1) running state with vehicle is divided into following mode of operation: originate mode, low speed climbing pattern, common driving mode, sliding mode, braking mode, reversing mode, reversing braking mode and treat the row refrigeration mode, and the parameter corresponding with each mode of operation existed in the motor driven systems controller (10);

(2) by the CAN bus motor driven systems controller (10) and entire car controller (VCU) are linked;

(3) when vehicle operating, detected by the information of entire car controller (VCU) to the physical quantity of the braking mode signal (Brake) of the speed signal (V) of car load, accelerator pedal signal (Pedal_D), brake pedal signal (Pedal_B), vehicle, reversing status signal (R), and send instruction by the CAN bus to motor driven systems controller (10), instruction comprises vehicle speed signal (V), torque request signal (T _Cmd), braking mode signal (Brake) and the reversing status signal (R);

(4) motor driven systems controller (10) instruction of sending according to entire car controller (VCU) is according to vehicle speed signal (V), torque request signal (T _Cmd), braking mode signal (Brake) and the reversing status signal (R), through calculating, judge and analyzing, determine the mode of operation of vehicle, and the working condition of definite the first motor (1) and the second motor (3), and the second motor (3) level of torque, (1) torque of the first motor or rotating speed size;

(5) motor driven systems controller (10) sends torque command signal (T according to the mode of operation of the vehicle of determining to the first electric machine controller (2) _1cmd) or tach signal (Speed _M1) and the turn sign (R of the first motor (1) ₁); Motor driven systems controller (10) sends torque command signal (T to the second electric machine controller (4) _2cmd) and the turn sign (R of the second motor (3) ₂);

(6) first electric machine controllers (2) and the second electric machine controller (4) are according to the order that obtains from motor driven systems controller (10), control the operation of the first motor (1) and the second motor (3), described the first motor (1) is operated in motoring condition, and can forward and reversely rotate, the first motor (1) is when being rotated in the forward, described the second free-wheel clutch (9) is in and surmounts state, its drive end separates with driven end, air-conditioning compressor (13) stops, and the first motor (1) is used for driving Vehicle Driving Cycle; During the first motor (1) contrarotation, described the first free-wheel clutch (8) is in and surmounts state, the first motor (1) is in released state with the second motor (3), and described the second free-wheel clutch (9) is in engagement state, the first motor (1) drives air-conditioning compressor (13) rotation, a/c system work.

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