CN107015185A - Current sensor fault detection method and device and automobile - Google Patents
Current sensor fault detection method and device and automobile Download PDFInfo
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- CN107015185A CN107015185A CN201710305127.8A CN201710305127A CN107015185A CN 107015185 A CN107015185 A CN 107015185A CN 201710305127 A CN201710305127 A CN 201710305127A CN 107015185 A CN107015185 A CN 107015185A
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention discloses a method and a device for detecting faults of a current sensor and an automobile, wherein the detection method comprises the following steps: acquiring a voltage value of a target voltage input to the driving circuit; reversely deducing a feedback deduced current value according to the voltage value of the target voltage and a preset operation formula; calculating to obtain a calculated current value of the input end of the motor according to the feedback derived current value and a first operation rule; acquiring a detected current value of the input end of the motor detected by the current sensor; and comparing the detected current value with the corresponding calculated current value, and determining the fault of the current sensor corresponding to the detected current value if the deviation between the detected current value and the corresponding calculated current value meets the preset condition. According to the invention, whether the current sensor has a fault or not is judged in advance, so that the feedback current calculation error caused by the fault of the current sensor is avoided, and the power interruption of the whole vehicle is avoided.
Description
Technical field
The present invention relates to full-vehicle control technical field, more particularly to a kind of detection method of current sensor faults, device
And automobile.
Background technology
, it is necessary to control the power output of vehicle by controlled motor moment of torsion during electric automobile operation.Turned round in controlled motor
During square, current sensor is as key componentses, the input current value for detecting input end of motor.By current sense
The input current value of the input end of motor of device detection, is used as the foundation for calculating feedback current.If current sensor breaks down,
Feedback current is then caused to calculate mistake, so as to cause the serious problems of vehicle power interruption.
The content of the invention
In order to solve the above-mentioned technical problem, the invention provides a kind of detection method of current sensor faults, device and
Automobile, solve how to detect for detect motor input current current sensor whether failure the problem of.
In order to achieve the above object, the embodiments of the invention provide a kind of detection method of current sensor faults, application
In automobile, wherein the automobile includes：Drive circuit, motor and current sensor, wherein the input of the motor is connected to
The output end of the drive circuit, the current sensor detects the input current of the input of the motor；
The detection method includes：
Input is obtained to the magnitude of voltage of the target voltage of the drive circuit；
According to the magnitude of voltage of the target voltage and predetermined operational formula, reversely derive that feedback derives current value；
According to the derivation current value and the first operation rule of the feedback, the meter for the input for obtaining the motor is calculated
Calculate current value；
Obtain the detection current value of the input for the motor that the current sensor is detected；
The detection current value is compared with corresponding calculating current value, if the detection current value and corresponding meter
The deviation calculated between current value meets preparatory condition, it is determined that the current sensor faults of the correspondence detection current value.
Preferably, the target voltage includes the d-axis target voltage and quadrature axis target voltage in rotor coordinate, feedback
Derive electric current include rotor coordinate in d-axis feedback derive electric current and quadrature axis feedback derivation electric current；
The predetermined operational formula is：
Wherein, UdRepresent d-axis target voltage values, UqRepresent quadrature axis target voltage values, IdRepresent the derivation electricity of d-axis feedback
Flow valuve, IqRepresent the derivation current value of quadrature axis feedback, LdRepresent d-axis inductance value, LqRepresent quadrature axis inductance value, RsRepresent that motor is determined
The resistance value of son, ω represents motor speed value, and Φ represents magnetic linkage.
Preferably, the magnitude of voltage and predetermined operational formula according to the target voltage, reversely derives feedback
Derivation current value the step of, including：
Obtain the d-axis inductance value, the quadrature axis inductance value, the resistance value of the motor stator, the motor speed value
With the magnetic linkage；
By the d-axis inductance value, the quadrature axis inductance value, the resistance value of the motor stator, the motor speed value,
The magnetic linkage, d-axis target voltage values and quadrature axis target voltage values are asked as known quantity, and according to the predetermined operational formula
Solution, respectively obtains the derivation current value for deriving current value and quadrature axis feedback of the d-axis feedback.
Preferably, the derivation current value and the first operation rule according to the feedback, calculating obtains the motor
Input calculating current value the step of, including：
The derivation current value of the feedback is passed through into Park inverse transformations, calculating obtains switching current value；
The switching current value is passed through into Clark inverse transformations, the calculating current value for obtaining the input end of motor is calculated.
Preferably, it is described to be compared the detection current value with corresponding calculating current value, if the detection electric current
Deviation between value and corresponding calculating current value meets preparatory condition, it is determined that the current sense of the correspondence detection current value
The step of device failure, including：
Calculate the deviation between the detection current value and corresponding calculating current value；
If the deviation is more than predetermined threshold value, it is determined that the current sensor faults of the correspondence detection current value.
The embodiment of the present invention additionally provides a kind of detection means of current sensor faults, applied to automobile, wherein described
Automobile includes：Drive circuit, motor and current sensor, wherein the input of the motor is connected to the defeated of the drive circuit
Go out end, the current sensor detects the input current of the input of the motor；
The detection means includes：
First acquisition module, for obtaining input to the magnitude of voltage of the target voltage of the drive circuit；
First computing module, for the magnitude of voltage according to the target voltage and predetermined operational formula, is reversely derived
Go out the derivation current value of feedback；
Second computing module, for the derivation current value and the first operation rule according to the feedback, calculating obtains institute
State the calculating current value of the input of motor；
Second acquisition module, the detection electric current of the input for obtaining the motor that the current sensor is detected
Value；
Judge module, for the detection current value to be compared with corresponding calculating current value, if the detection electricity
Deviation between flow valuve and corresponding calculating current value meets preparatory condition, it is determined that the electric current of the correspondence detection current value is passed
Sensor failure.
Preferably, the target voltage includes the d-axis target voltage and quadrature axis target voltage in rotor coordinate, described
The electric current that derives of feedback includes the derivation electric current for deriving electric current and quadrature axis feedback of the d-axis feedback in rotor coordinate；
The predetermined operational formula is：
Wherein, UdRepresent d-axis target voltage values, UqRepresent quadrature axis target voltage values, IdRepresent the derivation electricity of d-axis feedback
Flow valuve, IqRepresent the derivation current value of quadrature axis feedback, LdRepresent d-axis inductance value, LqRepresent quadrature axis inductance value, RsRepresent that motor is determined
The resistance value of son, ω represents motor speed value, and Φ represents magnetic linkage.
Preferably, first computing module includes：
Acquiring unit, for obtain the d-axis inductance value, the quadrature axis inductance value, the resistance value of the motor stator,
The motor speed value and the magnetic linkage；
First computing unit, for by the d-axis inductance value, the quadrature axis inductance value, the motor stator resistance
Value, the motor speed value, the magnetic linkage, d-axis target voltage values and quadrature axis target voltage values are as known quantity, and according to institute
State predetermined operational formula to solve, respectively obtain the derivation electric current for deriving current value and quadrature axis feedback of the d-axis feedback
Value.
Preferably, second computing module includes：
First converting unit, for the derivation current value of the feedback to be passed through into Park inverse transformations, calculating obtains conversion electricity
Flow valuve；
Second converting unit, for the switching current value to be passed through into Clark inverse transformations, calculating obtains the motor input
The calculating current value at end.
Preferably, the judge module includes：
Second computing unit, for calculating the deviation between the detection current value and corresponding calculating current value；
Judging unit, if being more than predetermined threshold value for the deviation, it is determined that the electric current of the correspondence detection current value
Sensor fault.
The embodiment of the present invention additionally provides a kind of automobile, including entire car controller, and the entire car controller includes above-mentioned
The detection means of current sensor faults.
The beneficial effect of embodiments of the invention is：
In such scheme, the target voltage values and predetermined operational formula determined according to target voltage determining module, instead
To the derivation current value for deriving the feedback；And according to the derivation current value of feedback, reversely derive correspondence input end of motor
Calculating current value；And the detection current value for detecting current sensor is compared with corresponding calculating current value, so that
It is determined that whether the current sensor of correspondence detection current value breaks down.So, by prejudging whether current sensor is sent out
Raw failure, it is to avoid because feedback current calculates mistake caused by current sensor faults, so as to avoid causing vehicle to move
Power is interrupted, so as to ensure that vehicle can continue to operation.
Brief description of the drawings
Fig. 1 represents the motor control schematic diagram of the embodiment of the present invention；
Fig. 2 represents the flow chart of the detection method of the current sensor faults of the embodiment of the present invention；
Fig. 3 represents the step of deriving feedback current of the embodiment of the present invention；
The step of Fig. 4 represents the calculating current value of the input of the determination motor of the embodiment of the present invention；
The step of Fig. 5 represents the determination current sensor faults of the embodiment of the present invention；
Fig. 6 represents one of structural representation of detection means of current sensor faults of the embodiment of the present invention；
Fig. 7 represents the two of the structural representation of the detection means of the current sensor faults of the embodiment of the present invention；
Fig. 8 represents the block diagram of the automobile of the embodiment of the present invention.
Embodiment
The exemplary embodiment of the present invention is more fully described below with reference to accompanying drawings.Although showing the present invention in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
Limited.Conversely it is able to be best understood from the present invention there is provided these embodiments, and can be by the scope of the present invention
Complete conveys to those skilled in the art.
The embodiments of the invention provide a kind of detection method of current sensor faults, applied to automobile, wherein the vapour
Car carries out motor control using the motor control principle shown in Fig. 1.What deserves to be explained is, only with shown in Fig. 1 in the present embodiment
Motor control principle has been carried out to the detection method of the present invention for example, the detection method of the present invention can also be applied to remove this
Outside other electric machine control systems and automobile including electric machine control system.
Specifically, the automobile includes：Drive circuit 110, motor 120 and current sensor 130, wherein the motor
120 input is connected to the output end of the drive circuit 110, and the current sensor 130 detects the defeated of the motor 120
Enter the input current at end.
Target current determining module 141, for according to given moment of torsion, determining target current.
Specifically, according to given torque value and torque capacity electric current ratio (Maximum Torque Per Ampere,
Abbreviation MTPA) algorithm, the current value of target current is determined by tabling look-up, wherein target current includes the d-axis in rotor coordinate
Target current and quadrature axis target current.
Current adjusting module 142, for according to the target current and feedback current, it is determined that the adjustment electric current after adjustment.
Specifically, target current includes the d-axis target current and quadrature axis target current in rotor coordinate；Feedback current
Including d-axis feedback current and quadrature axis feedback current, adjustment current value includes d-axis and adjusts electric current and quadrature axis adjustment electric current.With straight
The current value of axle feedback current refers to adjusted value as the first of d-axis target current, according to the first reference adjusted value to d-axis mesh
Mark electric current is adjusted, and determines that d-axis adjusts current value；Using the current value of quadrature axis feedback current as quadrature axis target current
Two refer to adjusted value, and quadrature axis target current is adjusted with reference to adjusted value according to second, determine that quadrature axis adjusts current value.Pass through
Target current value is adjusted, it is ensured that the stabilization of motor operating.
Target voltage determining module 143, for according to the adjustment electric current, target electricity to be determined according to the second operation rule
Pressure.
Specifically, the second operation rule is proportional-integral-differential (Proportion Integration
Differentiation, abbreviation PID) regulation algorithm.Adjustment current value is adjusted by PID, the voltage of target voltage is determined
Value.
Voltage control module 144, for according to the target voltage, controlling the drive circuit 110 to export corresponding drive
Voltage is moved to the motor 120.
Specifically, according to target voltage, and using space vector pulse width modulation (pace Vector Pulse Width
Modulation, abbreviation SVPWM) mode, it is determined that output to drive circuit 110 control signal so that drive circuit 110
Corresponding driving voltage is exported to motor 120 according to control signal.
Feedback module 145, for the input current value detected according to the current sensor 130, according to the 3rd
Operation rule determines the feedback current and feeds back to the current adjusting module.
Specifically, the 3rd operation rule includes, Clark becomes scaling method and Park becomes scaling method.According to current sensor 130
The three-phase input current of the input of motor 120 detected, becomes scaling method according to Clark and is converted, obtain equivalent two-phase
Convert electric current；Two equivalent phase inversion electric currents are become into scaling method according to Park again to be converted, feedback current is determined.Wherein feed back
Electric current includes d-axis feedback current and quadrature axis feedback current.
Referring to Fig. 2, the detection method includes：
Step 21, input is obtained to the magnitude of voltage of the target voltage of the drive circuit.
Specifically, determining the process of the magnitude of voltage of target voltage includes：Target current determining module 141 is according to given torsion
Square value and MTPA algorithms, by determination target current value of tabling look-up；Current adjusting module 142 is electric using feedback current as target
The reference adjusted value of flow valuve, and target current value is adjusted according to reference to adjusted value, it is determined that adjustment current value；Target voltage
Determining module 143 will adjust current value and be adjusted by PID, determine the magnitude of voltage of target voltage.
Step 22, according to the magnitude of voltage of the target voltage and predetermined operational formula, pushing away for feedback is reversely derived
Conductive flow valuve.
Specifically, target voltage includes the d-axis target voltage and quadrature axis target voltage in rotor coordinate, feedback is pushed away
Electrical conduction current includes the derivation electric current for deriving electric current and quadrature axis feedback of the d-axis feedback in rotor coordinate；
Wherein predetermined operational formula, be specially：
Wherein, UdRepresent d-axis target voltage values, UqRepresent quadrature axis target voltage values, IdRepresent the derivation electricity of d-axis feedback
Flow valuve, IqRepresent the derivation current value of quadrature axis feedback, LdRepresent d-axis inductance value, LqRepresent quadrature axis inductance value, RsRepresent that motor is determined
The resistance value of son, ω represents motor speed value, and Φ represents magnetic linkage.
Referring to Fig. 3, step 22 includes：
Step 31, the d-axis inductance value, the quadrature axis inductance value, the resistance value of the motor stator, the electricity are obtained
Machine tachometer value and the magnetic linkage.
In the embodiment, d-axis inductance value is constant.Quadrature axis inductance value is a variable quantity varied with temperature, can according to work as
Preceding temperature value carries out determination of tabling look-up.The resistance value of motor stator is constant.Motor speed value and magnetic linkage, can be true by test
It is fixed.
Step 32, by the d-axis inductance value, the quadrature axis inductance value, the resistance value of the motor stator, the motor
Tachometer value, the magnetic linkage, d-axis target voltage values and quadrature axis target voltage values are as known quantity, and according to the predetermined computing
Equations, respectively obtain the derivation current value for deriving current value and quadrature axis feedback of the d-axis feedback.
Specifically, by the d-axis inductance value, the quadrature axis inductance value, the resistance value of the motor stator, the motor
Tachometer value, the magnetic linkage, d-axis target voltage values and quadrature axis target voltage values substitute into above-mentioned predetermined computing as known quantity
In formula, differential equation of first order is set up；By solving differential equation of first order, determine unknown quantity d-axis feedback derivation current value and
The derivation current value of quadrature axis feedback, i.e. feedback current.Here the method for schematically illustrating the derivation current value for solving feedback is right
The process for solving differential equation of first order is repeated no more.
Step 23, according to the derivation current value and the first operation rule of the feedback, calculating obtains the defeated of the motor
Enter the calculating current value at end.
Specifically, the first operation rule is the inverse operation of the 3rd operation rule, the first operation rule includes Clark inverse transformations
Algorithm and Park contravariant scaling methods.
Referring to Fig. 4, step 23 includes：
Step 41, the derivation current value of the feedback is passed through into Park inverse transformations, calculating obtains switching current value.
Specifically, the electric current that derives of feedback includes the derivation electric current for deriving electric current and quadrature axis feedback that d-axis feeds back.Will be straight
The derivation current value of axle feedback and the derivation current value of quadrature axis feedback are turned as known quantity, and according to Park contravariant scaling methods
Change current value.
Step 42, the switching current value is passed through into Clark inverse transformations, calculates the calculating electricity for obtaining the input end of motor
Flow valuve.
Specifically, switching current value converts for the three-phase electricity flow valuve of input end of motor by Clark, obtained equivalent two
Phase inversion current value.Therefore, the switching current value is passed through into Clark inverse transformations, you can obtain the three-phase meter of input end of motor
Calculate current value.
Step 24, the detection current value of the input for the motor that the current sensor is detected is obtained.
Step 25, by it is described detection current value be compared with corresponding calculating current value, if it is described detection current value and
Deviation between corresponding calculating current value meets preparatory condition, it is determined that the current sensor event of the correspondence detection current value
Barrier.
Specifically, the three-phase current of input end of motor includes U phase currents, V phase currents and W phase currents.First current sense
Device is used to detect that U phases detect current value, and the second current sensor is used to detect that V phases detect current value, and the 3rd current sensor is used
Current value is detected in detection W phases.Calculating current value includes：U phase calculating currents value, V phase calculating current values and W phase calculating currents
Value.
U phases are detected that current value and U phase calculating current values are compared, if deviation meets preparatory condition, it is determined that first
Current sensor faults, otherwise determine that the first current sensor is normal；V phases are detected that current value and V phase calculating currents value are carried out
Compare, if deviation meets preparatory condition, it is determined that the second current sensor faults, otherwise determine that the second current sensor is normal；
W phases are detected that current value and W phase calculating current values are compared, if deviation meets preparatory condition, it is determined that the 3rd current sense
Device failure, otherwise determines that the 3rd current sensor is normal.
Referring to Fig. 5, step 25 includes：
Step 51, the deviation between the detection current value and corresponding calculating current value is calculated.
Step 52, if the deviation is more than predetermined threshold value, it is determined that the current sensor of the correspondence detection current value
Failure.
Specifically, predetermined threshold value can be set according to the performance of current sensor, such as：It is set to 10A.If detection
Deviation between current value and corresponding calculating current value is more than 10A, it is determined that the electric current of the correspondence detection current value is passed
Sensor failure.
So, because the vector of three-phase current is zero, when detecting the wherein phase current in three-phase current sensor
During sensor failure, other biphase current sensor can be switched to and carry out current detecting.According to its of motor output end
Middle biphase current value, can derive the three-phase electricity flow valuve of input end of motor, and then carry out motor control, thus avoid due to
The failure of current sensor and the vehicle power interruption caused, so as to ensure that vehicle can continue to operation.
The embodiment of the present invention additionally provides a kind of detection means of current sensor faults, applied to automobile, wherein described
Automobile carries out motor control using the motor control principle shown in Fig. 1.What deserves to be explained is, only shown in the present embodiment with Fig. 1
Motor control principle to the present invention detection means carried out for example, the present invention detection means can also be applied to remove
Other electric machine control systems outside this and the automobile including electric machine control system.
Specifically, the automobile includes：Drive circuit 110, motor 120 and current sensor 130, wherein the motor
120 input is connected to the output end of the drive circuit 110, and the current sensor 130 detects the defeated of the motor 120
Enter the input current at end.
Target current determining module 141, for according to given moment of torsion, determining target current.
Specifically, according to given torque value and MTPA algorithms, the current value of target current is determined by tabling look-up, wherein
Target current includes the d-axis target current and quadrature axis target current in rotor coordinate.
Current adjusting module 142, for according to the target current and feedback current, it is determined that the adjustment electric current after adjustment.
Specifically, target current includes the d-axis target current and quadrature axis target current in rotor coordinate；Feedback current
Including d-axis feedback current and quadrature axis feedback current, adjustment electric current includes d-axis and adjusts electric current and quadrature axis adjustment electric current.With d-axis
Feedback current refers to adjusted value as the first of d-axis target current, and d-axis target current is entered with reference to adjusted value according to first
Row adjustment, determines that d-axis adjusts current value；Second using quadrature axis feedback current as quadrature axis target current refers to adjusted value, presses
Quadrature axis target current is adjusted with reference to adjusted value according to second, determines that quadrature axis adjusts current value.By entering to target current value
Row adjustment, it is ensured that the stabilization of motor operating.
Target voltage determining module 143, for according to the adjustment electric current, target electricity to be determined according to the second operation rule
Pressure.
Specifically, the second operation rule, which is PID, adjusts algorithm.Adjustment current value is adjusted by PID, target voltage is determined
Magnitude of voltage.
Voltage control module 144, for according to the target voltage, controlling the corresponding driving electricity of the drive circuit output
It is depressed into the motor.
Specifically, according to the magnitude of voltage of target voltage, and by the way of SVPWM modulation, it is determined that exporting to drive circuit
110 control signal, so that drive circuit 110 exports corresponding driving voltage to motor 120 according to control signal.
Feedback module 145, for the input current value detected according to the current sensor, according to the 3rd computing
Rule determines the feedback current and feeds back to the current adjusting module.
Specifically, the 3rd operation rule includes, Clark becomes scaling method and Park becomes scaling method.According to current sensor 130
The three-phase input current of the input of motor 120 detected, becomes scaling method according to Clark and is converted, obtain equivalent two-phase
Convert electric current；Two equivalent phase inversion electric currents are become into scaling method according to Park again to be converted, feedback current is determined.Wherein feed back
Electric current includes d-axis feedback current and quadrature axis feedback current.
Referring to Fig. 6 and Fig. 7, the detection means includes：
First acquisition module 610, for obtaining input to the magnitude of voltage of the target voltage of the drive circuit.
Specifically, determining the process of the magnitude of voltage of target voltage includes：Target current determining module 141 is according to given torsion
Square value and MTPA algorithms, by determination target current value of tabling look-up；Current adjusting module 142 is electric using feedback current as target
The reference adjusted value of flow valuve, and target current value is adjusted according to reference to adjusted value, it is determined that adjustment current value；Target voltage
Determining module 143 will adjust current value and be adjusted by PID, determine the magnitude of voltage of target voltage.
First computing module 620, for the magnitude of voltage according to the target voltage and predetermined operational formula, reverse push
Export the derivation current value of the feedback
Specifically, target voltage includes the d-axis target voltage and quadrature axis target voltage in rotor coordinate, feedback is pushed away
Conductive flow valuve includes the derivation electric current for deriving electric current and quadrature axis feedback of the d-axis feedback in rotor coordinate；
Wherein predetermined operational formula, be specially：
Wherein, UdRepresent d-axis target voltage values, UqRepresent quadrature axis target voltage values, IdRepresent the derivation electricity of d-axis feedback
Flow valuve, IqRepresent the derivation current value of quadrature axis feedback, LdRepresent d-axis inductance value, LqRepresent quadrature axis inductance value, RsRepresent that motor is determined
The resistance value of son, ω represents motor speed value, and Φ represents magnetic linkage.
Specifically, the first computing module 620 includes：
Acquiring unit 621, for obtain the d-axis inductance value, the quadrature axis inductance value, the motor stator resistance
Value, the motor speed value and the magnetic linkage.
In the embodiment, d-axis inductance value is constant.Quadrature axis inductance value is a variable quantity varied with temperature, can according to work as
Preceding temperature value carries out determination of tabling look-up.The resistance value of motor stator is constant.Motor speed value and magnetic linkage, can be true by test
It is fixed.
First computing unit 622, for by the d-axis inductance value, the quadrature axis inductance value, the motor stator electricity
Resistance, the motor speed value, the magnetic linkage, d-axis target voltage values and quadrature axis target voltage values as known quantity, and according to
The predetermined operational formula is solved, and respectively obtain the d-axis feedback derives current value and the derivation electricity of quadrature axis feedback
Flow valuve.
Specifically, by the d-axis inductance value, the quadrature axis inductance value, the resistance value of the motor stator, the motor
Tachometer value, the magnetic linkage, d-axis target voltage values and quadrature axis target voltage values substitute into above-mentioned predetermined computing as known quantity
In formula, differential equation of first order is set up；By solving differential equation of first order, determine unknown quantity d-axis feedback derivation current value and
The derivation current value of quadrature axis feedback, i.e. feedback current.Here the method for schematically illustrating the derivation current value for solving feedback is right
The process for solving differential equation of first order is repeated no more.
Second computing module 630, for the derivation current value and the 3rd operation rule according to the feedback, calculating is obtained
The calculating current value of the input of the motor.
Specifically, the first operation rule is the inverse operation of the 3rd operation rule, the first operation rule includes Clark inverse transformations
Algorithm and Park contravariant scaling methods.
Wherein, the second computing module 630 includes：
First converting unit 631, for the derivation current value of the feedback to be passed through into Park inverse transformations, calculating is changed
Current value.
Specifically, feedback current includes the derivation current value for deriving current value and quadrature axis feedback that d-axis feeds back.Will be straight
The derivation current value of axle feedback and the derivation current value of quadrature axis feedback are turned as known quantity, and according to Park contravariant scaling methods
Change current value.
Second converting unit 632, for the switching current value to be passed through into Clark inverse transformations, calculating obtains the motor
The calculating current value of input.
Specifically, switching current value converts for the three-phase electricity flow valuve of input end of motor by Clark, obtained equivalent two
Phase inversion current value.Therefore, the switching current value is passed through into Clark inverse transformations, you can obtain the three-phase meter of input end of motor
Calculate current value.
Second acquisition module 640, the detection of the input for obtaining the motor that the current sensor is detected
Current value.
Judge module 650, for the detection current value to be compared with corresponding calculating current value, if the detection
Deviation between current value and corresponding calculating current value meets preparatory condition, it is determined that the electric current of the correspondence detection current value
Sensor fault.
Specifically, the three-phase current of input end of motor includes U phase currents, V phase currents and W phase currents.First current sense
Device is used to detect that U phases detect current value, and the second current sensor is used to detect that V phases detect current value, and the 3rd current sensor is used
Current value is detected in detection W phases.Calculating current value includes：U phase calculating currents value, V phase calculating current values and W phase calculating currents
Value.
U phases are detected that current value and U phase calculating current values are compared, if deviation meets preparatory condition, it is determined that first
Current sensor faults, otherwise determine that the first current sensor is normal；V phases are detected that current value and V phase calculating currents value are carried out
Compare, if deviation meets preparatory condition, it is determined that the second current sensor faults, otherwise determine that the second current sensor is normal；
W phases are detected that current value and W phase calculating current values are compared, if deviation meets preparatory condition, it is determined that the 3rd current sense
Device failure, otherwise determines that the 3rd current sensor is normal.
Wherein, judge module 650 includes：
Second computing unit 651, for calculating the deviation between the detection current value and corresponding calculating current value.
Judging unit 652, if being more than predetermined threshold value for the deviation, it is determined that the electricity of the correspondence detection current value
Flow sensor failure.
Specifically, predetermined threshold value can be set according to the performance of current sensor, such as：It is set to 10A.If detection
Deviation between current value and corresponding calculating current value is more than 10A, it is determined that the electric current of the correspondence detection current value is passed
Sensor failure.
So, because the vector of three-phase current is zero, when detecting the wherein phase current in three-phase current sensor
During sensor failure, other biphase current sensor can be switched to and carry out current detecting.According to its of motor output end
Middle biphase current value, can derive the three-phase electricity flow valuve of input end of motor, and then carry out motor control, thus avoid due to
The failure of current sensor and the vehicle power interruption caused, so as to ensure that vehicle can continue to operation.
Referring to Fig. 8, the embodiment of the present invention additionally provides a kind of automobile, including：Entire car controller 140, drive circuit 110,
Motor 120 and current sensor 130；Drive circuit 110, motor 120 and current sensor 130 are all connected to entire car controller
140, the input of motor 120 is connected to the output end of drive circuit 110, and current sensor 130 detects the input of motor 120
Input current, and send to entire car controller 140.Wherein, entire car controller 140 includes：
Target current determining module 141, for according to given moment of torsion, determining target current；
Current adjusting module 142, for according to the target current and feedback current, it is determined that the adjustment electric current after adjustment；
Target voltage determining module 143, for according to the adjustment electric current, target electricity to be determined according to the first operation rule
Pressure；
Voltage control module 144, for according to the target voltage, controlling the corresponding driving electricity of the drive circuit output
It is depressed into the motor；
Feedback module 145, for the input current detected according to the current sensor, is advised according to the second computing
Then determine the feedback current and feed back to the current adjusting module；And, the detection of above-mentioned current sensor faults is filled
Put 146.
In such scheme, entire car controller is reversely derived according to the magnitude of voltage and predetermined operational formula of target voltage
Go out the derivation current value of feedback；And according to the derivation current value of feedback, reversely derive the calculating current of correspondence input end of motor
Value；And the detection current value for detecting current sensor is compared with corresponding calculating current value, so that it is determined that correspondence inspection
Whether the current sensor for surveying current value breaks down.So, by prejudging whether current sensor breaks down, so that
Avoid because feedback current calculates mistake caused by current sensor faults, so that avoid causing vehicle power interruption, from
And ensure vehicle and can continue to operation.
Above-described is the preferred embodiment of the present invention, it should be pointed out that come for the ordinary person of the art
Say, some improvements and modifications can also be made under the premise of principle of the present invention is not departed from, and these improvements and modifications also exist
In protection scope of the present invention.
Claims (11)
1. a kind of detection method of current sensor faults, applied to automobile, it is characterised in that the automobile includes：Driving electricity
Road, motor and current sensor, wherein the input of the motor is connected to the output end of the drive circuit, the electric current is passed
Sensor detects the input current of the input of the motor；
The detection method includes：
Input is obtained to the magnitude of voltage of the target voltage of the drive circuit；
According to the magnitude of voltage of the target voltage and predetermined operational formula, the derivation current value of feedback is reversely derived；
According to the derivation current value and the first operation rule of the feedback, the calculating electricity for the input for obtaining the motor is calculated
Flow valuve；
Obtain the detection current value of the input for the motor that the current sensor is detected；
The detection current value is compared with corresponding calculating current value, if the detection current value calculates electricity with corresponding
Deviation between flow valuve meets preparatory condition, it is determined that the current sensor faults of the correspondence detection current value.
2. detection method according to claim 1, it is characterised in that the target voltage includes straight in rotor coordinate
Axle target voltage and quadrature axis target voltage, feedback derive electric current include rotor coordinate in d-axis feedback derivation electric current and
The derivation electric current of quadrature axis feedback；
The predetermined operational formula is：
Wherein, UdRepresent d-axis target voltage values, UqRepresent quadrature axis target voltage values, IdThe derivation current value of d-axis feedback is represented,
IqRepresent the derivation current value of quadrature axis feedback, LdRepresent d-axis inductance value, LqRepresent quadrature axis inductance value, RsRepresent motor stator
Resistance value, ω represents motor speed value, and Φ represents magnetic linkage.
3. detection method according to claim 2, it is characterised in that the magnitude of voltage according to the target voltage and
Predetermined operational formula, the step of reversely deriving the derivation current value of feedback, including：
Obtain the d-axis inductance value, the quadrature axis inductance value, the resistance value of the motor stator, the motor speed value and institute
State magnetic linkage；
By the d-axis inductance value, the quadrature axis inductance value, the resistance value of the motor stator, the motor speed value, described
Magnetic linkage, d-axis target voltage values and quadrature axis target voltage values are solved as known quantity, and according to the predetermined operational formula, point
The derivation current value for deriving current value and quadrature axis feedback of the d-axis feedback is not obtained.
4. detection method according to claim 1, it is characterised in that the derivation current value according to the feedback and
First operation rule, the step of calculating the calculating current value for the input for obtaining the motor, including：
The derivation current value of the feedback is passed through into Park inverse transformations, calculating obtains switching current value；
The switching current value is passed through into Clark inverse transformations, the calculating current value for obtaining the input end of motor is calculated.
5. detection method according to claim 1, it is characterised in that described to calculate the detection current value with corresponding
Current value is compared, if the deviation between the detection current value and corresponding calculating current value meets preparatory condition, really
Surely the step of corresponding to the current sensor faults of the detection current value, including：
Calculate the deviation between the detection current value and corresponding calculating current value；
If the deviation is more than predetermined threshold value, it is determined that the current sensor faults of the correspondence detection current value.
6. a kind of detection means of current sensor faults, applied to automobile, it is characterised in that the automobile includes：Driving electricity
Road, motor and current sensor, wherein the input of the motor is connected to the output end of the drive circuit, the electric current is passed
Sensor detects the input current of the input of the motor；
The detection means includes：
First acquisition module, for obtaining input to the magnitude of voltage of the target voltage of the drive circuit；
First computing module, for the magnitude of voltage according to the target voltage and predetermined operational formula, is reversely derived anti-
The derivation current value of feedback；
Second computing module, for the derivation current value and the first operation rule according to the feedback, calculating obtains the electricity
The calculating current value of the input of machine；
Second acquisition module, the detection current value of the input for obtaining the motor that the current sensor is detected；
Judge module, for the detection current value to be compared with corresponding calculating current value, if the detection current value
Deviation between corresponding calculating current value meets preparatory condition, it is determined that the current sensor of the correspondence detection current value
Failure.
7. detection means according to claim 6, it is characterised in that the target voltage includes straight in rotor coordinate
Axle target voltage and quadrature axis target voltage, feedback derive electric current include rotor coordinate in d-axis feedback derivation electric current and
The derivation electric current of quadrature axis feedback；
The predetermined operational formula is：
Wherein, UdRepresent d-axis target voltage values, UqRepresent quadrature axis target voltage values, IdThe derivation current value of d-axis feedback is represented,
IqRepresent the derivation current value of quadrature axis feedback, LdRepresent d-axis inductance value, LqRepresent quadrature axis inductance value, RsRepresent motor stator
Resistance value, ω represents motor speed value, and Φ represents magnetic linkage.
8. detection means according to claim 7, it is characterised in that first computing module includes：
Acquiring unit, for obtaining the d-axis inductance value, the quadrature axis inductance value, the resistance value of the motor stator, described
Motor speed value and the magnetic linkage；
First computing unit, for by the d-axis inductance value, the quadrature axis inductance value, the resistance value of the motor stator, institute
Motor speed value, the magnetic linkage, d-axis target voltage values and quadrature axis target voltage values are stated as known quantity, and according to described predetermined
Operational formula solve, respectively obtain the derivation current value for deriving current value and quadrature axis feedback of d-axis feedback.
9. detection means according to claim 6, it is characterised in that second computing module includes：
First converting unit, for the derivation current value of the feedback to be passed through into Park inverse transformations, calculating obtains switching current value；
Second converting unit, for the switching current value to be passed through into Clark inverse transformations, calculating obtains the input end of motor
Calculating current value.
10. detection means according to claim 6, it is characterised in that the judge module includes：
Second computing unit, for calculating the deviation between the detection current value and corresponding calculating current value；
Judging unit, if being more than predetermined threshold value for the deviation, it is determined that the current sense of the correspondence detection current value
Device failure.
11. a kind of automobile, it is characterised in that including entire car controller, it is any that the entire car controller includes claim 6~10
The detection means of current sensor faults described in.
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| CN112034338A (en) * | 2019-05-16 | 2020-12-04 | 上海汽车集团股份有限公司 | Method and device for diagnosing phase current open circuit of electric power steering motor |
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| CN114035140A (en) * | 2021-11-19 | 2022-02-11 | 中车大连电力牵引研发中心有限公司 | Fault detection and fault-tolerant control method for current sensor of induction motor |
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| CN115754867A (en) * | 2022-11-18 | 2023-03-07 | 南京航空航天大学 | Fault Diagnosis Method of Current Sensor in Electrically Excited Doubly Salient Motor Drive System |
| CN115754867B (en) * | 2022-11-18 | 2023-06-30 | 南京航空航天大学 | Fault Diagnosis Method of Current Sensor in Electrically Excited Doubly Salient Motor Drive System |
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