CN107645259B - Driving motor torque closed-loop control method for electric automobile - Google Patents
Driving motor torque closed-loop control method for electric automobile Download PDFInfo
- Publication number
- CN107645259B CN107645259B CN201710619736.0A CN201710619736A CN107645259B CN 107645259 B CN107645259 B CN 107645259B CN 201710619736 A CN201710619736 A CN 201710619736A CN 107645259 B CN107645259 B CN 107645259B
- Authority
- CN
- China
- Prior art keywords
- torque
- current
- motor
- axis
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to a torque closed-loop control method of a driving motor for an electric automobile, which consists of a whole automobile control unit, a motor controller, an inverter switch circuit, a permanent magnet synchronous motor, a position sensor and a three-phase current sensor, and is characterized in that whether active short-circuit control is performed or not is judged according to an active short-circuit control instruction (ASC _ Enable) and the mechanical rotating speed of the motor, the output torque of the permanent magnet synchronous motor is calculated by an active short-circuit method, the output torque does not depend on motor parameters such as stator resistance, quadrature axis voltage and the like, and the calculated value is more accurate; the motor controller carries out PI regulation control according to a torque command and a torque online calculated value sent by a finished automobile control unit, so that the accuracy of a torque output absolute value can be improved, and the torque closed-loop response time is shortened.
Description
Technical Field
The invention belongs to the technical field of motor drive control, and particularly relates to a drive motor torque closed-loop control method for an electric automobile.
Background
The driving motor is a main driving source of the electric automobile, and for the plug-in hybrid power of the hybrid power automobile, the motor and the engine jointly drive the whole automobile; for a pure electric vehicle, the motor is the only driving source. The permanent magnet synchronous motor is widely applied to electric automobiles, and has the advantages of high efficiency, high power density and torque density, more suppliers and rich rare earth resources in China. The motor adopts a torque control mode in the whole vehicle, and the motorThe control modes are more, such as rotating speed, torque, voltage and power, but the torque control mode is mainly used. The core of the torque control method is MTPA (maximum torque current ratio) and flux weakening control. The current torque control method has some problems, namely that the torque is greatly influenced by temperature, the torque is composed of two parts of electromagnetic torque and reluctance torque, and the electromagnetic torque and the permanent magnet flux linkage form ymThe size is proportional. The output torque of the motor is reduced at high temperature, and the output torque is increased at low temperature; secondly, the temperature of the rotor is difficult to measure, the permanent magnet flux linkage corresponds to the temperature of the rotor one by one, and the temperature of the rotor cannot be directly measured; the cost is high and the arrangement space is limited due to the built-in temperature sensor; the method is based on motor body parameters and a motor structure, and has the advantages of complex algorithm, large calculation amount and poor consistency; and thirdly, the influence on the whole vehicle is mainly reflected in the influence on the torque distribution accuracy of the whole vehicle. The high and low temperature starting characteristics are different. The braking force distribution and the braking energy recovery effect are influenced. Therefore, the electromagnetic torque of the permanent magnet synchronous motor is greatly influenced by the temperature, the higher the temperature is, the lower the output is, and the higher the output is otherwise; the permanent magnet material has great sensitivity to temperature, and when the temperature is increased by 100 ℃ in the case of the neodymium iron boron material, the magnetic flux of each air gap of the motor is reduced by about 12.6%, and the electromagnetic torque is reduced by 12.6% under the condition of the same armature current. The electromagnetic torque is directly related to the rotor temperature, but the rotor temperature cannot be directly measured, and the rotor temperature model has the advantages of complex algorithm, poor consistency and low precision. The actual output torque of the motor is greatly influenced by the temperature.
Application No. 201611002479.8 discloses a "permanent magnet synchronous motor torque control method", which provides estimation and predictive control based on a driving torque demand, and the motor torque predictive control flow is as follows: firstly, converting a torque reference value into a motor stator vector current reference value according to a motor equation; establishing a relational expression between the switching state of the three-phase inverter and the output vector voltage; estimating the current value of the next time domain; the optimal switch combination state acts on the inverter driving motor; the torque control method is to collect pedal information of a driver and wheel rotating speed information and calculate a driving torque value required by the vehicle according to a mechanical external characteristic curve of the permanent magnet synchronous motor. The method uses the d-axis current as zero control, is only suitable for a surface-mounted permanent magnet synchronous motor and is not suitable for an embedded permanent magnet synchronous motor; in addition, the changes of the motor quadrature-direct axis inductance parameter and the stator resistance are not considered when estimating the next time domain current value, so the accuracy of torque demand estimation and control is deteriorated after the temperature changes.
Application No. 200810127261.4 discloses a method of controlling motor torque in a hybrid electric vehicle, which provides a method of controlling motor torque in a hybrid electric vehicle that can reduce current control map formation time and simplify a control algorithm by providing torque control compensation logic for temperature variation of a hybrid electric vehicle motor. The method needs to take the motor temperature as an input condition, but the motor temperature cannot be directly measured, so that the realization and control effects of the algorithm are influenced.
Application number 201510404364.0 discloses a method and a device for suppressing harmonic current of a permanent magnet synchronous motor, which are characterized in that a d-axis current deviation and/or a q-axis current deviation of harmonic current to be suppressed are obtained, a Fourier analysis method is adopted to extract harmonic current signals to be suppressed, filtering and superposition are performed, meanwhile, angle compensation is performed on the electrical angle of the motor, signal reconstruction is performed together with the harmonic current signals, and output of a repetitive controller is obtained. The method can well inhibit the magnitude of harmonic current, thereby achieving the purpose of inhibiting torque ripple.
Application No. 201610511750.4 discloses a "permanent magnet synchronous motor control method and system", which calculates a feedback exciting current and a feedback torque current of a motor according to an output current by detecting the output current of a motor stator; then calculating the given torque current and the given exciting current of the motor; and substituting the feedback exciting current, the feedback torque current, the given torque current and the given exciting current into a current loop, and calculating the exciting voltage and the torque voltage of the current loop. And converting the excitation voltage and the torque voltage into driving signals to be applied to the motor, and sampling the feedback excitation current and the given torque current on the motor at the moment. And repeatedly bringing the sampled feedback exciting current and the given torque current into the process, and sampling new feedback exciting current and the given torque current until the torque current and the exciting current of the motor are dynamically stable. Therefore, the calculation process adopts an iterative mode, only a part of the MTPA formula is selected, the MTPA (optimal torque control) effect can be achieved, the calculation amount of the program is reduced, and the chip utilization efficiency of the motor related system is improved.
The application number 201310260278.8 discloses a direct torque control system and method for a permanent magnet synchronous motor for an electric vehicle, which includes detecting three-phase current and voltage output by an inverter and direct current bus voltage of the inverter, obtaining electromagnetic torque, stator flux linkage and sector theta where the stator flux linkage is located in the current state through a torque, flux linkage and theta calculation unit, performing composite control on a speed ring by adopting wavelet multi-resolution control and an integral structure, comparing the calculated flux linkage and torque with a given flux linkage and a given torque signal output by a composite control regulator, outputting a current flux linkage torque error state, determining a voltage vector to be selected together with the sector where the flux linkage is located, further determining the switching state of the inverter, and controlling the operation of the permanent magnet synchronous motor.
As described above, the above-mentioned patent proposes a torque control method from different points of view and aspects, but the case where the torque output is reduced due to the increase in the temperature of the rotor caused by the long-time operation is not considered sufficiently, and the problems such as insufficient torque output or reduced braking capability may occur in the actual application process.
Disclosure of Invention
The invention aims to provide a driving motor torque closed-loop control method for an electric automobile, aiming at the defects of the prior art, which does not depend on motor parameters such as stator resistance, quadrature axis voltage and the like, and has more accurate calculated value; the motor controller carries out PI regulation control according to a torque command and a torque online calculated value sent by a finished automobile control unit, so that the accuracy of a torque output absolute value can be improved, and the torque closed-loop response time is shortened.
The invention is realized by the following technical scheme:
a closed-loop control method for the torque of a driving motor for an electric automobile is characterized by comprising a whole automobile control unit, a motor controller, an inverter switch circuit, a permanent magnet synchronous motor, a position sensor and a three-phase current sensor;
the whole vehicle control unit sends out three-phase short circuit control T to the motor controller through the CAN bus according to the working mode of the whole vehiclepscAnd torque command Tcmd；
The motor controller comprises a CAN command decomposition unit, a torque PI regulation module, a quadrature axis current command generation unit, a quadrature axis current PI regulation module, a voltage decoupling control unit, a space vector modulation unit, a position and rotating speed processing unit, a CLARK&The device comprises a PARK conversion unit, a torque on-line calculation module and a torque limit value generation module; the motor controller controls T according to the three-phase short circuit sent by the control unit of the whole vehiclepscJudging whether to carry out active short circuit control according to the mechanical rotating speed omega of the motor, and simultaneously satisfying TpscIf the rotating speed of the motor is 1 and the mechanical rotating speed of the motor exceeds the rotating speed of an inflection point, the condition is met, an active short circuit PWM signal is output to an inverter switch circuit, and three IGBTs of an upper bridge arm or a lower bridge arm of a three-phase full bridge are controlled to be closed simultaneously; otherwise, if the condition is not met, calculating the duty ratio of the three-phase PWM signal according to the quadrature axis reference voltage and the position signal, and controlling the IGBT to carry out switching operation; the motor controller sends a torque instruction T to a vehicle control unitcmdAnd the calculated value T output by the torque online calculation moduleonlineAnd the output torque is input to a torque PI adjusting module, so that the output torque of the permanent magnet synchronous motor reaches a target value.
The torque PI adjusting module comprises an addition module, an anti-saturation PI structural unit and an amplitude limiter; wherein the addition module generates delta e by making a difference between the two inputs. When the proportional term and the integral term are input into the anti-saturation PI structural unit, the proportional term and the integral term are both effective under the condition that the anti-saturation PI structural unit is not saturated, namely, the anti-saturation integral loop is effective under the condition that the anti-saturation PI structural unit is saturated, namely, the eo and the out are not equal. The anti-saturation PI structural unit outputs out, and the out and the torque instruction TcmdAdding again, inputting the sum of the two into a limiter, and outputting a torque reference value T after limiting*(ii) a Wherein, the analytic formula of the anti-saturation PI structure is as follows:
eo＝out{out(t)＝Kp·e(t)+Ki∫e(t)}
wherein eo is the calculated output value of PI, out is the limited output value, KpIs a proportionality coefficient, KiIs an integral coefficient; e _ sat is the maximum amplitude limiting output value when the anti-saturation PI structural unit is saturated; e (t) is the deviation value at the time t, and out (t) is the output value of the anti-saturation PI structure unit at the time t;
the rectangular-axis current instruction generating unit generates a rectangular-axis current instruction according to a torque reference value T*A rectangular axis current command value is obtained by a table look-up, and a line which can be connected with a point of Maximum torque obtained by minimum current in a current torque characteristic curve is a Maximum torque current ratio curve (MTPA)*The index is output as a rectangular axis current instruction value;
the quadrature axis current PI adjusting module is used for adjusting a command value i according to a quadrature axis current instructiond_cmdAnd quadrature axis current command value iq_cmdAnd CLARK&Direct-axis current feedback value i output by PARK conversion unitdfeedbackAnd quadrature axis current feedback value iqfeedbackPerforming PI operation to obtain the reference values i of the direct-axis current and the quadrature-axis currentd *And iq *The internal structures of the quadrature axis current PI regulation module and the torque PI regulation module are the same, and only the inputs are different.
The voltage decoupling control unit performs decoupling according to a steady-state voltage equation and outputs a quadrature axis voltage reference value ud *And uq *The concrete formula is as follows:
ud *＝Rid *-pωLqiq * (2)
uq *＝Riq *+pω(Ldid *+ψm) (3)
wherein, R is the stator resistance,p is the number of pole pairs of the motor rotor, omega is the mechanical rotating speed of the motor, LdIs a direct axis inductor, LqIs a quadrature axis inductor, id *Is a direct-axis current reference value, iq *Is a quadrature axis current reference value, ud *For the direct-axis voltage decoupling value, uq *For quadrature-axis voltage decoupling value, #mIs a permanent magnet flux linkage.
The space vector modulation unit controls T according to the three-phase short circuit sent by the whole vehicle control unitpscJudging whether to carry out active short circuit control according to the mechanical rotating speed omega of the motor, and simultaneously satisfying TpscIf the number is 1 and the mechanical rotating speed of the motor exceeds the rotating speed of an inflection point, the condition is met, an active short circuit PWM signal is output to an inverter switch circuit, and three IGBTs of an upper bridge arm or a lower bridge arm of the inverter switch circuit are controlled to be closed at the same time; otherwise, if the condition is not met, calculating the duty ratio of the three-phase PWM signal according to the quadrature axis reference voltage and the position signal, and controlling the IGBT to carry out switching operation;
the position and rotation speed processing unit calculates the rotor position theta and the mechanical rotation speed omega of the motor according to the output signal of the position sensor;
the CLARK&The PARK conversion unit receives the three-phase alternating current i detected by the current sensora、ib、icAnd the position signal theta output by the position and rotating speed processing unit is converted into a direct-axis current i under a rotating coordinate system according to a formula (4), a formula (5) and a formula (6)dQuadrature axis current iq；
The CLARK transformation formula is as follows:
iα＝ia (4)
the PARK transformation formula is as follows:
wherein iα、iβIs alpha in a stationary coordinate systemBeta axis current; i.e. ia、ib、icIs a three-phase alternating current; theta rotor position electrical angle; i.e. id、iqThe direct axis current and the quadrature axis current under the rotating coordinate system.
The torque online calculation module comprises an alternating current phase current amplitude calculation unit, a permanent magnet flux linkage table look-up module, a quadrature axis inductance table look-up unit and a torque calculation unit; the alternating-current phase current amplitude calculation unit calculates the alternating-current phase current amplitude according to a formula (7) and outputs the alternating-current phase current amplitude to the permanent magnet flux linkage table look-up module;
wherein isIs the stator phase current magnitude.
The permanent magnet flux linkage table look-up module is used for looking up a table according to the alternating current phase current amplitude to obtain a permanent magnet flux linkage value; the rectangular-axis inductance lookup unit obtains the rectangular-axis and rectangular-axis inductances L according to the rectangular-axis current lookup tabledAnd Lq(ii) a The torque calculation unit calculates according to a permanent magnet synchronous motor torque formula (8).
Wherein p is the number of pole pairs of the motor rotor; t iseIs an electromagnetic torque;
in the torque formula (8), the rectangular-to-rectangular axis current is obtained through calculation of a CLARK & PARK conversion unit, the rectangular-to-rectangular axis inductance and the rectangular-to-rectangular axis inductance are obtained through a rectangular-to-rectangular-axis inductance look-up table unit, p is the number of pole pairs of a motor rotor and is a constant, the permanent magnet flux linkage is measured according to the formulas (2) and (3), and under the condition of three-phase short circuit of the motor, the rectangular-to-rectangular axis voltage is zero if the tube voltage drop of a power module is
When the mechanical rotation speed omega of the motor approaches infinity，iqApproaches zero, idIs approximately equal to isThen, there is,
ψm≈-Ldis (10)
therefore, the corresponding relation between the permanent magnet flux linkage and the stator phase current amplitude can be calibrated off line at different temperatures, the calibration is stored as a table after being completed, the table takes the stator phase current amplitude as an index and outputs a permanent magnet flux linkage numerical value, and the permanent magnet flux linkage numerical value is brought into a formula (8), so that the output torque of the permanent magnet synchronous motor can be calculated on line. In the rectangular-axis inductance look-up table unit, the rectangular-axis inductance is a function of the current of the rectangular axis, the corresponding relation between the rectangular-axis inductance and the current of the rectangular axis can be obtained through finite element simulation software, and the quadrature-axis inductance can be obtained in the same way;
the torque limit value generation module consists of a maximum electric data table, a maximum power generation data table and a data selection unit; looking up a maximum electric data table and a maximum power generation data table according to the mechanical rotating speed omega of the motor and the voltage of the direct-current bus, judging whether the motor is in an electric or power generation state, and outputting a maximum torque output limit value T by a data selection unitlimit；
The inverter switching circuit comprises six switching elements, wherein the switching elements are Insulated Gate Bipolar Transistors (IGBT) and are used for executing PWM signals sent by the motor controller and controlling the corresponding switching elements to execute switching actions;
the permanent magnet synchronous motor is a three-phase permanent magnet synchronous motor, is a controlled object and is controlled by an inverter switch circuit;
the position sensor is a rotary transformer or an absolute position photoelectric encoder and is used for detecting the absolute position of a motor rotor;
the three-phase current sensor is a non-contact current sensor based on a Hall effect or a contact current sensor based on a principle of generating voltage by using a resistor connected in a phase line in series, and is used for detecting three-phase current of the permanent magnet synchronous motor and outputting an acquired current signal to a CLARK & PARK conversion unit;
the method comprises the following implementation steps:
the first step is as follows: the motor controller receives the control of the whole vehicleCAN bus signal of the unit and the torque command value T generated by the CAN command decomposition unitcmdAnd three-phase short circuit control Tpsc；
The second step is that: with torque command TcmdTorque on-line calculated value TonlineAnd torque limit TlimitFor input, a torque reference value T is generated by a torque PI regulation control module*；
The third step: according to the torque reference value T*Obtaining direct-axis and quadrature-axis current instruction i by looking up MTPA tabled_cmdAnd iq_cmd；
The fourth step: direct axis and quadrature axis current command id_cmd、iq_cmdFeedback value i of current of direct axis and quadrature axisdfeedback、iqfeedbackInput to the quadrature axis current PI regulation module to generate a quadrature axis current command reference id *And iq *；
The fifth step: calculating a direct axis and quadrature axis decoupling voltage reference value u according to a permanent magnet synchronous motor steady state voltage equationd *And uq *；
And a sixth step: judging whether the active short-circuit signal is 1 by a space vector modulation unit; if yes, entering a seventh step; if not, entering the tenth step;
the seventh step: judging whether the mechanical rotating speed of the motor exceeds the rotating speed of an inflection point by a space vector modulation unit; if yes, entering the eighth step; if not, entering the tenth step;
eighth step: outputting a three-phase short circuit control signal to an inverter switch circuit;
the ninth step: calculating phase current amplitude i according to a formulasLooking up a table to obtain a flux linkage numerical value of the permanent magnet;
the tenth step: on-line calculating motor output torque T according to torque formulaonlineExiting the control;
the eleventh step: calculating the duty ratio of a PWM signal according to the rectangular axis voltage reference value and the position signal, outputting the duty ratio to an inverter switching circuit, and exiting the control; the control process is a necessary step of a control period, and the steps are circularly operated in the actual working process.
Compared with the prior art, the invention has the following positive effects:
1. the invention introduces the PI regulation module of the torque command and the torque online calculation value, which is beneficial to the accuracy of the torque output absolute value and quickens the torque response time. The online calculation link of the output torque of the permanent magnet synchronous motor does not depend on motor parameters such as stator resistance, quadrature axis voltage and the like, the calculated value is more accurate, and the quick closed loop of torque control is facilitated. Because the external characteristics of the motor are influenced by the voltage and the rotating speed of the direct-current bus, the higher the voltage of the direct-current bus is, the higher the rotating speed of an inflection point of the maximum torque output of the motor is, and on the contrary, the lower the voltage of the direct-current bus is, a torque limit value module is added in the PI regulation control module, and the torque limit value obtained by the module according to the direct-current bus voltage and the rotating speed lookup table accords with the working characteristics of the motor;
2. the active short circuit instruction is sent by the whole vehicle control unit, and the motor controller does not actively short circuit, so that the control mode is favorable for whole vehicle torque monitoring and function safety, otherwise, the motor automatically performs active short circuit control to generate a large instruction torque, and unexpected deceleration of the vehicle can be caused;
3. the whole vehicle control unit can send an active short circuit instruction according to the current working mode of the motor, such as no-load of the motor, no assistance of the motor or power generation working conditions. In the active short-circuit process, the motor control unit feeds back the short-circuit torque in real time to avoid generating unexpected acceleration and deceleration or other parts from being damaged; the short-circuit torque curve can also be stored in a whole vehicle control unit, and the whole vehicle control unit can directly look up a table or perform feedforward control.
4. In order to avoid discontinuity of permanent magnet flux linkage measurement, the whole vehicle control can adopt a method of sending an active short circuit instruction to a motor at regular time; the permanent magnet flux linkage can also be estimated by storing measurement data for multiple times in the motor control unit and performing interpolation operation.
5. The method does not need an additional hardware circuit and a PWM signal reconstruction software algorithm, only needs to implement active short-circuit control, and is compatible with permanent magnet synchronous motor control.
Drawings
Fig. 1 is a schematic block diagram of an output torque control method of a permanent magnet synchronous motor according to the present invention.
Fig. 2 is a flow chart of the output torque control of the permanent magnet synchronous motor according to the present invention.
Fig. 3 is a maximum torque to current ratio (MTPA) graph of the present invention.
FIG. 4 is a functional block diagram of the torque PI regulation module of the present invention.
FIG. 5 is a schematic block diagram of the torque online calculation of the present invention.
FIG. 6 is a functional block diagram of a torque limit generation module of the present invention.
FIG. 7 is a diagram of the relationship between the direct-axis inductance and the quadrature-axis current parameter according to the present invention.
FIG. 8 is a graph showing the relationship between quadrature axis inductance and quadrature axis current parameters according to the present invention.
Fig. 9 is a relationship curve of three-phase short-circuit current, short-circuit torque and rotating speed.
In the figure, 1, a vehicle control unit 2, a motor controller 3, an inverter switch circuit 4, a permanent magnet synchronous motor 5, a position sensor 6, a three-phase current sensor 21, a CAN command decomposition unit 22, a torque PI regulation module 23, a quadrature axis current command generation unit 24, a quadrature axis current PI regulation module 25, a voltage decoupling control unit 26, a space vector modulation unit 27, a position and rotating speed processing unit 28, a CLARK & PARK conversion unit 29, a torque online calculation module 30, a torque limit value generation module 221, an addition module 222, an anti-saturation PI structure unit 223, an amplitude limiter 291, an alternating current phase current amplitude calculation unit 292, a permanent magnet flux look-up table module 293, a quadrature axis inductance look-up table 294, a torque calculation unit 301, a maximum electric data table 302, a maximum electric data table 303 and a data selection unit are arranged.
Detailed Description
Embodiments of the present invention will be described below with reference to the accompanying drawings, but the present invention is not limited thereto.
As shown in fig. 1, the vehicle control unit 1 sends a torque command T to the motor controller 2 through the CAN buscmdAnd three-phase short circuit control Tpsc；
The motor controller 2 consists of a CAN command decomposition unit 21, a torque PI regulation module 22 and a direct-alternating current (AC-AC) power supplyAn axis current instruction generating unit 23, a quadrature axis current PI regulating module 24, a voltage decoupling control unit 25, a space vector modulation unit 26, a position and rotating speed processing unit 27, a CLARK&The device comprises a PARK conversion unit 28, a torque online calculation module 29 and a torque limit value generation module 30; the motor controller 2 controls T according to the three-phase short circuit sent by the whole vehicle control unit 1pscJudging whether to carry out active short circuit control according to the mechanical rotating speed omega of the motor, and simultaneously satisfying TpscIf the number is 1 and the mechanical rotating speed of the motor exceeds the rotating speed of an inflection point, the condition is met, an active short circuit PWM signal is output to an inverter switch circuit 3, and three IGBTs of an upper bridge arm or a lower bridge arm are controlled to be closed simultaneously; otherwise, if the condition is not met, calculating the duty ratio of the three-phase PWM signal according to the quadrature axis reference voltage and the position signal, and controlling the IGBT to carry out switching operation; the motor controller 2 sends a torque instruction T according to the whole vehicle control unit 1cmdAnd the calculated value T output by the torque online calculation module 29onlineThe PI control is performed so that the output torque of the permanent magnet synchronous motor 4 reaches a target value.
As shown in fig. 4, the torque PI adjustment module 22 includes an addition module 221, an anti-saturation PI structure unit 222, and a limiter 223; the adder module 221 generates Δ e by subtracting the torque command and the torque online calculated value, and inputs Δ e to the anti-saturation PI structure unit 222, where both the proportional term and the integral term of the PI structure function when saturation does not occur, and the anti-saturation integral loop is effective when the PI output is saturated, that is, when eo and out are not equal. The anti-saturation PI structural unit 222 outputs out, adds the out and the torque command again, inputs the sum of the out and the torque command into the amplitude limiter 223, and outputs the torque reference value T after amplitude limiting*(ii) a The analytical formula of the anti-saturation PI structure is shown in formula (1).
As shown in fig. 3, the abscissa of the curve is the current phase angle, the ordinate is the output torque of the motor, the current amplitude is firstly fixed, the current phase angle traverses from 40 ° to 320 °, a curve of the current phase angle and the output torque of the motor is formed, then the test is repeated until the Maximum current is reached while increasing the current amplitude, so that a family of curves is obtained, and the vertex of each curve is connected into a line, namely, the Maximum torque-to-current ratio curve (MTPA, Maximum torque per).Ampere), the torque and the rectangular axis current corresponding to each point are made into a table, namely a maximum torque current ratio table, and the table uses a torque reference value T*For indexing, the value obtained by looking up the table is the command value i of the rectangular-axis current commandd *And iq *(ii) a The rectangular axis current command generating unit 23 generates a torque reference value T according to the torque reference value T*Looking up a table to obtain a rectangular axis current instruction command value; the figure is only a schematic diagram and needs to be recalibrated for different powers, torques and different types of motors.
The quadrature axis current PI regulation module 24 regulates a command value i according to the quadrature axis current instructiond_cmdAnd iq_cmdAnd CLARK&Direct-axis current feedback value i output by PARK conversion unit 28dfeedbackAnd quadrature axis current feedback value iqfeedbackPerforming PI operation to obtain a rectangular-to-rectangular axis current reference value id *And iq *The PI structure is the same as that of the torque PI regulation module;
the voltage decoupling control unit 25 performs decoupling according to the steady-state voltage equations (2) and (3), and outputs a quadrature axis voltage reference value ud *And uq *。
The space vector modulation unit 26 controls T according to the three-phase short circuit sent by the whole vehicle control unit 1pscJudging whether to carry out active short circuit control according to the mechanical rotating speed omega of the motor, and simultaneously satisfying TpscIf the number is 1 and the mechanical rotating speed of the motor exceeds the rotating speed of an inflection point, the condition is met, an active short circuit PWM signal is output to an inverter switch circuit 3, and three IGBTs of an upper bridge arm or a lower bridge arm are controlled to be closed simultaneously; otherwise, if the condition is not met, calculating the duty ratio of the three-phase PWM signal according to the quadrature axis reference voltage and the position signal, and controlling the IGBT to carry out switching operation;
the position and rotation speed processing unit 27 calculates the rotor position theta and the motor mechanical rotation speed omega according to the output signal of the position sensor 5; the CLARK&The PARK conversion unit 28 receives the three-phase current i detected by the current sensor 6a、ib、icAnd the position signal theta output by the position and rotation speed processing unit 27 is converted into a direct-axis current i under a rotating coordinate system according to the formula (4), the formula (5) and the formula (6)dAnd quadrature axis current iq；
As shown in fig. 5, the torque online calculation module 29 includes an ac phase current amplitude calculation unit 291, a permanent magnet flux linkage look-up table 292, a quadrature axis inductance look-up table 293, and a torque calculation unit 294; the alternating-current phase current amplitude calculation unit 291 calculates the alternating-current phase current amplitude according to the formula (7), and outputs the alternating-current phase current amplitude to the permanent magnet flux linkage look-up table 292;
the permanent magnet flux linkage look-up table module 292 is used for looking up a table according to the alternating current phase current amplitude to obtain a permanent magnet flux linkage value; the quadrature axis inductance lookup unit 293 looks up the table according to the quadrature axis and the quadrature axis currents to obtain the quadrature axis and the quadrature axis inductances LdAnd Lq(ii) a The torque calculation unit 294 calculates the torque according to the permanent magnet synchronous motor torque formula (8).
In the torque formula (8), the direct-axis and quadrature-axis currents can be obtained by calculation through the CLARK & PARK conversion unit 28, the direct-axis and quadrature-axis inductances are obtained through the direct-axis and quadrature-axis inductance look-up unit 293, p is the number of pole pairs of the motor rotor and is a constant, the permanent magnet flux linkage is measured according to the permanent magnet synchronous motor steady-state equations (2) and (3), the alternating-current phase current amplitude of the permanent magnet synchronous motor is measured under the condition of three-phase short circuit, and the permanent magnet flux linkage value can be obtained through look-up;
the one-to-one corresponding relation between the permanent magnet flux linkage and the stator phase current amplitude at different temperatures is calibrated through tests, the permanent magnet flux linkage numerical value is obtained by table lookup in practical application, and the permanent magnet flux linkage numerical value is brought into the formula (8) to calculate the output torque of the permanent magnet synchronous motor on line. In the rectangular axis inductance look-up unit 293, the rectangular axis and rectangular axis inductances are functions of the currents of the rectangular axis and the rectangular axis, and the corresponding relations of the rectangular axis inductances and the currents of the rectangular axis and the rectangular axis can be obtained through finite element simulation software, and the rectangular axis inductances can be obtained in the same way;
as shown in fig. 6, the torque limit value generation module 30 is composed of a maximum motoring data table 301, a maximum generating data table 302 and a data selection unit 303; the maximum electric data table 301 and the maximum power generation data table 302 are searched according to the mechanical rotating speed omega of the motor and the direct-current bus voltage, then the state of electric driving or power generation is judged, and the data selection unit 303 outputs the maximum torque output limit value Tlimit(ii) a The inverter switching circuit 3 includes six switching elements, each of the switching elements Q1 to Q6 is an Insulated Gate Bipolar Transistor (IGBT), in the inverter circuit, a first switching element Q1, a third switching element Q3, and a fifth switching element Q5 are connected in series to a second switching element Q2, a fourth switching element Q4, and a sixth switching element Q6, respectively, and a node between the switching elements Q1 and Q2 is connected to a U-phase terminal of the motor; a node between the switching elements Q3 and Q4 is connected to a V-phase terminal of the motor; a node between the switching elements Q5 and Q6 is connected to the W-phase terminal of the motor; the inverter switch circuit 3 drives an internal power electronic device to perform the closing or opening actions of a three-phase lower bridge arm Q2, Q4 and Q6 or the closing or opening actions of a three-phase upper bridge arm Q1, Q3 and Q5 according to a PWM signal instruction of the motor controller 2 so as to realize the short circuit or opening operation of three phase lines of the motor;
the permanent magnet synchronous motor 4 is a three-phase permanent magnet synchronous motor, is a controlled object and is controlled by the inverter switch circuit 3;
the position sensor 5 is a rotary transformer or an absolute position photoelectric encoder and is used for detecting the absolute position of a motor rotor; the three-phase current sensor 6 is a non-contact current sensor based on a hall effect or a contact current sensor based on a principle of generating voltage by using a resistor connected in series to a phase line, and is used for detecting three-phase current of the permanent magnet synchronous motor 4 and outputting an acquired current signal to the CLARK & PARK conversion unit 28;
as shown in fig. 2, the method is implemented as follows:
the first step is as follows: the motor controller 2 receives CAN bus signals of the whole vehicle control unit 1 and generates a torque command value T through a CAN command decomposition unit 21cmdAnd three-phase short circuit control Tpsc；
The second step is that: with torque command TcmdTorque on-line calculated value TonlineAnd torque limit TlimitFor input, a torque reference value T is generated by the torque PI regulation control module 22*；
The third step: according to the torque reference value T*Obtaining direct axis and quadrature axis current instruction i by looking up MTPA tabled_cmdAnd iq_cmd；
The fourth step: direct axis and quadrature axis current command id_cmdAnd iq_cmdFeedback value i of current of direct axis and quadrature axisdfeedbackAnd iqfeedbackInput to the quadrature axis current PI regulation module 24 to generate a quadrature axis current command reference id *And iq *；
The fifth step: calculating a direct axis and quadrature axis decoupling voltage reference value u according to a permanent magnet synchronous motor steady state voltage equationd *And uq *；
And a sixth step: the space vector modulation unit 26 judges whether the active short-circuit signal is 1; if yes, entering a seventh step; if not, entering the tenth step;
the seventh step: the space vector modulation unit 26 judges whether the mechanical rotating speed of the motor exceeds the rotating speed of the inflection point; if yes, entering the eighth step; if not, entering the tenth step;
eighth step: outputting a three-phase short circuit control signal to the inverter switch circuit 3;
the ninth step: calculating phase current amplitude i according to a formulasLooking up a table to obtain a flux linkage numerical value of the permanent magnet;
the tenth step: on-line calculating motor output torque T according to torque formulaonlineExiting the control;
the eleventh step: and calculating the duty ratio of the PWM signal according to the rectangular axis voltage reference value and the position signal, outputting the duty ratio to the inverter switch circuit 3, and exiting the control.
The control process is a necessary step of a control period, and the steps are circularly operated in the actual working process.
And in the ninth step, the permanent magnet flux linkage table is obtained by a test method, each rotor temperature corresponds to a permanent magnet flux linkage numerical value, and the permanent magnet synchronous motor is subjected to steady-state short-circuit tests at different rotating speeds at different rotor temperatures to obtain the relation between the short-circuit current amplitude and the permanent magnet flux linkage.
In the ninth step, the permanent magnet flux linkage table can also be obtained by a simulation method, and is a relation table of short-circuit current amplitude and permanent magnet flux linkage under different rotor temperatures and rotating speeds obtained according to a finite element simulation model of the permanent magnet synchronous motor.
As shown in fig. 7, it is a graph of the direct-axis inductance and the quadrature-axis current of the present embodiment, where the x-axis is the direct-axis current, the y-axis is the quadrature-axis current, and the z-axis is the direct-axis inductance. The direct-axis inductance L can be seen from the figuredIs a function of direct-axis current and quadrature-axis current, and the direct-axis inductance L can be obtained by using the direct-axis current and the quadrature-axis current as index table look-up operationdNumerical values.
As shown in fig. 8, it is a graph of quadrature axis inductance and quadrature axis current of the present embodiment, where the x-axis is the quadrature axis current, the y-axis is the quadrature axis current, and the z-axis is the quadrature axis inductance. The quadrature inductance L can be seen from the figureqIs a function of direct-axis current and quadrature-axis current, and the quadrature-axis inductance L can be obtained by using the direct-axis current and the quadrature-axis current as index table look-up operationqNumerical values.
As shown in fig. 9, the three-phase short-circuit current, the short-circuit torque and the rotation speed are plotted in the present embodiment, where the horizontal axis represents the mechanical rotation speed of the motor and the vertical axis represents the three-phase short-circuit current and the short-circuit torque. The three-phase short-circuit current of the permanent magnet synchronous motor rapidly rises in a low rotating speed section along with the increase of the rotating speed, and when the rotating speed exceeds an inflection point, the rotating speed omegagThen, the effective value of the current is basically unchanged, and the factors influencing the amplitude of the short-circuit current are mainly the size of the flux linkage of the permanent magnet, which is in direct proportion to the flux linkage value of the permanent magnet and in inverse proportion to the temperature of the permanent magnet. The corresponding relation between three-phase short-circuit current and the mechanical rotating speed of the motor is marked in the figure under the temperature of three rotor permanent magnets of-35 ℃, 60 ℃ and 150 ℃, three different temperatures correspond to three permanent magnet flux linkage numerical values, and the difference of the effective value of the short-circuit current reaches 65A under the conditions of the lowest temperature of-35 ℃ and the highest temperature of 150 ℃ can be noticed, so that the permanent magnet flux linkage numerical value can be effectively detected by utilizing the characteristic; after the rotating speed of the motor exceeds the inflection point rotating speed, the intersection point of the rotating speed of the same motor and curves at minus 35 ℃, 60 ℃ and 150 ℃ corresponds to 3 phase current amplitudes, each phase current corresponds to one permanent magnet flux linkage data, and similarly, a permanent magnet flux linkage table with the phase current amplitudes as indexes can be formed; in practical use, the number of the curves is not limited to 3, and the number of the curves is set according to the temperature range. Three-phase short-circuit torque of permanent magnet synchronous motor and motorResistance torque opposite to the mechanical rotating speed, so that the short-circuit torque of the motor is a negative value under the condition of positive rotation; along with the increase of the rotating speed, the absolute value of the short-circuit torque of the engine is increased and then reduced, and the rotating speed omega exceeds the inflection pointgThen, gradually approaching zero, and similarly, forming a permanent magnet flux linkage table with phase current amplitude as an index; in practical use, the number of the curves is not limited to 3, and the number of the curves is set according to the temperature range.
The preferred embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments.
Claims (1)
1. A closed-loop control method for the torque of a driving motor for an electric automobile is characterized by comprising a whole automobile control unit, a motor controller, an inverter switch circuit, a permanent magnet synchronous motor, a position sensor and a three-phase current sensor;
the whole vehicle control unit sends out three-phase short circuit control T to the motor controller through the CAN bus according to the working mode of the whole vehiclepscAnd torque command Tcmd；
The motor controller comprises a CAN command decomposition unit, a torque PI regulation module, a quadrature axis current command generation unit, a quadrature axis current PI regulation module, a voltage decoupling control unit, a space vector modulation unit, a position and rotating speed processing unit, a CLARK&The device comprises a PARK conversion unit, a torque on-line calculation module and a torque limit value generation module; the motor controller controls T according to the three-phase short circuit sent by the control unit of the whole vehiclepscJudging whether to carry out active short circuit control according to the mechanical rotating speed omega of the motor, and simultaneously satisfying TpscIf the rotating speed of the motor is 1 and the mechanical rotating speed of the motor exceeds the rotating speed of an inflection point, the condition is met, an active short circuit PWM signal is output to an inverter switch circuit, and three IGBTs of an upper bridge arm or a lower bridge arm of a three-phase full bridge are controlled to be closed simultaneously; otherwise, if the condition is not met, calculating the duty ratio of the three-phase PWM signal according to the quadrature axis reference voltage and the position signal, and controlling the IGBT to carry out switching operation; the motor controller sends a torque instruction T to a vehicle control unitcmdAnd the calculated value T output by the torque online calculation moduleonlineInput to a torque PI regulation module to make permanent magnets identicalThe output torque of the step motor reaches a target value;
the torque PI adjusting module comprises an addition module, an anti-saturation PI structural unit and an amplitude limiter; the addition module is used for generating delta e by making a difference between two inputs; the proportional term and the integral term are both effective when the anti-saturation PI structural unit is input into the anti-saturation PI structural unit and is not saturated, and the anti-saturation integral loop is effective when the anti-saturation PI structural unit is saturated, namely when eo and out are not equal; the anti-saturation PI structural unit outputs out, and the out and the torque instruction TcmdAdding again, inputting the sum of the two into a limiter, and outputting a torque reference value T after limiting*(ii) a Wherein, the analytic formula of the anti-saturation PI structure is as follows:
eo＝out{out(t)＝Kp·e(t)+Ki∫e(t)}
wherein eo is the calculated output value of PI, out is the limited output value, KpIs a proportionality coefficient, KiIs an integral coefficient; e _ sat is the maximum amplitude limiting output value when the anti-saturation PI structural unit is saturated; e (t) is the deviation value at the time t, and out (t) is the output value of the anti-saturation PI structure unit at the time t;
the rectangular-axis current instruction generating unit generates a rectangular-axis current instruction according to a torque reference value T*A rectangular axis current command value is obtained by a table look-up, and a line which can be connected with a point of Maximum torque obtained by minimum current in a current torque characteristic curve is a Maximum torque current ratio curve (MTPA)*The index is output as a rectangular axis current instruction value;
the quadrature axis current PI adjusting module is used for adjusting a command value i according to a quadrature axis current instructiond_cmdAnd quadrature axis current command value iq_cmdAnd CLARK&Direct-axis current feedback value i output by PARK conversion unitdfeedbackAnd quadrature axis current feedback value iqfeedbackPerforming PI operation to obtain a rectangular-to-rectangular axis current reference value id *And iq *The internal structures of the quadrature axis current PI regulation module and the torque PI regulation module are the same, but the inputs are different;
the voltage decoupling control unit performs decoupling according to a steady-state voltage equation and outputs a quadrature axis voltage reference value ud *And uq *The concrete formula is as follows:
ud *＝Rid *-pωLqiq * (2)
uq *＝Riq *+pω(Ldid *+ψm) (3)
wherein R is stator resistance, p is the number of pole pairs of the motor rotor, omega is the mechanical rotating speed of the motor, and LdIs a direct axis inductor, LqIs a quadrature axis inductor, id *Is a direct-axis current reference value, iq *Is a quadrature axis current reference value, ud *For the direct-axis voltage decoupling value, uq *For quadrature-axis voltage decoupling value, #mIs a permanent magnet flux linkage;
the space vector modulation unit controls T according to the three-phase short circuit sent by the whole vehicle control unitpscJudging whether to carry out active short circuit control according to the mechanical rotating speed omega of the motor, and simultaneously satisfying TpscIf the number is 1 and the mechanical rotating speed of the motor exceeds the rotating speed of an inflection point, the condition is met, an active short circuit PWM signal is output to an inverter switch circuit, and three IGBTs of an upper bridge arm or a lower bridge arm of the inverter switch circuit are controlled to be closed at the same time; otherwise, if the condition is not met, calculating the duty ratio of the three-phase PWM signal according to the quadrature axis reference voltage and the position signal, and controlling the IGBT to carry out switching operation;
the position and rotation speed processing unit calculates the rotor position theta and the mechanical rotation speed omega of the motor according to the output signal of the position sensor;
the CLARK&The PARK conversion unit receives three-phase current i detected by the current sensora、ib、icAnd a position signal theta output from the position and rotation speed processing unit, and converted according to the formula (4), the formula (5) and the formula (6)Is direct and alternating axis current i under a rotating coordinate systemd、iq；
The CLARK transformation formula is as follows:
iα＝ia (4)
the PARK transformation formula is as follows:
wherein iα、iβThe current of alpha and beta axes under a static coordinate system; i.e. ia、ib、icThree-phase alternating current under a static coordinate system; theta rotor position electrical angle; i.e. id、iqThe direct and alternating current under the rotating coordinate system;
the torque online calculation module comprises an alternating current phase current amplitude calculation unit, a permanent magnet flux linkage table look-up module, a quadrature axis inductance table look-up unit and a torque calculation unit; the alternating-current phase current amplitude calculation unit calculates the alternating-current phase current amplitude according to a formula (7) and outputs the alternating-current phase current amplitude to the permanent magnet flux linkage table look-up module;
wherein isIs the stator phase current amplitude;
the permanent magnet flux linkage table look-up module is used for looking up a table according to the alternating current phase current amplitude to obtain a permanent magnet flux linkage value; the rectangular-axis inductance lookup unit obtains the rectangular-axis inductance L according to the rectangular-axis current lookup tabledAnd Lq(ii) a The torque calculation unit calculates according to a permanent magnet synchronous motor torque formula (8);
wherein p is the number of pole pairs of the motor rotor; t iseIs an electromagnetic torque;
in the torque formula (8), the quadrature axis current is obtained by calculation through a CLARK & PARK conversion unit, the quadrature axis inductance is obtained by a quadrature axis inductance look-up table unit, p is the number of pole pairs of a motor rotor is a constant, the permanent magnet flux linkage is measured according to the formulas (2) and (3), and when the three-phase short circuit of the motor occurs, the tube voltage drop of a power module is ignored, the quadrature axis voltage is zero, and the direct axis voltage is zero
When the mechanical rotation speed omega of the motor approaches infinity, iqApproaches zero, idIs approximately equal to isThen, there is,
ψm≈-Ldis (10)
therefore, the corresponding relation between the permanent magnet flux linkage and the stator phase current amplitude can be calibrated off line at different temperatures, the calibration is stored as a table after being completed, the table takes the stator phase current amplitude as an index and outputs a permanent magnet flux linkage numerical value, and the permanent magnet flux linkage numerical value is brought into a formula (8), so that the output torque of the permanent magnet synchronous motor can be calculated on line;
in the rectangular-axis inductance look-up table unit, the rectangular-axis inductance is a function of the current of the rectangular axis, the corresponding relation between the rectangular-axis inductance and the current of the rectangular axis can be obtained through finite element simulation software, and the quadrature-axis inductance can be obtained in the same way;
the torque limit value generation module consists of a maximum electric data table, a maximum power generation data table and a data selection unit; looking up a maximum electric data table and a maximum power generation data table according to the mechanical rotating speed omega of the motor and the voltage of the direct-current bus, judging whether the motor is in an electric or power generation state, and outputting a maximum torque output limit value T by a data selection unitlimit；
The inverter switching circuit comprises six switching elements, wherein the switching elements are Insulated Gate Bipolar Transistors (IGBT) and are used for executing PWM signals sent by the motor controller and controlling the corresponding switching elements to execute switching actions;
the permanent magnet synchronous motor is a three-phase permanent magnet synchronous motor, is a controlled object and is controlled by an inverter switch circuit;
the position sensor is a rotary transformer or an absolute position photoelectric encoder and is used for detecting the absolute position of a motor rotor;
the three-phase current sensor is a non-contact current sensor based on a Hall effect or a contact current sensor based on a principle of generating voltage by using a resistor connected in a phase line in series, and is used for detecting three-phase current of the permanent magnet synchronous motor and outputting an acquired current signal to a CLARK & PARK conversion unit;
the method comprises the following implementation steps:
the first step is as follows: the motor controller receives CAN bus signals of a vehicle control unit and generates a torque command value T through a CAN command decomposition unitcmdAnd three-phase short circuit control Tpsc；
The second step is that: with torque command TcmdTorque on-line calculated value TonlineAnd torque limit TlimitFor input, a torque reference value T is generated by a torque PI regulation control module*；
The third step: according to the torque reference value T*Obtaining direct-axis and quadrature-axis current instruction i by looking up MTPA tabled_cmdAnd iq_cmd；
The fourth step: direct axis and quadrature axis current command id_cmdAnd iq_cmdFeedback value i of current of direct axis and quadrature axisdfeedbackAnd iqfeedbackInput to the quadrature axis current PI regulation module to generate a quadrature axis current command reference id *And iq *；
The fifth step: calculating a direct axis and quadrature axis decoupling voltage reference value u according to a permanent magnet synchronous motor steady state voltage equationd *And uq *；
And a sixth step: judging whether the active short-circuit signal is 1 by a space vector modulation unit; if yes, entering a seventh step; if not, entering the tenth step;
the seventh step: judging whether the mechanical rotating speed of the motor exceeds the rotating speed of an inflection point by a space vector modulation unit; if yes, entering the eighth step; if not, entering the tenth step;
eighth step: outputting a three-phase short circuit control signal to an inverter switch circuit;
the ninth step: calculating phase current amplitude i according to a formulasLooking up a table to obtain a flux linkage numerical value of the permanent magnet;
the tenth step: on-line calculating motor output torque T according to torque formulaonlineExiting the control;
the eleventh step: calculating the duty ratio of a PWM signal according to the rectangular axis voltage reference value and the position signal, outputting the duty ratio to an inverter switching circuit, and exiting the control; the control process is a necessary step of a control period, and the steps are circularly operated in the actual working process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710619736.0A CN107645259B (en) | 2017-07-26 | 2017-07-26 | Driving motor torque closed-loop control method for electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710619736.0A CN107645259B (en) | 2017-07-26 | 2017-07-26 | Driving motor torque closed-loop control method for electric automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107645259A CN107645259A (en) | 2018-01-30 |
| CN107645259B true CN107645259B (en) | 2021-03-05 |
Family
ID=61110902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710619736.0A Active CN107645259B (en) | 2017-07-26 | 2017-07-26 | Driving motor torque closed-loop control method for electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107645259B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108282057B (en) * | 2018-02-02 | 2023-07-25 | 卧龙电气驱动集团股份有限公司 | ECM motor and method for constant torque control based on accurate flux linkage table look-up method |
| FR3078214B1 (en) * | 2018-02-22 | 2020-03-20 | Valeo Equipements Electriques Moteur | METHOD FOR ASSISTING THE SETTING OF A HEAT ENGINE BY A ROTATING ELECTRIC MACHINE |
| FR3078215B1 (en) * | 2018-02-22 | 2020-03-20 | Valeo Equipements Electriques Moteur | METHOD FOR ASSISTING THE SETTING OF A HEAT ENGINE BY A ROTATING ELECTRIC MACHINE |
| CN109067286B (en) * | 2018-08-29 | 2020-08-18 | 北京新能源汽车股份有限公司 | Control method, device and system of motor control system and vehicle |
| DE102018127709A1 (en) * | 2018-11-07 | 2020-05-07 | Schaeffler Technologies AG & Co. KG | Method and device for limiting the manipulated value for field-oriented current control |
| CN109546917B (en) * | 2018-11-29 | 2020-09-18 | 北京精密机电控制设备研究所 | Multi-path adjusting system and method for alternating current permanent magnet synchronous motor actuating mechanism |
| CN112305417A (en) * | 2019-07-26 | 2021-02-02 | 比亚迪股份有限公司 | Method and device for detecting state of permanent magnet in permanent magnet synchronous motor and vehicle |
| CN112550063B (en) * | 2019-09-25 | 2021-12-07 | 比亚迪股份有限公司 | Energy conversion device, vehicle, cooperative control method and device, and storage medium |
| CN110784141B (en) * | 2019-10-29 | 2021-06-22 | 中车永济电机有限公司 | Control method of permanent magnet synchronous motor |
| CN110808702B (en) * | 2019-10-29 | 2021-03-26 | 中车永济电机有限公司 | Control method of embedded permanent magnet synchronous motor |
| CN110803032B (en) * | 2019-11-04 | 2020-09-25 | 中国第一汽车股份有限公司 | Motor control method and device, motor controller, storage medium and system |
| CN111082728A (en) * | 2019-12-11 | 2020-04-28 | 珠海格力电器股份有限公司 | Control method and control system for low-speed full-load starting of oil pump motor |
| CN111049444B (en) * | 2019-12-30 | 2021-08-17 | 臻驱科技（上海）有限公司 | Motor control method and device and electronic equipment |
| CN111538254B (en) * | 2020-05-11 | 2023-04-07 | 成都华川电装有限责任公司 | Simulation circuit for obtaining performance MAP table of permanent magnet synchronous motor |
| CN112454364B (en) * | 2020-12-03 | 2022-02-22 | 之江实验室 | Robot joint module driver and control method thereof |
| CN113452297B (en) * | 2021-05-24 | 2023-07-21 | 深蓝汽车科技有限公司 | Electric automobile motor torque estimation method and system and vehicle |
| CN114454729B (en) * | 2022-02-28 | 2024-01-23 | 河南嘉晨智能控制股份有限公司 | Vehicle acceleration limiting method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120217916A1 (en) * | 2011-02-28 | 2012-08-30 | Deere & Company | Device And Method For Generating An Initial Controller Lookup Table For An IPM Machine |
| CN104283479A (en) * | 2014-09-30 | 2015-01-14 | 卧龙电气集团杭州研究院有限公司 | Permanent magnet synchronous motor load torque monitoring system based on three-dimensional motor parameter tables |
| US20150180387A1 (en) * | 2013-12-23 | 2015-06-25 | Hyundai Motor Company | Motor controller |
| CN105844030A (en) * | 2016-03-29 | 2016-08-10 | 中国第汽车股份有限公司 | Online estimation method for rotor temperature of permanent magnet synchronous motor |
| CN105915141A (en) * | 2016-05-09 | 2016-08-31 | 中国第汽车股份有限公司 | Permanent magnet synchronous motor permanent magnet linkage online measurement system and method |
-
2017
- 2017-07-26 CN CN201710619736.0A patent/CN107645259B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120217916A1 (en) * | 2011-02-28 | 2012-08-30 | Deere & Company | Device And Method For Generating An Initial Controller Lookup Table For An IPM Machine |
| US20150180387A1 (en) * | 2013-12-23 | 2015-06-25 | Hyundai Motor Company | Motor controller |
| CN104283479A (en) * | 2014-09-30 | 2015-01-14 | 卧龙电气集团杭州研究院有限公司 | Permanent magnet synchronous motor load torque monitoring system based on three-dimensional motor parameter tables |
| CN105844030A (en) * | 2016-03-29 | 2016-08-10 | 中国第汽车股份有限公司 | Online estimation method for rotor temperature of permanent magnet synchronous motor |
| CN105915141A (en) * | 2016-05-09 | 2016-08-31 | 中国第汽车股份有限公司 | Permanent magnet synchronous motor permanent magnet linkage online measurement system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107645259A (en) | 2018-01-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107645259B (en) | Driving motor torque closed-loop control method for electric automobile | |
| Chen et al. | Extension of virtual-signal-injection-based MTPA control for five-phase IPMSM into fault-tolerant operation | |
| Cheng et al. | Torque feedforward control technique for permanent-magnet synchronous motors | |
| Wu et al. | Efficiency optimization of PMSM drives using field-circuit coupled FEM for EV/HEV applications | |
| Verma et al. | Speed sensorless vector controlled induction motor drive using single current sensor | |
| Inoue et al. | Maximum torque per ampere control of a direct torque-controlled PMSM in a stator flux linkage synchronous frame | |
| De Belie et al. | A sensorless drive by applying test pulses without affecting the average-current samples | |
| Hang et al. | Improved loss minimization control for IPMSM using equivalent conversion method | |
| JP2013198340A (en) | Synchronous machine controller | |
| CN107046386B (en) | Novel method for weak magnetic calibration of permanent magnet synchronous motor controller of pure electric vehicle | |
| WO2022134772A1 (en) | Control method for permanent magnet auxiliary synchronous reluctance motor | |
| KR20070067118A (en) | Method for controlling a wound rotor syschronous motor | |
| CN107294451A (en) | Permagnetic synchronous motor output torque on-line calculation method | |
| Shi et al. | Position control of an interior permanent-magnet synchronous motor without using a shaft position sensor | |
| CN104579083A (en) | Method and system for vector control of permanent magnet synchronous motor | |
| Vasudevan et al. | New direct torque control scheme of induction motor for electric vehicles | |
| Zhang et al. | Maximum torque per ampere control for IPMSM traction system based on current angle signal injection method | |
| Gao et al. | A practical analytical expression and estimation for average torque of high saturation permanent magnet synchronous motor for special vehicles | |
| Metwaly et al. | Smart integration of drive system for induction motor applications in electric vehicles | |
| CN107947669B (en) | Nonlinear back-thrust tracking control method for hybrid excitation synchronous motor | |
| Zhao | Position/speed sensorless control for permanent-magnet synchronous machines | |
| Yu et al. | Continuous rotor position estimation for flux modulated doubly salient reluctance motor drives based on back EMF harmonics | |
| Qiu et al. | Torque-angle-based direct torque control for interior permanent-magnet synchronous motor drivers in electric vehicles | |
| Qu et al. | Minimizing losses of a synchronous reluctance motor drive taking into account core losses and magnetic saturation | |
| Pałka et al. | Experimental verification of Dead-Beat predictive current controller for small power, low speed PMSM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |