CN103625308B - The electrical motor Effec-tive Function control method of trac. and system - Google Patents

Abstract

The invention relates to a tractor motor high-efficiency operation control method and system. The method is to collect tractor accelerator pedal opening and gear lever position signals; obtain expected traction force and expected output torque according to the accelerator pedal opening and gear lever position signals; The torque is searched and optimized with the mathematical model of motor efficiency as the optimization target, and the expected output speed when the motor efficiency is maximum is obtained; the expected output speed and the expected output torque are input into the motor controller to control the operation of the motor; based on the tractor The motor model and the vehicle mathematical model, the processing module is a fuzzy controller and an intelligent processing module, so the cost of experiment input and development is small, and it is suitable for the current situation of underdeveloped tractor electronic control technology in my country, and there is no need to develop a huge expert system; and the control As a result, the motor can always run near the highest efficiency area, which can significantly improve the efficiency of electric transmission, effectively reduce fuel consumption, and achieve energy saving and emission reduction.

Description

Tractor motor efficient operation control method and system

technical field

The invention relates to a high-efficiency operation control method and a control system for a motor of a tractor.

Background technique

Energy saving and environmental protection are two important themes in the field of industrial technology in our country and the world today. In response to today's worldwide energy shortage and greenhouse gas emissions, energy saving and high efficiency have become the mainstream trend of modern industrial products. As the main driving force of modern agricultural production, tractors undertake agricultural tasks such as farmland construction, plowing, intertillage, plant protection, and harvesting. The number of tractors in my country is increasing year by year. By the end of 2010, the number of large and medium-sized tractors in the country was nearly 4 million, and the number of small tractors was nearly 20 million. Although my country's agricultural mechanization has made considerable progress during the "Eleventh Five-Year Plan" period, there is still a large gap compared with developed countries, and the overall level is still not high; it is in line with the major requirements of advancing agricultural modernization in the process of industrialization and urbanization. Compared with it, there are still many gaps; it is not suitable for the task requirements of building a new socialist countryside, and it faces many contradictions and problems. one of the goals.

The research and development of hybrid tractors at home and abroad is in its infancy, and there are only individual prototypes in exhibitions abroad. Since there are many differences between my country's agricultural economic characteristics and developed countries, agricultural machinery products have a greater demand for energy saving and high efficiency. As a transition product from traditional tractors to pure electric tractors, hybrid tractors have the advantages of being easy to refit on the original product and easily refitted into pure electric tractors. Compared with traditional tractors, hybrid tractors have a variety of energy systems, which can realize flexible energy management and provide the possibility for efficient use of energy; and due to the participation of electric energy, part of fuel consumption can be saved. Compared with pure electric tractors, hybrid tractors have better battery life. Before the battery technology and charging technology achieve greater technological breakthroughs, hybrid tractors are more meaningful for actual production.

Compared with the control method of hybrid electric vehicles, for the vehicle dynamics system with speed and torque as the power output, as a means of transportation, the road condition of automobiles is better than that of tractors, and the goal of using series hybrid electric vehicles is mainly to save energy and reduce emissions. Usually used in urban vehicles, the main change in working conditions lies in the speed of the vehicle, and the change in torque is usually not large. The speed of the vehicle depends on the intention of the driver, so the use of this torque-based control method will cause the vehicle to sacrifice the flexibility of the speed and cannot be used in automobiles. Compared with the electronic control system, the core ECU lies in the signal processing module. The reason why domestic ECU technology is relatively backward compared to foreign countries is that the processing module of the control system similar to the expert system in electronic control technology has not mastered the core technology. Building is complicated.

Contents of the invention

The first object of the present invention is to provide a method for controlling the high-efficiency operation of the electric motor of the tractor, so that the traction motor in the transmission system always operates at a high-efficiency working condition, and solves the problem of establishing a complex expert system in the existing method.

The second object of the present invention is to provide a tractor motor high-efficiency operation control method and control system, so that the tractor motor operates under high-efficiency conditions, improves energy use efficiency, and realizes energy saving and emission reduction.

In order to realize the purpose of the first invention, the steps of the motor efficient operation control method of the tractor of the present invention are as follows;

(1) Collect tractor accelerator pedal opening and gear lever position signals;

(2) Obtain the expected traction force and expected output torque according to the accelerator pedal opening and gear lever position signals;

(3) The first way: according to the expected output torque, the mathematical model of the motor efficiency is used as the optimization target to search and optimize, and the expected output speed at the maximum efficiency of the motor is obtained; or the second way: the experiment for the efficiency of the motor is used And carry out regression analysis to obtain the segmental function of the relevant highest efficiency, according to the expected vehicle speed sought by the expected traction force, and according to the current transmission ratio to obtain the expected output speed at the expected vehicle speed;

(4) Input the expected output speed and expected output torque into the motor controller to control the operation of the motor.

In the step (2), the driver’s expected output torque is estimated according to the ratio of the accelerator pedal opening to the maximum pedal opening. Let the pedal depth be A, the maximum opening be B, and the maximum effective traction force in gear _n be F _max.n , the expected traction force at this time is estimated as: The desired output torque under the desired traction force is obtained according to the current transmission ratio.

In the first way of the step (3), the theoretical mathematical model of the efficiency of the traction motor is used as the objective function, and the intelligent area is used for the positive and negative FkN (F _want -F, F _want +F) centered on the expected traction force as the range The search algorithm performs search and optimization, and obtains the operating point (F _best , V _best ) when the objective function is optimal within the search range, that is, the motor efficiency is the highest, where F _best ∈ (F _want -F, F _want +F), where V _Best replaces the desired vehicle speed at which the traction motors operate most efficiently at F _want , and the current gear ratio yields the desired output speed at this desired vehicle speed.

The second method of the step (3) is to draw the operating efficiency curve of the motor under different gears through design experiments, and obtain a smooth curve by collecting the motor bench test and load test data to draw the equal efficiency curve, so that the The curve passes through the high-efficiency curve area of the motor; the points on the curve are collected, regression analysis is performed, and the correlation function is fitted to obtain the segmented functions under different gears.

After the step (4), periodically collect the tractor accelerator pedal opening and gear lever position signals to judge whether it is necessary to recalculate the expected output speed, if so, re-execute steps (2) to (4), the motor controller Use the new desired output speed for control; if not, the motor controller uses the last desired output speed for control.

Further, the calculation of whether the expected output speed needs to be re-calculated is to first judge whether the position of the gear lever changes, if it changes, it needs to be recalculated, and if there is no change, then use the fuzzy rules about the composition of the pedal opening and the pedal opening change rate. judge.

In order to realize the object of the second invention, the high-efficiency motor operation control system of the tractor of the present invention includes a motor controller, including a pedal position sensor for collecting the position signal of the accelerator pedal, a gear lever position sensor for collecting the gear lever position signal, and an intelligent The processing module, the intelligent processing module adopts an optimization search algorithm to optimize the motor efficiency within a certain range of positive and negative traction centered on the expected traction force, or adopts an experiment aimed at motor efficiency and performs regression analysis to obtain a piecewise function of the highest efficiency, The expected output speed and the expected torque are input to the motor controller when the motor efficiency is maximum; the CAN bus is used as the communication bus between the pedal position sensor, the shift lever position sensor and the intelligent processing module.

Further, it also includes a logic module controller for judging whether to re-calculate the expected output speed, and the logic module controller includes a fuzzy algorithm module, a reasoning module, and a defuzzification module.

Further, it also includes a rotational speed sensor for measuring the driving speed signal and a torque sensor for indirectly measuring the load traction force signal, the outputs of the torque sensor and the rotational speed sensor are connected to the motor controller.

Further, the pedal position sensor adopts a magnetoresistive angle sensor and is installed at the position of the pedal; the shift lever position sensor adopts a piezoelectric sensor, which is attached to the inner side of each position slot of the shift rod guide frame plate. When in the slot of the gear position, touch and squeeze the piezoelectric sensor to generate the position signal of the gear lever at this time; the speed sensor adopts a magnetoelectric speed sensor, and the torque sensor adopts a metal resistance strain gauge torque sensor.

The motor high-efficiency operation control method and control system of the tractor of the present invention are based on the motor model of the tractor and the mathematical model of the whole vehicle, and the processing module is a fuzzy controller and an intelligent processing module (realized by intelligent algorithm single-chip computer software), so the input cost of the experiment is relatively small , the development cost is also small, and it is suitable for the current situation that the electric control technology of tractors is underdeveloped in my country, and there is no need to develop a huge expert system; and the control results can make the motor always run near the area with the highest efficiency, which can significantly improve the efficiency of electric transmission, effectively Reduce fuel consumption, realize energy saving and emission reduction.

Description of drawings

Fig. 1 is a system diagram of a control system embodiment of the present invention;

Fig. 2 is a logic fuzzy controller control flowchart of the present invention;

Figure 3 is a theoretical operating characteristic diagram of a traction motor equipped with a 180-horsepower tractor in the first gear;

Figure 4 is a theoretical operating characteristic diagram of a traction motor equipped with a 180-horsepower tractor in third gear;

Fig. 5 is a representation diagram of the membership function of the pedal opening change rate;

Fig. 6 is a diagram showing the membership function of the pedal opening degree.

In Fig. 2: init stands for initialization, hold stands for hold, ω _n and ω _n+1 stand for the expected speed under hold period of N seconds and the expected speed after sudden change of working condition within N seconds respectively, P _Tn+1 stands for signal generation work Expected traction when conditions change suddenly.

detailed description

1. Tractor motor efficient operation control system

The high-efficiency operation control system of tractor motors is shown in Figure 1. This system is suitable for tractors with manual transmissions; or for serial hybrid transmissions that use existing traditional models as installation targets on the basis of retaining the power axle and body structure Tie.

The tractor motor efficient operation control system includes pedal 1, pedal position sensor 2, communication bus 3, logic fuzzy controller 4, motor controller 5, traction motor 6, intelligent processing module 7, transmission output shaft 8, speed sensor 9, Torque sensor 10, transmission 11, transmission input shaft 12, reverse gear position sensor 13, 4th gear position sensor 14, 3rd gear position sensor 15, 2nd gear position sensor 16, 1st gear position sensor 17 and clutch 18.

The intelligent processing module 7 uses an optimization search algorithm to optimize the motor efficiency within a certain range of positive and negative traction centered on the expected traction force, or uses an experiment aimed at the efficiency of the motor and performs regression analysis to obtain a piecewise function of the highest efficiency related to the motor efficiency. The maximum expected output rotational speed and the expected torque are input to the motor controller; the intelligent processing module 7 can analyze the driving speed for the motor to operate efficiently under the expected traction force, so as to obtain the reference output rotational speed under the efficient operation of the motor; the pedal position sensor 2, gear The CAN bus is used as the communication bus 3 between the lever position sensor (including 1-4 gear and reverse gear position sensor), the logic module controller 4 and the intelligent processing module 7 .

The logic module controller 4 includes a fuzzification algorithm module, a reasoning module, and a defuzzification module.

The speed sensor adopts a magnetoelectric speed sensor, which is installed next to the output shaft of the transmission. Through indirect measurement, the driving speed signal is measured, and this signal is used as one of the feedback signals of the control process; the torque sensor adopts a metal resistance strain gauge torque The sensor is installed on the output shaft of the transmission, and its elastic element is the rotating shaft. The strain of the rotating shaft can cause the resistance of the strain gauge to change, so that the load traction signal can be obtained through indirect measurement, and this signal is used as one of the feedback signals of the control process. 1. The output of the speed sensor and torque sensor is connected to the motor controller.

The pedal position sensor adopts a magnetoresistive angle sensor, which is installed at the pedal position, extracts the instantaneous accelerator pedal position signal, converts it into an electrical signal and transmits it to the control module, and the logic fuzzy controller 4 and the intelligent processing module 7 obtain the pedal position based on this signal. The size of the opening change and the rate of change; the 1st gear position sensor, the 2nd gear position sensor, the 3rd gear position sensor, the 4th gear position sensor and the reverse gear position sensor adopt piezoelectric sensors, which are attached to the gear position slots of the guide frame plate of the gear lever The inner side, when the gear lever enters the slot of the gear position, touches and squeezes the piezoelectric sensor to generate the gear lever position signal at this time.

2. Control method for high-efficiency operation of tractor motors

The steps of the method for controlling the efficient operation of the electric motor of the tractor are as follows;

(1) Collect the tractor accelerator pedal opening and gear lever position signals through the pedal position sensor and gear lever position sensor respectively, and upload the signals to the logic fuzzy controller and intelligent processing module through the CAN bus;

(2) The intelligent processing module obtains the expected traction force and expected output torque according to the accelerator pedal opening and gear lever position signals;

(3) According to the expected output torque, search and optimize with the mathematical model of the motor efficiency as the optimization target, and obtain the expected output speed when the motor efficiency is maximum;

(4) Input the expected output speed and expected output torque into the motor controller to control the operation of the motor.

In step (2), the driver’s expected output torque is estimated based on the ratio of the accelerator pedal opening to the maximum pedal opening (the expected torque here refers to the torque at the central transmission, which can be understood as the output torque demand at the wheels; Since the difference between the output torque of the motor and the output torque of the rear axle of the wheel before reaching the adhesion limit acts on the speed ratio of the main reducer and the transmission, the relationship between the two is a fixed ratio.). The specific method is, taking a 180-horsepower tractor as an example, the transmission system is designed as follows: a 156kW diesel engine/generator set as its main energy source, a 130kW electric motor as its engine, and a matching battery pack or battery/supercapacitor pack as an auxiliary power supply. A 180-horsepower tractor of a certain domestic brand is the target of installation, and its axle and body parts are retained, and its designed 4-speed transmission is used for power conversion. Through theoretical analysis and calculation and computer simulation, the series hybrid power train meets the performance requirements of the original machine. Judging the gear position of the current working condition according to the position signal of the gear lever, according to the effective traction force range under this gear position, as shown in Figure 3 and Figure 4, the maximum opening of the pedal corresponds to the maximum effective traction force under this gear position, and The 1/N pedal opening corresponds to the minimum traction force, and the middle (N-1)/N pedal opening range corresponds to the expected traction variation range. For example, if the driver’s pedal depth is A (obtained according to the specific pedal position sensor), the maximum opening is B, and the maximum effective traction force in the _n gear is F _max.n , then the driver’s expected traction force can be estimated as : The desired output torque under the desired traction force can be obtained according to the current transmission ratio.

In step (3), the theoretical mathematical model of the efficiency of the traction motor is used as the objective function, and the positive and negative FkN centered on the expected traction force (here F is the characteristic of the matching motor of the electric drive system of the specific type of use and the characteristics of the hybrid tractor Considering and determining the traction characteristics of the present invention, since the present invention is a general method, only F is used to replace the search radius of the specific model using the optimization method described in the present invention) (F _want -F, F _want +F) as the range to adopt intelligent The area search algorithm is used for search and optimization, and the operating point (F _best , V _best ) when the objective function is optimal within the search range, that is, the motor efficiency is the highest, where F _best ∈ (F _want -F, F _want +F), as V _best replaces the expected speed of the traction motor under F _want , as shown in Figures 3 and 4. It can be seen that the results of the optimization method based on the intelligent area search algorithm can provide the expected speed reference value close to the highest efficiency. The desired output speed at the desired vehicle speed is obtained according to the current transmission ratio. The intelligent area search algorithm can use the fish swarm algorithm, ant colony algorithm or particle swarm algorithm and other regional optimization algorithms with fast convergence speed and good robustness. The specific parameters of the algorithm are set according to the matching objects. The area search algorithms are all existing mature algorithms, so they will not be repeated here.

Based on the mathematical model of motor efficiency, a DC motor is taken as an example to illustrate.

The current is proportional to the torque generated by the motor, and the copper loss constant k _c is introduced, and the copper loss is:

P _c =k _c T _e ²

The iron loss of the motor is proportional to the frequency of the magnetic field. When the frequency of the magnetic field is higher, it will cause more magnetization and demagnetization processes, which will lead to more hysteresis loss; it will also lead to a higher rate of change of magnetic flux, so it will also increase. Eddy currents produced by electromagnetic induction. The change rate of the magnetic flux is proportional to the angular velocity of the rotor, and the iron loss constant _ki is introduced, and the iron loss of the motor is:

P _i =k _i ω _r

The power loss P _M caused by friction and wind resistance is:

P _M =T _f ω _r +k _w ω _r ³

In the formula: T _f is the friction torque Nm, k _w is a constant related to the shape and size of the rotor.

The motor power output is:

The motor power input is: P _in =P _out +P _c +P _i +P _M +C,

In the formula: C is the inherent loss kW of the motor.

The motor efficiency is: ${\mathrm{\η}}_m=\frac{P_{\mathrm{out}}}{P_{\mathrm{in}}}=\frac{T_L{\mathrm{\ω}}_r}{9550[{\mathrm{T\ω}}_r+k_c{T_e}^2+(k_i+T_f){\mathrm{\ω}}_r+k_w{{\mathrm{\ω}}_r}^3+C]}$

The above formula is the optimization objective function when the brushed DC motor is used, which is the mathematical model of the motor efficiency based on it. The constants need to be calibrated through the loss experiment of the motor for different models.

After step (4), after obtaining the expected output speed when the efficiency of the motor is maximum, and inputting it into the motor controller for control, so that the motor runs at the maximum efficiency, the signal of the opening of the accelerator pedal of the tractor and the position of the gear lever is collected regularly for Q seconds An initial judgment on the optimization process to ensure that the cumulative difference in the expected speed caused by the cumulative traction force changes under the complex and changeable external working conditions within Q seconds is corrected, and the practical accuracy is improved.

For the judgment of initialization, the logic fuzzy controller is used to estimate the driver's intention according to the change rate of the pedal position and the position of the gear lever, and judge whether there is a sudden change in load traction force, and decide whether to re-initialize the optimization process immediately according to the driver's intention , re-optimize according to the signals collected from relevant sensors. The logic rules of the logic fuzzy controller are shown in Table 1 below.

Table 1 Fuzzy rules

The logic part believes that when the position of the gear lever changes, the load traction force changes suddenly, and the optimization process needs to be initialized; when the position of the gear lever does not change, the initialization judgment is performed according to the fuzzy rules shown in Table 1, as shown in Figure 2 .

The large, medium and small in Table 1 cannot be divided into specific ranges due to the differences in pedal structures and strokes. Now, the normalized ranges are given, and the membership function of the fuzzy control principle is used to express the ranges. The range, specifically the membership function of the pedal opening change rate as shown in FIG. 5 , and the membership function of the pedal opening degree as shown in FIG. 6 .

The third step of the high-efficiency motor operation control method of the tractor can also be realized in the following ways: draw the operating efficiency curves of the motor under different gears through design experiments, and collect the motor bench test and load test data (such as collecting its operating point, Efficiency point) to obtain a smooth curve by drawing the equal efficiency curve, so that the curve passes through the high-efficiency curve area of the motor; collect points on the curve, perform regression analysis, and fit the correlation function to obtain the points under different gears. segment function. Using this experiment for motor efficiency and performing regression analysis to obtain the segmental function of the highest efficiency, according to the expected vehicle speed obtained by the expected traction force, the expected output speed at the expected vehicle speed is obtained according to the current transmission ratio.

Experiments on the operating efficiency of electric motors can be designed, taking the relationship between input electrical power and output mechanical power as the experimental purpose. Use the method of controlling the torque to change the output speed, and find the speed with the highest operating efficiency of the motor under a certain torque (the specific motor has different speed regulation methods). Taking a motor with a torque range of 0-700Nm as an example, set 10Nm to conduct an experiment, and carry out 70 sets of the above experiments, and the 70 sets of data can be used for regression processing based on the principle of the least square method. The specific function to be fitted depends on which function fits the experimental results (scatter points) better, and polynomial functions, Gaussian functions, and Fourier functions can be used. The means of fitting are relatively rich, and the least square method can be used, and software such as spss and matlab can also be used for fitting. A function fitting method is provided: if matlab software is used for fitting, type the cftool command in the command window, create an m file from the experimental results, and perform fitting in the toolbox.

Taking a 180-horsepower tractor with a series hybrid power transmission system as an example, the high-efficiency motor operation control system and control method of the tractor are described in detail. Arrange according to the system shown in Figure 1, and the sensor position is installed as described in the tractor's motor efficient operation control system.

Driver A drives the tractor for plowing operations. The sensor located at the pedal position of the driver obtains signals about the pedal opening, the change of the pedal opening, and the rate of change of the pedal opening by collecting the pedal opening within a certain period of time: U , ΔU and dU. At this time, the intelligent processing module judges the driver's expected torque T ₁ according to the pedal opening signal U, and optimizes the mathematical model as the optimization target according to the torque, and obtains the expected speed signal n ₁ when the efficiency is maximum, and uses Combined with the above _- mentioned expected torque T1, this signal is input to the motor controller through the bus to control the operation of the motor. Since the optimization process of the intelligent processing module is not continuous, set an optimization initialization cycle as Q seconds, that is, perform an optimization for Q seconds, and re-determine the expected speed in the next Q seconds. As in this example, if there is no sudden change in the working condition within the first Q seconds, n ₁ is always used as the desired speed within the first Q seconds. In the second Q seconds, there is an expected rotational speed n ₂ , assuming that the tractor encounters a sloping farmland at this time, the working condition of the tractor changes suddenly, the driver slams on the pedal, and the expected torque changes greatly. If n ₂ is still used as the expected torque If the speed is high, the efficiency of the motor cannot be guaranteed, so it is necessary to initialize the optimization process immediately and re-determine the desired speed; to judge when to initialize the optimization, it is necessary to rely on the fuzzy control module described in Figure 1 and the pedal signal sent by the pedal position sensor. Opening change and its rate of change signals ΔU and dU signals and the signal H sent by the gear lever position sensor, if the gear position changes, it will output a high level. It is considered that the change of the gear lever position means that the driver judges that there is a power mutation outside. Through fuzzy control The circuit breaker and the threshold circuit combine the logic rules in Figure 2 and the fuzzy rules in Table 1 to comprehensively judge whether optimization initialization is needed, and the threshold is to judge the high and low levels of the gear lever position signal H. If necessary, within the second Q seconds, the re-optimized desired speed n ₂ is used instead of n ₂ to be input to the motor controller for control.

Optimization Results The optimization simulation results of a tractor with 4 forward gears using the above mode are shown in Figures 3 and 4, and the asterisks in the figure indicate the operating point of the tractor.

Finally, it should be noted that: the above embodiments are only used to illustrate and not limit the technical solutions of the present invention, although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand; the present invention can still be modified Or an equivalent replacement, any modification or partial replacement without departing from the spirit and scope of the present invention shall fall within the scope of the claims of the present invention.

Claims (9)

1. the electrical motor Effec-tive Function control method of trac., it is characterized in that, the step of the method is as follows;

(1) trac. Das Gaspedal aperture and lever position signal is gathered;

(2) expectation tractive force, desired output torque is tried to achieve according to Das Gaspedal aperture and lever position signal;

(3) first kind of way: carry out Optimum search with the math modeling of motor efficiency for optimization aim according to desired output torque, obtain motor efficiency maximum time desired output rotating speed; Or the second way: adopt the line retrace analysis of going forward side by side of the experiment for motor efficiency to obtain the piecewise function of relevant peak efficiency, drawing the desired speed of making every effort to according to expecting, obtaining the desired output rotating speed under this desired speed according to current drive ratio; The math modeling of described motor efficiency is wherein, P _outfor power of motor exports, P _infor power of motor input; The second way is drawn the operating efficiency curve of electrical motor under different gear, obtain a level and smooth curve by the mode gathering motor stand test and loaded test Plotting data iso-efficiency curve, make this curve negotiating motor run high efficiency profile region; Gather the point on curve, carry out regression analysis, matching correlation function, to obtain the piecewise function under different gear;

(4) by desired output rotating speed, desired output torque input motor controller, the operation of electrical motor is controlled.

2. the electrical motor Effec-tive Function control method of trac. according to claim 1, it is characterized in that, it is the ratio estimation chaufeur desired output torque accounting for pedal maximum opening according to Das Gaspedal aperture size in described step (2), if tread depths is A, maximum opening is the maximum drawbar force under B, n gear is F _max.n, now expect that tractive force magnitude estimation is: obtain the desired output torque under this expectation tractive force according to current drive ratio, N is Das Gaspedal maximum opening.

3. the electrical motor Effec-tive Function control method of trac. according to claim 2, it is characterized in that: using the pure mathematics model of traction motor efficiency as objective function in the first kind of way of described step (3), to expect positive and negative F centered by tractive force i.e. (F _want-F, F _want+ F) kN is that scope adopts Intelligent region searching algorithm to carry out Optimum search, obtain making in search coverage objective function optimum and motor efficiency the highest time operation point (F _best, V _best), wherein F _best∈ (F _want-F, F _want+ F), with V _bestreplace F _wantunder the desired speed making the most Effec-tive Function of traction motor, current drive ratio obtains the desired output rotating speed under this desired speed.

4. the electrical motor Effec-tive Function control method of the trac. according to any one of claim 1-3, it is characterized in that, after described step (4), timing acquiring trac. Das Gaspedal aperture and lever position signal, judge whether the calculating needing to re-start desired output rotating speed, if so, then re-execute step (2) to (4), motor controller adopts new desired output rotating speed to control; If not, motor controller adopts the desired output rotating speed of last time to control.

5. the electrical motor Effec-tive Function control method of trac. according to claim 4, it is characterized in that, to being first judge whether lever position changes the need of the calculating re-starting desired output rotating speed, if change then needs to recalculate, the fuzzy rule formed about pedal aperture, pedal aperture rate of change is then adopted to judge again if do not have to change.

6. the electrical motor Effec-tive Function control system of trac., comprise motor controller, it is characterized in that, comprise the pedal position sensor of the position signal for gathering Das Gaspedal, for gathering lever position transduser and the intelligent processing module of lever position signal, this intelligent processing module adopts optimizing searching algorithm to obtain the piecewise function of relevant peak efficiency to carrying out optimizing or the employing experiment for motor efficiency line retrace analysis of going forward side by side by the motor efficiency expecting centered by tractive force in certain scope tractive force positive and negative, obtain motor efficiency maximum time desired output rotating speed together with expectation torque input motor controller, described pedal position sensor, between lever position transduser and intelligent processing module, adopt CAN as communication bus, described optimizing searching algorithm refers to the optimization method based on Intelligent region searching algorithm, the described experiment for motor efficiency refers to the operating efficiency curve being drawn electrical motor under different gear by contrived experiment, obtain a level and smooth curve by the mode gathering motor stand test and loaded test Plotting data iso-efficiency curve, make this curve negotiating motor run high efficiency profile region.

7. the electrical motor Effec-tive Function control system of trac. according to claim 6, it is characterized in that, also comprise for judging whether the logic module controller needing to re-start the calculating of desired output rotating speed, this logic module controller comprises obfuscation algoritic module, reasoning module, ambiguity solution module.

8. the electrical motor Effec-tive Function control system of trac. according to claim 6, it is characterized in that: also comprise and travel the tachogen of speed signal and the torque sensor for indirect inspection load balance factor force signal for measuring, this torque sensor exports with tachogen and is connected motor controller.

9. according to Claim 8 described in the electrical motor Effec-tive Function control system of trac., described pedal position sensor adopts magneto resistive angular sensor, is installed on pedal position; Described lever position transduser adopts piezoelectric transducer, is affixed on inside each file location groove of lever guiding deckle board, and when in the groove that lever enters this gear, touching extruding piezoelectric transducer, produces lever position signal now; Described tachogen adopts magnetoelectric tachometric transducer, and described torque sensor adopts metal resistance strain gauge torque sensor.