电驱转矩过0的整车防抖控制设计

doi:10.19562/j.chinasae.qcgc.2025.02.012

Abstract

Abstract:

Based on the research on the combination of vehicle application scenarios and electric drive torque near zero anti-jerk control requirements， in this paper four vehicle anti-jerk control requirements and their software architectures from the perspective of vehicle anti-jerk， including transmission clearance， torque limitation， electric drive torque near zero， and high-frequency de-noising of wheel speed fluctuation. Based on the requirements of anti-jerk control， vehicle anti-jerk algorithm architecture as well as the control strategy with electric motor torque near zero is designed， and the corresponding control process and calculation analysis are provided. Through simulation and real vehicle testing of the designed anti-jerk control strategy， it is proved that the control algorithm architecture and strategy can effectively achieve the anti-jerk function of the vehicle. According to the longitudinal acceleration curve of the real vehicle test and the fluctuation of the electric drive speed， it can be seen that the designed software architecture and control strategy have achieved good results in vehicle drivability.

Key words: electric vehicle, torque near zero, vehicle anti-jerk

Chongguang Zhou,Chongxiang Mo. Design of Vehicle Anti Jerk Control on Electric Motor Torque Near Zero[J].Automotive Engineering, 2025, 47(2): 315-325.

Figures/Tables 16

References 7

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参数名称	参数符号	单位	定义数值
整车质量	m_Car	kg	2 350
整车阻力系数0	F₀	N	122.1
整车阻力系数1	F₁	N/（km·h^-1）	1.598
整车阻力系数2	F₂	N/（km·h^-1）²	0.036 3
整车等效惯量系数	δ	N/kg	1.1
轮胎滚动半径	r	m	0.366
电驱总间隙角度	θ	rad	0.017 4
电驱转子惯量	I_Em	kg·m²	0.049 14
电驱至轮端速比	τ		12.44
过0最大Jerk轮端梯度	ξ_max	N·m/s	150
滑行过0允许Jerk转矩	T_JSlip	N·m	50
制动过0允许Jerk转矩	T_JBrk	N·m	100
靠齿控制转速波动值目标	▽N_t_b	r/min	20
靠齿动态梯度1	ζ_C1	N·m/s	150
靠齿动态梯度2	ζ_C2	N·m/s	30
靠齿动态梯度3	ζ_C3	N·m/s	80
靠齿动态梯度4	ζ_C4	N·m/s	20
转矩向下过0时间	t_dec	s	0.2
过0后转矩恢复时间	t_rec	s	0.1
转矩向上过0时间	t_inc	s	0.18
过0最大允许时间（复位）	t_max	s	0.3

起动阶段	控制参数	单位	计算值
靠齿控制	t_C1	s	0.13
	t_C2	s	0.23
	t_C3	s	0.08
	t_C4	s	0.13
向下过0控制	T_Em	N·m	1.61
	T_C10	N·m	20.0
	T_C11	N·m	-261.0
	▽N_S11	r/min	42.4
	ζ_rec	N·m/s	3112
向上过0控制	T_Em	N·m	-1.85
	T_C15	N·m	-23.0
	T_C16	N·m	261.0
	▽N_S16	r/min	40.8
	ζ_rec	N·m/s	3 112

参数名称	单位	定义
PtDistr_tqWhlEm3Req	N·m	电驱轮端目标转矩
EM3_tqEradTDp_MP	N·m	防抖控制目标转矩
EM3_tqEradTOut_MP	N·m	防抖输出目标转矩
HCU_TMRDesiredTorque	N·m	HCU请求电驱转矩
IPU3_tqMotAct	N·m	电驱3实际转矩
TMR_1	r/min	电驱3实际转速
VehV_vVehGndSpd	km/h	车速
LongitudinalAcceleration	g	整车纵向加速度
PRNDGearAct		车辆挡位
Brake_percBrkPedl	%	制动深度
AcceleratorPosRaw	%	油门深度
EM3_bLashActiveTpin_MP	bool	转矩向上过0标志
EM3_bLashActiveTpout_MP	bool	转矩向下过0标志

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Design of Vehicle Anti Jerk Control on Electric Motor Torque Near Zero

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