CN101565003B - Motor controller of electric automobile and control method thereof - Google Patents
Motor controller of electric automobile and control method thereof Download PDFInfo
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- CN101565003B CN101565003B CN2009101170263A CN200910117026A CN101565003B CN 101565003 B CN101565003 B CN 101565003B CN 2009101170263 A CN2009101170263 A CN 2009101170263A CN 200910117026 A CN200910117026 A CN 200910117026A CN 101565003 B CN101565003 B CN 101565003B
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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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Abstract
The invention relates to a motor controller of electric automobile and control method thereof. According to technical requirement of permanent magnet motor for electric automobile, structure and method of the control system is determined, micro-controller of Infineon Technologies is adopted as the control chip considering cost and efficiency, motor control functions such as vector control, space vector pulse width modulation (SVPWM), A/D conversion (A/D) and failure diagnosis are completed. A whole vehicle controller requests signals including motor operation mode signal, torque instruction signal from the motor controller through a whole vehicle high-speed CAN (control area network). After analyzing and processing by the micro-controller, the control power device outputs corresponding current, thus the motor outputs corresponding steering and torque, and responds the current operation state to the whole vehicle controller, so that a motor control process is completed.
Description
Technical field
The present invention relates to automation field, relate in particular to the used for electric vehicle Electric Machine Control, be specifically related to a kind of electric machine controller and control method thereof of electric automobile.
Background technology
In recent years, along with the increasingly serious and automobile of the energy and environmental problem and the continuous development of electronic technology, the electric automobile that with the motor is power is gradually by everybody approval, and market prospects are very huge.Motor is the core component of dynamical system as the power source of electric automobile, and its control effect has very important influence for the performance of car load.Permagnetic synchronous motor, the permagnetic synchronous motor of especially embedded permanent magnet have fast, the advantages such as loss is low, adjustable speed operation of response, are applied to comprise the every field of electric automobile more and more widely.At present, electric automobile is in examination development or sample car stage mostly, rarely has the electric machine controller that is suitable for industrialization of mature and reliable.Be that electric machine controller is less in the prior art, and all immature.
Summary of the invention
The object of the present invention is to provide a kind of used for electric vehicle electric machine controller that is suitable for industrialization,, confirmed the structure and the method for control system, satisfied the requirement of motor in electric automobile control according to the specification requirement of used for electric vehicle magneto.
The technical scheme that the present invention adopts is a kind of SCM Based used for electric vehicle electric machine controller, according to the specification requirement of used for electric vehicle magneto, has confirmed the structure and the method for control system.Consider in conjunction with cost and efficient; Control chip adopts the single-chip microcomputer of company of Infineon; Completion comprises Electric Machine Control functions such as vector control, space vector pulse width modulation (SVPWM), analog-to-digital conversion (A/D) and failure diagnosis, and entire car controller comprises signals such as motor operational mode, torque command through car load high-speed CAN (control area net network) bus to the electric machine controller request, after the single-chip microcomputer analysis and handling; The power controlling device is exported corresponding electric current; Make corresponding the turning to and moment of torsion of motor output,, thereby accomplish the Electric Machine Control process one time simultaneously to the current running status of entire car controller response.
Concrete technical scheme is following:
A kind of electric machine controller of electric automobile comprises: single-chip microcomputer, inverter; Transducer and peripheral interface circuit; Said transducer is carried signal to single-chip microcomputer, said single-chip microcomputer output signal controlling inverter, and said peripheral interface circuit is electrically connected with single-chip microcomputer and/or inverter.
Said single-chip microcomputer has and is used for analog-to-digital ADC module, is used for the SPI module of serial data communication, is used to produce the CCU60 module of 6 path switching signals, is used for the MultiCAN module of CAN communication, is used for the Port module of other convectional signals communication.
The analog signal conversion that said ADC module will be imported single-chip microcomputer is the accessible digital signal of single-chip microcomputer.
Said ADC module is 24 passages of two standalone modules, 10 ADC; ADC regularly triggers through single-chip microcomputer; With the sampling signal storage in relevant register; And regularly carrying out Data Update, the measuring-signal that the ADC module mainly comprises is: 3 current measurement signals, A phase, C phase current and motor DC bus current; 1 voltage measurement signal, the motor DC busbar voltage; 2 temperature measurement signals, motor stator temperature and inverter substrate temperature.
Said SPI module has an interface, and external sensor and/or decoding circuit carry out the serial data communication through this interface and single-chip microcomputer.
The interface of said SPI module is 6 10 a serial ports passage of single-chip microcomputer, and the analog signal of motor position sensor output is the output digital signal after the decoding circuit decoding, and carries out the serial data communication through said SPI interface and single-chip microcomputer.
Said CCU60 module produces 6 path switching signals, the insulated gate bipolar transistor IGBT work of drives inverter, and control produces the phase place and the amplitude of three-phase alternating current.
Said MultiCAN module is the communication interface of entire car controller and electric machine controller, comprises a plurality of high-speed CAN interfaces in the single-chip microcomputer, 2 CAN nodes and gateway function.
Said inverter is used for the direct current that high-tension battery provides is changed into the required three-phase alternating current of motor.
Said inverter has six insulated gate bipolar transistor IGBTs, thereby the SVPWM signal of single-chip microcomputer output drives the motor three-phase current of said IGBT control inverter output, thereby further controls turning to and moment of torsion of motor output.
Said transducer is used to detect the temperature of motor, the temperature of three-phase current and inverter, electric current, and signal such as DC bus-bar voltage of high-tension battery, electric current.
After the analog signal process single-chip microcomputer analog-to-digital conversion and signal processing of said transducer output; Signal input as single chip control module; For the Electric Machine Control algorithm provides reference, and, send to entire car controller through the CAN bus as the status monitoring signal of parts.
Said peripheral interface circuit is used to single-chip microcomputer and inverter provides low-voltage DC supply, motor position signal decoding, peripheral driver and auxiliary circuit etc.
Said single-chip microcomputer:
Be used to receive the entire car controller instruction, comprise: signal instructions such as motor operational mode, motor power supply enable, moment of torsion;
Be used for control algolithm and handle, comprising: Electric Machine Control functions such as CAN EBI, vector control, space vector pulse width modulation SVPWM, analog-digital conversion a/d, sensor signal processing, failure diagnosis;
Be used to send information such as motor and inverter state, comprise: the temperature of the temperature of motor, rotating speed, moment of torsion and inverter, high-tension battery busbar voltage, electric current and three-phase current etc.
A kind of control method of electric machine controller is characterized in that, adopts following steps:
(1) after electric machine controller powers on or resets; Single-chip microcomputer carries out system configuration and initialization; When electric machine controller receives first information that entire car controller sends from the CAN bus, produce to interrupt enable signal and shield other interruption, get into corresponding interruption subroutine;
(2) have no progeny in the entering, single-chip microcomputer receives the instruction of sending from entire car controller, is analyzed and is handled by single-chip microcomputer, and the status signal of electric machine controller transmission current motor and inverter is to entire car controller simultaneously;
(3) single-chip microcomputer is accomplished the algorithm of Electric Machine Control according to the functional modules such as the control of instruction execution pattern, failure diagnosis and vector control that receive;
(4) control module complete after; The malfunction that detection system is current is carried out corresponding the processing according to malfunction: if there is not fault to take place, then upgrade SVPWM output; The phase place and the amplitude of drives inverter control motor three-phase current are accomplished the control of motor; Otherwise, carry out error protection;
(5) accomplish this algorithm controls after, enable interruption controls, get into the next circulation of interrupting.
Compare with present prior art, the present invention has confirmed the structure and the method for control system according to the specification requirement of used for electric vehicle magneto, has satisfied the requirement of motor in electric automobile control.
Description of drawings
Fig. 1 is the electric machine controller structured flowchart
Fig. 2 is a single-chip microcomputer hardware interface signal diagram
Fig. 3 is the Single-chip Controlling software flow pattern
Among the figure:
1 electric machine controller, 2 entire car controllers, 3 permagnetic synchronous motors, 4 car load CAN buses, 5 single-chip microcomputers, 6 transducers
7 inverter 8CAN communication interfaces, 9 vector control, 10 failure diagnosises, 11 sensor signals are handled
12SVPWM exports 13 analog-to-digital conversion, 14 decoding circuit 15ADC 16SPI, 17 control module 18MultiCAN
D inverter substrate temperature e motor stator temperature f motor DC busbar voltage g motor rotor position signal
The h inverter enables i ignition signal j fault of converter
Embodiment
Describe the present invention according to accompanying drawing below, it is a kind of preferred embodiment in the numerous embodiments of the present invention.
1, system configuration
In the present embodiment, the structured flowchart of electric machine controller is as shown in Figure 1, and it has retouched the composition and the function of whole system.Electric machine controller (MCU) mainly comprises: single-chip microcomputer, inverter, transducer and peripheral interface circuit are formed.
(1) single-chip microcomputer is used to receive the entire car controller instruction, information such as motor and inverter state are handled, sent to control algolithm.
Receiving the entire car controller instruction comprises: signal instructions such as motor operational mode, motor power supply enable, moment of torsion.Control algolithm is handled and is comprised: Electric Machine Control functions such as CAN EBI, vector control, SVPWM, analog-to-digital conversion, sensor signal processing, failure diagnosis.Sending motor and inverter state information comprises: the temperature of the temperature of motor, rotating speed, moment of torsion and inverter, high-tension battery busbar voltage, electric current and three-phase current etc.
(2) inverter is used for the direct current that high-tension battery provides is changed into the required three-phase alternating current of motor; Six IGBT (insulated gate bipolar transistor) by the SVPWM signal drives inverter of single-chip microcomputer output; Thereby the motor three-phase current (comprising phase place and amplitude) of control inverter output; When three-phase current changed, turning to moment of torsion of motor output will produce corresponding variation.
(3) transducer is used to detect temperature, the electric current of temperature, three-phase current and the inverter of motor, and signal such as DC bus-bar voltage of high-tension battery, electric current.
After the analog signal process single-chip microcomputer analog-to-digital conversion and signal processing of transducer output, the one, as the signal input of single chip control module, for the Electric Machine Control algorithm provides reference; The 2nd, the status monitoring signal as parts sends to entire car controller through the CAN bus.
(4) peripheral interface circuit is used to single-chip microcomputer and inverter provides low-voltage DC supply, motor position signal decoding, peripheral driver and auxiliary circuit etc.
The analog signal of motor position sensor output through the decoding circuit decoding after, output motor position digital signal inputs to single-chip microcomputer through parallel port or SPI mouth, carry out error compensation by single-chip microcomputer after, can obtain accurate motor rotor position angle.
2, module declaration
In the present embodiment, the hardware interface signal diagram of single-chip microcomputer and inverter, transducer, peripheral circuit is as shown in Figure 2, and it has described being connected and communication of single-chip microcomputer and peripheral components.Can know that by Fig. 2 controller has mainly been used modules such as the ADC, SPI, CCU60, MultiCAN, Port of single-chip microcomputer.
(1) the ADC module is used for analog-to-digital conversion, and the analog signal conversion of inputs such as transducer is become the accessible digital signal of single-chip microcomputer.
Comprise 24 passages of two standalone modules, 10 ADC in the single-chip microcomputer, ADC regularly triggers through single-chip microcomputer, and the signal storage of sampling in relevant register, and is regularly carried out Data Update.
The measuring-signal that the ADC module mainly comprises has: 3 current measurement signals, A phase, C phase current and motor DC bus current; 1 voltage measurement signal, the motor DC busbar voltage; 2 temperature measurement signals, motor stator temperature and inverter substrate temperature.
(2) the SPI module is used for the serial data communication, and the analog signal of motor position sensor output is the output digital signal after the decoding circuit decoding, and carries out the serial data communication through SPI interface and single-chip microcomputer.
Comprise 6 10 serial ports passage in the single-chip microcomputer, can be used as the SPI interface and use.
(3) the CCU60 module is used to produce 6 path switching signals, drives IGBT work, and control produces the phase place and the amplitude of three-phase alternating current.
(4) the MultiCAN module is used for the CAN communication, as the communication interface of entire car controller and electric machine controller.
Comprise a plurality of high-speed CAN interfaces in the single-chip microcomputer, 2 CAN nodes and gateway function.
(5) the Port module is used for the communication of other convectional signals, can be used as the GPIO interface.
Signals such as the GPIO interface comprises that inverter enables, ignition signal and fault of converter.
3, control is used
In the present embodiment, monolithic processor controlled software flow pattern is as shown in Figure 3, and it has described the running of Electric Machine Control algorithm.Can know that by Fig. 3 this software flow pattern has only the beginning flow process, and does not have process ends.After receiving first information that entire car controller sends, just get into the endless loop of interrupting, in circulation, accomplish the control of motor algorithm, the electric current of last output motor control.
(1) after electric machine controller powers on or resets; Single-chip microcomputer begins to carry out system configuration and initialization; Receive first information of entire car controller transmission from the CAN bus when electric machine controller after, can produce and interrupt enable signal and shield other interruption, get into corresponding interruption subroutine.
(2) have no progeny in the entering, single-chip microcomputer receives the instruction of sending from entire car controller, is analyzed and is handled by single-chip microcomputer, and the status signal of electric machine controller transmission current motor and inverter is to entire car controller simultaneously.
(3) single-chip microcomputer is accomplished the algorithm of Electric Machine Control according to the functional modules such as the control of instruction execution pattern, failure diagnosis and vector control that receive.
(4) after control module is complete, the current malfunction of meeting detection system is carried out corresponding the processing according to malfunction.If there is not fault to take place, then upgrade SVPWM output, drives inverter is controlled the phase place and the amplitude of electric three-phase current, thereby accomplishes the control of motor; Otherwise, carry out error protection.
(5) accomplish this algorithm controls after, enable interruption controls, get into the next circulation of interrupting.
Combine accompanying drawing that the present invention has been carried out exemplary description above; Obviously the concrete realization of the present invention does not receive the restriction of aforesaid way; As long as the various improvement of having adopted method design of the present invention and technical scheme to carry out; Or directly apply to other occasion without improvement, all within protection scope of the present invention.
Claims (8)
1. the electric machine controller of an electric automobile comprises inverter (7), transducer (6) and peripheral interface circuit; It is characterized in that, also comprise: single-chip microcomputer (5), said transducer (6) is carried signal to single-chip microcomputer (5); Said single-chip microcomputer (5) output signal controlling inverter (7), said peripheral interface circuit is electrically connected with single-chip microcomputer (5) and/or inverter (7), wherein; Said single-chip microcomputer (5) has and is used for analog-to-digital ADC module (15), is used for the SPI module (16) of serial data communication, is used to produce the CCU60 module (19) of 6 path switching signals; The MultiCAN module (18) that is used for the CAN communication; The Port module (20) that is used for other convectional signals communication, single-chip microcomputer (5) are used to receive entire car controller (2) instruction, comprising: motor operational mode, motor power supply enable, the torque signal instruction; Be used for control algolithm and handle, comprising: CAN EBI, vector control, space vector pulse width modulation SVPWM, analog-digital conversion a/d, sensor signal are handled, failure diagnosis Electric Machine Control function; Be used to send motor and inverter (7) state information, comprise: the temperature of the temperature of motor, rotating speed, moment of torsion and inverter, high-tension battery busbar voltage, electric current and three-phase current;
Said inverter (7) is used for the direct current that high-tension battery provides is changed into the required three-phase alternating current of motor; It has six insulated gate bipolar transistor IGBTs; Single-chip microcomputer (5) thus the SVPWM signal of output drives the motor three-phase current of said IGBT control inverter (7) output, thereby further control turning to and moment of torsion of motor output;
Said transducer (6) is used to detect the temperature of motor; Temperature, the electric current of three-phase current and inverter (7), and the DC bus-bar voltage of high-tension battery, current signal, the analog signal of its output through single-chip microcomputer (5) analog-to-digital conversion and signal processing after; Signal input as single chip control module (17); For the Electric Machine Control algorithm provides reference, and, send to entire car controller (2) through the CAN bus as the status monitoring signal of parts;
Said peripheral interface circuit is used to single-chip microcomputer (5) and inverter (7) provides low-voltage DC supply, motor position signal decoding, peripheral driver and auxiliary circuit.
2. the electric machine controller of electric automobile as claimed in claim 1 is characterized in that, the analog signal conversion that said ADC module (15) will be imported single-chip microcomputer is the accessible digital signal of single-chip microcomputer.
3. the electric machine controller of electric automobile as claimed in claim 1; It is characterized in that said ADC module (15) is 24 passages of two standalone modules, 10 ADC, ADC regularly triggers through single-chip microcomputer (5); With the sampling signal storage in relevant register; And regularly carrying out Data Update, the measuring-signal that the ADC module mainly comprises is: 3 current measurement signals, A phase, C phase current and motor DC bus current; 1 voltage measurement signal, the motor DC busbar voltage; 2 temperature measurement signals, motor stator temperature and inverter (7) substrate temperature.
4. the electric machine controller of electric automobile as claimed in claim 1 is characterized in that, said SPI module (16) has an interface, and external sensor and/or decoding circuit carry out the serial data communication through this interface and single-chip microcomputer (5).
5. the electric machine controller of electric automobile as claimed in claim 1; It is characterized in that; The interface of said SPI module (16) is 6 10 a serial ports passage of single-chip microcomputer (5); The analog signal of motor position sensor output is the output digital signal after the decoding circuit decoding, and carries out the serial data communication through said SPI interface and single-chip microcomputer (5).
6. the electric machine controller of electric automobile as claimed in claim 1 is characterized in that, said CCU60 module (19) produces 6 path switching signals, the insulated gate bipolar transistor IGBT work of drives inverter (7), and control produces the phase place and the amplitude of three-phase alternating current.
7. the electric machine controller of electric automobile as claimed in claim 1 is characterized in that, said MultiCAN module (18) is the communication interface of entire car controller and electric machine controller, comprises a plurality of high-speed CAN interfaces in the single-chip microcomputer (5), 2 CAN nodes and gateway function.
8. the control method of use such as the said electric machine controller of claim 1-7 is characterized in that, adopts following steps:
(1) after electric machine controller powers on or resets; Single-chip microcomputer carries out system configuration and initialization; When electric machine controller receives first information that entire car controller sends from the CAN bus, produce to interrupt enable signal and shield other interruption, get into corresponding interruption subroutine;
(2) have no progeny in the entering, single-chip microcomputer receives the instruction of sending from entire car controller, is analyzed and is handled by single-chip microcomputer, and the status signal of electric machine controller transmission current motor and inverter is to entire car controller simultaneously;
(3) single-chip microcomputer is accomplished the algorithm of Electric Machine Control according to the control of instruction execution pattern, failure diagnosis and the vector control function module that receive;
(4) control module complete after; The malfunction that detection system is current is carried out corresponding the processing according to malfunction: if there is not fault to take place, then upgrade SVPWM output; The phase place and the amplitude of drives inverter control motor three-phase current are accomplished the control of motor; Otherwise, carry out error protection;
(5) accomplish this algorithm controls after, enable interruption controls, get into the next circulation of interrupting.
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| CN2009101170263A CN101565003B (en) | 2009-06-08 | 2009-06-08 | Motor controller of electric automobile and control method thereof |
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| CN2009101170263A CN101565003B (en) | 2009-06-08 | 2009-06-08 | Motor controller of electric automobile and control method thereof |
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| CN101565003A CN101565003A (en) | 2009-10-28 |
| CN101565003B true CN101565003B (en) | 2012-07-11 |
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| CN101885312A (en) * | 2010-07-06 | 2010-11-17 | 中山大学 | Electric automobile whole-control system |
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| CN102019925B (en) * | 2010-12-14 | 2013-07-17 | 湖南南车时代电动汽车股份有限公司 | General control method of whole electric automobile controller based on singlechip |
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2009
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