DYNAMIC COMPREHENSIVE COMPENSATION METHOD BASED ON A PROPORTIONAL INTEGRAL PI CONTROL OF AN ELECTRIC MOTOR, COMPREHENSIVE DYNAMIC COMPENSATION SYSTEM BASED ON A PROPORTIONAL PI CONTROL OF AN ELECTRIC MOTOR, AND, VEHICLE

摘要

The present disclosure provides a dynamic integral compensation method and a dynamic integral compensation system based on a proportional integral pi control of an electric motor, and a vehicle. The method includes steps such as: inserting the reference current into an electric motor control system, collecting the return current from the electric motor control system, and obtaining a control error according to the reference current and return current; calculation of an upper limit of an integral saturation and a lower limit of an integral saturation according to a control output value set for the electric motor control system on a last pi control and a maximum single-step change of return current wherein the single-step change of the return current is a change in the return current of the electric motor control system collected on two adjacent pi controls in the previous pi controls; performing a pi calculation for the electric motor control system according to the control error to obtain an unlimited control output value; and performing dynamic integral compensation according to the unlimited control output value, the upper limit of integral saturation and the lower limit of integral saturation to obtain a current control output value to be set for the system. of electric motor control. With the method provided in the present disclosure, the rate of change in system output can be effectively restricted, and system stability and security can be improved.