CN106936348B - The driving control system of new-energy automobile permanent magnet synchronous motor - Google Patents
The driving control system of new-energy automobile permanent magnet synchronous motor Download PDFInfo
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- CN106936348B CN106936348B CN201511002264.1A CN201511002264A CN106936348B CN 106936348 B CN106936348 B CN 106936348B CN 201511002264 A CN201511002264 A CN 201511002264A CN 106936348 B CN106936348 B CN 106936348B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 18
- 238000003745 diagnosis Methods 0.000 claims abstract description 12
- 238000011156 evaluation Methods 0.000 claims description 13
- 238000010248 power generation Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of driving control systems of new-energy automobile permanent magnet synchronous motor, this control system includes motor closed loop control module and torque safety control module, and motor closed loop control module acquires the corresponding data of motor and power supply and run by vector control algorithm output pwm signal driving motor；The corresponding data of the torque safety control module acquisition motor and power supply is simultaneously estimated using two kinds of torques, makes diagnosis after judgement, according to the result output identification position of diagnosis to motor closed loop control module, it is turned off by motor closed loop control module or the pwm signal of normal output driving motor operation, to stop or driving motor.This control system provides the monitoring of permanent magnet synchronous motor output torque, and the output torque of permanent magnet synchronous motor is controlled according to monitoring information, improves the safety and reliability and ride comfort of vehicle, avoids security risk.
Description
Technical field
The present invention relates to a kind of driving control systems of new-energy automobile permanent magnet synchronous motor.
Background technique
Currently, permanent magnet synchronous motor is widely used in new-energy automobile, usual electric machine controller control with the advantage that it has
Motor processed carries out power transmission in the form of output torque, but new-energy automobile electric machine controller lacks the torque of motor mostly
Monitoring influences the safety and reliability of vehicle, reduces the comfort that vehicle is driven, vehicle control is unstable, and there are certain peaces
Full hidden danger.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of drive control systems of new-energy automobile permanent magnet synchronous motor
System, this control system provides the monitoring of permanent magnet synchronous motor output torque, and controls permanent magnet synchronous motor according to monitoring information
Output torque improves the safety and reliability and ride comfort of vehicle, avoids security risk.
In order to solve the above technical problems, the driving control system of new-energy automobile permanent magnet synchronous motor of the present invention includes motor
Closed loop control module, the motor closed loop control module acquire motor A phase current ia, B phase current ib, motor speed spdfbk, it is female
Line voltage UdcWith bus current Idc, and the operation of PWM signal drive motor is exported by vector control algorithm, while by motor
Electric current i under three-phase rotating coordinate systemaAnd ibThe electric current i being transformed under two-phase rotating coordinate systemdAnd iqAnd it exports, this control
System further includes torque safety control module, and the torque safety control module includes inductance lookup unit, motor torque estimation
Unit, motor torque judging unit, efficiency lookup unit, efficiency torque evaluation unit, efficiency torque judging unit and torque are examined
Disconnected unit；
The inductance lookup unit inputs the electric current idAnd iq, by table look-up to obtain motor D axle inductance LdWith Q axis
Inductance Lq,
Ld=Table_D (id)
Lq=Table_Q (iq)
The motor torque evaluation unit inputs the D axle inductance LdWith Q axle inductance Lq, pass through motor control vector controlled
Algorithmic formula estimates motor torque TFOC,
Wherein: ∑iqIt is motor permanent magnet magnetic linkage, P is motor number of pole-pairs:
The motor torque judging unit inputs the motor torque TFOC, simultaneously output identification position is judged according to the following formula
Flag1,
Wherein: TrefFor motor torque command, if above formula is set up, Flag1 0, otherwise Flag1 is 1:
The efficiency lookup unit inputs the motor speed spdfbk, busbar voltage UdcWith bus current Idc, and root
According to motor torque command TrefWith motor speed spdfbkJudge that motor is in electric model or power generation mode, is looked by electromotive efficiency
Table or generating efficiency table look-up to obtain the electromotive efficiency η that motor is in motoring conditioneOr motor is in the generating efficiency of generating state
ηg,
Work as Tref×spdfbkWhen >=0, ηe=Table_Ele (Tref, spdfbk)
Work as Tref×spdfbkWhen < 0, ηg=Table_Gen (Tref, spdfbk)
The efficiency torque evaluation unit inputs the electromotive efficiency ηeOr generating efficiency ηg, estimated according to ability law of conservation
Calculation obtains motor powered output torque TEffOr electric power generation output torque TGff,
Work as Tref×spdfbkWhen >=0,
Work as Tref×spdfbkWhen < 0,
The efficiency torque judging unit inputs motor powered output torque TEffOr electric power generation output torque TGff, root
Simultaneously output identification position Flag2 is judged according to following two formula,
Work as Tref×spdfbkWhen >=0,
Work as Tref×spdfbkWhen < 0,
If above-listed two formula is set up, Flag2 0, otherwise Flag2 is 1:
The torque diagnosis unit inputs the flag bit Flag1 and flag bit Flag2 respectively, if Flag1 or
Flag2 wherein has one when being 1, and the torque diagnosis unit output torque safety failure flag bit T_Flag is 1, works as Flag1
When being all 0 with Flag2, then flag bit T_Flag is 0；
The motor closed loop control module inputs the flag bit T_Flag, when flag bit T_Flag is 1, motor closed loop
Control module turns off pwm signal output, when flag bit T_Flag is 0, the normal output pwm signal of motor closed loop control module.
Since the driving control system of new-energy automobile permanent magnet synchronous motor of the present invention uses above-mentioned technical proposal, i.e., originally
Control system includes motor closed loop control module and torque safety control module, and motor closed loop control module acquires motor and power supply
Corresponding data and run by vector control algorithm output pwm signal driving motor: torque safety control module acquisition
The corresponding data of motor and power supply is simultaneously estimated using two kinds of torques, makes diagnosis after judgement, according to the result output identification of diagnosis
Position is turned off or the pwm signal of normal output driving motor operation by motor closed loop control module to motor closed loop control module, from
And stopping or driving motor.This control system provides the monitoring of permanent magnet synchronous motor output torque, and is controlled according to monitoring information
The output torque of permanent magnet synchronous motor improves the safety and reliability and ride comfort of vehicle, avoids security risk.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and embodiments:
Fig. 1 is the functional block diagram of the driving control system of new-energy automobile permanent magnet synchronous motor of the present invention；
Fig. 2 is the functional block diagram of torque safety control module in this control system.
Specific embodiment
Embodiment is as depicted in figs. 1 and 2, and the driving control system of new-energy automobile permanent magnet synchronous motor of the present invention includes electricity
Machine closed loop control module 1, the motor closed loop control module 1 acquire motor A phase current ia, B phase current ib, motor speed
spdfbk, busbar voltage UdcWith bus current Idc, and run by vector control algorithm output pwm signal driving motor, together
When by the electric current i under motor three-phase rotating coordinate systemaAnd ibThe electric current i being transformed under two-phase rotating coordinate systemdAnd iqAnd it is defeated
Out, this control system further includes torque safety control module 2, the torque safety control module 2 include inductance lookup unit 21,
Motor torque evaluation unit 22, motor torque judging unit 23, efficiency lookup unit 24, efficiency torque evaluation unit 25, efficiency
Torque judging unit 26 and torque diagnosis unit 27；
The inductance lookup unit 21 inputs the electric current idAnd iq, by table look-up to obtain motor D axle inductance LdAnd Q
Axle inductance Lq,
Ld=Table_D (id)
Lq=Table_Q (iq)
In practical applications, the D axle inductance L of motordWith Q axle inductance LqIt can also be surveyed by motor bench:
The motor torque evaluation unit 22 inputs the D axle inductance LdWith Q axle inductance Lq, pass through motor control vector control
Algorithmic formula processed estimates motor torque TFOC,
Wherein: ∑ iqIt is motor permanent magnet magnetic linkage, P is motor number of pole-pairs:
The motor torque judging unit 23 inputs the motor torque TFOC, simultaneously output identification is judged according to the following formula
Position Flag1,
Wherein: TrefFor motor torque command, if above formula is set up, Flag1 0, otherwise Flag1 is 1:
The efficiency lookup unit 24 inputs the motor speed spdfbk, busbar voltage UdcWith bus current Idc, and
According to motor torque command TrefWith motor speed spdfbkJudge that motor is in electric model or power generation mode, passes through electromotive efficiency
It tables look-up or generating efficiency tables look-up to obtain the electromotive efficiency η that motor is in motoring conditioneOr motor is in the power generation effect of generating state
Rate ηg,
Work as Tref×spdfbkWhen >=0, ηe=Table_Ele (Tref, spdfbk)
Work as Tref×spdfbkWhen < 0, ηg=Table_Gen (Tref, spdfbk)
The efficiency torque evaluation unit 25 inputs the electromotive efficiency ηeOr generating efficiency ηg, according to ability law of conservation
Estimation respectively obtains motor powered output torque TEffOr electric power generation output torque TGff,
Work as Tref×spdfbkWhen >=0,
Work as Tref×spdfbkWhen < 0,
The efficiency torque judging unit 26 inputs motor powered output torque T respectivelyEffOr electric power generation output torque
TGff, simultaneously output identification position Flag2 is judged according to following two formula,
Work as Tref×spdfbkWhen >=0,
Work as Tref×spdfbkWhen < 0,
If above-listed two formula is set up, Flag2 0, otherwise Flag2 is 1:
The torque diagnosis unit 27 inputs the flag bit Flag1 and flag bit Flag2 respectively, if Flag1 or
Flag2 wherein has one when being 1, and the torque diagnosis unit output torque safety failure flag bit T_Flag is 1, works as Flag1
When being all 0 with Flag2, then flag bit T_Flag is 0:
The motor closed loop control module 1 inputs the flag bit T_Flag, and when flag bit T_Flag is 1, motor is closed
Ring control module 1 turns off pwm signal output, and when flag bit T_Flag is 0, motor closed loop control module 1 normally exports PWM letter
Number.
This control system is made of motor closed loop control module and torque safety control module, and motor closed loop control module is adopted
Collect motor phase current signal, motor speed signal, bus voltage signal and bus current signal, is controlled and calculated by voltage vector
Method exports PWM drive signal, controls motor operation.In addition the signal of acquisition is issued into torque security control mould after treatment
Block.Torque safety control module acquisition DQ axis current signal after treatment checks the electric meter unit, motor torque by inductance
After evaluation unit, motor torque judging unit, flag bit Flag1 is obtained；In addition torque safety control module also acquires motor and turns
Fast signal, bus voltage signal and bus current signal, by efficiency lookup unit, efficiency torque evaluation unit, efficiency torque
Judging unit obtains flag bit Flag2, last flag bit Flag1 and flag bit Flag2 and passes through diagnostic module output torque safety
Fault flag.Last motor closed loop control module passes through the torque safety failure flag bit received and judges whether to interrupt PWM
The output of driving signal stops or continues the operation of motor.
For this control system on the basis of existing hardware, torque security monitoring can be realized by being increased without additional hardware
Function improve the safety and reliability and ride comfort of vehicle using two kinds of torque diagnostic modes, avoid safety it is hidden
Suffer from, solves the technical issues of Permanent Magnet Synchronous Motor Controller in the prior art lacks torque monitoring.
Claims (1)
1. a kind of driving control system of new-energy automobile permanent magnet synchronous motor, including motor closed loop control module, the motor
Closed loop control module acquires motor A phase current ia, B phase current ib, motor speed spdfbk, busbar voltage UdcWith bus current Idc,
And it is run by vector control algorithm output pwm signal driving motor, while by the electric current under motor three-phase rotating coordinate system
ibAnd ibThe electric current i being transformed under two-phase rotating coordinate systemdAnd iqAnd export, it is characterised in that: further include torque security control
Module, the torque safety control module include inductance lookup unit, motor torque evaluation unit, motor torque judging unit,
Efficiency lookup unit, efficiency torque evaluation unit, efficiency torque judging unit and torque diagnosis unit:
The inductance lookup unit inputs the electric current idAnd iq, by table look-up to obtain motor D axle inductance LdWith Q axle inductance
Lq,
Ld=Table_D (id)
Lq=Table_Q (iq)
The motor torque evaluation unit inputs the D axle inductance LdWith Q axle inductance Lq, pass through motor control vector control algorithm
Formula estimates motor torque TFOC,
Wherein: λ iqIt is motor permanent magnet magnetic linkage, P is motor number of pole-pairs:
The motor torque judging unit inputs the motor torque TFOC, simultaneously output identification position is judged according to the following formula
Flag1,
Wherein: TrefFor motor torque command, if above formula is set up, Flag1 0, otherwise Flag1 is 1:
The efficiency lookup unit inputs the motor speed spdfbk, busbar voltage UdcWith bus current Ldc, and according to motor
Torque instruction TrefAnd motor speed spdfbkJudge that motor is in electric model or power generation mode, tabled look-up by electromotive efficiency or
Generating efficiency tables look-up to obtain the electromotive efficiency η that motor is in motoring conditioneOr motor is in the generating efficiency η of generating stateg,
Work as Tref×spdfbkWhen >=0, ηe=Table_Ele (Tref, spdfbk)
Work as Tref×spdfbkWhen < 0, ηg=Table_Gen (Tref, spdfbk)
The efficiency torque evaluation unit inputs the electromotive efficiency ηeOr generating efficiency ηg, according to the estimation point of ability law of conservation
Motor powered output torque T is not obtainedEffOr electric power generation output torque TGff,
Work as Tref×spdfbkWhen >=0,
Work as Tref×spdfbkWhen < 0,
The efficiency torque judging unit inputs motor powered output torque TEffOr electric power generation output torque TGff, according to following
Two formulas judge and output identification position Flag2,
Work as Tref×spdfbkWhen >=0,
Work as Tref×spdfbkWhen < 0,
If above-listed two formula is set up, Flag2 0, otherwise Flag2 is 1:
The torque diagnosis unit inputs the flag bit Flag1 and flag bit Flag2 respectively, if Flag1 or Flag2 are wherein
One the torque diagnosis unit output torque safety failure flag bit T_Flag is 1 when being 1, when Flag1 and Flag2 all
When being 0, then flag bit T_Flag is 0:
The motor closed loop control module inputs the flag bit T_Flag, when flag bit T_Flag is 1, motor closed-loop control
Module turns off pwm signal output, when flag bit T_Flag is 0, the normal output pwm signal of motor closed loop control module.
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| CN201511002264.1A CN106936348B (en) | 2015-12-29 | 2015-12-29 | The driving control system of new-energy automobile permanent magnet synchronous motor |
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| CN201511002264.1A CN106936348B (en) | 2015-12-29 | 2015-12-29 | The driving control system of new-energy automobile permanent magnet synchronous motor |
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| CN108390609A (en) * | 2018-03-26 | 2018-08-10 | 杭州先途电子有限公司 | A kind of motor control method, apparatus and system |
| CN118677300B (en) * | 2024-08-14 | 2024-11-01 | 至驱汽车科技(上海)有限公司 | Motor zero diagnosis method and device of synchronous motor, electronic equipment, readable storage medium, motor and vehicle |
Citations (3)
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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 |
| CN102694493A (en) * | 2011-03-23 | 2012-09-26 | 上海捷能汽车技术有限公司 | Permanent magnet motor torque estimation method in fault model |
| CN104836504A (en) * | 2015-05-15 | 2015-08-12 | 合肥工业大学 | Adaptive fault tolerant control method with salient pole permanent magnet synchronous motor precise torque output |
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| US7095209B2 (en) * | 2004-09-29 | 2006-08-22 | Rockwell Automation Technologies, Inc. | Method and apparatus to regulate torque provided to loads |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102694493A (en) * | 2011-03-23 | 2012-09-26 | 上海捷能汽车技术有限公司 | Permanent magnet motor torque estimation method in fault model |
| 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 |
| CN104836504A (en) * | 2015-05-15 | 2015-08-12 | 合肥工业大学 | Adaptive fault tolerant control method with salient pole permanent magnet synchronous motor precise torque output |
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