CN108128211A - New-energy automobile and its Motor torque determine method, apparatus and motor - Google Patents
New-energy automobile and its Motor torque determine method, apparatus and motor Download PDFInfo
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- CN108128211A CN108128211A CN201611093580.9A CN201611093580A CN108128211A CN 108128211 A CN108128211 A CN 108128211A CN 201611093580 A CN201611093580 A CN 201611093580A CN 108128211 A CN108128211 A CN 108128211A
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- 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
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of new-energy automobile and its Motor torque determine method, apparatus and motor, the described method comprises the following steps：The motor speed of motor is obtained, the motor speed has direction and value；The direction of the motor speed is corrected by the way of Hysteresis control；The direction of the Motor torque is determined according to the direction in the direction of the power of motor of the motor and the motor speed；The value of the Motor torque is determined according to the value of the value of the power of motor and motor speed.The present invention program can be modified the direction of motor speed; when being fluctuated near zero to avoid motor speed; frequently variation occurs for the direction of Motor torque, and so as to more suitably determine the direction of Motor torque, driving safety is ensured while protection to motor.
Description
Technical field
The present invention relates to the power systems arts of new-energy automobile, are turned round more particularly to a kind of new-energy automobile and its motor
Square determines method, apparatus and motor.
Background technology
At present, the extensive concern that the new-energy automobile including pure electric automobile, hybrid vehicle obtains.Specific
It in, needs suitably to determine Motor torque, so that vehicle is defeated in the range of suitable Motor torque according to actual demand
Go out torque.
In the prior art, can according to the power of motor and motor speed of motor obtain Motor torque, such as by with
Lower calculation formula obtains：
T=9550*P/N；
Wherein, for T for representing Motor torque, unit is ox rice (NM)；Specifically, as a vector, Motor torque packet
Include the value of Motor torque and the direction of Motor torque.
For P for representing power of motor, unit is kilowatt (KW)；Specifically, power of motor includes the value and electricity of power of motor
The direction of acc power, the direction of the power of motor can be in driving condition based on motor or be sentenced in charged state
Disconnected, when motor is in driving condition, the direction of power of motor is forward direction, when motor is in charged state, power of motor
Direction is negative sense.
For N for representing motor speed, unit is rev/min (rpm)；Specifically, the value of motor speed including motor speed and
The direction of motor speed, the direction of the motor speed can the wheel based on new-energy automobile rotated to vehicle front or backward
Side's rotation is judged, when wheel rotates forwards, the direction of motor speed is forward direction, when wheel rearward rotates, electricity
The direction of machine rotating speed is negative sense.
But when motor speed fluctuates near zero, the direction of motor speed can be with fluctuation between positively and negatively
Variation, the direction of Motor torque can change with the direction change of motor speed, and the frequent variation in the direction of Motor torque is not
Motor can be only damaged, will also cause driving dangerousness when serious.By taking vehicle is in driving condition as an example, when the direction of power of motor is
When positive, if during vehicle climbing, motor speed is down to zero, and due to effect of inertia and gravity, wheel is possible to
It is slight to reverse, the direction of motor speed is caused to become negative sense, corresponding according to power of motor, motor speed and Motor torque is closed
System, the direction of Motor torque will become negative sense therewith, lead to vehicle rollback so as to export astern torque, cause rear end collision.Such as
Fruit is during vehicle backing, and due to effect of inertia or gravity, wheel may be rotated forward slightly forward, cause motor speed
Direction become positive, the direction of Motor torque will become positive therewith, just sail torque so as to export and lead to vehicle preshoot, cause
Risk of collision.
Invention content
The technical problem to be solved by the present invention is to provide a kind of new-energy automobiles and its Motor torque to determine method, apparatus and electricity
Machine can be modified the direction of motor speed, when being fluctuated near zero to avoid motor speed, the direction of Motor torque
Frequently variation occurs, so as to more suitably determine the direction of Motor torque, driving safety is ensured while protection to motor.
In order to solve the above technical problems, the embodiment of the present invention, which provides a kind of Motor torque of new-energy automobile, determines method,
Include the following steps：The motor speed of motor is obtained, the motor speed has direction and value；It is repaiied by the way of Hysteresis control
The direction of just described motor speed before the motor speed rises to stagnant ring rotating speed upper limit value, judges the motor speed
Direction is negative sense, wherein, the stagnant ring rotating speed upper limit value is more than 0；Before the motor speed is down to stagnant ring lower rotation speed limit value,
The direction of the motor speed is judged for forward direction, wherein, the stagnant ring lower rotation speed limit value is less than 0；According to the motor of the motor
The direction of power and the direction of the motor speed determine the direction of the Motor torque；According to the value and electricity of the power of motor
The value of machine rotating speed determines the value of the Motor torque.
Optionally, determine that the motor is turned round according to the direction in the direction of the power of motor of the motor and the motor speed
The direction of square includes：If the direction of the power of motor is identical with the direction of the motor speed, it is determined that the motor is turned round
The direction of square is forward direction；If the direction of the power of motor is different from the direction of the motor speed, it is determined that the motor
The direction of the torque is negative sense.
Optionally, the value for determining the Motor torque according to the value of the value of the power of motor and motor speed includes：Root
The original value of the Motor torque is determined according to the value of the power of motor and the value of motor speed；According to power of motor state, look into
Preset power limit table is looked for determine that the first motor limits torque, the power limit table is used to indicate the first motor limit
Torque processed and the correspondence of the power of motor state；It is turned round in the absolute value of first motor limitation torque with the motor
In the original value of square, using value of the smaller value as the Motor torque.
Optionally, the motor is coupled with battery, the power of motor state include the power of motor, battery capacity and
Busbar voltage；Wherein, the absolute value of the power of motor is bigger, and the absolute value of the first motor limitation torque is bigger；It is described
The absolute value of battery capacity is bigger, and the absolute value of the first motor limitation torque is bigger；When the power of motor is positive
When, the busbar voltage is lower, and the absolute value of the first motor limitation torque is smaller；When the power of motor is negative power
When, the busbar voltage is higher, and the absolute value of the first motor limitation torque is smaller.
Optionally, the value for determining the Motor torque according to the value of the value of the power of motor and motor speed includes：Root
The original value of the Motor torque is determined according to the value of the power of motor and the value of motor speed；According to motor temperature state, look into
Preset temperature limiting table is looked for determine that the second motor limits torque, the temperature limiting table is used to indicate the second motor limit
Torque processed and the correspondence of the motor temperature state；It is turned round in the absolute value of second motor limitation torque with the motor
In the original value of square, using value of the smaller value as the Motor torque.
Optionally, the motor temperature state includes three-phase inverter temperature, motor stator temperature and cooling water temperature；Its
In, the three-phase inverter temperature is higher, and the absolute value of the second motor limitation torque is smaller；The motor stator temperature is got over
Height, the absolute value of the second motor limitation torque are smaller；The cooling water temperature is higher, the second motor limitation torque
Absolute value is smaller.
Optionally, the value for determining the Motor torque according to the value of the value of the power of motor and motor speed includes：Root
The original value of the Motor torque is determined according to the value of the power of motor and the value of motor speed；According to the event of preset limping pattern
Hinder rank, determine that third motor limits torque；In the original of the absolute value and the Motor torque of third motor limitation torque
In initial value, using value of the smaller value as the Motor torque.
Optionally, the limping mode fault rank is higher, and the absolute value of the third motor limitation torque is smaller.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of Motor torque determining device of new-energy automobile,
Including：Acquisition module, suitable for obtaining the motor speed of motor, the motor speed has direction and value；Rotary speed direction corrects mould
Block suitable for being corrected the direction of the motor speed by the way of Hysteresis control, is risen in the motor speed on stagnant ring rotating speed
Before limit value, the direction of the motor speed is judged for negative sense, wherein, the stagnant ring rotating speed upper limit value is more than 0；In the motor
Rotating speed is down to before stagnant ring lower rotation speed limit value, judges the direction of the motor speed for forward direction, wherein, the stagnant ring lower rotation speed limit
Value is less than 0；Torque direction determining module, suitable for the direction of the power of motor according to the motor and the direction of the motor speed
Determine the direction of the Motor torque；Torque value determining module, suitable for the value and the value of motor speed according to the power of motor
Determine the value of the Motor torque.
Optionally, the torque direction determining module includes：Positive determination sub-module, suitable for working as the side of the power of motor
To it is identical with the direction of the motor speed when, determine the direction of the Motor torque for forward direction；Negative sense determination sub-module, is suitable for
When the direction difference of the direction of the power of motor and the motor speed, the direction for determining the Motor torque is negative sense.
Optionally, the torque value determining module includes：First determination sub-module, suitable for the value according to the power of motor
The original value of the Motor torque is determined with the value of motor speed；First searches submodule, suitable for according to power of motor state, looking into
Preset power limit table is looked for determine that the first motor limits torque, the power limit table is used to indicate the first motor limit
Torque processed and the correspondence of the power of motor state；First choice submodule, suitable for limiting torque in first motor
Absolute value and the Motor torque original value in, using value of the smaller value as the Motor torque.
Optionally, the motor is coupled with battery, the power of motor state include the power of motor, battery capacity and
Busbar voltage；Wherein, the absolute value of the power of motor is bigger, and the absolute value of the first motor limitation torque is bigger；It is described
The absolute value of battery capacity is bigger, and the absolute value of the first motor limitation torque is bigger；When the direction of the power of motor is
When positive, the busbar voltage is lower, and the absolute value of the first motor limitation torque is smaller；When the direction of the power of motor
During for negative sense, the busbar voltage is higher, and the absolute value of the first motor limitation torque is smaller.
Optionally, the torque value determining module includes：Second determination sub-module, suitable for the value according to the power of motor
The original value of the Motor torque is determined with the value of motor speed；Second searches submodule, suitable for according to motor temperature state, looking into
Preset temperature limiting table is looked for determine that the second motor limits torque, the temperature limiting table is used to indicate the second motor limit
Torque processed and the correspondence of the motor temperature state；Second selection submodule, suitable for limiting torque in second motor
Absolute value and the Motor torque original value in, using value of the smaller value as the Motor torque.
Optionally, the motor temperature state includes three-phase inverter temperature, motor stator temperature and cooling water temperature；Its
In, the three-phase inverter temperature is higher, and the absolute value of the second motor limitation torque is smaller；The motor stator temperature is got over
Height, the absolute value of the second motor limitation torque are smaller；The cooling water temperature is higher, the second motor limitation torque
Absolute value is smaller.
Optionally, the torque value determining module includes：Third determination sub-module, suitable for the value according to the power of motor
The original value of the Motor torque is determined with the value of motor speed；Third searches submodule, suitable for according to preset limping pattern
Failure rank determines that third motor limits torque；Third selects submodule, suitable in the absolute of third motor limitation torque
In the original value of value and the Motor torque, using value of the smaller value as the Motor torque.
Optionally, the limping mode fault rank is higher, and the absolute value of the third motor limitation torque is smaller.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of motor of new-energy automobile, the motor includes
The Motor torque determining device of above-mentioned new-energy automobile.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of new-energy automobile, the new-energy automobile includes
The motor of above-mentioned new-energy automobile.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that：
The embodiment of the present invention can be modified the direction of motor speed by way of Hysteresis control, in motor speed
Zero passage switches to forward direction and rises to before the stagnant ring rotating speed upper limit, still judges that the direction of motor speed remains negative sense, in motor
Rotating speed zero passage switches to negative sense and is down to before stagnant ring lower rotation speed limit, still judges that the direction of motor speed remains forward direction, from
And when avoiding the motor speed from being fluctuated near zero, frequently variation occurs for the direction of Motor torque, compared with prior art, can be with
It more suitably determines the direction of Motor torque, driving safety is ensured while protection to motor.
Further, predetermined power limitation table works as limits value to determine the limits value of Motor torque according to power of motor state
During with the original value difference of Motor torque, using value of the absolute value smaller value as the Motor torque, so that after determining
The value of Motor torque meets the requirement of power of motor state limit.
Further, preset temperature limitation table works as limits value to determine the limits value of Motor torque according to motor temperature state
During with the original value difference of Motor torque, using value of the absolute value smaller value as the Motor torque, so that after determining
The value of Motor torque meets the requirement of motor temperature state limit.
Further, according to preset limping mode fault rank, the limits value of Motor torque is determined, when limits value and motor
During the original value difference of torque, using value of the smaller value of absolute value as the Motor torque, so that the motor after determining is turned round
The value of square meets the requirement of limping mode fault rank limitation.
Description of the drawings
Fig. 1 is that a kind of Motor torque of new-energy automobile in the embodiment of the present invention determines the flow chart of method；
Fig. 2 is a kind of four-quadrant diagram of the motor work of new-energy automobile in the embodiment of the present invention；
Fig. 3 is that the Motor torque of another new-energy automobile in the embodiment of the present invention determines the flow chart of method；
Fig. 4 is a kind of structure diagram of the Motor torque determining device of new-energy automobile in the embodiment of the present invention；
Fig. 5 is a kind of structure diagram of torque value determining module in the embodiment of the present invention.
Specific embodiment
As previously mentioned, in the concrete application of the new-energy automobile including pure electric automobile, hybrid vehicle, need
Suitably to determine Motor torque so that vehicle according to actual demand the output torque in the range of suitable Motor torque.But
It is that in the prior art, when motor speed fluctuates near zero, the direction of Motor torque can become with the direction of motor speed
Change and change, and the frequent variation in the direction of Motor torque can not only damage motor, will also cause driving dangerousness when serious.
The present inventor passes through the study found that the key of the above problem is fluctuation of the motor speed near zero leads
It is excessively sensitive to send a telegraph the variation of machine the direction of the torque, does not buffer leeway.Specifically, once the direction of motor speed changes
Become, just to sail state or state of rolling backward, the direction of Motor torque will change correspondingly the transport condition of current vehicle immediately.
The embodiment of the present invention can be modified the direction of motor speed by way of Hysteresis control, in motor speed
Zero passage switches to forward direction and rises to before the stagnant ring rotating speed upper limit, still judges that the direction of motor speed remains negative sense, in motor
Rotating speed zero passage switches to negative sense and is down to before stagnant ring lower rotation speed limit, still judges that the direction of motor speed remains forward direction, from
And when avoiding the motor speed from being fluctuated near zero, frequently variation occurs for the direction of Motor torque, compared with prior art, can be with
It more suitably determines the direction of Motor torque, driving safety is ensured while protection to motor.
It is understandable for above-mentioned purpose, feature and advantageous effect of the invention is enable to become apparent, below in conjunction with the accompanying drawings to this
The specific embodiment of invention is described in detail.
With reference to Fig. 1, Fig. 1 is that a kind of Motor torque of new-energy automobile in the embodiment of the present invention determines the flow of method
Figure.The Motor torque determines that method can include step S101 to step S104.
Step S101：The motor speed of motor is obtained, the motor speed has direction and value.
Step S102：The direction of the motor speed is corrected by the way of Hysteresis control, is risen in the motor speed
Before stagnant ring rotating speed upper limit value, the direction of the motor speed is judged for negative sense, wherein, the stagnant ring rotating speed upper limit value is more than 0；
Before the motor speed is down to stagnant ring lower rotation speed limit value, the direction of the motor speed is judged for forward direction, wherein, it is described stagnant
Ring lower rotation speed limit value is less than 0.
Step S103：The motor is determined according to the direction in the direction of the power of motor of the motor and the motor speed
The direction of the torque.
Step S104：The value of the Motor torque is determined according to the value of the value of the power of motor and motor speed.
In the specific implementation of step S101, for motor speed as a vector, the motor speed got includes motor
The direction of rotating speed and the value of motor speed.Wherein, the direction of motor speed is the actual rotation direction of motor before amendment, is
Physical result；And then may be different from actual rotation direction after correcting, it is logic judgment result.
Further, the direction of the motor speed of the motor and value can pass through Vehicle Controller local area network
(Controller Area Network, CAN) is got in the form of vehicle body CAN signal, and the embodiment of the present invention is to obtaining motor
The mode of rotating speed is not construed as limiting.
In the specific implementation of step S102, the direction of motor speed is modified by way of Hysteresis control,
Motor speed zero passage switches to forward direction and rises to before the stagnant ring rotating speed upper limit, still judge motor speed direction remain it is negative
To, before motor speed zero passage switches to negative sense and is down to stagnant ring lower rotation speed limit, still judge motor speed direction keep
For forward direction.So as to when motor speed fluctuates near zero, the frequent variation in the direction of motor speed be ignored by amendment, is had
Effect increases the stability of motor control, improves the safety of vehicle.
Specific stagnant ring rotating speed upper limit value and stagnant ring lower rotation speed limit value can be set according to actual conditions.It can manage
Solution if the setting of the absolute value of the stagnant ring rotating speed upper limit value and stagnant ring lower rotation speed limit value is too small, will be unable to avoid
The problem of direction of motor speed frequently changes, however it remains driving dangerousness；If the stagnant ring rotating speed upper limit value and stagnant ring
The absolute value of lower rotation speed limit value is set excessive, it is possible to need to judge motor speed according to the travel direction of current vehicle
During direction, cause to judge failure and influence normal driving.It, can will be on the stagnant ring rotating speed as a unrestricted example
Limit value is set as 100rpm and the stagnant ring lower rotation speed limit value is set as -100rpm.
In the specific implementation of step S103, the direction of the power of motor of the motor, the direction of motor speed and motor
The direction of the torque has correspondence, true so as to the direction of the power of motor according to the motor and the direction of motor speed
Determine the direction of Motor torque.
Fig. 2 is a kind of four-quadrant diagram of the motor work of new-energy automobile in the embodiment of the present invention.As shown in the figure, quadrant
I shows that vehicle is in forward travel state, and the motor is in forward drive state, and specifically, the direction of motor speed is just
To the direction of, Motor torque be positive, power of motor direction it is positive.Quadrant II shows that vehicle is in reversing braking state,
The motor is in negative sense generating state, specifically, the direction of motor speed be negative sense, Motor torque direction be positive, electricity
The direction of acc power is negative sense.Quadrant III shows that vehicle is in reverse travel state, and the motor is in negative sense driving condition,
Specifically, the direction of motor speed be negative sense, Motor torque direction be negative sense, power of motor direction be positive.Quadrant IV
Show that vehicle is in positive braking state, the motor is in positive generating state, and specifically, the direction of motor speed is just
To the direction of, Motor torque be negative sense, power of motor direction be negative sense.
In another specific embodiment, quadrant II and quadrant IV can also be exchanged, form another motor work
Four-quadrant diagram, i.e. quadrant II shows that vehicle is in positive braking state, and the motor is in positive generating state, and quadrant IV
Show that vehicle is in reversing braking state, the motor is in negative sense generating state.The present invention is without limitation.
Specifically, determine that the motor is turned round according to the direction in the direction of the power of motor of the motor and the motor speed
The direction of square can divide into two categories below：
Corresponding to quadrant I and quadrant III, if the direction of the power of motor is identical with the direction of the motor speed,
The direction for then determining the Motor torque is forward direction.
Corresponding to quadrant II and quadrant IV, if the direction of the power of motor is different from the direction of the motor speed,
The direction for then determining the Motor torque is negative sense.
It, can be according to the value of power of motor and the value of motor speed, using normal in Fig. 1 in the specific implementation of step S104
The calculation formula of rule obtains the value of Motor torque by calculating.
Using the embodiment of the present invention, the direction of motor speed can be modified by way of Hysteresis control, in electricity
Machine rotating speed zero passage switches to forward direction and rises to before the stagnant ring rotating speed upper limit, still judges that the direction of motor speed remains negative sense,
Before motor speed zero passage switches to negative sense and is down to stagnant ring lower rotation speed limit, still judge that the direction of motor speed remains just
To during so as to which motor speed being avoided to be fluctuated near zero, frequently variation occurs for the direction of Motor torque, with prior art phase
Than can more suitably determine the direction of Motor torque, driving safety is ensured while protection to motor.
As the improvement of the embodiment of the present invention, the technical issues of embodiment of the present invention further solves, is to provide accurate electricity
The value of machine torque.
Specifically, the value by calculating the Motor torque obtained, compared with the value of real available Motor torque, having can
There can be a certain distance.This is because in practical applications, the value of available Motor torque can be joined by many current drivings
Several limitations, for example, available motor power is insufficient or motor temperature is excessively high limitation and if vehicle be in limping pattern former
In barrier, also limited by limping mode fault rank.If motor is controlled using the value for calculating the Motor torque obtained
System, will be not accurate enough.
With reference to Fig. 3, Fig. 3 is that the Motor torque of another new-energy automobile in the embodiment of the present invention determines the flow of method
Figure.The method may include step S301 to step S316.
Step S301：The motor speed of motor is obtained, the motor speed has direction and value.
Step S302：The direction of the motor speed is corrected by the way of Hysteresis control.
Step S303：The direction of Motor torque is determined according to the direction in the direction of the power of motor of motor and motor speed.
Step S304：The first original of the Motor torque is determined according to the value of the value of the power of motor and motor speed
Value.
Other descriptions in relation to step S301 to step S304 please refer to step S101 the retouching to step S104 in Fig. 1
It states and is performed, details are not described herein again.
Step S305：Preset power limit table is searched to determine that the first motor limits torque.
In specific implementation, can preset power limit table be searched to determine the first motor according to power of motor state
Limit torque.
Wherein, power limit table is used to indicate the first motor limitation torque pass corresponding with the power of motor state
System.Specifically, can the first detailed motor be obtained by real vehicle scaling method according to calibration software and limits torque and motor work(
The correspondence of rate, battery capacity and busbar voltage.
Further, the absolute value of the power of motor is bigger, and the absolute value of the first motor limitation torque is bigger.Tool
For body, power of motor is for characterizing motor work done within the unit interval, and power of motor is bigger, the limitation to Motor torque
It is fewer, you can Motor torque is bigger.
Similarly, the absolute value of the battery capacity is bigger, and the absolute value of the first motor limitation torque is bigger.Specifically
Ground, battery (also referred to as battery pack) are coupled with motor, and under motor driving condition, battery provides electricity for motor, is sent out in motor
Under electricity condition, motor charges for battery.Further, battery capacity can also claim for representing currently available battery capacity
Remaining capacity for battery.Battery capacity is more, fewer to the limitation of Motor torque, you can Motor torque is bigger.
It is possible to further detect the real time electrical quantity of battery by the sensor in battery management system, and then to motor
Torque carries out design of Reducing Rating (derating), to protect battery.The embodiment of the present invention is not limited specific detection mode.
When the power of motor is positive, the busbar voltage is lower, and first motor limits the absolute of torque
It is worth smaller；When the power of motor is negative power, the busbar voltage is higher, the absolute value of the first motor limitation torque
It is smaller.
Wherein, busbar voltage is usually total wire voltage that battery provides electric energy, can be by the electricity in battery management system
Pressure sensor measures, and then is obtained by CAN network.
It is possible to further pair of isolated-phase buses voltage and torque under motor driving condition and electric power generation state respectively
It should be related to：
When the power of motor is positive namely corresponding to quadrant I and quadrant III, the motor is in driving shape
Under state, busbar voltage is lower, i.e. total wire voltage of battery is lower, shows to can be used for the ability of driving vehicle lower, to motor
The limitation of torque is bigger, you can Motor torque is smaller.
In one particularly preferred embodiment, the first motor can be set only when the absolute value of busbar voltage is relatively low
Torque is limited, and when the absolute value of busbar voltage is higher, Motor torque is not limited.
Similarly, when the power of motor is negative power namely corresponding to quadrant II and quadrant IV, the motor is in hair
It is charged the battery under electricity condition, busbar voltage is lower, i.e. total wire voltage of battery is lower, shows the electricity of the battery
Insufficient, charge requirement is higher, larger Motor torque should be used to realize fully charged, you can Motor torque is got over
Greatly；Accordingly, busbar voltage is higher, shows that the electricity of the battery is more sufficient, and charge requirement is relatively low, at this time using larger electricity
Machine torque is instead it is possible that damage battery, therefore available Motor torque is smaller.
In one particularly preferred embodiment, the first motor can be set only when the absolute value of busbar voltage is higher
Torque is limited, and when the absolute value of busbar voltage is relatively low, Motor torque is not limited.
It is understood that due to parameter (such as power of motor, the battery capacity that can be set in real vehicle scaling method
And busbar voltage) and corresponding the first motor limitation torque for obtaining all be limited, can be with for data portion not after tested
It is obtained using interpolation method, so as to obtain complete correspondence.Specifically, interpolation method is also known as " interpolation method ", letter can be utilized
If number f (x) known functional values done in certain section, make specific function, with this specific letter on other aspects in section
Approximation of several values as function f (x), so as to obtain the computational methods of unknown numerical value.
Step S306：Judge whether that the absolute value of the first motor limitation torque is more than the first original value of Motor torque.When
Judging result is when being, can perform step S307；Conversely, perform step S308.
Step S307：Using second original value of the first original value of Motor torque as Motor torque.
Step S308：Using second original value of the absolute value of the first motor limitation torque as Motor torque.
In step S306 to the specific implementation of step S308, when the absolute value and Motor torque of the first motor limitation torque
Original value difference when, using smaller value of the value as the Motor torque of absolute value, so that Motor torque after determining
Value meets the requirement of power of motor state limit.
Step S309：Preset temperature limiting table is searched to determine that the second motor limits torque.
In specific implementation, according to motor temperature state, preset temperature limiting table is searched, to determine that the second motor limits
Torque.
Wherein, temperature limiting table is used to indicate the second motor limitation torque pass corresponding with the motor temperature state
System.Specifically, can the second detailed motor be obtained by real vehicle scaling method according to calibration software and limits torque and three contraries
Become the correspondence of device temperature, motor stator temperature and cooling water temperature.
Further, for employing the motor of three-phase inverter in the power supply system, the three-phase inverter temperature is got over
Height, the absolute value of the second motor limitation torque are smaller.Specifically, if three-phase inverter operates in the higher evil of temperature
Under bad environment, easily the three-phase inverter and motor are damaged, at this time should limiting motor output torque, i.e., it is warm
Degree is higher, and the absolute value of the second motor limitation torque is smaller.It should be pointed out that the embodiment of the present invention is to the motor
It is no not to be restricted using three-phase inverter.
Similarly, the motor stator temperature is higher, and the absolute value of the second motor limitation torque is smaller.Specifically,
Motor stator can generate rotating excitation field in motor, and temperature height can be used for characterizing the height of motor internal temperature, when
When the temperature of motor stator is higher, it is believed that the temperature of motor is also higher, should limiting motor output torque, i.e. motor determines
Sub- temperature is higher, and the absolute value of the second motor limitation torque is smaller.
Similarly, the cooling water temperature is higher, and the absolute value of the second motor limitation torque is smaller.It is specifically, cold
But water is to reduce motor temperature, when cooling water temperature is higher, it is believed that the cooling effect reduction to motor, i.e. motor
Temperature is also higher, should limiting motor output torque, i.e. cooling water temperature is higher, second motor limitation torque it is absolute
It is worth smaller.
It in one particularly preferred embodiment, can be only in three-phase inverter temperature, motor stator temperature and cooling water
When temperature is higher, setting the second motor limitation torque, and when three-phase inverter temperature, motor stator temperature and cooling water temperature compared with
When low, Motor torque is not limited.
It should be pointed out that in embodiments of the present invention, employ three-phase inverter temperature, motor stator temperature and cooling
The temperature conditions of motor and its component described in three parameter characterizations such as coolant-temperature gage, and then design of Reducing Rating is carried out to Motor torque.But
It is that in a particular application, other temperature parameter values also can be used, temperature limiting table is obtained by scaling method, the present invention is implemented
Example is not restricted this.
Further, the three-phase inverter temperature, motor stator temperature, cooling water temperature can pass through the temperature of motor
Sensor real-time testing obtains.
Step S310：Judge whether that the absolute value of the second motor limitation torque is more than the second original value of Motor torque.When
Judging result is when being, can perform step S311；Conversely, perform step S312.
Step S311：Using third original value of the second original value of Motor torque as Motor torque.
Step S312：Using third original value of the absolute value of the second motor limitation torque as Motor torque.
In step S310 to the specific implementation of step S312, when the absolute value and Motor torque of the second motor limitation torque
Original value difference when, using smaller value of the value as the Motor torque of absolute value, so that Motor torque after determining
Value meets the requirement of motor temperature state limit.
Step S313：According to preset limping mode fault rank, determine that third motor limits torque.
Limping pattern (Limp Home Mode, LHM) is used to indicate the traveling when the control system of vehicle breaks down
Pattern, by electronic control unit (Electronic Control Unit, ECU) enable standby control loop to engine into
The simple control of row, makes vehicle enter protection transport condition.Limping pattern is opened, is travelled relative to vehicle is stopped immediately, Ke Yiyan
The time of long power output, the safety that enhancing user drives.
It is understood that according to different limping mode fault ranks, should to some extent limiting motor torque and
The value of power of motor.Limping mode fault rank is higher, and the absolute value of the third motor limitation torque is smaller.Wherein, it is described
Limping mode fault rank can be diagnosed by controller failure diagnostic module according to Diagnostic Strategy, the fault diagnosis mould
The input signal of block is the measured value or indirect calculated value obtained in real time by CAN bus.
Step S314：Judge whether the absolute value of third motor limitation torque is more than the third original value of Motor torque.When
Judging result is when being, can perform step S315；Conversely, perform step S316.
Step S315：Using value of the third original value of Motor torque as Motor torque.
Step S316：Using value of the absolute value of third motor limitation torque as Motor torque.
In step S310 to the specific implementation of step S312, when the absolute value and Motor torque of third motor limitation torque
Original value difference when, using smaller value of the value as the Motor torque of absolute value, so that Motor torque after determining
Value meets the requirement of limping mode fault rank limitation.
It will be understood by those of skill in the art that in real process, the first motor limitation torque, the second motor are limited
Torque and the third motor limitation torque sequencing being determined and its original value with Motor torque is compared
Sequencing has no effect on determining for final available torque.Further, the embodiment of the present invention can be according to actual conditions, only
One to two in first motor limitation torque, the second motor limitation torque and third motor limitation torque is determined, with
And its original value with Motor torque is compared.
With reference to Fig. 4, Fig. 4 is that a kind of structure of the Motor torque determining device of new-energy automobile in the embodiment of the present invention is shown
It is intended to, the Motor torque determining device can include acquisition module 41, rotary speed direction correcting module 42, torque direction and determine mould
Block 43 and torque value determining module 44.
Wherein, the acquisition module 41 is suitable for obtaining the motor speed of motor, and the motor speed has direction and value.Institute
The direction that rotary speed direction correcting module 42 is suitable for correcting the motor speed by the way of Hysteresis control is stated, is turned in the motor
Speed is risen to before stagnant ring rotating speed upper limit value, judges the direction of the motor speed for negative sense, wherein, the stagnant ring rotating speed upper limit value
More than 0；Before the motor speed is down to stagnant ring lower rotation speed limit value, the direction of the motor speed is judged for forward direction, wherein,
The stagnant ring lower rotation speed limit value is less than 0.The torque direction determining module 43 is suitable for the side of the power of motor according to the motor
The direction of the Motor torque is determined to the direction with the motor speed.The torque value determining module 44 is suitable for according to
The value of power of motor and the value of motor speed determine the value of the Motor torque.
Further, the torque direction determining module 43 can include positive determination sub-module (not shown) and negative sense is true
Stator modules (not shown).
Wherein, the positive determination sub-module is suitable for when the direction of the power of motor and the direction phase of the motor speed
Meanwhile determine the direction of the Motor torque for forward direction.The negative sense determination sub-module is suitable for when the direction of the power of motor
During with the direction difference of the motor speed, the direction for determining the Motor torque is negative sense.
With reference to Fig. 5, Fig. 5 is a kind of structure diagram of torque value determining module in the embodiment of the present invention.The torque
It is worth determining module 44 and can includes the first determination sub-module 441, first and searches submodule 442, first choice submodule 443, the
Two determination sub-modules 444, second search submodule 445, second and submodule 446, third determination sub-module 447, third are selected to look into
Submodule 448 and third is looked for select submodule 449.
Wherein, first determination sub-module 441 is suitable for being determined according to the value of the power of motor and the value of motor speed
The original value of the Motor torque.Described first, which searches submodule 442, is suitable for according to power of motor state, searches preset power
Table is limited to determine that the first motor limits torque, the power limit table be used to indicate first motor limitation torque with it is described
The correspondence of power of motor state.The first choice submodule 443 is suitable in the absolute of first motor limitation torque
In the original value of value and the Motor torque, using value of the smaller value as the Motor torque.The second determining submodule
Block 444 is suitable for determining the original value of the Motor torque according to the value of the power of motor and the value of motor speed.Described second
It searches submodule 445 to be suitable for according to motor temperature state, searches preset temperature limiting table to determine that the second motor limits torque,
The temperature limiting table is used to indicate the second motor limitation torque and the correspondence of the motor temperature state.Described
Two selection submodules 446 are suitable in the absolute value of second motor limitation torque and the original value of the Motor torque, adopt
By the use of smaller value as the value of the Motor torque.The third determination sub-module 447 is suitable for the value according to the power of motor
The original value of the Motor torque is determined with the value of motor speed.The third is searched submodule 448 and is suitable for according to preset lame
Row mode fault rank determines that third motor limits torque.The third selects submodule 449, suitable in the third motor
It limits in the absolute value of torque and the original value of the Motor torque, using value of the smaller value as the Motor torque.
More detailed contents of Motor torque determining device about the new-energy automobile are please referred to previously for new energy
The Motor torque of automobile determines the associated description of method, and details are not described herein again.
The embodiment of the present invention additionally provides a kind of motor of new-energy automobile, and the motor can include above-mentioned new energy
The Motor torque determining device of automobile, the Motor torque that the motor can perform above-mentioned new-energy automobile determine method.Example
Such as, the Motor torque determining device of the new-energy automobile can be integrated in the controller of motor or outside and be coupled to motor
Controller.
The embodiment of the present invention additionally provides a kind of new-energy automobile, and the new-energy automobile can include above-mentioned new energy
The motor of automobile.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in computer readable storage medium, to store
Medium can include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, present invention is not limited to this.Any those skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (18)
1. a kind of Motor torque of new-energy automobile determines method, which is characterized in that includes the following steps：
The motor speed of motor is obtained, the motor speed has direction and value；
The direction of the motor speed is corrected by the way of Hysteresis control, stagnant ring rotating speed upper limit value is risen in the motor speed
Before, the direction of the motor speed is judged for negative sense, wherein, the stagnant ring rotating speed upper limit value is more than 0；In the motor speed
It is down to before stagnant ring lower rotation speed limit value, judges the direction of the motor speed for forward direction, wherein, the stagnant ring lower rotation speed limit value is small
In 0；
The direction of the Motor torque is determined according to the direction in the direction of the power of motor of the motor and the motor speed；
The value of the Motor torque is determined according to the value of the value of the power of motor and motor speed.
2. the Motor torque of new-energy automobile according to claim 1 determines method, which is characterized in that according to the motor
The direction of power of motor and the direction of the motor speed determine that the direction of the Motor torque includes：
If the direction of the power of motor is identical with the direction of the motor speed, it is determined that the direction of the Motor torque is
It is positive；
If the direction of the power of motor is different from the direction of the motor speed, it is determined that the direction of the Motor torque is
Negative sense.
3. the Motor torque of new-energy automobile according to claim 1 determines method, which is characterized in that according to the motor
The value of power and the value of motor speed determine that the value of the Motor torque includes：
The original value of the Motor torque is determined according to the value of the value of the power of motor and motor speed；
According to power of motor state, preset power limit table is searched to determine that the first motor limits torque, the power limit
Table is used to indicate the first motor limitation torque and the correspondence of the power of motor state；
In the absolute value of first motor limitation torque and the original value of the Motor torque, using smaller value as institute
State the value of Motor torque.
4. the Motor torque of new-energy automobile according to claim 3 determines method, which is characterized in that the motor and electricity
Pond couples, and the power of motor state includes the power of motor, battery capacity and busbar voltage；
Wherein, the absolute value of the power of motor is bigger, and the absolute value of the first motor limitation torque is bigger；
The absolute value of the battery capacity is bigger, and the absolute value of the first motor limitation torque is bigger；
When the power of motor is positive, the busbar voltage is lower, and the absolute value of the first motor limitation torque is got over
It is small；When the power of motor is negative power, the busbar voltage is higher, and the absolute value of the first motor limitation torque is got over
It is small.
5. the Motor torque of new-energy automobile according to claim 1 determines method, which is characterized in that according to the motor
The value of power and the value of motor speed determine that the value of the Motor torque includes：
The original value of the Motor torque is determined according to the value of the value of the power of motor and motor speed；
According to motor temperature state, preset temperature limiting table is searched to determine that the second motor limits torque, the temperature limiting
Table is used to indicate the second motor limitation torque and the correspondence of the motor temperature state；
In the absolute value of second motor limitation torque and the original value of the Motor torque, using smaller value as institute
State the value of Motor torque.
6. the Motor torque of new-energy automobile according to claim 5 determines method, which is characterized in that the motor temperature
State includes three-phase inverter temperature, motor stator temperature and cooling water temperature；
Wherein, the three-phase inverter temperature is higher, and the absolute value of the second motor limitation torque is smaller；
The motor stator temperature is higher, and the absolute value of the second motor limitation torque is smaller；
The cooling water temperature is higher, and the absolute value of the second motor limitation torque is smaller.
7. the Motor torque of new-energy automobile according to claim 1 determines method, which is characterized in that according to the motor
The value of power and the value of motor speed determine that the value of the Motor torque includes：
The original value of the Motor torque is determined according to the value of the value of the power of motor and motor speed；
According to preset limping mode fault rank, determine that third motor limits torque；
In the absolute value of third motor limitation torque and the original value of the Motor torque, using smaller value as institute
State the value of Motor torque.
8. the Motor torque of new-energy automobile according to claim 7 determines method, which is characterized in that the limping pattern
Failure rank is higher, and the absolute value of the third motor limitation torque is smaller.
9. a kind of Motor torque determining device of new-energy automobile, which is characterized in that including：
Acquisition module, suitable for obtaining the motor speed of motor, the motor speed has direction and value；
Rotary speed direction correcting module, suitable for correcting the direction of the motor speed by the way of Hysteresis control, in the motor
Rotating speed is risen to before stagnant ring rotating speed upper limit value, judges the direction of the motor speed for negative sense, wherein, the stagnant ring rotating speed upper limit
Value is more than 0；Before the motor speed is down to stagnant ring lower rotation speed limit value, the direction of the motor speed is judged for forward direction,
In, the stagnant ring lower rotation speed limit value is less than 0；
Torque direction determining module determines suitable for the direction of the power of motor according to the motor and the direction of the motor speed
The direction of the Motor torque；
Torque value determining module determines the Motor torque suitable for the value according to the power of motor and the value of motor speed
Value.
10. the Motor torque determining device of new-energy automobile according to claim 9, which is characterized in that the torque side
Include to determining module：
Positive determination sub-module, suitable for when the direction of the power of motor is identical with the direction of the motor speed, determining institute
The direction for stating Motor torque is forward direction；
Negative sense determination sub-module, suitable for when the direction difference of the direction of the power of motor and the motor speed, determining institute
The direction for stating Motor torque is negative sense.
11. the Motor torque determining device of new-energy automobile according to claim 9, which is characterized in that the torque value
Determining module includes：
First determination sub-module determines the original of the Motor torque suitable for the value according to the power of motor and the value of motor speed
Initial value；
First searches submodule, suitable for according to power of motor state, searching preset power limit table to determine that the first motor limits
Torque processed, the power limit table are used to indicate the first motor limitation torque pass corresponding with the power of motor state
System；
First choice submodule, suitable in the original value of the absolute value and the Motor torque of first motor limitation torque
In, using value of the smaller value as the Motor torque.
12. the Motor torque determining device of new-energy automobile according to claim 11, which is characterized in that the motor with
Battery couples, and the power of motor state includes the power of motor, battery capacity and busbar voltage；
Wherein, the absolute value of the power of motor is bigger, and the absolute value of the first motor limitation torque is bigger；
The absolute value of the battery capacity is bigger, and the absolute value of the first motor limitation torque is bigger；
When the direction of the power of motor is positive, the busbar voltage is lower, and first motor limits the absolute of torque
It is worth smaller；When the direction of the power of motor is negative sense, the busbar voltage is higher, and first motor limits the exhausted of torque
It is smaller to being worth.
13. the Motor torque determining device of new-energy automobile according to claim 9, which is characterized in that the torque value
Determining module includes：
Second determination sub-module determines the original of the Motor torque suitable for the value according to the power of motor and the value of motor speed
Initial value；
Second searches submodule, suitable for according to motor temperature state, searching preset temperature limiting table to determine that the second motor limits
Torque processed, the temperature limiting table are used to indicate the second motor limitation torque pass corresponding with the motor temperature state
System；
Second selection submodule, suitable in the original value of the absolute value and the Motor torque of second motor limitation torque
In, using value of the smaller value as the Motor torque.
14. the Motor torque determining device of new-energy automobile according to claim 13, which is characterized in that the motor temperature
Degree state includes three-phase inverter temperature, motor stator temperature and cooling water temperature；
Wherein, the three-phase inverter temperature is higher, and the absolute value of the second motor limitation torque is smaller；
The motor stator temperature is higher, and the absolute value of the second motor limitation torque is smaller；
The cooling water temperature is higher, and the absolute value of the second motor limitation torque is smaller.
15. the Motor torque determining device of new-energy automobile according to claim 9, which is characterized in that the torque value
Determining module includes：
Third determination sub-module determines the original of the Motor torque suitable for the value according to the power of motor and the value of motor speed
Initial value；
Third searches submodule, suitable for according to preset limping mode fault rank, determining that third motor limits torque；
Third selects submodule, suitable in the original value of the absolute value and the Motor torque of third motor limitation torque
In, using value of the smaller value as the Motor torque.
16. the Motor torque determining device of new-energy automobile according to claim 15, which is characterized in that the limping mould
Formula failure rank is higher, and the absolute value of the third motor limitation torque is smaller.
17. a kind of motor of new-energy automobile, which is characterized in that including such as claim 9 to 16 any one of them new energy
The Motor torque determining device of automobile.
18. a kind of new-energy automobile, which is characterized in that include the motor of new-energy automobile as claimed in claim 17.
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