CN108039838A - Motor in electric automobile Dual-encoder control system and its control method, electric automobile - Google Patents
Motor in electric automobile Dual-encoder control system and its control method, electric automobile Download PDFInfo
- Publication number
- CN108039838A CN108039838A CN201711443417.5A CN201711443417A CN108039838A CN 108039838 A CN108039838 A CN 108039838A CN 201711443417 A CN201711443417 A CN 201711443417A CN 108039838 A CN108039838 A CN 108039838A
- Authority
- CN
- China
- Prior art keywords
- encoder
- motor
- control unit
- decoder
- electric
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000001514 detection method Methods 0.000 claims description 40
- 230000001133 acceleration Effects 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 description 6
- 238000005070 sampling Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The invention discloses a kind of motor in electric automobile Dual-encoder control system and its control method, a kind of and electric automobile, control system includes electric motor units, motor control unit, cell encoder, decoder element, cell encoder includes the first encoder and second encoder, first encoder and second encoder are separately fixed on electric motor units, rotated synchronously with electric motor units, the operating parameter of the first encoder and second encoder for gathering the electric motor units；Decoder element is connected with cell encoder and motor control unit respectively, and the parameter decoding that the first encoder and second encoder are collected concurrently is sent to motor control unit；Motor control unit controls electric motor units according to the operating parameter of electric motor units；When any encoder breaks down, motor control unit switching is made the electric automobile even running in running at high speed, situations such as vehicle enters emergency braking will not be occurred using the state modulator electric motor units of the encoder of normal condition.
Description
Technical field
The present invention designs a kind of control system of electric automobile, especially a kind of motor in electric automobile Dual-encoder control system
And its control method, and a kind of electric automobile.
Background technology
Motor position sensor is broadly divided into：Photoelectric encoder, magnetic coder and rotary transformer, present motor driver
Middle encoder mainly uses magnetoresistance transformer, and encoder is detecting element, is mainly used to detect motor angle position, solution
The motor angle position that encoder detects can be converted into linear running distance by code device, can also pass through the unit of account time
Interior umber of pulse calculates motor speed, during electric automobile actual travel, unavoidably has and runs into encoder and go offline
Situation Deng failure occurs, and goes offline once encoder when the emergency that fails occurs, feedback speed is abnormal, causes motor to lose
Control, conventional solution is that vehicle enters emergency braking, and motor locking phenomenon unfortunately occurs.If this situation is in vehicle
Occur during high-speed cruising, be likely to initiation accident, directly threaten the life security of driver.
Accordingly, it is desirable to provide it is a kind of when encoder go offline occurs when failure conditions when, can allow the steady row of electric automobile continuation
The method sailed.
The content of the invention
The present invention is directed to deficiency of the prior art, there is provided a kind of situation for the failure that can go offline etc. in electric automobile encoder
During generation, electric automobile can be allowed to continue the motor in electric automobile Dual-encoder control system and its method of smooth-ride, Yi Jiyi
Kind electric automobile.
The present invention is achieved by the following technical solutions：A kind of motor in electric automobile Dual-encoder control system, including
Electric motor units, motor control unit, cell encoder, decoder element；
The cell encoder includes the first encoder and second encoder, and the first encoder and second encoder are solid respectively
It is scheduled on the electric motor units, is rotated synchronously with the electric motor units, first encoder and second encoder is used to gather
The operating parameter of the electric motor units；
The decoder element is connected with the cell encoder and the motor control unit respectively, the decoder list
Member is used for the operating parameter decoding for the electric motor units for being collected first encoder and the second encoder simultaneously
Send to the motor control unit；
The motor control unit connects the electric motor units, for controlling institute according to the operating parameter of the electric motor units
State electric motor units.
The present invention on motor in electric automobile by setting the first encoder and second encoder, when any in operation shape
When encoder in state fails, motor control unit can use the motor list that another normally functioning encoder be gathered
First operating parameter participates in the control of motor, it is therefore prevented that since encoder failure motor caused by is out of control, vehicle enters promptly
Braking, the situation of motor locking occur.
Further, the motor control unit by the parameter measured by first encoder or second encoder with it is corresponding
Reference parameter comparison, if deviation exceedes setting value, judge first encoder or second encoder failure, and stop
The operating parameter of the electric motor units only gathered using the encoder of failure participates in the control to the electric motor units.Solve
The problem of in the prior art can not judging encoder failure.
In one embodiment, the decoder element includes the first decoder and the second decoder, first decoding
Device is connected with first encoder and the motor control unit, and first decoder is used for the first encoder institute
The parameter decoding collected is concurrently sent to the motor control unit；Second decoder and the second encoder and described
Motor control unit connects, second decoder be used for by the decoding of parameter that the second encoder is collected concurrently send to
The motor control unit.Using two-decoder structure, the first encoder and second encoder can be made standby using one in one
With state or work at the same time state.
In another embodiment, the decoder element includes the 3rd decoder and switching device, the 3rd decoding
Device is connected with the motor control unit, the switching device respectively with the first encoder, second encoder, described
3rd decoder is connected with the motor control unit, and the switching device receives the instruction of the motor control unit, switching
First encoder is connected with the 3rd decoder, or the second encoder is connected with the 3rd decoder.Using
Single decoder and switching device, can be cut to the work of another encoder, save cost and sky when an encoder fails
Between.
Further, a rotation speed detection unit is further included, the rotation speed detection unit is connected with the motor control unit,
The rotation speed detection unit detects the electric motor units rotating speed, and tach signal is sent to the motor control unit, described
The electric motor units rotating speed that motor control unit is gathered first encoder or second encoder is examined with the rotating speed
The rotating speed contrast detected by unit is surveyed, if deviation exceedes setting value, judges first encoder or second coding
Device fails, and the operating parameter for stopping using the encoder of failure to be gathered participates in the control to the electric motor units.Can be by
Rotating speed contrast measured by rotating speed and rotation speed detection unit measured by one encoder and second encoder, adds judgement decoding
The mode of device failure.
Further, a display device is further included, the display device is connected with the motor control unit, for showing
The rotating speed of the electric motor units.Driver can be made more directly perceived for display device and convenient detection motor speed.
The present invention also provides a kind of electric automobile, including a kind of motor in electric automobile Dual-encoder control provided by the present invention
System processed.
The present invention also provides a kind of control method of motor in electric automobile Dual-encoder control system：
Comprise the following steps：
Step 1：The electric motor units that the motor control unit is gathered first encoder or second encoder
Operating parameter, with reference to parameter comparison, if deviation exceedes setting value, performs step 2 with corresponding；
Step 2：The motor control unit stops using deviation to exceed the operating parameter that the encoder of setting value is gathered
Participate in the control to the electric motor units.
Wherein, when first encoder is in running order, the second encoder is in stand-by state for institute；Work as institute
State second encoder it is in running order when, first encoder is in stand-by state；
In step 2, when the motor control unit stops using the operating parameter that the encoder of failure gathered to participate in pair
During the control of the electric motor units, the encoder switching in stand-by state is in working condition by the motor control unit.
Wherein, when first encoder and the second encoder are in working status together, the motor control is single
Member is participated in the motor using the average value of the operating parameter gathered in first encoder and the second encoder
The control of unit.
As a further improvement on the present invention, the decoder element includes the 3rd decoder and switching device, and described
Three decoders are connected with the motor control unit, and the switching device is encoded with first encoder, described second respectively
Device, the 3rd decoder are connected with the motor control unit；
In step 2, the motor control unit is stopped using and compares deviation more than setting value to should refer to parameter
Operating parameter that encoder is gathered, which participates in the step of control to the electric motor units, to be included：
Step 21：The motor control unit sends switching command to the switching device, controls the switching device to cut
Passage is changed, switching deviation is connected not less than the encoder of setting value with the 3rd decoder.
Wherein, it is described to be gathered with reference to parameter for first encoder or the second encoder previous moment in step 1
The electric motor units rotating speed or angular acceleration.
As a further improvement on the present invention, the motor in electric automobile Dual-encoder control system further includes a rotating speed
Detection unit, the rotation speed detection unit are connected with the motor control unit, and the rotation speed detection unit detects the motor
Unit rotating speed, and tach signal is sent to the motor control unit；
In step 1, the electric motor units rotating speed gathered in real time for the rotation speed detection unit with reference to parameter.
In order to the clearer embodiment for understanding the present invention, the present invention being illustrated below with reference to brief description of the drawings.
Brief description of the drawings
Fig. 1 is first embodiment of the invention system block diagram；
Fig. 2 is second embodiment of the invention system block diagram.
Embodiment
Fig. 1 is the system block diagram of the first embodiment of the invention, is compiled as shown in Figure 1, the present embodiment motor in electric automobile is double
Code device control system includes：Electric machine controller 10, three-phase inverter 20, motor 30, the first encoder 41, second encoder 42,
First decoder 51, the second decoder 52, rotation speed detection unit 80 and display 90, wherein, electric machine controller 10 passes through three
Phase inverter 20 controls the startup of motor 30, stops adjusting 70 running state of motor according to the operating parameter of motor 70
It is whole；First encoder 41 and second encoder 42 are separately fixed on motor 70, are capable of the Angle Position of measurement motor 30, angle accelerates
Operating parameter, first encoders 41 such as degree, rotating speed and displacement are connected with the first decoder 51, and the first decoder 51 is controlled with motor
Device 10 connects, and is responsible for the parameter that the first encoder 41 is exported being decoded as Angle Position, angular acceleration, speed and the position of motor 30
The parameters such as shifting simultaneously send above-mentioned parameter to electric machine controller 10；Second encoder 41 is connected with the second decoder 51, the second solution
Code device 51 is connected with electric machine controller 10, it is responsible by the parameter that second encoder 41 is exported be decoded as motor 30 Angle Position,
The parameters such as angular acceleration, speed and displacement simultaneously send above-mentioned parameter to electric machine controller 10；Rotation speed detection unit 80 is installed on
On motor 30, the rotating speed of motor 30 can be monitored in real time, and tach signal is sent to electric machine controller 10, display 90 and electricity
Machine controller 10 connects, and the tach signal of motor 30 can be obtained from electric machine controller 10, and show.
In the present embodiment, the working method of the first encoder 41 and second encoder 42 has two kinds, is described separately below.
The first working method：First encoder 41 and second encoder 42 are respectively at working status and stand-by state.
In running order with the first encoder 41 below, operation principle when second encoder 42 is in stand-by state is made specifically
It is bright：In electric automobile during traveling, the signal that the first encoder 41 is collected is converted to turning for motor 30 by the first decoder 51
Fast signal, sends to electric machine controller 10, meanwhile, the tach signal of the also synchronous acquisition electric motor units 30 of rotation speed detection unit 80,
And send in real time to electric machine controller 10, electric machine controller 10 in real time relatively examined by the first encoder 41 and rotation speed detection unit 80
The tach signal measured, if the deviation of two tach signals exceedes setting value, judges that the first encoder 41 fails, meanwhile, show
On showing device 90 can display alarm information, motor control unit 10 sends signal and is switched at this time is adopted using second encoder 42
The parameter of collection participates in control, and is simultaneously emitted by signal and stops using the parameter gathered from the first encoder 41 to participate in control,
Switching is completed at this time.
In this working method, electric machine controller 10 gathers the motor that the first in running order encoder 41 is detected
30 parameter, and participate in motor using the parameter and control；Second encoder 42 in stand-by state, can be off detection shape
State, in the present embodiment, the second encoder 42 in stand-by state still detect the parameter of motor 30 in real time；Motor control unit
The parameter for the motor that the second encoder 42 in stand-by state is detected can not be gathered, or motor control unit still gathers place
In the parameter of electric machine that the second encoder 42 of stand-by state is detected, but it is not involved in the control of motor 30.
Specifically, in this working method, the control method of motor Dual-encoder control system comprises the following steps：
S10, the first encoder 41 work, and second encoder 42 is spare, judge whether the first encoder 41 goes offline
Failure of removal；
S11, then electric machine controller 10 enables the signal that second encoder 42 is gathered and participates in control, and stops using at the same time
The signal of first encoder 41 collection participates in control；
S12,10 output control signal of electric machine controller control motor 30 continue to keep normal work or out of service.
Further, judge that one of encoder failure of removal such as whether go offline specifically includes following step in step S10
Suddenly：
Step S101：Count the output umber of pulse of the encoder 10 installed in motor；
Step S102：Motor speed V1 is calculated according to 10 pulse of encoder.In the step, electricity can be calculated by the following formula
The current rotating speed of machine：V=DP/ (T*n*k), wherein T are the time in a sampling period, and DP in current sample period by collecting
Encoder output pulse change value, n is encoder line number, and k is Clock Multiplier Factor；
Step S103：Synchronization V1 and the actual speed V0 of 80 motor in real time 30 of detecting signal unit compare,
Speed difference：DV=V0-V1；
Step S104：Continuously the speed discrepancy in 3 cycles of sampling, deviation exceed certain scope, can determine whether the first coding
Device 41 gathers Signal Fail.
Step S10 can also use other methods, such as：The motor 30 that electric machine controller 10 is gathered the first encoder 41
Tach signal compared with the tach signal for the motor 30 that the first encoder of previous cycle 41 is gathered, if deviation exceed set
Definite value, then judge that the first encoder 41 fails；In this method, the contrast in continuous three cycles can also be carried out, to ensure to judge
Accurately.During using the method, rotation speed detection unit 80 can not also be used in the present embodiment, wants what is reached to reach the present invention
Technique effect.
Step S10 can also use other methods, such as：The motor 30 that electric machine controller 10 is gathered the first encoder 41
Angular acceleration signal compared with the angular acceleration signal for the motor 30 that the first encoder of previous cycle 41 is gathered, if partially
Difference exceedes setting value, then judges that the first encoder 41 fails；In this method, the contrast in continuous three cycles can also be carried out, with
Ensure accuracy of judgement.During using the method, rotation speed detection unit 80 can not also be used in the present embodiment, is thought with reaching the present invention
The technique effect to be reached.
Second of working method：First encoder 41 and second encoder 42 are in running order at the same time.The side of work herein
In formula, electric machine controller 10 gathers the parameter of electric machine that the first encoder 41 and second encoder 42 are detected at the same time, and by first
The parameter of electric machine that encoder 41 and second encoder 42 are detected simultaneously participates in the control to motor 30, below to this working method
Operation principle elaborate：In electric automobile during traveling, letter that the first decoder 51 is collected the first encoder 41
The tach signal of motor 30 number is converted to, is sent to electric machine controller 10, meanwhile, the second decoder 52 is also by second encoder 42
The tach signal that the signal collected is converted to motor 30 is sent to electric machine controller 10, meanwhile, rotation speed detection unit 80
The tach signal of synchronous acquisition electric motor units 30, and sending in real time to electric machine controller 10, electric machine controller 10 in real time relatively the
Tach signal detected by one encoder 41, second encoder 42, if the rotating speed ginseng that encoder 41 and encoder 42 are gathered
Number is basically identical, then electric machine controller 10 calculates both rotating speed averages, and the control of motor 30 is participated in using the rotating speed average, and
Send to display device 90, meanwhile, the tach signal that controller 10 is also gathered the first encoder 41 and second encoder 42
Respectively compared with the tach signal detected by rotation speed detection unit 80, if the tach signal that the first encoder 41 is gathered
And the tach signal deviation detected by rotation speed detection unit 80 exceedes setting value, then judge that the first encoder 41 fails, motor
Controller 10 sends signal, stops using the parameter that the first encoder 41 is gathered to participate in control, meanwhile, meeting in display device 90
Display alarm information, similarly, if the rotating speed that second encoder 42 is gathered is believed with the rotating speed detected by rotation speed detection unit 80
Number deviation exceedes setting value, then judges that second encoder 42 fails, electric machine controller 10 sends signal, stops using the second coding
The parameter that device 42 is gathered participates in control.
Specifically, in this working method, the control method of motor Dual-encoder control system comprises the following steps：
S20, the first encoder 41 are worked at the same time with second encoder 42, and electric machine controller 10 is to the first encoder 41 and
The rotating speed of motor 30 measured by two encoders 42 carries out detection contrast in real time, judges whether one of encoder falls
The failure of removal such as line.
S21, if it is determined that one of encoder fails, then electric machine controller 10 sends signal and stops using trouble coder
The parameter gathered participates in control.
S22,10 output control signal of electric machine controller control motor 30 continue to keep normal work or out of service.
Further, judge whether one of encoder (this sentences the first encoder 41 and illustrates) goes offline in step S20
Following steps are specifically included Deng failure of removal：
Step S201：Count the output umber of pulse of the first encoder 41 installed in motor；
Step S202：The pulse exported according to the first encoder 41 calculates motor speed V1.In the step, can by with
Lower formula calculates the current rotating speed of motor：V=DP/ (T*n*k), wherein T are the time in a sampling period, and DP is present sample week
Interim collected encoder output pulse change value, n is encoder line number, and k is Clock Multiplier Factor；
Step S203：Synchronization V1 and the actual speed V0 of 80 motor in real time 30 of rotation speed detection unit compare,
Speed difference：DV=V0-V1；
Step S204：Continuously the speed discrepancy in 3 cycles of sampling, deviation exceed certain scope, can determine whether the first coding
Device 41 gathers Signal Fail.
Step S20 can also use other methods, such as：The motor 30 that electric machine controller 10 is gathered the first encoder 41
Tach signal respectively compared with the tach signal for the motor 30 that the first encoder of previous cycle 41 is gathered, if deviation surpasses
Setting value is crossed, then judges that the first encoder 41 fails；In this method, the contrast in continuous three cycles can also be carried out, to ensure
Accuracy of judgement.During using the method, rotation speed detection unit 80 can not also be used in the present embodiment, wants to reach to reach the present invention
The technique effect arrived.
Step S20 can also use other methods, such as：The motor 30 that electric machine controller 10 is gathered the first encoder 41
Angular acceleration signal compared with the angular acceleration signal for the motor 30 that the first encoder of previous cycle 41 is gathered, if partially
Difference exceedes setting value, then judges that the first encoder 41 fails；In this method, the contrast in continuous three cycles can also be carried out, with
Ensure accuracy of judgement.During using the method, rotation speed detection unit 80 can not also be used in the present embodiment, is thought with reaching the present invention
The technique effect to be reached.
Fig. 2 is the system block diagram of second of embodiment of the invention, is compiled as shown in Fig. 2, the present embodiment motor in electric automobile is double
Code device control system includes：Electric machine controller 10, three-phase inverter 20, motor 30, the first encoder 41, second encoder 42,
3rd decoder 53, switching device 60, rotation speed detection unit 80 and display 90, wherein, electric machine controller 10 passes through three-phase
Inverter 20 controls the startup of motor 30, stops and 70 running state of motor is carried out according to the operating parameter of motor 70
Adjustment；First encoder 41 and second encoder 42 are separately fixed on motor 70, are capable of the Angle Position of measurement motor 30, angle adds
The operating parameters such as speed, rotating speed and displacement, the first encoder 41 and second encoder 42 are connected respectively at switching device 60, cut
Changing device 60 is also connected with 10 and the 3rd decoder 53 of electric machine controller respectively, can receive the control instruction of electric machine controller 10,
It is switched to the first encoder 41 in real time and the 3rd decoder 53 is connected, 42 and the 3rd decoder 53 of second encoder disconnects and first
41 and the 3rd decoder 53 of encoder disconnects, 42 and the 3rd decoder 53 of second encoder connects two kinds of working statuses, the 3rd solution
Code device 53 is connected with electric machine controller 10, is responsible for the parameter that the first encoder 41 or second encoder 42 are exported being decoded as electricity
The parameters such as Angle Position, angular acceleration, rotating speed and the displacement of machine 30 simultaneously send above-mentioned parameter to electric machine controller 10；Rotating speed measring
Unit 80 is installed on motor 30, can monitor the rotating speed of motor 30 in real time, and tach signal is sent to electric machine controller 10,
Display 90 is connected with electric machine controller 10, the tach signal of motor 30 can be obtained from electric machine controller 10, and show.
The operation principle of the present embodiment is：In electric automobile during traveling, switching device 60 is only also turned on an encoder
With the connection of the 3rd decoder 53, it is connected below with the first encoder 41 with the 3rd decoder 53, second encoder 42 and the 3rd
Decoder 53 elaborates exemplified by disconnecting：The signal that first encoder 41 is collected is converted to motor by the 3rd decoder 53
30 tach signal, sends to electric machine controller 10, meanwhile, the rotating speed of the also synchronous acquisition electric motor units 30 of rotation speed detection unit 80
Signal, and send in real time to electric machine controller 10, electric machine controller 10 and compare the first encoder 41 and rotation speed detection unit in real time
Tach signal detected by 80, if the deviation of two tach signals exceedes setting value, judges that the first encoder 41 fails, together
When, in display device 90 can display alarm information, at this time motor control unit 10 send control instruction to switching device 60, switching
After device 60 receives control instruction, switching action is made, the connection of the first encoder 41 and the 3rd decoder 53 is disconnected, and
42 and the 3rd decoder 53 of second encoder is connected, switching at this time is completed.
Specifically, in the present embodiment, the control method of motor dual coding system comprises the following steps：
S30, the first encoder 41 work, and second encoder 42 is spare, the second encoder 42 in stand-by state, can be with
Detection state is off, in the present embodiment, the second encoder 42 in stand-by state still detects the parameter of electric machine, switching in real time
Device is off second encoder 42 and the connection of the 3rd decoder 53, makes the first encoder 41 and the 3rd decoder
In an ON state, electric machine controller 10 judges whether the first encoder 41 occurs failure of removal for 53 connection；
S31, if it is determined that failure of removal occurs for the first encoder 41, electric machine controller 10 sends control instruction to switching device
60, after switching device 60 receives control instruction, switching action is made, by the connection of the first encoder 41 and the 3rd decoder 53
Disconnect, and connect 42 and the 3rd decoder 53 of second encoder at the same time, electric machine controller 10 uses 42 institute of the second decoder at this time
The parameter of collection is controlled；
S32,10 output control signal of electric machine controller control motor 30 continue to keep normal work or out of service.
Further, electric machine controller 10 judges that the first encoder 41 failure of removal such as whether go offline is specific in step S30
Comprise the following steps：
Step S301：First encoder, 41 motor in real time angular position theta1；
Step S302：Calculate angular acceleration1, in the step, the following formula can be passed through and calculate motor current angular：α
=(θ1-θ0)/Δt2, wherein Δ t is the time in sampling period, θ1Rotated for the motor that encoder gathers within the Δ t times
Relative position angle, θ0The relative position angle rotated for the motor that its previous moment gathers within the Δ t times, by α=Δ
ω/Δ t, ω=Δ θ/Δ t, Δ θ=θ1-θ0, therefore α=Δ θ/Δ t2=(θ1-θ0)/Δt2；
Step S303：Calculate angular acceleration difference Δ α=α1-α0, wherein α1Accelerate for the motor angle that encoder gathers in real time
Degree, α0For the angular acceleration of motor in a upper collection period；
Step S304：Continuously the angular acceleration in 3 cycles of sampling is poor, and deviation exceeds certain scope, can determine whether first
Encoder 41 gathers Signal Fail.
According to above step S301-S304, then rotation speed detection unit 80 can not also be used in the present embodiment, with regard to that can reach
The technique effect for wanting to reach to the present invention.
Step S30 can also use other methods, such as：The motor 30 that electric machine controller 10 is gathered the first encoder 41
Tach signal compared with the tach signal for the motor 30 that the first encoder of previous cycle 41 is gathered, if deviation exceed set
Definite value, then judge that the first encoder 41 fails；In this method, the contrast in continuous three cycles can also be carried out, to ensure to judge
Accurately.During using the method, rotation speed detection unit 80 can not also be used in the present embodiment, wants what is reached to reach the present invention
Technique effect.
Step S30 can also use other methods, the motor 30 for being gathered the first encoder 41 such as electric machine controller 10
Tach signal compared with the tach signal that rotation speed detection unit 80 gathers in real time, if deviation exceedes setting value, this sentences
Fixed first encoder 41 fails, and in this method, the contrast in continuous three cycles can also be carried out, to ensure accuracy of judgement.
The present invention also provides a kind of electric automobile, electric automobile of the present invention uses above-mentioned motor in electric automobile Dual-encoder control
System processed, and when using above-mentioned control method, can make electric automobile that encoder failure etc. occur during running at high speed
During failure, the switching of quick unperturbed is carried out, uncontrollable failure caused by the failures such as single encoder failure is converted into controllable
Failure, effectively avoid that motor is out of control, vehicle enters emergency braking and motor locking phenomenon, this hair run at high speed can be made
The traveling of bright electric automobile safety and steady, avoids the generation of accident.
The invention is not limited in the above embodiment, and in of the invention, encoder can use photoelectric encoder, magnetic to encode
Device or rotary transformer, if the various changes or deformation to the present invention do not depart from the spirit and scope of the present invention, if these
Change and deformation belong to the present invention claim and equivalent technologies within the scope of, then the present invention be also intended to comprising these change and
Deformation.
Claims (13)
- A kind of 1. motor in electric automobile Dual-encoder control system, it is characterised in that：Including electric motor units, motor control unit, Cell encoder, decoder element；The cell encoder includes the first encoder and second encoder, and the first encoder and second encoder are separately fixed at On the electric motor units, rotated synchronously with the electric motor units, first encoder and second encoder are described for gathering The operating parameter of electric motor units；The decoder element is connected with the cell encoder and the motor control unit respectively, and the decoder element is used Decode and send in the operating parameter for the electric motor units for being collected first encoder and the second encoder To the motor control unit；The motor control unit connects the electric motor units, for controlling the electricity according to the operating parameter of the electric motor units Machine unit.
- 2. motor in electric automobile Dual-encoder control system as claimed in claim 1, it is characterised in that：The motor control unit is by the parameter measured by first encoder or second encoder with corresponding with reference to parameter Contrast, if deviation exceedes setting value, stops using deviation more than the electric motor units that the encoder of setting value is gathered Operating parameter participates in the control to the electric motor units.
- 3. motor in electric automobile Dual-encoder control system as claimed in claim 1, it is characterised in that：The decoder element includes the first decoder and the second decoder, first decoder and first encoder and The motor control unit connection, the parameter that first decoder is used to be collected first encoder decode concurrent Send to the motor control unit；Second decoder is connected with the second encoder and the motor control unit, institute The second decoder is stated to be used to concurrently send the parameter decoding that the second encoder is collected to the motor control unit.
- 4. motor in electric automobile Dual-encoder control system as claimed in claim 1, it is characterised in that：The decoder element Including the 3rd decoder and switching device, the 3rd decoder is connected with the motor control unit, the switching device point It is not connected with first encoder, the second encoder, the 3rd decoder and the motor control unit, it is described to cut Changing device receives the instruction of the motor control unit, switches first encoder and is connected with the 3rd decoder, or institute Second encoder is stated to connect with the 3rd decoder.
- 5. the motor in electric automobile Dual-encoder control system as described in Claims 1-4, it is characterised in that：Further include one Rotation speed detection unit, the rotation speed detection unit are connected with the motor control unit, described in the rotation speed detection unit detection Electric motor units rotating speed, and tach signal is sent to the motor control unit, the motor control unit is compiled described first The electric motor units rotating speed that code device or second encoder are gathered is contrasted with the rotating speed detected by the rotation speed detection unit, If deviation exceedes setting value, the operating parameter that the encoder of failure is gathered is stopped using to participate in the control to the electric motor units System.
- 6. the motor in electric automobile Dual-encoder control system as described in Claims 1-4, it is characterised in that：Further include one Display device, the display device are connected with the motor control unit, for showing the rotating speed of the electric motor units.
- A kind of 7. electric automobile, it is characterised in that：Including the electric automobile described in claim 1 to 6 any one claim Motor Dual-encoder control system.
- A kind of 8. control method of motor in electric automobile Dual-encoder control system as claimed in claim 1, it is characterised in that： Comprise the following steps：Step 1：The operation for the electric motor units that the motor control unit is gathered first encoder or second encoder Parameter, with reference to parameter comparison, if deviation exceedes setting value, performs step 2 with corresponding；Step 2：The motor control unit stops using deviation to exceed the operating parameter participation that the encoder of setting value is gathered Control to the electric motor units.
- A kind of 9. control method of motor in electric automobile Dual-encoder control system as claimed in claim 8, it is characterised in that：When first encoder is in running order, the second encoder is in stand-by state；When the described second coding When device is in running order, first encoder is in stand-by state；In step 2, when motor control unit stop using and to should refer to parameter compare deviation exceed setting value encoder The operating parameter that is gathered participates in the control to the electric motor units, and the motor control unit is by the coding in stand-by state Device switching is in working condition.
- 10. a kind of control method of motor in electric automobile Dual-encoder control system as claimed in claim 8, its feature exist In：When first encoder and the second encoder are in working status together, described in the motor control unit use The average value of the operating parameter gathered in first encoder and the second encoder participates in the control to the electric motor units.
- 11. a kind of control method of motor in electric automobile Dual-encoder control system as claimed in claim 8, its feature exist In：The decoder element includes the 3rd decoder and switching device, and the 3rd decoder connects with the motor control unit Connect, the switching device respectively with first encoder, the second encoder, the 3rd decoder and the motor control Unit connection processed；In step 2, the motor control unit stop using and to should refer to parameter compare deviation exceed setting value coding Operating parameter that device is gathered, which participates in the step of control to the electric motor units, to be included：Step 21：The motor control unit sends switching command to the switching device, controls the switching device switching logical Road, switching deviation are connected not less than the encoder of setting value with the 3rd decoder.
- A kind of 12. motor in electric automobile Dual-encoder control system as described in claim 8 to 11 any one claim Control method, it is characterised in that：In step 1, the reference parameter is first encoder or the electricity of second encoder previous moment collection The rotating speed or angular acceleration of machine unit.
- A kind of 13. motor in electric automobile Dual-encoder control system as described in claim 8 to 11 any one claim Control method, it is characterised in that the motor in electric automobile Dual-encoder control system further includes a rotation speed detection unit, The rotation speed detection unit is connected with the motor control unit, and the rotation speed detection unit detects the electric motor units rotating speed, And tach signal is sent to the motor control unit；In step 1, the electric motor units rotating speed detected in real time for the rotation speed detection unit with reference to parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711443417.5A CN108039838A (en) | 2017-12-27 | 2017-12-27 | Motor in electric automobile Dual-encoder control system and its control method, electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711443417.5A CN108039838A (en) | 2017-12-27 | 2017-12-27 | Motor in electric automobile Dual-encoder control system and its control method, electric automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108039838A true CN108039838A (en) | 2018-05-15 |
Family
ID=62097941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711443417.5A Pending CN108039838A (en) | 2017-12-27 | 2017-12-27 | Motor in electric automobile Dual-encoder control system and its control method, electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108039838A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108809195A (en) * | 2018-07-06 | 2018-11-13 | 珠海格力电器股份有限公司 | System and method for testing accuracy of motor feedback signal |
| CN109495051A (en) * | 2018-11-20 | 2019-03-19 | 陕西航空电气有限责任公司 | A kind of aviation starting motor position detection redundancy control method |
| CN109814406A (en) * | 2019-01-24 | 2019-05-28 | 成都戴瑞斯智控科技有限公司 | A kind of data processing method and decoder architecture of the automatically controlled analogue system of model trajectory |
| CN111770316A (en) * | 2020-07-22 | 2020-10-13 | 广州芯象科技有限公司 | Audio and video encoder |
| CN112896364A (en) * | 2021-02-08 | 2021-06-04 | 西安优艾智合机器人科技有限公司 | Driving device for automatic guided vehicle, automatic guided vehicle and robot |
| CN113551590A (en) * | 2021-06-02 | 2021-10-26 | 广州南方卫星导航仪器有限公司 | Motor rotation angle measuring device and method, storage medium and motor |
| CN113741350A (en) * | 2021-08-24 | 2021-12-03 | 珠海格力电器股份有限公司 | Servo control system and method based on double-encoder feedback and electric equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08205303A (en) * | 1995-01-20 | 1996-08-09 | Hitachi Ltd | Controller for electric vehicle |
| JPH08336299A (en) * | 1995-06-08 | 1996-12-17 | Hitachi Ltd | Controller and control method for electric vehicle |
| CN207968358U (en) * | 2017-12-27 | 2018-10-12 | 江门市地尔汉宇电器股份有限公司 | Motor in electric automobile Dual-encoder control system |
-
2017
- 2017-12-27 CN CN201711443417.5A patent/CN108039838A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08205303A (en) * | 1995-01-20 | 1996-08-09 | Hitachi Ltd | Controller for electric vehicle |
| JPH08336299A (en) * | 1995-06-08 | 1996-12-17 | Hitachi Ltd | Controller and control method for electric vehicle |
| CN207968358U (en) * | 2017-12-27 | 2018-10-12 | 江门市地尔汉宇电器股份有限公司 | Motor in electric automobile Dual-encoder control system |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108809195A (en) * | 2018-07-06 | 2018-11-13 | 珠海格力电器股份有限公司 | System and method for testing accuracy of motor feedback signal |
| CN109495051A (en) * | 2018-11-20 | 2019-03-19 | 陕西航空电气有限责任公司 | A kind of aviation starting motor position detection redundancy control method |
| CN109814406A (en) * | 2019-01-24 | 2019-05-28 | 成都戴瑞斯智控科技有限公司 | A kind of data processing method and decoder architecture of the automatically controlled analogue system of model trajectory |
| CN109814406B (en) * | 2019-01-24 | 2021-12-24 | 成都戴瑞斯智控科技有限公司 | Data processing method and decoder framework of track model electronic control simulation system |
| CN111770316A (en) * | 2020-07-22 | 2020-10-13 | 广州芯象科技有限公司 | Audio and video encoder |
| CN112896364A (en) * | 2021-02-08 | 2021-06-04 | 西安优艾智合机器人科技有限公司 | Driving device for automatic guided vehicle, automatic guided vehicle and robot |
| CN113551590A (en) * | 2021-06-02 | 2021-10-26 | 广州南方卫星导航仪器有限公司 | Motor rotation angle measuring device and method, storage medium and motor |
| CN113551590B (en) * | 2021-06-02 | 2024-04-09 | 广州南方卫星导航仪器有限公司 | Motor rotation angle measuring device and method, storage medium and motor |
| CN113741350A (en) * | 2021-08-24 | 2021-12-03 | 珠海格力电器股份有限公司 | Servo control system and method based on double-encoder feedback and electric equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108039838A (en) | Motor in electric automobile Dual-encoder control system and its control method, electric automobile | |
| CN207968358U (en) | Motor in electric automobile Dual-encoder control system | |
| CN112590921B (en) | Intelligent automobile redundant steer-by-wire device and control method thereof | |
| CN103299537B (en) | Controller for motor and electric power-assisted steering apparatus | |
| CN106740991B (en) | It is a kind of to multiply two four/six line turnout drive systems for taking two frameworks based on two | |
| CN102653368B (en) | Elevator system | |
| CN204340923U (en) | A kind of whole-control system and there is its vehicle | |
| CN108964561A (en) | A kind of control method of double three-phase machine drive system and double three-phase machine | |
| WO2015098451A1 (en) | Method for detecting abnormality in relay | |
| CN105508136A (en) | Variable pitch control device and method for wind generating set and variable pitch system | |
| KR20130137892A (en) | Method and apparauts for controlling steering force of motor driven power steering in fail case | |
| KR102413474B1 (en) | diagnostic device | |
| CN110370945A (en) | Based on pure electric vehicle automatic gear-box low speed with turning control system and its control method | |
| CN103071682B (en) | Control system for preventing abnormal head cutting of rod head and tail cutting shear | |
| CN110696622A (en) | Anti-interference PWM high-voltage interlocking signal detection and compensation control method for electric vehicle | |
| CN109656127A (en) | A kind of actuation redundancy design method suitable for electric forklift controller | |
| CN105398407A (en) | CAN bus fault monitoring and displaying system for vehicle-mounted controller | |
| CN104827932A (en) | Motor torque control method and motor torque control system of vehicle | |
| CN102408016B (en) | Tobacco shredding butting cabinet inlet state detecting method | |
| CN115535072A (en) | Double-source oil pump control method and system | |
| CN109399506A (en) | A kind of detection system, detection method and its processing method for intelligent forklift arm failure | |
| CN110329231B (en) | Control method of electric air compressor | |
| CN115453853A (en) | Unmanned aerial vehicle flight management system steering wheel troubleshooting system | |
| US10875555B2 (en) | Energy supply device for a switch machine and method for supplying energy to and controlling a switch machine | |
| CN114928299A (en) | Heterogeneous motor control device and method |
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 | ||
| CB02 | Change of applicant information |
Address after: 529000 No. 336 Qinglan Road, Jiangmen High-tech Development Zone, Guangdong Province Applicant after: Hanyu Group Co., Ltd. Address before: 529000 No. 336 Qinglan Road, Jiangmen High-tech Development Zone, Guangdong Province Applicant before: Jiangmen Idear-hanyu Electrical Joint-stock Co., Ltd. |
|
| CB02 | Change of applicant information |