The invention discloses a new energy electric vehicle anti-shake control method based on a PR filter. The method comprises the following steps that: a PR band-pass filter is designed to obtain a rotating speed jitter amount based on a calculated rotating speed, and a high-order Kalman filter is designed to obtain a jitter acceleration; PD control is adopted, the motor rotating speed jitter amountserves as proportional error input, the motor rotating speed jitter acceleration amount serves as differential error input, and introduction of noise signals in the acceleration graph area process isgreatly avoided; and after the closed-loop control compensation torque is obtained, smooth filtering is conducted on the compensation torque, and it is ensured that the compensation torque cannot suddenly change. According to the method, PD control is adopted to carry out jitter suppression control on the whole vehicle; the jitter acceleration of the whole vehicle is observed in real time throughthe closed-loop Kalman observer, noise interference caused by PR filtering in the high-speed stage is restrained, the applicable rotating speed range is wider, signal delay caused by a second-order filter is avoided, the real-time restraining effect on jitter is better, and the driving experience of a driver is improved.
本发明公开了一种基于PR滤波器的新能源电动汽车防抖控制方法,包括以下步骤:基于所计算转速,设计PR带通滤波器获取转速抖动量,设计高阶卡尔曼滤波器获取抖动加速度;采用PD控制,以电机转速抖动量作为比例误差输入,以电机转速抖动加速度量作为微分误差输入,极大避免加速度图区过程中噪声信号的引入;得到闭环控制补偿扭矩后,对补偿扭矩进行平滑滤波,确保补偿扭矩不会出现突变。上述方法采用PD控制进行整车的抑抖控制,通过闭环卡尔曼观测器实时观测整车抖动加速度,抑制高速阶段PR滤波带来的噪声干扰,适用转速范围更广,避免了二阶滤波器导致的信号延时,对于抖动的实时抑制效果更好,提升了驾驶人的驾驶体验。
New energy electric vehicle anti-shake control method based on PR filter
一种基于PR滤波器的新能源电动汽车防抖控制方法
2020-06-12
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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