Research And Design Of Dual Motor Control Software For Pure Electric Sanitation Vehicle

With the gradual commercialization of new energy vehicles,people are increasingly concerned about the economic benefits and performance advantages of new energy vehicles compared to traditional vehicles,that is,the cost performance of new energy vehicles.Countries around the world are constantly increasing their efforts in research and development of new energy vehicles.The development of motor drive systems and motor control technologies are the top priorities for highlighting the cost performance of electric vehicles.The motor drive systems used in real vehicles by major car companies across the country can achieve the most basic functions.However,the basic single-motor drive control system for some models has been unable to meet the motor control under various complex working conditions.In order to solve this problem,this paper uses the maximum torque-current ratio(MTPA)table lookup method and the current inner loop feedforward coupling as the core vector control algorithm to build a control framework,focusing on the fast and accurate response of the drive motor and adapting to more complex working conditions A series of simulations,bench tests and real vehicle verifications were carried out.By using two permanent magnet synchronous motors with identical parameters,they are coaxially connected in series.Can better meet the needs of electric vehicles over 10 tons.This paper studies the development history of the motor control algorithm and compares the development history of the motor control architecture of the pure electric sanitation vehicle.Based on the dual motor control,the vector control based on the rotor position is studied;The control strategy is closed-loop control,and the feedback quantity is three-phase current and motor rotor position;The voltage modulation method uses space vector pulse width modulation(SVPWM);DQ axis current id and iq are set according to the current track of the maximum torque current ratio;The high-speed field weakening control is based on the MTPA current trajectory and performs further field weakening algorithms.In order to achieve the optimal control of the motor and the rapid response of the vehicle’s torque,the control software uses a two-dimensional look-up table method of torque and speed,uses the motor bench,and uses a dynamometer to calibrate the motor at a rated voltage to test different speeds The Id table and Iq table under different torques will eventually form two two-dimensional tables of two electric and two feeders.Put the two two-dimensional tables into the program.Under different operating speed and torque conditions,directly perform Id and Iq look-up table controls the motor.The advantages of this control method are: the four tables are based on the actual calibration data of the motor,the accuracy of the motor control is high;the dynamic response is good,there is no additional field weakening process;the voltage fluctuation problem can be handled,and the robustness is good.Weaknesses are: huge calibration workload,high requirements on chip storage resources,unable to cope with performance differences together with motor consistency,and poor robustness.Combined with the application requirements of the real vehicle motor control system,the overall design of the entire system is considered,and the hardware dependency layer(lower-level driver),hardware abstraction layer,CAN protocol stack(CCP,UDS and OBD),and application algorithm layer are completed according to the modular idea.The design and compilation of other software modules,this system does not use modelbased development,nor does it use an operating system,use PCAN,CCS,Explorer5 and other software tools for simulation analysis,and use the motor bench to carry out the selected permanent magnet synchronous motor Calibration test,and finally test verification on the actual car.