CN104333291B - Motor drive control device and control method - Google Patents

Abstract

The present invention relates to a kind of motor drive control device and motor-driven control method.The motor drive control device includes：Transformer（14）, the transformer（14）Can be in boost mode by direct current power source voltage（V_dc）Boost into bus voltage（V_bus）, also direct current power source voltage can be transferred to bus in non-boost mode；Inverter（11、11’）, the inverter（11,11 '）For motor；Control unit（300）, described control unit（300）The transformer can be controlled（14）Whether the boost mode is entered.Using above-mentioned control device and method, it can more simply and efficiently realize that motor drives.

Description

Motor drive control device and control method

technical field

The present invention relates to a control device and method, more specifically, the present invention relates to a control device and a control method for motor driving.

Background technique

Figure 1 schematically shows the power stages in a hybrid/electric vehicle. As shown in Figure 1, the power stage mainly includes: a motor 1; an inverter 2, which outputs an AC voltage on one side to drive the motor 1; a transformer 4, which is used to output the bus voltage Vbus to the inverter 2, wherein the transformer 4 The power is supplied by a direct current power supply 5 whose output voltage is Vdc, usually by boosting the Vdc voltage. Specifically, the other side of the inverter 2 is the DC bus 3 , and the DC bus 3 provides the inverter 2 with a DC bus voltage Vbus. The DC bus voltage Vbus is controlled by a transformer 4, wherein the transformer 4 can boost the Vdc voltage to Vbus in boost mode. If desired, multiple sets of inverters and motors share the same DC bus 3 to perform more complex tasks, such as in the case of two motors 1, 1', one motor 1 operating in motoring mode while the other The electric machine 1' runs in the power generation mode.

Transformer 4 plays an important role in the above power stages:

1) The DC bus voltage Vbus has an important impact on system loss and efficiency. The bus voltage is high. For the motor, the current required in the weak magnetic field will be small, so the loss on the wire will be small, but the magnetic field will be large, so the iron core The loss in will be more. For the power switching elements in transformers and inverters, the conduction loss will be small because the motor current is small, but the switching loss will be large because the bus voltage is high. The opposite is true when the bus voltage is low. Therefore, for a particular combination of motor speed and torque, there exists a DC bus voltage Vbus that optimizes the system. When the speed or torque of the motor changes, the DC bus voltage also changes accordingly, which is the optimal path of the system. The "optimal system" here can be the highest efficiency of the system (equivalent to the lowest loss), or the highest efficiency of a certain component (such as a motor), or the lowest temperature rise of the system, or the temperature rise of a certain component The lowest, or the lowest temperature rise of the system under a certain working condition, or the lowest temperature rise of a certain component under a certain working condition. The transformer 4 controls the bus voltage Vbus to ensure that the inverters 2, 2' and motors 1, 1' have sufficient voltage to output the required torque, while preferably controlling Vbus at the sweet spot that optimizes the system.

2) At the same time, the above control also needs to consider the DC power supply voltage Vdc. In a real system, Vdc is changing all the time, not constant all the time. For example, when a battery is used as a DC power source, it has an internal resistance, which causes the DC power supply voltage Vdc to drop under high load conditions, and to increase the DC power supply voltage Vdc in charging mode. Further, the DC power supply voltage Vdc will vary with the state of charge of the battery. The changing DC supply voltage Vdc in turn significantly affects the control of the bus voltage Vbus by the transformer 4 . When the power supply voltage Vdc is high enough, it is not necessary to raise the power supply voltage Vdc. That is, the transformer 4 operates in a non-boost mode, allowing the power supply voltage Vdc to pass directly through the converter 4 . But when the power supply voltage Vdc is not high enough, the transformer 4 needs to work in boost mode to increase the power supply voltage Vdc. Of course, when the transformer 4 works in the boost mode, certain power loss will be generated.

Another problem is the relationship between bus voltage Vbus control and motor control. The motor controller needs to select the appropriate control current Id and Iq according to the actual bus voltage Vbus, so that the motor can output the required torque at the current speed. Improper selection of Id and Iq will make the voltage required by the motor higher than the voltage that the bus can provide, and finally cause the motor to run out of control. When Vbus is controlled as the power stage system optimal path varies, motor control also varies accordingly according to Vbus control. So how to coordinate the above controls is the problem.

US 7164253 B2 discloses a motor control device, which recognizes the important influence of the control of the bus voltage Vbus on the system efficiency, and adjusts the bus voltage Vbus according to the motor speed and torque output. The power supply voltage Vdc is considered by comparing the power supply voltage Vdc and the bus voltage Vbus, and the larger one is selected as the bus voltage command. However, the above method does not consider the power stage as a whole, and does not take into account the optimal operation of the motor (such as: the lowest temperature rise, the smallest loss, etc.), so it cannot ensure that the power stage operates at the optimum point.

Although US 7852029 B2 recognizes the importance of bus voltage Vbus control and uses a predetermined table to adjust and realize optimal bus voltage Vbus control, it does not consider the influence of DC power supply voltage Vdc.

US 8324856 B2 utilizes a predetermined table to determine the optimum Vbus setting. The table is divided into boosted and non-boosted regions, which are demarcated by the boost select line. However, it does not explain the impact of Vdc changes on the formulation of the above table. On the other hand, by checking whether the maximum torque curve based on the boosted voltage crosses the boost selection line, the power supply voltage Vdc variation is considered in real time. If the boost selection line is crossed, it means that the falling power supply voltage Vdc will prevent the motor from outputting the required torque, so it needs to be executed from the non-boost region to the boost region. But the above scheme is too complicated.

Contents of the invention

The purpose of the present invention is to provide a simple and efficient motor drive control device and control method, that is, to provide a kind of 1) according to the speed and torque of the motor, the bus voltage is adjusted to the optimal point by the transformer, so that the system runs in an optimal state; 2) Compare the changing DC voltage with the required bus voltage in real time to determine whether to perform a boost or not, which can reduce or eliminate the influence of the changing DC voltage; Smooth transitions between boosts; 4) motor control and bus voltage control fully coordinating motor drive control devices and control methods for these purposes.

The above object can be achieved by the following control device and method.

According to a motor drive control device of the present invention, the motor drive control device includes: a transformer, the transformer can boost the DC power supply voltage to a bus voltage in the boost mode, and can also boost the DC power supply voltage to a bus voltage in the non-boost mode. transmission to the bus; an inverter, the inverter is used to drive the motor; a control unit, the control unit can control whether the transformer enters the boost mode.

Preferably, in the motor drive control device of the present invention, the control unit further includes: a transformer control unit capable of controlling whether the transformer enters the boost mode; and an inverter control unit, the The inverter control unit is capable of controlling the inverter.

Further preferably, in the motor drive control device of the present invention, the transformer control unit further includes: a bus voltage command generator and a control signal generator, wherein the bus voltage command generator is based on the input torque command and the motor The information outputs the bus voltage command to the control signal generator, and the control signal generator controls whether the transformer enters the boost mode according to the received bus voltage command.

In addition, preferably, in the motor drive control device of the present invention, the inverter control unit further includes: a current command generator, a current converter, a d-axis current controller, a q-axis current controller and a control signal generator, Wherein, the current command generator receives the input torque command and the motor speed signal, and outputs the d-axis current command and the q-axis current command to the d-axis current controller and the q-axis current controller respectively, and the said The d-axis current controller and the q-axis current controller are respectively output to the control signal generator, and the control signal generator controls the inverter according to the outputs of the d-axis current controller and the q-axis current controller.

Preferably, in the motor drive control device of the present invention, the transformer control unit controls whether the transformer enters the boost mode according to an optimization table used for system optimization criteria.

Preferably, in the motor drive control device of the present invention, the system optimization criterion is minimum system power loss.

Preferably, in the motor drive control device of the present invention, the optimization table includes a bus voltage command table, a d-axis motor current command table, and a q-axis motor current command table.

Preferably, in the motor drive control device of the present invention, the transformer control unit controls the transformer to switch between boost mode and non-boost mode through hysteresis control.

The present invention also relates to a motor drive control method, which includes the following steps:

Step S1: setting system optimization standards, and collecting data information necessary to realize the system optimization standards;

Step S2: Using the data information collected in step S1, formulate three optimization tables for system optimization standards: bus voltage command table, d-axis motor current command table, and q-axis motor current command table;

Step S3: Search the optimal bus voltage command in the optimization table based on the torque command and the motor speed, and determine the actual bus voltage command in combination with the detected DC power supply voltage; according to the actual bus voltage command and the actual measured bus voltage, pass Comparing these two voltage values, generating a control signal, implementing feedback control, and performing a determined bus voltage control;

Step S4: Search the optimal d-axis current and the optimal q-axis current in the optimization table according to the externally input torque command and the motor speed, and control the inverter according to the optimal d-axis current and q-axis current.

Preferably, in the motor drive control method of the present invention, step S2 further includes the following steps:

Step S201, perform initialization in this step: set the DC power supply voltage to be lower than the minimum value of the battery voltage range; set the current bus voltage to be the minimum value of the battery voltage range; set the current motor speed to be the minimum value of the speed range; set the current The motor torque is the minimum value of the torque range; set the hysteresis amount;

Step S202, setting the bus voltage;

Step S203, setting the motor speed;

Step S204, setting the motor torque;

Step S205, calculating possible combinations of d-axis current and q-axis current under a specific bus voltage, motor speed and torque;

Step S206, calculating the power loss of each power unit under the possible combination of the above-mentioned d-axis current and q-axis current;

Step S207, determining the optimal d-axis current and q-axis current by comparing the sum of power losses of each power unit;

Step S208, judge whether the motor torque reaches the maximum value, if not, gradually increase the torque, and return to step S204; if so, enter the next step S209;

Step S209, judge whether the motor speed reaches the maximum value, if not, gradually increase the speed, and return to step S203; if so, enter the next step S211;

Step S210, judge whether the bus voltage reaches the maximum value, if not, gradually increase the bus voltage, and return to step S202; if so, enter the next step S211;

Step S211 , comparing the power loss of each power unit with the optimal d-axis current and q-axis current under different bus voltage settings, and determining the overall optimal table of d-axis current, q-axis current and bus voltage.

Preferably, in the motor drive control method of the present invention, step S3 further includes the following steps:

Step S301: Retrieve the bus voltage in the optimization table and detect the DC power supply voltage;

Step S302: Determine whether the previous mode is a non-boost mode, if yes, go to step S303; if not, go to step S306;

Step S303: Determine whether the bus voltage is less than the sum of the DC voltage and the hysteresis amount; if the bus voltage is less than the sum of the DC power supply voltage and the hysteresis amount, proceed to step S304; if not, proceed to step S305;

Step S304, execute non-boosting control, and send an instruction to make the bus voltage instruction equal to the DC voltage to the transformer control unit, and enter step S311;

Step S305, the transformer control unit controls the transformer to enter the boost mode, sends an instruction to the transformer control unit, and enters step S311;

Step S306, the control program further judges whether the bus voltage command is lower than the DC power supply voltage, if yes, then enters step S307; if not, then enters step S308;

Step S307, enter non-boost control, and enter step S311;

Step S308, the control program further judges whether the bus voltage is greater than the sum of the DC power supply voltage and the second hysteresis amount, if yes, then enters step S39, if not, then enters step S310;

Step S309, enter boost control, the bus voltage command is equal to the bus voltage, and enter step S311;

Step S310, enter boost control, the bus voltage command is equal to the sum of the DC voltage and the second hysteresis, and enter step S311;

Step S311, the control program judges whether the difference between the bus voltage command minus the previous bus voltage command is greater than the set maximum allowable voltage control change step, if yes, then enter step S312, if not, then enter step S313;

Step S312, the control program sets the bus voltage command equal to the sum of the previous bus voltage command and the set maximum allowable voltage control change step size, and makes the transformer control unit control the bus voltage to become the bus voltage command;

Step S313, the control program sets the bus voltage command to be equal to the bus line voltage, and allows the transformer control unit to control the bus voltage to become the bus voltage command.

Preferably, in the motor drive control method of the present invention, the data information in the step S1 includes a loss model of each power element in the system.

Preferably, in the motor drive control method of the present invention, the hysteresis amount is determined based on bus voltage fluctuation, bus voltage measurement accuracy and/or transformer dead zone.

Preferably, in the motor drive control method of the present invention, the step size may be constant or variable.

Using the motor drive control device and control method of the present invention, the following technical effects can be achieved: 1) the system is always running in the optimal state 2) the bus voltage control and the motor control are well coordinated 3) the bus voltage control is performed considering the changing DC current voltage, Simultaneously, the simple implementation process ensures a smooth transition between boost and non-boost modes.

Description of drawings

In order to describe the present invention in more detail, the following will be further described in conjunction with the accompanying drawings and with reference to specific embodiments, wherein:

FIG. 1 is a schematic diagram of a power stage structure in the prior art;

2 is a schematic diagram of a motor drive control device according to the present invention;

Fig. 3 is a flow chart of the motor drive control method according to the present invention;

Fig. 4 is a detailed flowchart of step 2 of the motor drive control method according to the present invention;

Fig. 5 is a detailed flow chart of hysteresis control according to the motor drive control method of the present invention;

Fig. 6 is a schematic diagram of d-axis current command, torque and rotational speed;

Fig. 7 is a schematic diagram of q-axis current command, torque and rotational speed; and

Fig. 8 is a schematic diagram of bus voltage command, torque and rotational speed.

detailed description

Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

Referring first to FIG. 2, the power stage shown in the figure includes: a DC power supply 15 outputting a DC voltage V _dc ; a transformer 14 capable of boosting the DC voltage V _dc to a bus DC voltage V _bus in a boost mode; an inverter 12, 12', one side of which inputs DC voltage V _bus and outputs AC voltage on the other side; and motors 11, 11' are respectively driven by inverters 12, 12', and motors 11, 11' can be further connected to The transmission chain, the transmission chain may be a transmission chain of a hybrid/pure electric vehicle. Specifically, in this embodiment, the DC power supply 15 is a battery/accumulator with internal resistance, the transformer 14 is a bidirectional buck-boost circuit, the inverters 12, 12' are three-phase inverters, and the motors 11, 11' It is a permanent magnet synchronous motor. It should be noted that, in other embodiments, the number of inverters and motors may be more than one respectively. In this embodiment, two inverters and two motors are taken as an example for illustration.

Further, as shown in FIG. 2, the motor drive control device according to the present invention mainly includes: a DC power supply 15; a transformer 14; inverters 12, 12'; motors 11, 11'; and a control unit 300 capable of controlling the transformer 14 In non-boost mode or boost mode, the control unit 300 can also be used to control the inverters 12, 12'.

More specifically, the control unit 300 may further include: a transformer control unit 200 for controlling the transformer 14 . Preferably, the control unit 300 further includes an inverter control unit 100 for controlling the inverters 12, 12'. Specifically, the transformer control unit 200 mainly includes: a bus voltage command generator 201 and a control signal generator 202 . Among them, the bus voltage command generator 201 receives signals from the outside of the control device, including: motor information, such as the real-time torque, speed, temperature of the motor, the torque command T _cmd from the external torque command generator, and the bus voltage command The generator 201 detects the direct current voltage V _dc in real time, and determines whether to boost the voltage. According to the above parameters and an optimization table (described in detail below), the bus voltage command generator 201 generates a bus voltage command V _{bus_local} to the control signal generator 202 . The control signal generator 202 also receives the bus voltage feedback V _{bus_fbk} , which represents the real-time bus voltage actually output by the transformer 14, and the control signal generator 202 generates a control signal according to the bus voltage instruction V _{bus_local} and the real-time bus voltage V _{bus_fbk} (in this example is a PWM signal) to control the transformer 14.

The inverter control unit 100 will be described in further detail below. The inverter control unit 100 according to the present invention includes a current command generator 101 , a current converter 102 , a d-axis current controller 103 , a q-axis current controller 104 and a control signal generator 105 .

Specifically, the inverter control unit 100 controls the inverters 12, 12' in the following manner. The external torque command generator inputs vehicle information such as throttle depth or a torque command from a vehicle controller. It also inputs power stage system information, such as motor speed, inverter temperature, etc., and outputs a torque command T _cmd . The current command generator 101 receives the aforementioned torque command T _cmd and related motor information. The current command generator 101 generates current commands I _{d_cmd} and I _{q_cmd} to the d-axis current controller 103 and the q-axis current controller respectively according to the input of the torque command T _cmd and the motor speed, and an optimization table (described in detail below). 104. The current converter 102 receives the motor current feedback signal I _fbk and the motor position feedback signal P _fbk from the outside. According to the above received signals, the current converter 102 generates a d-axis current feedback signal I _{d_fbk} and sends it to the d-axis current controller 103 . At the same time, according to the motor current feedback signal I _fbk and the motor position feedback signal P _fbk received from the outside, the current converter 102 generates a q-axis current feedback signal I _{q_fbk} and sends it to the q-axis current controller 104 . The d-axis current controller 103 and the q-axis current controller 105 send the motor control signal to the control signal generator 105 after processing the received signal, and the control signal generator 105 generates a corresponding control signal according to the received signal, To control the inverters 12, 12'.

The current command generator 101 includes two tables: a d-axis motor current (I _d ) command table, and a q-axis motor current (I _q ) command table, which are used for current commands I _{d_cmd} and I _{q_cmd respectively} . The output of the current controllers 103, 104 enters a control signal generator 105 to control the inverters 12, 12'.

The torque command T _cmd received by the current command generator 101 and the bus voltage command generator 201 may come from an external torque command generator which receives power level system information and, for example, vehicle information.

The above is a detailed description of the motor drive control device according to the present invention. Next, the motor drive control method according to the present invention is further described in detail. As shown in FIG. 3, the method mainly includes the following steps:

Step S1: Set system optimization standards, and collect data information necessary to realize the above system optimization standards.

Specifically, the above-mentioned system optimization standard may be the highest system efficiency and the smallest loss. The system mainly includes three groups of power units including a transformer 14, inverters 12, 12' and motors 11, 11'. When the transformer 14 is in boost mode, it experiences power losses. And when the bus voltage V _bus is too high, it will also cause unnecessary power loss of the inverters 12, 12'. However, when the bus voltage V _bus is too low, the motors 11 and 11 ′ cannot work in an optimal state. Therefore, it is necessary to select an appropriate bus voltage V _bus to achieve the system optimization standard of the highest system efficiency.

However, in addition to selecting system efficiency as the system optimization standard, other conditions can also be selected as the system optimization standard. For example, the lowest average temperature rise of power components (inverter 12, 12', transformer 14 and motor 11, 11'), or the lowest temperature rise of a certain power component is selected as the system optimization standard.

In this embodiment, the highest system efficiency is used as the system optimization standard for further description. When selecting the highest system efficiency as the system optimization standard, the data information that must be collected includes: the loss model of each power component. By collecting the above information, the respective power losses of the transformer 14, inverters 12, 12' and motors 11, 11' can be grasped under the predetermined bus voltage V _bus , d-axis current I _d , and q-axis current I _q , so as to select Corresponding preferred parameters. The way of collecting the above data information can be real test or theoretical calculation.

Step S2: Using the data information collected in step S1, formulate three optimization tables for system optimization standards: the bus voltage command V _{bus_cmd} table, the d-axis motor current command I _{d_cmd} table, and the q-axis motor current command I _{q_cmd} table .

Table 1 Bus voltage command table V _{bus_cmd}

Table 2 d-axis motor current command I _{d_cmd} table

Table 3 q-axis motor current command I _{q_cmd} table

The above three tables 1-3 are only used to formulate example optimization tables.

The purpose of formulating the above three tables is that under the specific combination of motor speed and torque, the system operates at a specific point in the table to achieve the optimal goal. During the making of the table (the table can be made off-line), it is not necessary to take into account the changing DC supply voltage V _dc . Since the above three tables are formulated in coordination (as described in the following steps S201-S211), the influence of the changing bus voltage V _bus on the motor control can be reduced to a minimum level.

Preferably, step S2 may further include the step of completely scanning the motor torque range and speed range through two cycles. One loop is from step S203 to S208, and the other loop is from step S204 to S209. In step S202, the preferred I _d , I _q corresponding to a specific V _bus group are prepared. Steps S202 to S210 form the outermost loop, through which the optimal I _d and I _q tables corresponding to different V _bus settings are searched. In the final step S211, by comparing the losses at each point, the optimal _Id , _Iq for different V _bus settings is transformed into the entire _Id , _Iq table and V _bus table.

The tables are prepared in the following way: I _d table is coordinated with I _q table, so V _bus control and motor control are coordinated. The motor control does not have to take into account the current _Vbus because there is always enough voltage for motor control if _Vbus is controlled according to the above table.

Specifically as shown in Figure 4:

Step S201, perform initialization in this step: set the DC power supply voltage V _dc to be less than the minimum value of the battery voltage range; set the current V _bus to the minimum value of the battery voltage range; set the current motor speed to the minimum value of the speed range; set Set the current motor torque as the minimum value of the torque range; set the hysteresis amount;

Step S202, setting the bus voltage V _bus ;

Step S203, setting the motor speed;

Step S204, setting the motor torque;

Step S205, calculating possible combinations of d-axis current I _d and q-axis current I _q under a specific bus voltage V _bus , motor speed and torque;

Step S206, calculating the power loss of each power unit under the possible combination of the above-mentioned d-axis current _Id and _q -axis current Iq;

Step S207, determining the optimal d-axis current I _d and q-axis current I _q by comparing the sum of the power losses of each power unit;

Step S208, judge whether the motor torque reaches the maximum value, if not, gradually increase the torque, and return to step S204; if so, enter the next step S209;

Step S209, judge whether the motor speed reaches the maximum value, if not, gradually increase the speed, and return to step S203; if so, enter the next step S211;

Step S210, judge whether the bus voltage V _bus reaches the maximum value, if not, gradually increase the bus voltage V _bus , and return to step S202; if so, enter the next step S211;

Step S211, compare the power loss of each power unit when the optimal d-axis current I _d and q-axis current I _q are set under different bus voltage V _bus settings, and determine the d-axis current I _d , q-axis current I _q and the bus voltage V Overall optimal table for _bus .

Step S3: Search the optimal bus voltage command V _{bus_cmd} in the optimization table based on the torque command T _cmd and the motor speed, and determine the bus voltage V _bus in combination with the detected DC power supply voltage V _dc ; the bus voltage according to the demand, and the actual measurement By comparing the two voltage values, a control signal is generated to realize feedback control and execute a determined bus voltage V _bus control.

Specifically, in step S3, the torque command T _cmd is input, for example, by inputting power level system information and vehicle information. Then, the bus voltage command V _{bus_cmd} is searched in the V _bus optimization table by using the input torque command T _cmd , motor speed and other parameters. When the bus voltage command V _{bus_cmd is found} , the real-time DC power supply voltage V _dc is detected. The transformer control unit 140 first determines whether to make the transformer 14 enter the boost mode, that is, whether to boost the _DC power supply voltage V _dc to become the bus voltage V _{bus_cmd} ; Voltage circuit becomes the bus voltage. That is to say, if the bus voltage command V _{bus_cmd is} higher than the DC power supply voltage V _dc , the DC power supply voltage V _dc will be boosted to the bus voltage V _bus ; if the bus voltage command V _{bus_cmd} is lower than the DC power supply voltage V _dc , the voltage will not be boosted And the DC power supply voltage V _dc is directly passed through the transformer circuit. Preferably, in one embodiment, in order to reduce frequent transitions between boost and non-boost modes, and better control the bus voltage V _bus during transitions, it is necessary to perform hysteresis control in step S3. Hysteresis control can be performed (as steps S303 to S310 below) and/or fixed or variable step voltage control (as steps S311 and S312 below), ie, eliminate frequent transitions and have better voltage control quality. Frequently switching the control mode between boost mode and non-boost mode, or switching the voltage control value with a large step size, will cause unnecessary control fluctuations in the bus voltage, which is not conducive to the stability of the motor control and is not conducive to the transformer and the lifetime of the power switches in the inverter. Figure 5 shows example execution steps.

Specifically, the above steps are shown in Figure 5:

S301: Retrieve the bus voltage V _{bus_cmd} in the optimization table and detect the DC power supply voltage V _dc ;

S302: Determine whether the previous mode is a non-boost mode, if yes, enter step S303; if not, enter step S306;

S303: Determine whether the bus voltage V _{bus_cmd} is less than V _dc +dV1, where dV1 is a hysteresis value. The amount of hysteresis needs to consider bus voltage fluctuations, bus voltage measurement accuracy, transformer dead zone, etc., and is determined empirically; if the bus voltage V _{bus_cmd} is less than the sum of the DC power supply voltage V _dc and the hysteresis amount dV1, proceed to step S304 ; If not, enter step S305;

In step S304, step-up control is not performed, and the instruction V _{bus_local} =V _dc is sent to the transformer controller, and step S311 is entered;

In step S305, the transformer control unit 200 controls the transformer 14 to enter the boost mode, sends an instruction V _{bus_local} =V _{bus_cmd} to the transformer controller, and enters step S311;

In S306, the control program further judges whether the bus voltage command V _{bus_cmd} is smaller than the DC power supply voltage V _dc , and if so, proceeds to step S307; if not, proceeds to step S308;

In step S307, since the DC power supply voltage Vdc is greater than the required bus voltage command, boosting is not necessary, so enter non-boosting control, V _{bus_local} = V _dc , and enter step S311;

In step S308, the control program further judges whether the bus voltage V _{bus_cmd} is greater than the sum of the DC power supply voltage V _dc and dV2, if yes, then enters step S39, if not, then enters step S310;

In step S309, enter boost control, V _{bus_local} = V _{bus_cmd} , and enter step S311;

In step S310, enter boost control, V _{bus_local} =V _dc +dV2, where dV2 is the second hysteresis value, and enter step S311;

In step S311, the control program judges whether the difference between V _{bus_local} minus the previous V _{bus_local} is greater than the maximum allowable voltage control change step Step, if so, then enters step S312, if not, then enters step S313; wherein the step step can be a constant or a variable.

In step S312, the control program sets V _{bus_local} = the previous V _{bus_local} + the maximum allowed voltage control change step step, and allows the transformer control unit to control the voltage of the bus 202 to Vbus_local;

In step S313 , the control program sets V _{bus_local} =V _{bus_local} , and lets the transformer control unit 202 control the bus voltage to V _{bus_local} .

The transformer control unit 202 receives the bus voltage command V _{bus_local} from the bus voltage command generator 201 and detects the bus voltage in real time. According to these two voltage values, a required control signal is generated to control the transformer so that the bus voltage is the desired V _{bus_local} . If V _{bus_local} and V _dc are equal, boosting is not necessary and it is a non-boosting state.

Then execute step S4: search the optimal d-axis current I _d and the optimal q-axis current I _q in the optimization table according to the torque command and the motor speed, and implement the optimization according to the optimal d-axis current I _d and the q-axis current I _q Control of the inverters 12, 12'. In step 4, the current command generator 101 only needs to search for I _d and I _q in the corresponding optimization table, regardless of the bus voltage V _bus , because a larger V _bus has been selected, then a sufficient bus voltage V _bus is guaranteed is supplied to the inverter 12, 12'. That is to say, since the controlled bus voltage V _bus in step S3 is always equal to or higher than the required bus voltage V _{bus_cmd} , the motor control does not need to pay attention to the bus voltage V _bus , but only needs to search for a specific voltage, torque and speed. I _d and I _q optimized current commands in the table. Thus, motor control is coordinated with bus voltage control.

The above descriptions are only preferred embodiments of the present invention, and do not limit the present invention in any form. Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any skilled person who is familiar with the profession can use the technical content disclosed above to make some changes without departing from the scope of the technical solution of the present invention. Or be modified as an equivalent embodiment of an equivalent change, but any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still belong to the technical solution of the present invention In the range.

Claims (10)

1. a kind of motor drive control device, it is characterised in that the motor drive control device includes：

Transformer (14), the transformer (14) can be in boost mode by direct current power source voltage (V_dc) boost into bus voltage (V_bus), also can be in non-boost mode by direct current power source voltage (V_dc) it is transferred to bus；

Inverter (12,12 '), the inverter (12,12 ') is used for motor；

Control unit (300), described control unit (300) can control whether the transformer (14) enters the boosting mould Formula, described control unit (300) further comprises the change that the transformer (14) can be controlled whether to enter the boost mode Depressor control unit (200) and the inverter control unit (100) that the inverter (12,12 ') can be controlled,

Whether the transformer control unit (200) enters according to the optimization table control transformer (14) for being used for system optimization standard Boost mode, the optimization table includes bus voltage and instructs (V_{bus_cmd}) table, d spindle motor current-orders (I_{d_cmd}) table, and q axles electricity Machine current-order (I_{q_cmd}) table；

The inverter control unit (100) further comprises：Current-order maker (101), power pack (102), d axles Current controller (103), q shaft currents controller (104) and control signal maker (105),

Wherein, the current-order maker (101) receives the torque instruction (T of input_cmd) and motor speed in the optimization table The middle optimal d shaft currents (I of search_d) and optimal q shaft currents (I_q), according to optimal d shaft currents (I_d) and optimal q shaft currents (I_q), and Output d shaft currents instruct (I respectively_{d_cmd}), q shaft currents instruction (I_{q_cmd}) arrive the d shaft currents controller (103), q shaft currents Controller (104), the d shaft currents controller (103), q shaft currents controller (104) output a control signal to the control respectively Signal generator (105) processed, the control signal maker (105) controls according to d shaft currents controller (103) and q shaft currents The output of device (104) controls inverter (12,12 ').

2. motor drive control device as claimed in claim 1, it is characterised in that the transformer control unit (200) is entered One step includes：

Bus voltage instruction generator (201) and control signal maker (202), wherein,

The bus voltage instruction generator (201) is according to the torque instruction (T of input_cmd) and motor information output bus voltage Instruct (V_{bus_local}) the control signal maker (202) is arrived, the control signal maker (202) is total according to what is received Line voltage instructs (V_{bus_local}) control whether transformer (14) enters boost mode.

3. motor drive control device as claimed in claim 1, it is characterised in that the system optimization standard can be system Power attenuation is minimum, or be system temperature rise it is minimum, or be that temperature rise of the system under specific operation is minimum.

4. the motor drive control device as described in any one of claims 1 to 3, it is characterised in that the transformer control Unit (200) processed controls transformer (14) to be switched between boost mode and non-boost mode by Hysteresis control.

5. a kind of motor drive control method, it is characterised in that the control method comprises the following steps：

Step S1：System optimization standard is set, and data message necessary to the system optimization standard is realized in collection；

Step S2：Using data message collected in step S1, three optimization tables for system optimization standard are worked out：Bus Voltage instruction (V_{bus_cmd}) table, d spindle motor current-orders (I_{d_cmd}) table, and q spindle motor current-orders (I_{q_cmd}) table；

Step S3：Based on torque instruction (T_cmd) and motor speed optimal bus voltage instruction (V is searched in optimization table_{bus_cmd}), And combine the direct current power source voltage (V detected_dc) determine actual bus voltage instruction (V_{bus_local})；According to actual bus voltage Instruction, and the bus voltage actually measured, by comparing the two magnitudes of voltage, generate control signal, realize feedback control, hold Row actual bus voltage instruction (V_{bus_local}) control；

Step S4：Optimal d shaft currents (I is searched in optimization table according to the torque instruction and motor speed of outside input_d) and it is optimal Q shaft currents (I_q), according to optimal d shaft currents (I_d) and optimal q shaft currents (I_q) control of the implementation to inverter (12,12 ').

6. motor drive control method as claimed in claim 5, it is characterised in that when dc source is with internal resistance During battery/battery, step S2 further comprises the steps：

Step S201, is initialized in this step：Set direct current power source voltage (V_dc) it is less than the minimum of battery voltage range Value；Set Current bus voltage (V_bus) be battery voltage range minimum value；Set current motor rotating speed minimum as the range of speeds Value；Current motor torque is set as torque range minimum value；Set stagnant circular rector；

Step S202, setting bus voltage (V_bus)；

Step S203, sets motor speed；

Step S204, sets motor torque；

Step S205, is calculated in specific bus voltage (V_bus), under motor speed and torque, d shaft currents (I_d) and q shaft currents (I_q) Possibility combination；

Step S206, is calculated in above-mentioned d shaft currents (I_d) and q shaft currents (I_q) possibility combination under each power cell power Loss；

Step S207, optimal d shaft currents (I is determined by the power attenuation sum of relatively more each power cell_d) and q shaft currents (I_q)；

Step S208, judges whether motor torque reaches maximum, if it is not, then incrementally increasing torque, and is back to step S204； If so, then entering next step S209；

Step S209, judges whether motor speed reaches maximum, if it is not, then incrementally increasing rotating speed, and is back to step S203； If so, then entering next step S211；

Step S210, judges bus voltage (V_bus) whether maximum is reached, if it is not, then incrementally increasing bus voltage (V_bus), and It is back to step S202；If so, then entering next step S211；

Step S211, compares different bus voltage (V_bus) optimal d shaft currents (I under setting_d), q shaft currents (I_q) when each power The power attenuation of unit, and determine d shaft currents (I_d), q shaft currents (I_q) and bus voltage (V_bus) global optimum table.

7. motor drive control method as claimed in claim 6, it is characterised in that step S3 further comprises the steps：

Step S301：Retrieval bus voltage (the V in optimization table_{bus_cmd}) and detect direct current power source voltage (V_dc)；

Step S302：Whether be non-boost mode, if so, then entering step S303 if judging first pattern；If it is not, then entering step S306；

Step S303：Judge bus voltage (V_{bus_cmd}) whether it is less than DC voltage (V_dc) and stagnant circular rector (dV1) sum；If bus Voltage (V_bus) it is less than direct current power source voltage (V_dc) and stagnant circular rector (dV1) sum, then into step S304；If it is not, then entering step S305；

Step S304, performs non-boosting rectifier control, and sending makes bus voltage instruction be equal to DC voltage (V_{bus_local}=V_dc) finger Transformer control unit (200) is made, into step S311；

Step S305, transformer control unit (200) control transformer (14) enters boost mode, and sending instructs bus voltage Equal to bus voltage (V_{bus_local}=V_{bus_cmd}) instruction to transformer control unit (200), into step S311；

Step S306, control program determines whether that bus voltage instructs (V_{bus_cmd}) whether it is less than direct current power source voltage (V_dc), If so, then entering step S307；If it is not, then entering step S308；

Step S307, into non-boosting rectifier control, and enters step S311；

Step S308, control program determines whether bus voltage (V_bus) whether it is more than direct current power source voltage (V_dc) with it is second stagnant Circular rector (dV2) sum, if so, then entering step S39, if it is not, then entering step S310；

Step S309, into boosting rectifier control, bus voltage instruction is equal to bus voltage (V_{bus_local}=V_{bus_cmd}), and enter step S311；

Step S310, into boosting rectifier control, bus voltage instruction is equal to DC voltage and the second stagnant circular rector sum (V_{bus_local}= V_dc+ dV2), and enter step S311；

Step S311, control program judges that bus voltage instructs (V_{bus_local}) subtract previous bus voltage instruction (V_{bus_local}) it Whether difference is more than the maximum allowable voltage control variable step-length (Step) set, if so, then entering step S312, if it is not, then Into step S313；

Step S312, control program sets bus voltage to instruct (V_{bus_local}) it is equal to previous bus voltage instruction (V_{bus_local}) with Maximum allowable voltage control variable step-length (step) sum set, and make transformer control unit (200) controlling bus electric It is pressed into bus voltage instruction (V_{bus_local})；

Step S313, control program sets bus voltage to instruct equal to bus voltage (V_{bus_local}=V_{bus_cmd}), and allow transformer Control unit (202) controlling bus voltage instructs (V into bus voltage_{bus_local})。

8. motor drive control method as claimed in claim 5, it is characterised in that the data message in the step S1 Include the loss model of each power component in system.

9. motor drive control method as claimed in claim 7, it is characterised in that the stagnant circular rector is based on bus voltage ripple Dynamic, bus voltage measurement accuracy and/or transformer dead zone are determined.

10. motor drive control method as claimed in claim 7, it is characterised in that the step-length (step) be constant or Variable.