机电复合传动系统扭转振动主从控制方法

doi:10.19562/j.chinasae.qcgc.2021.09.018

摘要/Abstract

摘要：

针对车用大功率机电复合传动系统（EMT）在负载波动和发动机力矩脉动等复杂激励作用下易产生冲击振动等问题，提出了机电复合传动系统扭振主从控制方法。该方法利用主从控制策略使两台驱动电机之间建立起耦合约束，通过优化虚拟杠杆系数改善EMT系统特性，实现低频扭振“削峰”。首先建立了混联式机电复合传动系统多自由度集中参数动力学模型，分析了系统固有振动特性。然后设计了HEV驱动控制和扭振主动抑制的串级控制架构。其次基于主从控制算法设计了EMT扭振主动控制算法（M?SAC），分析了杠杆系数对系统振动特性的影响，在MATLAB中进行仿真并与最优模态控制算法（IMSOC）进行了对比。结果表明，主从控制器参数与系统力学参数具有耦合关系，主从控制参数会改变系统共振频率点的位置，进而显著改变系统振动响应幅值。选择合适的控制参数可以实现EMT扭转共振幅值削峰，对提升系统的NVH性能具有重要意义。

关键词: 机电复合传动系统, 动力学分析, 扭振特性, 振动主动控制, 主从控制

Abstract:

For the impact vibration problem of vehicle high?power electromechanical composite transmission system （EMT） in complex excitation working conditions， such as load fluctuation and engine torque pulsation， a master?slave control method of torsional vibration of EMT is proposed. In this method， the master?slave control strategy is used to establish the coupling constraint between the two driving motors， and the characteristics of EMT system are improved by optimizing the virtual lever coefficient to realize the peak clipping of torsional vibration in low?frequency domain. Firstly， the multi degree of freedom lumped parameter dynamic model of the EMT system is established， and the natural vibration characteristics of the system are analyzed. Secondly， the cascade control architecture of HEV drive control and torsional vibration active suppression is designed. Then the torsional vibration active control algorithm is designed based on the master?slave control algorithm （M?SAC）， and the influence of lever coefficient on the vibration characteristics of the system is analyzed. Finally， the simulation is carried out in MATLAB and it is compared with the optimal modal control algorithm （IMSOC）. The results show that there is a coupling relationship between the master?slave controller parameters and the system mechanical parameters. The master?slave control parameters will change the position of the resonance frequency point of the system， and significantly change the vibration response amplitude of the system. Selecting appropriate control parameters can realize the peak clipping of EMT torsional resonance amplitude， which is of great significance to improve the NVH performance of the EMT.

Key words: EMT, dynamic analysis, torsional vibration characteristics, active vibration control, master?slave control

张伟,刘辉,张勋,张万年,王珍,严鹏飞. 机电复合传动系统扭转振动主从控制方法[J]. 汽车工程, 2021, 43(9): 1402-1410.

Wei Zhang,Hui Liu,Xun Zhang,Wannian Zhang,Zhen Wang,Pengfei Yan. Master⁃Slave Control Method for Torsional Vibration of Electromechanical Transmission System[J]. Automotive Engineering, 2021, 43(9): 1402-1410.

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模态频率	数值
模态频率	EVT1	EVT2
第1阶f_1st	12.1	25.5
第2阶f_2nd	42.8	42.9
第3阶f_3rd	179.36	122.8
第4阶f_4th	426.7	413.6

交点编号	坐标数值（k_ab，f_e）
交点编号	EVT1模式	EVT2模式
交点1	（0.77，27.5）	（0.49，35.84）
交点2	（0.91，446.5）	（0.914，385.2）
交点3	（1.04，51.35）	（1.26，56.62）
交点4	（1.16，77.13）	（1.3，50.5）

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