The invention discloses a stepping type feedforward and feedback combined speed regulation control method for an electric vehicle. According to the method, the target angular velocity of the step-type driving motor is improved into a target angular velocity curve of the step-type driving motor, and the target angular acceleration is obtained according to the target angular velocity curve of the step-type driving motor, so that the feed-forward compensation torque is obtained; meanwhile, feedback compensation torque is obtained through calculation according to the difference between the stepping type target angular speed of the driving motor and the actual angular speed, so that stable tracking of the target rotating speed is achieved. And adjusting the parameters of the feedback controller by using a zero-pole assignment method. By means of the speed regulation control strategy, the requirements for short speed regulation time and small overshoot are met, the motor can be prevented from running under the overload condition, and the problem that the service life of the motor and the service life of a battery are shortened due to the fact that the current of the motor is too large is effectively solved.
本发明公开了一种步进式前馈与反馈相结合的电动汽车调速控制方法。该方法将阶跃式驱动电机目标角速度改进为步进式驱动电机目标角速度曲线,并根据步进式驱动电机目标角速度曲线求得目标角加速度,从而得到前馈补偿转矩;同时通过驱动电机步进式目标角速度与实际角速度的差,计算得到反馈补偿转矩,以实现对目标转速的稳定跟踪。利用零极点配置法对反馈控制器参数进行调整。通过本发明的调速控制策略,不仅满足了调速时间短、超调量小的要求,而且可以避免电机在过载的情况下运行,有效的解决了电机电流过大而缩短电机以及电池使用寿命的问题。
Stepping type feedforward and feedback combined electric vehicle speed regulation control method
一种步进式前馈与反馈相结合的电动汽车调速控制方法
2023-09-05
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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