CN106427667B - Motor control method and device and motor controller - Google Patents
Motor control method and device and motor controller Download PDFInfo
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- CN106427667B CN106427667B CN201611046697.1A CN201611046697A CN106427667B CN 106427667 B CN106427667 B CN 106427667B CN 201611046697 A CN201611046697 A CN 201611046697A CN 106427667 B CN106427667 B CN 106427667B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/429—Current
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a motor control method, a motor control device and a motor controller, wherein the motor control method comprises the following steps: acquiring the deviation torque of the motor; determining the fault level of the motor according to the deviation torque; and executing a preset processing mechanism corresponding to the fault level according to the fault level. According to the embodiment of the invention, the unexpected output of the motor torque is timely found through the deviation torque, the fault level of the motor is judged on the basis, different processing methods are provided according to the fault level, and the driving feeling of a driver is protected to the greatest extent on the premise of ensuring the driving safety.
Description
Technical field
The present invention relates to automobile technical field, in particular to a kind of control method of motor, device and electric machine controller.
Background technique
In face of increasingly severe energy and environment problem, energy conservation is just having become a hot topic of research with new-energy automobile, is sending out energetically
Exhibition energy conservation and new-energy automobile are for realizing that Global Sustainable Development, protection earth environment for the survival of mankind have important meaning
Justice.In China, development energy conservation and new-energy automobile, the especially pure electric automobile with no pollution, zero-emission, not only to China
Energy security, environmental protection are of great significance, while being also the trend of China's automotive field Future Development.
Safe and reliable is the basic demand that pure electric automobile operates normally, for drive system (including the motor in vehicle
In electric machine controller), function is correct, effectively, to securely achieve be the premise for guaranteeing vehicle safety work.For pure electric vehicle vapour
The correct output of vehicle, drive system torque is the most basic premise of traffic safety, for conventional fuel oil car, pure electric vehicle vapour
Motor vehicle drive system is related to numerous high pressures, low pressure components, there is bigger potential failure risk, in these failure risks,
The unexpected output of torque is the most serious when being broken down with driving motor, this just needs to prevent from driving at any time and under state
The unexpected output of torque caused by the dynamic system failure, to avoid causing to occur concerning the accident of the person and vehicle safety.
Summary of the invention
Technical problems to be solved of the embodiment of the present invention are to provide control method, device and the motor control of a kind of motor
Device guarantees traffic safety to realize reply electrical fault.
In order to solve the above technical problems, the embodiment of the invention provides a kind of control methods of motor, comprising:
Obtain the deviation torque of motor；
According to the deviation torque, electrical fault grade is determined；
According to the fault level, default treatment mechanism corresponding with the fault level is executed.
Further, the step of deviation torque for obtaining motor includes:
The order torsion that the actual torque for obtaining motor and the electric machine controller for controlling the motor issue；
According to the actual torque and order torsion, the deviation torque of the motor is obtained.
Further, the step of obtaining the actual torque of motor include:
Obtain the three-phase current of the motor feedback；
D shaft current and Q axis electricity are converted by the three-phase current with Parker Park transformation according to Clarke Calrk transformation
Stream；
According to the D shaft current and Q shaft current, the actual torque of the motor is obtained.
Further, according to the D shaft current and Q shaft current, the step of obtaining the actual torque of the motor, includes:
According to formula
Estimate the actual torque of the motor obtained, wherein TEstimateIndicate the actual torque that estimation obtains, npIt indicates
Number of pole-pairs, LdIndicate D axle inductance, LqIndicate Q axle inductance, ψfIndicate motor magnetic linkage, idIndicate D shaft current, iqIndicate Q shaft current,
Also, electric current the first inquiry table corresponding with inductance is obtained according to lot of experimental data, according to first inquiry table and idIt looks into
It askes and obtains Ld, according to first inquiry table and iqInquiry obtains Lq, motor speed and motor magnetic are obtained according to lot of experimental data
Corresponding second inquiry table of chain obtains ψ according to the second inquiry table and motor speed ωf。
Further, described according to the deviation torque, the step of determining electrical fault grade, includes:
When the absolute value of the deviation torque is negative greater than the value of the first predetermined torque and the deviation torque, institute is determined
Stating motor is Fisrt fault grade；
When the deviation torque is between the first predetermined torque and the second predetermined torque, determine that the motor is the second event
Hinder grade, wherein second predetermined torque is greater than the first predetermined torque；
When the deviation torque is between the second predetermined torque and third predetermined torque, turning in real time for the motor is obtained
Speed, wherein the third predetermined torque is greater than the second predetermined torque；
When the real-time revolving speed is less than preset rotation speed, determine that the motor is third fault level；
When the real-time revolving speed is greater than preset rotation speed, determine that the motor is the 4th fault level；
When the deviation torque is greater than the third predetermined torque, determine that the motor is the 4th fault level.
Further, described according to the fault level, execute default treatment mechanism corresponding with the fault level
Step includes:
When the fault level is Fisrt fault grade, controls the display device on the instrument board of vehicle and show that first is pre-
If information；
When the fault level is the second fault level, controls the electric machine controller and the first limit is carried out to the motor
Torque output processed；
When the fault level is third fault level, controls the electric machine controller and the second limit is carried out to the motor
Torque output processed, and limit the max. speed of vehicle, wherein the limited degree of the second limitation torque output is greater than the first limitation and turns round
Square output；
When the fault level is four fault level, the power output of vehicle is cut off.
Further, described when the fault level is four fault level, the step of cutting off the power output of vehicle
Include:
It controls zero torque operation of electric machine controller delayed execution motor and closes insulated gate bipolar transistor IGBT
Pulse width modulation (PWM) output, to entire car controller send close make can request that, cut off the power output of vehicle.
Further, described according to the fault level, execute default treatment mechanism corresponding with the fault level
Step further include:
When the fault level is the second fault level, controls the display device on the instrument board of vehicle and show that second is pre-
If information simultaneously carries out the first predetermined registration operation；
When the fault level is third fault level, controls the display device on the instrument board of vehicle and show that second is pre-
If information simultaneously carries out second predetermined registration operation；
When the fault level is four fault level, controls the display device on the instrument board of vehicle and show that third is pre-
If information simultaneously carries out third predetermined registration operation.
The embodiment of the invention also provides a kind of control devices of motor, comprising:
Module is obtained, for obtaining the deviation torque of motor；
Determining module, for determining electrical fault grade according to the deviation torque；
Control module, for executing default treatment mechanism corresponding with the fault level according to the fault level.
The embodiment of the invention also provides a kind of electric machine controllers, comprising: master control borad and driving plate, the master control borad packet
Include: Master control chip and from control chip, the driving plate includes insulated gate bipolar transistor IGBT control module；
Wherein, described to include: from control chip
Module is obtained, for obtaining the deviation torque of motor；
Determining module, for determining electrical fault grade according to the deviation torque；
The Master control chip includes:
Control module, for executing default treatment mechanism corresponding with the fault level according to the fault level.
Compared with prior art, control method, device and the electric machine controller of a kind of motor provided in an embodiment of the present invention,
At least have the advantages that the embodiment of the present invention finds the unexpected output of Motor torque by deviation torque in time, and
On this basis, judge the fault level of motor, and provide different processing methods according to fault level, guarantee traffic safety
Under the premise of to the greatest extent to driver drive impression protect.
Detailed description of the invention
Fig. 1 is one of the flow chart of control method of motor of the embodiment of the present invention；
Fig. 2 is the two of the flow chart of the control method of the motor of the embodiment of the present invention；
Fig. 3 is the three of the flow chart of the control method of the motor of the embodiment of the present invention；
Fig. 4 is the four of the flow chart of the control method of the motor of the embodiment of the present invention；
Fig. 5 is the five of the flow chart of the control method of the motor of the embodiment of the present invention；
Fig. 6 is the six of the flow chart of the control method of the motor of the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of the control device of the motor of the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the electric machine controller of the embodiment of the present invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.In the following description, such as specific configuration is provided and the specific detail of component is only
In order to help comprehensive understanding the embodiment of the present invention.It therefore, it will be apparent to those skilled in the art that can be to reality described herein
Example is applied to make various changes and modifications without departing from scope and spirit of the present invention.In addition, for clarity and brevity, it is omitted pair
The description of known function and construction.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text mean it is related with embodiment
A particular feature, structure, or characteristic is included at least one embodiment of the present invention.Therefore, occur everywhere in the whole instruction
" in one embodiment " or " in one embodiment " not necessarily refer to identical embodiment.In addition, these specific features, knot
Structure or characteristic can combine in any suitable manner in one or more embodiments.
First embodiment
Referring to Fig. 1, the embodiment of the invention provides a kind of control methods of motor, comprising:
Step 101, the deviation torque of motor is obtained；
Step 102, according to the deviation torque, electrical fault grade is determined；
Step 103, according to the fault level, default treatment mechanism corresponding with the fault level is executed.
In the control method of the motor of the embodiment of the present invention, motor output torque is monitored, passes through deviation torque
Failure existing for vehicle is classified, different treatment mechanisms is provided to different faults degree, not only ensure that traffic safety,
Also the driving experience of driver is greatly protected.
Second embodiment
Referring to fig. 2, the present embodiment further defines the acquisition of deviation torque, in first embodiment, the acquisition
The step of deviation torque of motor includes:
Step 201, the order torsion that the actual torque for obtaining motor and the electric machine controller for controlling the motor issue；
Step 202, it is reversed according to the actual torque and order, obtains the deviation torque of the motor.
In the present embodiment, it is obtained by the command torque that the actual torque of motor and electric machine controller are sent to motor inclined
Poor torque, definition actual torque are TEstimate, command torque TCommand, deviation torque is Δ T, then according to formula Δ T=
TEstimate-TCommandIt can get deviation torque.
3rd embodiment
Referring to Fig. 3, the present embodiment further defines the acquisition of actual torque, for obtaining motor in second embodiment
Actual torque the step of include:
Step 301, the three-phase current of the motor feedback is obtained；
Step 302, D shaft current is converted for the three-phase current with Parker Park transformation according to Clarke Calrk transformation
With Q shaft current；
Step 303, according to the D shaft current and Q shaft current, the actual torque of the motor is obtained.
In the present embodiment, it is contemplated that actual torque be related to vehicle drive system analysis and it is subsequent therefore
Barrier processing, therefore must have certain required precision to actual torque, so obtained as far as possible using the above method accurate
Actual torque.In vehicle operation, to the three-phase current i of motor feedbackA、iB、iCIt is acquired, by collected three-phase electricity
Stream obtains i by Calrk (Clarke transform)αWith iβ, the D under rotating coordinate system is obtained using Park (Parker transform) transformation
Shaft current idWith Q shaft current iq, actual torque T is obtained on this basisEstimate。
Fourth embodiment
The acquisition of actual torque is further expalined in the present embodiment, in 3rd embodiment, according to the D axis electricity
Stream and Q shaft current, the step of obtaining the actual torque of the motor include:
According to formula
Estimate the actual torque of the motor obtained, wherein TEstimateIndicate the actual torque that estimation obtains, npIt indicates
Number of pole-pairs, LdIndicate D axle inductance, LqIndicate Q axle inductance, ψfIndicate motor magnetic linkage, idIndicate D shaft current, iqIndicate Q shaft current,
Also, electric current the first inquiry table corresponding with inductance is obtained according to lot of experimental data, according to first inquiry table and idIt looks into
It askes and obtains Ld, according to first inquiry table and iqInquiry obtains Lq, motor speed and motor magnetic are obtained according to lot of experimental data
Corresponding second inquiry table of chain obtains ψ according to the second inquiry table and motor speed ωf。
Actual torque TEstimatePrecision have a significant impact to the realization of follow-up function security strategy, if precision can not expire
Foot requires then to will lead to functional safety strategy fails.By taking permanent magnet synchronous motor as an example, D, Q axle inductance and D in course of normal operation,
Q shaft current is in close coupling relationship, especially when magnetic circuit is saturated；Due to LdWith LqIt works normally in section and changes greatly in motor,
Therefore it can not be handled according to definite value in above-mentioned formula, if estimation torque will be seriously affected by calculate according to definite value
Accuracy, for this problem, early period obtains i by theoretical formula and bench test respectivelyd、iqWith Ld、LqCorresponding close
System, and in the table by corresponding relationship storage, it is arrived in actual torque estimation process using obtained D, Q shaft current real-time query
D, Q axle inductance calculates actual torque further according to above-mentioned formula later.Equally, the magnetic linkage of motor permanent magnet is same in operation interval
Can change, especially depth weak magnetic control in, for this problem, early period by bench test obtain motor speed and
The corresponding relationship of magnetic linkage is stored into table, is directly inquired and obtained by motor current rotating speed in actual torque estimation process
Magnetic linkage value, and torque estimation is carried out using the value to improve precision.
This gives the methods for the actual torque that degree of precision is obtained according to D shaft current and Q shaft current, to guarantee
Subsequent security policy is effectively realized.
5th embodiment
Referring to fig. 4, described according to the deviation torque in first embodiment, the step of determining electrical fault grade
Include:
Step 401, when the value that the absolute value of the deviation torque is greater than the first predetermined torque and the deviation torque is negative
When, determine that the motor is Fisrt fault grade；
Step 402, when the deviation torque is between the first predetermined torque and the second predetermined torque, the motor is determined
For the second fault level, wherein second predetermined torque is greater than the first predetermined torque；
Step 403, when the deviation torque is between the second predetermined torque and third predetermined torque, the motor is obtained
Real-time revolving speed, wherein the third predetermined torque be greater than the second predetermined torque；
Step 404, when the real-time revolving speed is less than preset rotation speed, determine that the motor is third fault level；
Step 405, when the real-time revolving speed is greater than preset rotation speed, determine that the motor is the 4th fault level；
Step 406, when the deviation torque is greater than the third predetermined torque, determine that the motor is the 4th failure etc.
Grade.
It should be noted that step 401, step 402, step 404, step 405, step 406 are judgement selection at the same level
Relationship, and ordinal relation is not present.
In the present embodiment, according to the may cause security risk of size of the preparatory lot of experimental data to deviation torque
The extent of injury carry out assessment classification.
By the absolute value of judgment bias torque whether more than the first predetermined torque (torque is positive value), if being less than
Deviation torque is thought in reasonable error or safe range, at this time without any processing.
When the absolute value of judgment bias torque is more than the first predetermined torque but when less than zero, that is, vehicle reality output is turned round
Square is lower than torque command, belongs to slight scope by the security risk that torque deviation may cause at this time, therefore be defined as first
Fault level simultaneously takes corresponding measure.
If deviation torque is more than the first predetermined torque but is less than the second predetermined torque, deviation torque at this time is without departing from too
Greatly, by the deviation torque can caused by security risk belong to slight scope, therefore be defined as the second fault level and take
Corresponding measure.For processing compared with Fisrt fault grade, the processing of the second more fault level is more harsh.
If deviation torque is more than the second predetermined torque but is less than third predetermined torque, deviation torque at this time is had reached
Largely, it needs in addition to introduce motor speed information to determine processing mode at this time.
If motor speed is less than threshold value, although deviation torque is larger at this time, controlled range is still fallen within, which is drawn
The security risk risen belongs to moderate scope, is defined as third fault level at this time and takes corresponding measure.If motor speed is more than
Threshold value then shows that vehicle is in and runs at high speed that the vehicle risk out of control there are torque under the state, the deviation torque can draw
The security risk risen belongs to severe scope, therefore is defined as the 4th fault level and takes corresponding measure.Wherein third failure etc.
The processing mode of grade is more harsh compared with the processing mode of the second fault level, and the most with the processing mode of the 4th fault level
It is harsh.
If deviation torque no more than third predetermined torque, shows that deviation torque at this time is very big and reaches uncontrollable
Degree, security risk caused by the deviation torque also belongs to severe scope, therefore is defined as the 4th fault level and takes
Corresponding measure.
Sixth embodiment
Referring to Fig. 5, the present embodiment will be explained in conjunction with the 5th embodiment, described according to institute in first embodiment
The step of stating fault level, executing default treatment mechanism corresponding with the fault level include:
Step 501, when the fault level is Fisrt fault grade, the display device controlled on the instrument board of vehicle is aobvious
Show the first presupposed information；
Step 502, when the fault level be the second fault level when, control the electric machine controller to the motor into
Row first limits torque output；
Step 503, when the fault level be third fault level when, control the electric machine controller to the motor into
Row second limits torque output, and limits the max. speed of vehicle, wherein the limited degree of the second limitation torque output is greater than the
One limitation torque output；
Step 504, when the fault level is four fault level, the power output of vehicle is cut off.
In the present embodiment, different countermeasures is provided to different faults grade.For Fisrt fault grade, it is contemplated that
Security risk caused by such case lower deviation torque belongs to slight scope, therefore only passes through the default letter of instrument text importing first
Breath is to remind driver.Such as pass through text prompt driver in instrument: minor failure occurs for vehicle, it is proposed that goes to maintenace point
Vehicle is overhauled, which does not influence normally to drive a vehicle.For the second fault level, security risk category caused by deviation torque
In slight scope, motor must be limited at this time, control the electric machine controller and the first limitation torsion is carried out to the motor
Square output protects vehicle and passengers inside the car by limiting the torque way of output.For third fault level, torque deviation
Caused by security risk already belong to moderate scope, by limitation torque output and this tightened up mode of max. speed to vehicle
And passengers inside the car protect, wherein limitation after speed can only guarantee the most basic traveling demand of vehicle.For the 4th
Fault level, in this case, vehicle face torque risk out of control, and security risk caused by deviation torque already belongs at this time
Serious scope is needed to protect vehicle and passengers inside the car by this drastic measure of delay cutoff power output, be prevented
Torque may cause serious consequence out of control.
7th embodiment
For in sixth embodiment, described when the fault level is four fault level, the power for cutting off vehicle is defeated
Out the step of includes:
It controls zero torque operation of electric machine controller delayed execution motor and closes insulated gate bipolar transistor IGBT
Pulse width modulation (PWM) output, to entire car controller send close make can request that, cut off the power output of vehicle.
Power output can be cut off with effective delay by the method for the embodiment, vehicle and passengers inside the car are protected,
Prevent torque may cause serious consequence out of control.It should be noted that this is only that the present invention is mentioned about cutting power output
A preferred embodiment out, the present invention are not limited to the embodiment for cutting power output.
8th embodiment
It is described according to the fault level compared to sixth embodiment referring to Fig. 6, it executes corresponding with the fault level
Default treatment mechanism the step of further include:
Step 601, when the fault level is the second fault level, the display device controlled on the instrument board of vehicle is aobvious
Show the second presupposed information and carries out the first predetermined registration operation；
Step 602, when the fault level is third fault level, the display device controlled on the instrument board of vehicle is aobvious
Show the second presupposed information and carries out second predetermined registration operation；
Step 603, when the fault level is four fault level, the display device controlled on the instrument board of vehicle is aobvious
Show third presupposed information and carries out third predetermined registration operation.
In the present embodiment, it compared to sixth embodiment, not only controls the electric machine controller and the motor is limited
Torque processed output also shows etc. the situation of means prompt driver vehicle by instrument board.
When fault level is the second fault level, security risk caused by deviation torque is divided into slight model at this time
Farmland not only needs to prompt by the second presupposed information of instrument text importing at this time, such as is driven in instrument by text prompt
Member: vehicle drive system minor failure, power output are limited, ask safe driving and go to as early as possible maintenace point to vehicle into
Row maintenance.Also need to carry out the significantly more prompt driver of the first predetermined registration operation, for example, lighting alarm lamp to remind and drive
Member.
When fault level is third fault level, security risk caused by deviation torque already belongs to moderate scope, this
When by instrument text importing third presupposed information prompt, such as in instrument pass through text prompt driver: vehicle drive train
System failure, max. speed are limited, please run at a low speed and go to maintenace point to overhaul vehicle as early as possible.And carry out the
The significantly more prompt driver of two predetermined registration operations, reminds driver by lighting alarm lamp and ring alarm sound.
When fault level is four fault level, vehicle faces torque risk out of control, at this time caused by deviation torque
Security risk already belongs to serious scope, needs to prompt driver by instrument text importing third presupposed information at this time, such as
In instrument pass through text prompt driver: vehicle drive system failure, power will interrupt, please as early as possible secure parking and with after sale
Maintenance personal gets in touch.And the significantly more prompt driver of third predetermined registration operation is carried out, by lighting Full Vehicle System event
Hinder lamp (effect is reminded to be better than above-mentioned alarm lamp) and ring alarm sound to remind driver.
9th embodiment
Referring to Fig. 7, the embodiment of the invention also provides a kind of control devices of motor, comprising:
Module 1 is obtained, for obtaining the deviation torque of motor；
Determining module 2, for determining electrical fault grade according to the deviation torque；
Control module 3, for executing default treatment mechanism corresponding with the fault level according to the fault level.
Further, the acquisition module 1, in the deviation torque for obtaining motor, the acquisition module 1 includes:
First obtains module, the life that the electric machine controller for the actual torque and the control motor that obtain motor issues
Enable torsion；
Second obtains module, for reversing according to the actual torque and order, obtains the deviation torque of the motor.
Further, described first module is obtained, in the actual torque for obtaining motor, described first obtains module packet
It includes:
Third obtains module, for obtaining the three-phase current of the motor feedback；
Conversion module, for converting D axis for the three-phase current with Parker Park transformation according to Clarke Calrk transformation
Electric current and Q shaft current；
4th obtains module, for obtaining the actual torque of the motor according to the D shaft current and Q shaft current.
Further, the described 4th module is obtained, for obtaining the motor according to the D shaft current and Q shaft current
In actual torque, the 4th acquisition module is used for:
According to formula
Estimate the actual torque of the motor obtained, wherein TEstimateIndicate the actual torque that estimation obtains, npIt indicates
Number of pole-pairs, LdIndicate D axle inductance, LqIndicate Q axle inductance, ψfIndicate motor magnetic linkage, idIndicate D shaft current, iqIndicate Q shaft current,
Also, electric current the first inquiry table corresponding with inductance is obtained according to lot of experimental data, according to first inquiry table and idIt looks into
It askes and obtains Ld, according to first inquiry table and iqInquiry obtains Lq, motor speed and motor magnetic are obtained according to lot of experimental data
Corresponding second inquiry table of chain obtains ψ according to the second inquiry table and motor speed ωf。
Further, the determining module 2, it is described true for determining in electrical fault grade according to the deviation torque
Cover half block 2 is used for:
When the absolute value of the deviation torque is negative greater than the value of the first predetermined torque and the deviation torque, institute is determined
Stating motor is Fisrt fault grade；
When the deviation torque is between the first predetermined torque and the second predetermined torque, determine that the motor is the second event
Hinder grade, wherein second predetermined torque is greater than the first predetermined torque；
The revolving speed that module obtains is obtained in conjunction with the 5th and determines fault level, wherein the 5th obtains module, for when described inclined
When poor torque is between the second predetermined torque and third predetermined torque, the real-time revolving speed of the motor is obtained, wherein the third
Predetermined torque is greater than the second predetermined torque；
When the real-time revolving speed is less than preset rotation speed, the determining module 2 is for determining that the motor is third failure
Grade；
When the real-time revolving speed is greater than preset rotation speed, the determining module 2 is for determining that the motor is the 4th failure
Grade；
When the deviation torque is greater than the third predetermined torque, the determining module 2 is for determining that the motor is
4th fault level.
Further, the control module 3, for executing corresponding with the fault level according to the fault level
In default treatment mechanism, the control module 3 is used for:
When the fault level is Fisrt fault grade, controls the display device on the instrument board of vehicle and show that first is pre-
If information；
When the fault level is the second fault level, controls the electric machine controller and the first limit is carried out to the motor
Torque output processed；
When the fault level is third fault level, controls the electric machine controller and the second limit is carried out to the motor
Torque output processed, and limit the max. speed of vehicle, wherein the limited degree of the second limitation torque output is greater than the first limitation and turns round
Square output；
When the fault level is four fault level, the power output of vehicle is cut off.
Further, the control module 3 is used to cut off the dynamic of vehicle when the fault level is four fault level
In power output, the control module 3 is also used to:
It controls zero torque operation of electric machine controller delayed execution motor and closes insulated gate bipolar transistor IGBT
Pulse width modulation (PWM) output, to entire car controller send close make can request that, cut off the power output of vehicle.
Further, the control module 3, for executing corresponding with the fault level according to the fault level
In default treatment mechanism, the control module 3 is also used to:
When the fault level is the second fault level, controls the display device on the instrument board of vehicle and show that second is pre-
If information simultaneously carries out the first predetermined registration operation；
When the fault level is third fault level, controls the display device on the instrument board of vehicle and show that second is pre-
If information simultaneously carries out second predetermined registration operation；
When the fault level is four fault level, controls the display device on the instrument board of vehicle and show that third is pre-
If information simultaneously carries out third predetermined registration operation.
Tenth embodiment
Referring to Fig. 8, the embodiment of the invention also provides a kind of electric machine controllers 4, comprising: master control borad 5 and driving plate 6, institute
State master control borad 5 include: Master control chip 51 and from control chip 52, the driving plate 6 include insulated gate bipolar transistor
IGBT control module 61；
Wherein, described to include: from control chip 51
Module is obtained, for obtaining the deviation torque of motor；
Determining module, for determining electrical fault grade according to the deviation torque；
The Master control chip 52 includes:
Control module, for executing default treatment mechanism corresponding with the fault level according to the fault level.
To sum up, the embodiment of the present invention finds the unexpected output of Motor torque by deviation torque in time, and basic herein
On, the fault level of motor is judged, and different processing methods is provided according to fault level, under the premise of guaranteeing traffic safety
Impression is driven to driver to the greatest extent to protect.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of control method of motor characterized by comprising
Obtain the deviation torque of motor；
According to the deviation torque, electrical fault grade is determined；
According to the fault level, default treatment mechanism corresponding with the fault level is executed；
Wherein, described according to the deviation torque, the step of determining electrical fault grade, includes:
When the absolute value of the deviation torque is negative greater than the value of the first predetermined torque and the deviation torque, the electricity is determined
Machine is Fisrt fault grade；
When the deviation torque is between the first predetermined torque and the second predetermined torque, determine that the motor is second failure etc.
Grade, wherein second predetermined torque is greater than the first predetermined torque.
2. the control method of motor according to claim 1, which is characterized in that the step of the deviation torque for obtaining motor
Suddenly include:
The order torsion that the actual torque for obtaining motor and the electric machine controller for controlling the motor issue；
According to the actual torque and order torsion, the deviation torque of the motor is obtained.
3. the control method of motor according to claim 2, which is characterized in that the step of obtaining the actual torque of motor packet
It includes:
Obtain the three-phase current of the motor feedback；
D shaft current and Q shaft current are converted by the three-phase current with Parker Park transformation according to Clarke Calrk transformation；
According to the D shaft current and Q shaft current, the actual torque of the motor is obtained.
4. the control method of motor according to claim 3, which is characterized in that according to the D shaft current and Q shaft current,
The step of obtaining the actual torque of the motor include:
According to formula
Estimate the actual torque of the motor obtained, wherein TEstimateIndicate the actual torque that estimation obtains, npIt is extremely right to indicate
Number, LdIndicate D axle inductance, LqIndicate Q axle inductance, ψfIndicate motor magnetic linkage, idIndicate D shaft current, iqIndicate Q shaft current, also,
Electric current the first inquiry table corresponding with inductance is obtained according to lot of experimental data, according to first inquiry table and idInquiry obtains
Ld, according to first inquiry table and iqInquiry obtains Lq, it is corresponding with motor magnetic linkage that motor speed is obtained according to lot of experimental data
The second inquiry table, ψ is obtained according to the second inquiry table and motor speed ωf。
5. the control method of motor according to claim 1, which is characterized in that it is described according to the deviation torque, it determines
The step of electrical fault grade further include:
When the deviation torque is between the second predetermined torque and third predetermined torque, the real-time revolving speed of the motor is obtained,
Wherein, the third predetermined torque is greater than the second predetermined torque；
When the real-time revolving speed is less than preset rotation speed, determine that the motor is third fault level；
When the real-time revolving speed is greater than preset rotation speed, determine that the motor is the 4th fault level；
When the deviation torque is greater than the third predetermined torque, determine that the motor is the 4th fault level.
6. the control method of motor according to claim 5, which is characterized in that it is described according to the fault level, it executes
The step of default treatment mechanism corresponding with the fault level includes:
When the fault level is Fisrt fault grade, controls the display device on the instrument board of vehicle and show the first default letter
Breath；
When the fault level is the second fault level, controls the electric machine controller and the first limitation torsion is carried out to the motor
Square output；
When the fault level is third fault level, controls the electric machine controller and the second limitation torsion is carried out to the motor
Square output, and limit the max. speed of vehicle, wherein it is defeated that the limited degree of the second limitation torque output is greater than the first limitation torque
Out；
When the fault level is four fault level, the power output of vehicle is cut off.
7. the control method of motor according to claim 6, which is characterized in that described when the fault level is the 4th event
When hindering grade, the step of cutting off the power output of vehicle, includes:
It controls zero torque operation of electric machine controller delayed execution motor and closes the arteries and veins of insulated gate bipolar transistor IGBT
Width modulated PWM output is rushed, sending to close to entire car controller makes can request that, cuts off the power output of vehicle.
8. the control method of motor according to claim 6, which is characterized in that it is described according to the fault level, it executes
The step of default treatment mechanism corresponding with the fault level further include:
When the fault level is the second fault level, controls the display device on the instrument board of vehicle and show the second default letter
It ceases and carries out the first predetermined registration operation；
When the fault level is third fault level, controls the display device on the instrument board of vehicle and show the second default letter
It ceases and carries out second predetermined registration operation；
When the fault level is four fault level, controls the display device on the instrument board of vehicle and show the default letter of third
It ceases and carries out third predetermined registration operation.
9. a kind of control device of motor characterized by comprising
Module is obtained, for obtaining the deviation torque of motor；
Determining module, for determining electrical fault grade according to the deviation torque；
Control module, for executing default treatment mechanism corresponding with the fault level according to the fault level；
Wherein, the determining module is specifically used for:
When the absolute value of the deviation torque is negative greater than the value of the first predetermined torque and the deviation torque, the electricity is determined
Machine is Fisrt fault grade；
When the deviation torque is between the first predetermined torque and the second predetermined torque, determine that the motor is second failure etc.
Grade, wherein second predetermined torque is greater than the first predetermined torque.
10. a kind of electric machine controller characterized by comprising master control borad and driving plate, the master control borad include: master control coremaking
Piece and from control chip, the driving plate includes insulated gate bipolar transistor IGBT control module；
Wherein, described to include: from control chip
Module is obtained, for obtaining the deviation torque of motor；
Determining module, for determining electrical fault grade according to the deviation torque；
The Master control chip includes:
Control module, for executing default treatment mechanism corresponding with the fault level according to the fault level；
Wherein, the determining module is specifically used for:
When the absolute value of the deviation torque is negative greater than the value of the first predetermined torque and the deviation torque, the electricity is determined
Machine is Fisrt fault grade；
When the deviation torque is between the first predetermined torque and the second predetermined torque, determine that the motor is second failure etc.
Grade, wherein second predetermined torque is greater than the first predetermined torque.
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| CN106932208B (en) * | 2017-03-29 | 2020-03-06 | 北京新能源汽车股份有限公司 | Output torque monitoring method and device of electric vehicle driving system and electric vehicle |
| CN106872173A (en) * | 2017-04-28 | 2017-06-20 | 北京新能源汽车股份有限公司 | Motor temperature sampling loop fault detection method and detection circuit |
| CN107097652A (en) * | 2017-04-28 | 2017-08-29 | 北京新能源汽车股份有限公司 | Detection processing method and device for output torque of driving motor and vehicle |
| CN107264285B (en) * | 2017-06-16 | 2020-06-19 | 北京新能源汽车股份有限公司 | Driving motor detection method and device |
| CN108058617A (en) * | 2017-12-01 | 2018-05-22 | 北京新能源汽车股份有限公司 | Motor overspeed processing method, vehicle control unit and vehicle |
| CN108845254B (en) * | 2018-04-24 | 2021-10-15 | 上海法雷奥汽车电器系统有限公司 | IBSG (intermediate bulk switchgear) starting integrated motor system rack and testing method and device |
| CN111190102A (en) * | 2020-01-08 | 2020-05-22 | 北京车和家信息技术有限公司 | Method and device for detecting motor flux linkage |
| CN111717031B (en) * | 2020-06-08 | 2022-04-01 | 重庆长安新能源汽车科技有限公司 | Pure electric vehicle torque function safety monitoring method and system and vehicle |
| CN112140905A (en) * | 2020-09-29 | 2020-12-29 | 恒大新能源汽车投资控股集团有限公司 | Motor control method and device and vehicle-mounted electronic equipment |
| CN113246732B (en) * | 2021-05-28 | 2022-11-29 | 联合汽车电子有限公司 | Control method, readable storage medium and controller |
| CN113895232B (en) * | 2021-07-29 | 2023-09-15 | 上海伊控动力系统有限公司 | Electric automobile power limited prompting method |
| CN114966397A (en) * | 2022-05-25 | 2022-08-30 | 三一电动车科技有限公司 | Fault detection method and system and working machine |
| CN115476701B (en) * | 2022-10-17 | 2024-06-18 | 潍柴动力股份有限公司 | Motor torque determination method and device |
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| CN102514493A (en) * | 2011-12-16 | 2012-06-27 | 奇瑞汽车股份有限公司 | Safe torque monitoring method for electric vehicle |
| CN102941815B (en) * | 2012-10-22 | 2015-07-15 | 奇瑞汽车股份有限公司 | Motor controller high voltage bus capacitance discharging method |
| CN103863122B (en) * | 2012-12-14 | 2016-05-18 | 上海汽车集团股份有限公司 | For torque safety supervising device and the method for pure electric automobile |
| CN103192738A (en) * | 2013-04-09 | 2013-07-10 | 深圳市五洲龙汽车有限公司 | Electric automobile fault handling method and system |
| FR3006949B1 (en) * | 2013-06-17 | 2016-10-21 | Renault Sa | SYSTEM AND METHOD FOR MONITORING THE TORQUE PROVIDED BY THE ENGINE OF AN ELECTRIC OR HYBRID MOTOR VEHICLE. |
| CN104842818B (en) * | 2014-08-13 | 2017-07-11 | 北汽福田汽车股份有限公司 | The torque monitoring method and its system of electric automobile |
| CN106004453A (en) * | 2016-07-26 | 2016-10-12 | 北京新能源汽车股份有限公司 | Torque control method and device for automobile |
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