CN103869273A - 电流传感器的偏移补偿方法和电机驱动*** - Google Patents

电流传感器的偏移补偿方法和电机驱动*** Download PDF

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CN103869273A
CN103869273A CN201310756917.XA CN201310756917A CN103869273A CN 103869273 A CN103869273 A CN 103869273A CN 201310756917 A CN201310756917 A CN 201310756917A CN 103869273 A CN103869273 A CN 103869273A
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migration
abnormal
current sensor
inverter
temperature
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CN103869273B (zh
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林在相
林盛晔
姜求培
车志完
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Hyundai Motor Co
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Hyundai Motor Co
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Abstract

提供了一种电流传感器的偏移补偿方法和电机驱动***，该偏移补偿方法用于确定电流传感器的偏移补偿是否异常，并且电机驱动***包括该电流传感器。该偏移补偿方法包括：补偿电流传感器的偏移，以及确定该电流传感器的偏移补偿是否异常。

Description

电流传感器的偏移补偿方法和电机驱动***
技术领域
本发明涉及电流传感器的偏移补偿方法和包括该电流传感器的电机驱动***，且更具体地，涉及一种电流传感器的偏移补偿方法，能够确定该电流传感器的偏移补偿是否异常。
背景技术
通常，电动机用于驱动电动车辆、混合动力车辆，等等。逆变器把直流电流转换成三相交流电流(u相、v相和w相)并通过电缆向电动机供应三相电流，其中电机控制器使用脉宽调制(PWM)来控制逆变器。此外，通过电流传感器感测三相电流。
电流传感器具有其自身的偏移，或者具有由于电流传感器和其它硬件随时间老化所导致的偏移。因此，当通过电流传感器的偏移补偿电流不流动时，由电流传感器测得的电流需为0。通过电流传感器的偏移补偿，可稳定电机控制，可降低燃油消耗，并可防止事故。
每当点火接通(IG接通)时，执行电流传感器的偏移补偿，并且获得在点火接通后的预定时间内电流传感器的输出的平均值，其中使用该平均值补偿偏移。然而，当在获得电流传感器的输出的平均值的同时在偏移补偿中存在扰动时，偏移补偿通常小于或大于正常值。这里，引起偏移补偿的异常的因素可包括诸如外部噪声或内部噪声的噪声，由于振动、热、老化、腐蚀等导致的连接器紧固缺陷，由于电流传感器老化导致的偏移值的改变，等等。
图5-9是用于示出现有技术的缺陷的图。具体地，图5示出当由于外部噪声导致发生电流传感器的偏移补偿异常时电流传感器的输出，图6示出当存在连接器紧固缺陷时电流传感器的输出，且图7示出当电机被异常控制时的三相电流。可以理解的是，当如上所述发生偏移补偿异常时，图5和图6中所示的电流传感器的输出以及图7中所示的三相电流与图8中所示的电流传感器的各个输出以及图9中所示的三相电流是不同的，其中图8-9反映出未发生偏移补偿异常的输出。
如上所述，当发生电流传感器的偏移补偿异常时，电机电流控制异常，因此增加了电流消耗并降低了高压电池的充电状态(SOC)，使得燃油消耗增加。此外，当电机电流的控制被异常执行时，电机可受到噪声、振动和声振粗糙度(NVH)的影响，使得驾驶性能可能恶化。此外，逆变器的保护逻辑可能由于测量电流与控制电流之间的差异而发生故障，并且在严重的情况下，逆变器可能由于过流和超温而损坏，以致车辆可能熄火。
在本背景技术部分中公开的上述信息仅用于增强对本发明背景的理解，因此其可能包含不构成本国内本领域技术人员已知的现有技术的信息。
发明内容
本发明提供了一种能够改善燃油消耗和驾驶性能并防止事故的电流传感器的偏移补偿方法，以及包括该电流传感器的电机驱动***。
本发明的示例性实施例提供了一种设置在车辆中的电流传感器的偏移补偿方法，包括：补偿电流传感器的偏移；以及确定电流传感器的偏移补偿是否异常。
在确定电流传感器的偏移补偿是否异常的处理中，当在车辆停止期间由电机控制器产生的电力模块估计温度与测量的逆变器温度之间的差值大于或等于第一参考值时，可确定偏移补偿异常。
在确定电流传感器的偏移补偿是否异常的处理中，当在车辆驱动期间测量的逆变器温度的增速大于或等于第二参考值时，可确定偏移补偿异常。
该偏移补偿方法还可包括，在确定电流传感器的偏移补偿是否异常之后，重新补偿电流传感器的偏移。
在重新补偿电流传感器的偏移的处理中，当预定频率大于或等于参考值时，可产生警告信号通知用户。
本发明的另一示例性实施例提供了一种车辆的电机驱动***，包括：包括电机控制器的逆变器；感测逆变器的温度的逆变器温度传感器；以及感测连接逆变器与电机的三相电缆的电流的电流传感器。电机控制器可包括执行电流传感器的偏移补偿的偏移补偿单元，以及确定偏移补偿是否异常的偏移补偿异常确定单元。
当在车辆停止期间所产生的电力模块估计温度与测量的逆变器温度之间的差值大于或等于第一参考值时，偏移补偿异常确定单元可确定偏移补偿异常。
当在车辆驱动期间测量的逆变器温度的增速大于或等于第二参考值时，偏移补偿异常确定单元可确定偏移补偿异常。当偏移补偿异常确定单元确定偏移补偿异常时，可重新补偿偏移补偿。
电机控制器可包括警告信号产生单元，当偏移重新补偿频率被计数且大于或等于频率参考值时产生警告信号。
根据本发明的示例性实施例，能够检测在获得电流传感器的平均值的区段发生的电流传感器的偏移补偿异常。因此，可通过正常控制电机电流而改善燃油消耗，并可通过降低电机振动而降低噪声和振动。此外，可防止对逆变器的损害和意外的车辆熄火，等等。
另外，可通过诸如逆变器温度、电力模块的温度估计值等的简单因素，确定电流传感器的偏移补偿异常。
因此，通过改变逻辑而无需增加附加的结构或单独的配置，本发明即可容易地应用于现有的***。
附图说明
为了参考本发明的一些示例性实施例的说明示出以下附图，并且本发明的技术本质不应被解释为受限于附图。
图1是示出根据本发明的示例性实施例的包括电机驱动***的电机一逆变器***的示意图。
图2是示出图1的电机驱动***的电机控制器的示意图。
图3是示出根据本发明的示例性实施例的电流传感器的偏移补偿方法的流程图。
图4是示出在正常情况下以及当发生电流传感器的偏移补偿异常时，电流测量波形、电流传感器的电流、测量的逆变器温度，以及电力模块估计温度值的图。
图5是示出当由于外部噪声导致发生电流传感器的偏移补偿异常时电流传感器的输出的图(现有技术)。
图6是示出当存在连接器紧固缺陷时电流传感器的输出的图(现有技术)。
图7示出当电机被异常控制时的三相电流(现有技术)。
图8是示出当未发生电流传感器的偏移补偿异常时电流传感器的输出的图(现有技术)。
图9是示出当未发生电流传感器的偏移补偿异常时的三相电流的图(现有技术)。
具体实施方式
在下文中，将参照附图详细说明本发明的示例性实施例。然而，本发明不限于示例性实施例，而是可以改变成各种形式。
应当理解的是，本文所使用的术语“车辆”或“车辆的”或者其它类似术语包括一般的机动车辆，诸如包括运动型多功能车(SUV)、公交车、卡车、各种商用车辆在内的载客车辆、包括多种艇和船在内的水运工具、飞行器等等，并且包括混合动力车辆、电动车辆、插电式混合动力电动车辆、氢动力车辆和其它替代燃料车辆(例如，从石油以外的资源取得的燃料)。如本文所提及的，混合动力车辆是具有两种或更多种动力源的车辆，例如既有汽油动力又有电动力的车辆。
本文所使用的术语仅用于说明特定的实施例，而不意在限制本发明。如本文所使用的，单数形式“一个”、“一种”和“该”意在也包括复数形式，除非上下文另外清楚地指出。还将理解的是，当在本说明书中使用时，词语“包括”和／或“包含”指定所述特征、整体、步骤、操作、元件和／或组件的存在，但不排除一个或多个其它特征、整体、步骤、操作、元件、组件和／或其组合的存在或添加。如本文所使用的，词语“和／或”包括一个或多个相关列出项目的任意和全部组合。
一般而言，本文所指的混合动力车辆主要由从燃料(汽油)获得动力的发动机和以电力驱动的电动机来驱动。电动车辆是以电力作为动力源来驱动的。
诸如混合动力车辆和电动车辆的环境友好车辆包括电机、起动发电机(例如，混合动力起动发电机(HSG))，以及用于驱动电机的逆变器，等等，以便控制电机与车辆所需的扭矩相匹配。优选地，起动发电机同时用作用于启动发动机的起动机和用于产生电压的发电机。
在下文中，将详细说明应用于环境友好车辆的电机驱动***和电流传感器的偏移补偿方法。
图1是示出根据本发明的示例性实施例的包括电机驱动***的电机一逆变器***的示意图，且图2是示出图1的电机驱动***的电机控制器的示意图。
参照图1，根据本发明的示例性实施例的电机一逆变器***100可包括驱动电机10、HSG20以及用于驱动该驱动电机10和HSG20的电机驱动***30。此外，电机一逆变器***100可包括冷却电机驱动***30的冷却***40。冷却***40可包括冷却冷却剂的散热器42，以及去除冷却剂循环期间产生的气泡并调节散热器42内的压力的容器44。冷却***40的冷却剂由散热器42冷却，流入电机驱动***30，并经过容器40和HSG20再次流入散热器42。
电机驱动***30可包括逆变器32、电流传感器34和逆变器温度传感器36。逆变器32包括通过第一三相电缆320a与驱动电机10连接的电机电力模块组件322，通过第二三相电缆320b与HSG20连接的HSG电力模块组件324，以及计算控制电机电力模块组件322和HSG电力模块组件324的切换占空比的电机控制器326。
电机电力模块组件322包括控制驱动电机10的u相电流的u相电力模块322a，控制驱动电机10的v相电流的v相电力模块322b，以及控制驱动电机10的w相电流的w相电力模块322c。HSG电力模块组件324包括控制HSG20的u相电流的u相电力模块324a，控制HSG20的v相电流的v相电力模块324b，以及控制HSG20的w相电流的w相电力模块324c。
优选地，通过两个或三个第一电流传感器34感测连接驱动电机10与电机电力模块组件322的第一三相电缆320a的电流，虽然可使用不同数量的电流传感器34。通过两个或三个第二电流传感器34感测连接HSG20与HSG电力模块组件324的第二三相电缆320b的电流，虽然可使用不同数量的电流传感器34。当使用三个电流传感器34时，电流传感器34感测三相电缆中的每一相的电流。当使用两个电流传感器342a和342b时，通过电流传感器342a和342b感测三相电缆中的两相电缆的电流，并且由于电流的总和具有0值，因此通过电机控制器326计算剩余的一相电缆的电流。
在本发明的示例性实施例中，电机电力模块组件322设置有感测温度并将感测的温度提供给电机控制器326的逆变器温度传感器36。逆变器温度传感器36可包括感测电机电力模块组件322的温度并将感测的温度提供给电机控制器326的第一温度传感器362，以及感侧电机电力模块组件322的温度并将感测的温度提供给电机控制器326的第二温度传感器364。
本发明的示例性实施例示出了包括驱动电机10和HSG20两者，各自包括逆变器温度传感器36的情况。然而，本发明不限于此。因此，可以做出其中不包括HSG20或者在驱动电机10和HSG20的任一者中包括逆变器温度传感器36的各种改型。
电机控制器326用于控制电机，诸如产生驱动该驱动电机10和HSG20的切换占空比以及执行偏移补偿。将参照图2详细说明电机控制器326。
电机控制器326可包括切换占空比产生单元326a、偏移补偿单元326b、偏移补偿异常确定单元326c和警告信号产生单元326d。
切换占空比产生单元326a产生根据扭矩将预定电流供应给驱动电机10和HSG20的切换占空比，并将所产生的切换占空比提供给各电力模块组件322和324。因此，驱动电机10和HSG20受到控制。
偏移补偿单元326b补偿或重新补偿电流传感器34的偏移。偏移补偿或重新补偿获得预定时间内电流传感器34的输出的平均值，并通过更新该平均值而被执行。
偏移补偿异常确定单元326c基于温度和电流根据热模型产生电力模块估计温度，其中通过逆变器温度传感器36测量该温度，并且通过电流传感器34测量该电流。另外，使用所产生的电力模块估计温度和／或由逆变器温度传感器36测量的逆变器温度，确定电流传感器34的偏移补偿是否异常。以下将参照图3详细说明用于确定偏移补偿是否异常的方法。另外，偏移补偿异常确定单元326c通知偏移补偿单元326b何时确定偏移补偿异常，以便执行偏移重新补偿。
警告信号产生单元326d计数偏移重新补偿频率，并且当偏移重新补偿频率大于或等于预定参考频率时产生警告信号。警告信号向用户显示维护的必要性。例如，可使用仪表板维护警报灯，向用户通知警告信号。
将参照图3更详细地说明使用电机驱动***的电流传感器的偏移补偿方法。图3是示出根据本发明的示例性实施例的电流传感器的偏移补偿方法的流程图。首先，点火接通(执行IG接通)(S12)。接着，计算预定时间内电流传感器34的u相、v相和w相的电流的平均值，并且通过偏移补偿单元326b补偿电流传感器34的偏移(S14)。
接下来，确定车辆是否被驱动(S16)。可通过多种方法确定车辆是否被驱动。例如，当电机的速度命令和扭矩命令为0时，确定车辆停止，而当电机的速度命令和扭矩命令不为0时，确定车辆被驱动。
在车辆停止期间，偏移补偿异常确定单元326c比较电力模块估计温度与测量的逆变器温度值，以确定偏移补偿是否异常(S18)。详细地，当电力模块估计温度与测量的逆变器温度之间的差值大于或等于第一参考值时，确定可能存在偏移补偿异常(S20)，而当该差值小于第一参考值时，确定不存在偏移补偿异常(S22)。在此情况下，第一参考值是通过实验计算考虑到冷却剂的量而正常出现的温差的范围而导出的值、其在一些情况下可能变化。
当车辆被驱动时，偏移补偿异常确定单元326c使用测量的逆变器温度的增速(或斜率)确定偏移是否异常(S24)。由于在车辆驱动期间电流实际流动，因此可出现测量的逆变器温度与电力模块估计温度之间的差值，以致通过前述第一参考值可能不能确定偏移异常。取代之，当测量的逆变器温度的增速大于或等于预定的第二参考值时，可以确定异常电流在流动且因此温度增加。在此情况下，第二参考值是通过实验计算在驱动期间正常出现的逆变器温度的增速的范围而导出的值、其在一些情况下可能变化。当测量的逆变器温度的增速大于或等于第二参考值时，确定可能存在偏移补偿异常(S20)，而当其增速小于第二参考值时，确定不存在偏移补偿异常(S22)。
当确定可能存在偏移补偿异常时(S20)，增加重新补偿频率计数(S26)。确定重新补偿频率是否大于预定频率参考值(S28)。当重新补偿频率小于预定频率参考值时，通过偏移补偿单元326b重新补偿偏移(S14)，而当重新补偿频率超过预定频率时，警告信号产生单元326d产生警告信号通知用户(S30)。预定频率参考值可由本发明所属领域的技术人员设定成优选的频率。
根据本发明的示例性实施例，能够检测在获得电流传感器的平均值的区段发生的电流传感器的偏移补偿异常。因此，可通过正常控制电机电流而改善燃油消耗，并可通过降低电机振动而降低噪声和振动。此外，可防止对逆变器的损害和意外的车辆熄火。
另外，可通过诸如逆变器温度、电力模块的温度估计值等的简单因素来确定电流传感器的偏移补偿异常。因此，本发明通过改变逻辑可容易地应用于现有***，而无需增加附加的结构或单独的配置。
此外，当确定由于暂时的噪声可能存在偏移补偿异常时，重新补偿偏移以正常地驱动***。因此，可正常地控制供应至驱动电机10的三相电流。当可能考虑到重新补偿频率超过预定频率参考值因此在硬件方面存在问题时，警告信号告知驾驶者维护的必要性。因此，可防止车辆在异常状态下被持续驱动因此电力模块损坏或车辆熄火的现象。
在下文中，将参照本发明的实验例更详细地说明本发明。提出以下的实验例仅用于说明本发明，因此本发明不限于此。
图4是示出在正常情况下以及在发生电流传感器的偏移补偿异常的情况下，电流测量波形、电流传感器的电流、测量的逆变器温度，以及电力模块估计温度值的图。首先，将说明正常情况。
在扭矩命令输入前车辆停止的状态下，电流测量波形和电流传感器的电流具有相同的值。电力模块估计温度和测量的逆变器温度两者具有25℃的相同值。因此，电力模块估计温度与测量的逆变器温度之间的差值是0，使得可确定不存在电流传感器的偏移补偿异常。
扭矩命令施加3.5秒随后去除。在扭矩命令施加的驱动状态下，在3.5秒内测量的逆变器温度从25℃增加至29℃。因此，逆变器温度的增速具有为1.2℃／秒的低数值，并且当该数值低于第二参考值时，可确定不存在偏移补偿异常。
接下来，将说明244A的偏移被输入至v相的情况。在扭矩命令输入前车辆停止的状态下，当244A的偏移被输入至v相时，在电流传感器中，v相被识别为-244A且w相实际上是0A但被识别为244A。电力模块的估计温度是103℃且测量的逆变器温度是25℃。因此，电力模块估计温度与测量的逆变器温度之间的差值达到78℃。当该差值大于第一参考值时，确定存在电流传感器的偏移补偿异常。
扭矩命令施加3.5秒随后去除。在扭矩命令施加的驱动状态下，在3.5秒内测量的逆变器温度从25℃增加至40℃。因此，逆变器温度的增速是4.3℃／秒，并且当该数值大于第二参考值时，可确定存在偏移补偿异常。
在此情况下，当偏移重新补偿取决于暂时噪声时，执行偏移重新补偿，随后执行正常驱动。然而，如上所述，当考虑到偏移重新补偿超过预定频率参考值因此出现硬件方面的问题时，发出警告信号并可执行维护。
如上所述，在本发明中，可通过使用电力模块估计温度与测量的逆变器温度之间的差值和／或逆变器温度的增速，准确且快速地确定电流传感器的偏移补偿是否异常。
如上所述的特征、结构、效果等包括在本发明的至少一个示例性实施例中，且不被解释为仅限于一个示例性实施例。此外，在各示例性实施例中说明的特征、结构和效果等可由本发明所属领域的技术人员与其它示例性实施例结合或修改为后者。因此，应当解释为与其结合和修改相关的内容包括在本发明的范围内。

Claims (10)

1.一种设置在车辆中的电流传感器的偏移补偿方法，包括以下步骤：
补偿所述电流传感器的偏移；以及
确定所述电流传感器的偏移补偿是否异常。
2.根据权利要求1所述的偏移补偿方法，其中：
在所述确定所述电流传感器的偏移补偿是否异常的步骤中，当在所述车辆停止期间由电机控制器产生的电力模块估计温度与测量的逆变器温度之间的差值大于或等于第一参考值时，确定所述偏移补偿异常。
3.根据权利要求1所述的偏移补偿方法，其中：
在所述确定所述电流传感器的偏移补偿是否异常的步骤中，当在所述车辆驱动期间测量的逆变器温度的增速大于或等于第二参考值时，确定所述偏移补偿异常。
4.根据权利要求1所述的偏移补偿方法，还包括：
在所述确定所述电流传感器的偏移补偿是否异常的步骤之后，重新补偿所述电流传感器的偏移。
5.根据权利要求4所述的偏移补偿方法，其中：
在所述重新补偿的步骤中，当重新补偿频率大于或等于预定频率参考值时，产生警告信号并将所述警告信号通知用户。
6.一种车辆的电机驱动***，包括：
包括电机控制器的逆变器；
感测所述逆变器的温度的逆变器温度传感器；以及
感测连接所述逆变器与电机的三相电缆的电流的电流传感器，
其中，所述电机控制器包括执行所述电流传感器的偏移补偿的偏移补偿单元，以及确定所述偏移补偿是否异常的偏移补偿异常确定单元。
7.根据权利要求6所述的电机驱动***，其中：
当在所述车辆停止期间所产生的电力模块估计温度与测量的逆变器温度之间的差值大于或等于第一参考值时，所述偏移补偿异常确定单元确定所述偏移补偿异常。
8.根据权利要求6所述的电机驱动***，其中：
当在所述车辆驱动期间测量的逆变器温度的增速大于或等于第二参考值时，所述偏移补偿异常确定单元确定所述偏移补偿异常。
9.根据权利要求6所述的电机驱动***，其中：
当所述偏移补偿异常确定单元确定所述偏移补偿异常时，重新补偿所述偏移补偿。
10.根据权利要求6所述的电机驱动***，其中：
所述电机控制器包括警告信号产生单元，当偏移重新补偿频率被计数且大于或等于预定频率参考值时产生警告信号。
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