CN110803032B - Motor control method and device, motor controller, storage medium and system - Google Patents

Motor control method and device, motor controller, storage medium and system Download PDF

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Publication number
CN110803032B
CN110803032B CN201911065877.8A CN201911065877A CN110803032B CN 110803032 B CN110803032 B CN 110803032B CN 201911065877 A CN201911065877 A CN 201911065877A CN 110803032 B CN110803032 B CN 110803032B
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motor
value
torque
torque value
derating
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CN110803032A (en
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李岩
暴杰
潘忠亮
范雨卉
刘亚川
李芝炳
王韶涵
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FAW Group Corp
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FAW Group Corp
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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
    • 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

The embodiment of the invention discloses a motor control method, a motor control device, a motor controller, a storage medium and a system. The method comprises the following steps: when a motor torque instruction sent by a vehicle controller is received, the rotating speed of a motor and the bus voltage value of an insulated gate bipolar transistor IGBT power module are obtained, and the motor torque instruction carries an original torque value pre-adjusted by the motor; determining a target torque value of the motor according to the rotating speed, the bus pressure value and the original torque value, wherein the absolute value of the target torque value is smaller than or equal to the absolute value of the original torque value; and controlling the motor to operate according to the target torque value through the IGBT power module. By adopting the technical scheme, when the motor torque is in an abnormal range, the motor is controlled to output the torque within the normal range, so that the condition that the automobile transmission system is severely twisted can be avoided, and the service life of the automobile rotating system is prolonged.

Description

Motor control method and device, motor controller, storage medium and system
Technical Field
The invention relates to the technical field of automobile control, in particular to a motor control method, a motor control device, a motor controller, a storage medium and a motor control system.
Background
With the aggravation of environmental pollution and energy shortage, the pure electric vehicle with the advantages of energy saving and environmental protection also gradually becomes one of the important development directions of the automobile industry.
The power system of the pure electric vehicle is a permanent magnet synchronous motor or an alternating current asynchronous motor, and the power structure of the pure electric vehicle does not need a gearbox and a related buffer device, so that the transmission system of the pure electric vehicle generally decelerates through an independent speed reducer device.
However, because the torque output capability of the permanent magnet synchronous motor or the alternating current asynchronous motor of the power system is obviously stronger than that of a transmission engine, and the simple speed reducer device lacks an effective buffer device, the torque output of the motor can directly act on wheels, so that in the prior art, when the automobile is accelerated suddenly (i.e. a driver deeply steps on an accelerator) and passes through a bumpy road surface such as a speed bump or a rail, the traditional system of the automobile can generate severe impact on the whole transmission due to severe torsion, and the service life of the traditional system is reduced, even the components of the traditional system are damaged.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, a motor controller, a storage medium, and a system for controlling a motor, so as to solve the technical problem in the prior art that a vehicle transmission system may be severely twisted when the vehicle is suddenly accelerated and passes through a bumpy road surface, and improve the service life of the vehicle transmission system.
In a first aspect, an embodiment of the present invention provides a method for controlling a motor, including:
when a motor torque instruction sent by a vehicle controller is received, the rotating speed of a motor and the bus voltage value of an insulated gate bipolar transistor IGBT power module are obtained, and the motor torque instruction carries an original torque value pre-adjusted by the motor;
determining a target torque value of the motor according to the rotating speed, the bus pressure value and the original torque value, wherein the absolute value of the target torque value is smaller than or equal to the absolute value of the original torque value;
and controlling the motor to operate according to the target torque value through the IGBT power module.
In a second aspect, an embodiment of the present invention provides a control apparatus for a motor, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the rotating speed of a motor and the bus voltage value of an Insulated Gate Bipolar Transistor (IGBT) power module when receiving a motor torque instruction sent by a vehicle controller, and the motor torque instruction carries an original torque value pre-adjusted by the motor;
the torque determination module is used for determining a target torque value of the motor according to the rotating speed, the bus pressure value and the original torque value, wherein the absolute value of the target torque value is smaller than or equal to the absolute value of the original torque value;
and the control module is used for controlling the motor to operate according to the target torque value through the IGBT power module.
In a third aspect, an embodiment of the present invention provides a motor controller, including:
one or more processors;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the motor according to the embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is used to implement a control method for a motor according to an embodiment of the present invention when executed by a processor.
In a fifth aspect, an embodiment of the present invention further provides a motor control system, including a motor controller, a sensor, and an IGBT power module, where,
the sensor is connected with the motor controller and used for detecting the rotating speed of the motor and the bus voltage value of the IGBT power module;
the motor controller is connected with the IGBT power module and the whole vehicle controller and is used for acquiring the rotating speed of the motor and the bus voltage value of the IGBT power module, which are detected by the sensor, when receiving a motor torque instruction sent by the whole vehicle controller, wherein the motor torque instruction carries an original torque value to which the motor is pre-adjusted; determining a target torque value of the motor according to the rotating speed, the bus pressure value and the original torque value, wherein the absolute value of the target torque value is smaller than or equal to the absolute value of the original torque value; generating a driving signal according to the target torque value, and driving the IGBT power module by adopting the driving signal;
and the IGBT power module is connected with the motor and used for controlling the motor to operate based on the driving signal.
In the technical scheme for controlling the motor, when a motor torque command carrying an original torque value pre-adjusted to the motor and sent by a vehicle controller is received, the rotating speed of the motor and a bus voltage value of an IGBT power module are obtained, a target torque value to which the motor needs to be derated is determined according to the rotating speed, the bus voltage value and the original torque value, and then the motor is controlled to operate according to the target torque value through the IGBT power module. By adopting the technical scheme, when the motor torque is in an abnormal range, the motor is controlled to output the torque within the normal range, so that the condition that the automobile transmission system is severely twisted can be avoided, and the service life of the automobile rotating system is prolonged.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a schematic flowchart of a control method of a motor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of data transmission in a motor control process according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a control method of a motor according to a second embodiment of the present invention;
FIG. 4 is a maximum torque lookup chart according to a second embodiment of the present invention;
FIG. 5 is a minimum torque lookup chart according to a second embodiment of the present invention;
FIG. 6 is a set of maximum torque output characteristics provided by a second embodiment of the present invention;
FIG. 7 is a set of minimum torque output characteristics provided by a second embodiment of the present invention;
FIG. 8 is a diagram of percentage query according to a second embodiment of the present invention;
fig. 9 is a block diagram of a control device of a motor according to a third embodiment of the present invention;
fig. 10 is a schematic structural diagram of a motor controller according to a fourth embodiment of the present invention;
fig. 11 is a schematic structural diagram of a motor control system according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. In addition, the embodiments and features of the embodiments of the present invention may be combined with each other without conflict
Example one
The embodiment of the invention provides a control method of a motor. The method can be executed by a control device of the motor, wherein the device can be realized by software and/or hardware, can be generally integrated in a motor controller or a whole vehicle controller of the electric vehicle, can be typically integrated in a motor controller of a pure electric vehicle, and is suitable for derating control of the torque output by the motor of the electric vehicle when the electric vehicle is accelerated rapidly and passes through a bumpy road. Fig. 1 is a schematic flowchart of a control method of a motor according to an embodiment of the present invention, as shown in fig. 1, the method includes:
s110, when a motor torque instruction sent by the vehicle control unit is received, the rotating speed of the motor and the bus voltage value of the insulated gate bipolar transistor IGBT power module are obtained, and the motor torque instruction carries an original torque value pre-adjusted by the motor.
It should be noted that the control method of the motor provided in this embodiment may be executed by the vehicle controller, or may be executed by the motor controller. When executed by the vehicle control unit, the motor torque command may be sent by a command sending device in the vehicle control unit to a local device integrated in the vehicle control unit for executing the control method of the motor; when executed by the motor controller, the motor torque commands may be transmitted by the vehicle control unit to the motor controller. Since the motor controller is directly connected to the motor, the motor controller preferably performs the motor control method to improve the response speed when controlling the motor.
In this embodiment, when the vehicle is not in a parking state (i.e., when the vehicle is in a forward gear or a reverse gear), the vehicle control unit may periodically generate a motor torque command based on states of the vehicle clutch, the accelerator pedal, and the brake pedal and send the motor torque command to the motor controller, so that the motor controller controls the motor to output a torque according to an original torque value carried in the motor torque command based on the motor torque command.
Specifically, when a motor torque instruction sent by the vehicle control unit is received, the received motor torque instruction may be analyzed to obtain an original torque value carried in the motor torque instruction, and the rotation speed of the motor at the current time and the bus voltage of the Insulated Gate Bipolar Transistor (IGBT) power module at the current time are detected by the sensor, for example, the rotation speed of the motor at the current time is detected by the position sensor or the acceleration sensor, and the bus voltage value of the IGBT power module at the current time is detected by the voltage sensor connected between the positive electrode and the negative electrode of the IGBT power module. The motor can be a permanent magnet synchronous motor or an alternating current asynchronous motor; the bus voltage value is a voltage value between the anode and the cathode of the IGBT power module; the position sensor may be a motor rotor position sensor for detecting a position of a motor rotor, and may specifically be a resolver, or may be an incremental encoder or a hall sensor or another type of position sensor. In view of the accuracy of the motor rotation speed detection result, the present embodiment preferably detects the rotation speed of the motor using a position sensor.
In this step, when the sensor detects the rotating speed of the motor at the current moment and the bus voltage value of the IGBT power module at the current moment, a detection instruction may be sent to the sensor to control the sensor to detect the rotating speed of the motor and/or the voltage value of the IGBT power module; the rotating speed of the motor and the bus voltage value of the IGBT power module can also be directly read from the local corresponding storage position.
For the case that the rotation speed of the motor and the bus voltage value of the IGBT power module are read from the local corresponding storage location, illustratively, the position sensor periodically detects the rotation speed of the motor and sends it to the motor controller; the voltage sensor periodically detects the bus voltage value of the IGBT power module and sends the bus voltage value to the motor controller; the motor controller receives and stores the rotating speed of the motor in each detection period sent by the position sensor and the bus voltage value of the IGBT power module in each detection period sent by the voltage sensor, and when a motor torque instruction sent by the vehicle control unit is received, the rotating speed of the motor sent by the position sensor for the last time is obtained and used as the rotating speed of the motor at the current moment, and the bus voltage value of the motor sent by the voltage sensor for the last time is obtained and used as the bus voltage value of the IGBT power module at the current moment. In the method, for the condition that the position sensor/voltage sensor at the initial starting time of the vehicle has not sent the rotating speed/bus voltage value to the motor controller, the rotating speed of the motor may be determined as a preset default rotating speed (such as zero), and/or the bus voltage value of the IGBT power module may be determined as a preset default voltage value (such as a certain bus voltage value when the IGBT normally operates).
And S120, determining a target torque value of the motor according to the rotating speed, the bus pressure value and the original torque value, wherein the absolute value of the target torque value is smaller than or equal to that of the original torque value.
In this embodiment, the original torque value can be derated according to the rotating speed of the motor and the bus voltage value of the IGBT power module to obtain a target torque value that can be actually output by the motor, so that the acting force applied to the wheels by the motor is reduced, and the purpose of reducing the acceleration of the vehicle is achieved. The derating proportion of the original torque value can be any value in the interval of [0,1], and can be specifically determined according to the rotating speed of the motor and the bus voltage value of the IGBT power module.
For example, a default maximum rotation speed threshold value can be set for the motor in advance, a default maximum bus voltage threshold value is set for the IGBT power module, and after the rotation speed of the motor and the bus voltage value of the IGBT power module are obtained, a first proportion to which the rotation speed of the motor needs to be reduced to the maximum rotation speed threshold value and a second proportion to which the bus voltage value of the IGBT power module needs to be reduced to the maximum bus voltage threshold value are calculated; and then calculating the average value or weighted average value of the first proportion and the second proportion to obtain a third proportion to which the original torque value needs to be reduced, and reducing the original torque value according to the third proportion to obtain a target torque value. The feasible torque output range (namely, de-rated range) of the motor in the current period can be determined according to the rotating speed of the motor and the bus voltage value of the IGBT power module, and the original torque value in the motor torque command is limited through the de-rated range (namely, the original torque value is limited within the de-rated range), so that the target torque value which can be output by the motor in the current period is obtained.
When the rotating speed of the motor does not exceed the maximum rotating speed threshold value/the bus voltage value of the IGBT power module does not exceed the maximum bus voltage threshold value, the first ratio/the second ratio can be determined to be 1; when the rotation speed of the motor exceeds the maximum rotation speed threshold/the bus voltage value of the IGBT power module exceeds the maximum bus voltage threshold, a first ratio/a second ratio may be determined as a ratio between the maximum rotation speed threshold and the motor rotation speed/the maximum bus voltage threshold and the bus voltage value.
Considering that when the absolute value of the original torque value carried in the motor torque command is small, the acting force of the motor on the wheels is small, and no large impact is generated on the automobile transmission system, therefore, the present embodiment may perform the price processing on the original torque value only when the absolute value of the original torque value is large, in this case, preferably, the present embodiment may specifically optimize the determination of the target torque value of the motor according to the rotation speed, the bus voltage value, and the original torque value as follows: determining a derating range of the motor torque according to the rotating speed and the bus voltage value; determining the original torque value as a target torque value of the motor if the original torque value is within the de-rated range; and if the original torque value is out of the de-rating range, determining a critical value which is closest to the original torque value in the de-rating range as a target torque value of the motor, so that the actual output torque of the motor can better accord with the control intention of a driver of the automobile on the premise of ensuring that the torque output by the motor does not generate large impact on a transmission system of the automobile when acting on wheels. The derating range can be understood as a range of torque that can be output by the motor in the current state, that is, a value range of the target torque value.
Specifically, a derating range of the motor torque is determined according to the motor rotating speed and a bus voltage value, the relative size of an original torque value and two critical values (namely, a maximum torque value and a minimum torque value in the derating range) of the derating range is determined, and if the original torque value is larger than the maximum torque value, the maximum torque value is determined as a target torque value; determining the original torque value as a target torque value if the original torque value is less than or equal to the maximum torque value and greater than or equal to the minimum torque value; determining the minimum torque value as the target torque value if the original torque value is less than the minimum torque value.
For example, a plurality of rotating speed intervals can be divided in advance and calibrated to obtain a first derating range corresponding to each rotating speed interval, and a plurality of bus voltage value areas can be divided in advance and calibrated to obtain a second derating range corresponding to each bus voltage value interval; when determining the derating range of the motor torque, firstly, determining a first derating range corresponding to the rotating speed according to the rotating speed interval to which the rotating speed of the motor belongs, determining a second derating range corresponding to the bus voltage value according to the bus voltage value area to which the IGBT power module belongs, and then taking the intersection or the union of the first derating range and the second derating range to obtain the derating range of the motor torque. Or determining a torque range or two critical values of the torque range which can be output by the motor under the rotating speed and the bus voltage value, and determining the derating percentage of the motor torque according to the rotating speed; and then, derating the torque range or the two critical values by adopting the derating percentage to obtain the derating range of the motor torque, thereby further improving the practicability of the determined derating range.
And S130, controlling the motor to operate according to the target torque value through the IGBT power module.
For example, referring to fig. 2, the present embodiment may detect the rotation speed ω of the motor 21 according to the position sensor 22 by the derating control module disposed in the motor controllerrAnd a bus voltage value U of the IGBT power module 27 detected by the voltage sensor 18DCAnd a raw motor torque command T carrying a raw torque value output by a vehicle control unit (not shown in the figure)* VCUAfter the target torque value is determined, a target motor torque instruction T carrying the target torque value is generated* eAnd the target motor torque command T is given* eOutput to the torque control module 25; the torque control module 25 outputs the target motor torque command T according to the derating control module 24* eAnd the three-phase current i of the motor 21 collected by the current sensor module 23w、ivAnd iuAnd the rotation speed omega of the motor 21 acquired by the position sensor 22rAnd the position theta of the rotor in the motor 21rPerforming torque closed-loop control, and outputting three-way Pulse Width Modulation (PWM) duty ratio command ta、tbAnd tcTo a Space Vector Pulse Width Modulation (SVPWM) module 26 disposed within the motor controller; the SVPWM module 26 outputs six PWM driving signals to the IGBT power module 27 based on the received duty ratio command; the IGBT power module 27 controls the motor 21 to output the target torque value under the drive of the PWM drive signal transmitted from the SVPWM module 26, thereby controlling the torque output from the motor 21. The current sensor module 23 may include three independent current sensors for detecting different phase currents, or may include only one three-phase current sensor, which is not limited in this embodiment.
According to the control method of the motor, when a motor torque instruction which is sent by a vehicle controller and carries an original torque value pre-adjusted to the motor is received, the rotating speed of the motor and the bus voltage value of an IGBT power module are obtained, a target torque value to which the motor needs to be derated is determined according to the rotating speed, the bus voltage value and the original torque value, and then the motor is controlled to operate through the IGBT power module according to the target torque value. By adopting the technical scheme, when the motor torque is in an abnormal range, the motor is controlled to output the torque within the normal range, so that the condition that the automobile transmission system is severely twisted can be avoided, and the service life of the automobile rotating system is prolonged.
Example two
Fig. 3 is a flowchart illustrating a control method of a motor according to a second embodiment of the present invention. The present embodiment is optimized based on the above embodiments, and in the present embodiment, "determining the derating range of the motor torque according to the torque and the bus voltage value" is further optimized as follows: determining torque values which can be output by the motor under the rotating speed and the bus voltage value, wherein the torque values comprise a maximum torque value and a minimum torque value; determining the derating percentage of the motor torque according to the rotating speed; and multiplying the torque value by the derating percentage to obtain the derating range of the motor torque.
Meanwhile, before acquiring the rotating speed of the motor and the bus voltage value of the insulated gate bipolar transistor IGBT power module, the present embodiment further optimizes the following steps: determining that an acceleration of the electric machine exceeds a normal acceleration threshold of the electric vehicle.
Correspondingly, as shown in fig. 3, the method for controlling a motor according to this embodiment includes:
s210, when a motor torque command sent by the vehicle control unit is received, determining that the acceleration of the motor exceeds a normal acceleration threshold of the electric vehicle.
In the present embodiment, the torque derating function may be activated (i.e., subsequent operations of the present embodiment are performed) when the vehicle is not in a stopped state, or may be activated only when the vehicle driveline is severely twisted. Considering that the torsion of the vehicle transmission system is generally within the normal range when the vehicle normally runs, the original torque value carried in the motor torque command may not be derated, and even if the torque derating function is started, the determined target torque value is the same as the original torque value carried in the motor torque command with a high probability, so that, in order to further reduce the computing resources occupied by the derating function and make the torque output by the motor more conform to the driving desire of the vehicle driver, the embodiment preferably starts the torque derating function only when the vehicle transmission system is severely twisted (such as when the vehicle passes through a bumpy road surface such as a rail and a speed bump under the condition of deep accelerator with high torque). The severe torsion of the automobile transmission system is generally caused by severe impact force on wheels, and the rotational speed of the wheels inevitably changes due to the severe impact force on the wheels, so that the rotational speed of the motor changes dramatically, that is, the acceleration of the motor far exceeds the maximum acceleration which can be reached during normal driving of the motor.
Specifically, when a motor torque command sent by the vehicle control unit is received, the acceleration of the motor is obtained, whether the acceleration exceeds a normal acceleration threshold value is judged, and if yes, the step S220 is executed; if not, the step is executed again. The acceleration is specifically an absolute value of an angular acceleration of the motor; the normal acceleration threshold may be set as desired by ensuring that it is greater than the maximum acceleration that the vehicle can achieve when traveling on a flat surface and less than the minimum acceleration that the vehicle driveline will experience severe torsion, for example, the normal acceleration threshold may be set to 600r/s2、500r/s2Or 400r/s2Equivalence; the acceleration of the motor may be calculated from the angular velocity of the motor, e.g. from electricityAnd calculating the speed of the motor in the current detection period, the speed of the motor in the last detection period and the length of the detection period of the sensor to obtain the acceleration of the motor in the current detection period.
In this embodiment, after the acceleration of the motor in the current detection period is calculated, the calculated acceleration may be compared with a normal acceleration threshold to determine whether to activate the torque derating function. However, in consideration of the situation that the acceleration of the motor may fluctuate, in this embodiment, after the acceleration of the motor in the current detection period is calculated, the acceleration may be input to the filter device for filtering, and the filtered acceleration is used as the acceleration of the motor and compared with the normal acceleration threshold of the motor, so as to reduce fluctuation of the acceleration of the motor and avoid the situation that the torque derating function is frequently turned on and off. The filter device may be a low-pass filter module or an average value calculation module. For example, when the filter device is a low-pass filter module, it may obtain the acceleration of the motor by calculating a weighted average of the acceleration of the motor in the current detection period and the acceleration of the motor in the last detection period; when the filter device is an average value calculating module, the acceleration of the motor in a plurality of (such as 50, 100, etc.) detection periods can be sequentially obtained forward with the current detection period as a starting point, and the acceleration of the motor can be obtained by calculating the average value of the plurality of accelerations.
S220, obtaining the rotating speed of the motor and the bus voltage value of the IGBT power module, wherein the motor torque command carries the original torque value pre-adjusted by the motor.
And S230, determining torque values which can be output by the motor under the rotating speed and the bus voltage value, wherein the torque values comprise a maximum torque value and a minimum torque value.
In this embodiment, the maximum torque value and the minimum torque value that the motor can output at the rotation speed and the bus voltage value can be obtained by looking up a table according to the rotation speed of the motor and the bus voltage value of the IGBT power module. The maximum torque value that can be output by the motor may be specifically understood as the maximum electric torque of the motor, that is, the maximum torque value that can be output by the motor at the rotation speed and the bus voltage value when the vehicle is in an acceleration state. The minimum torque value that can be output by the motor can be specifically understood as the maximum power generation torque of the motor, that is, the maximum torque value that can be output by the motor under the torque and the bus voltage value when the automobile is in a braking state. Since the torque output by the motor has opposite directions when the vehicle is in the accelerating state and the braking state, the torque in the positive direction (i.e., the torque value is a positive value) represents the torque output by the motor in the accelerating state of the vehicle, and the torque in the negative direction (i.e., the torque value is a negative value) represents the torque output by the motor in the braking state of the vehicle.
Specifically, the maximum torque query graph of the motor can be obtained by calibration in advance or calculated according to the relation among the rotating speed, the bus voltage and the torque (as shown in fig. 4, in the graph, ω isrIs the rotational speed, UDCFor bus voltage values, TrpLimupMaximum torque) and minimum torque (shown in fig. 5, where ω isrIs the rotational speed, UDCFor bus voltage values, TrpLimdownMaximum torque) and when the rotating speed of the motor and the bus voltage value of the IGBT power module are obtained, the torque value corresponding to the rotating speed and the bus voltage value is inquired from the maximum torque inquiry diagram and is used as the maximum torque value which can be output by the motor, and the torque value corresponding to the rotating speed and the bus voltage value is inquired from the minimum torque inquiry diagram and is used as the minimum torque value which can be output by the motor. When the maximum torque query graph and the minimum torque query graph are determined in a calibration mode, the maximum torque and the minimum torque which can be output by the motor at different rotating speeds can be obtained by calibrating under different bus voltages, and a plurality of groups of maximum torque output characteristic curves (shown in fig. 6) and a plurality of groups of minimum torque output characteristic curves (shown in fig. 7) are obtained; then, interpolation processing is performed on different bus voltages, so that a maximum torque query graph shown in fig. 4 and a minimum torque query graph shown in fig. 5 can be obtained.
And S240, determining the derating percentage of the motor torque according to the rotating speed.
In this embodiment, the rotation speed of the motor may be input into a percentage query model obtained by pre-training, and the derating percentage of the motor torque is determined based on the output of the model; the acceleration of the motor may also be determined according to the rotation speed of the motor, and the derating percentage of the motor may be obtained by querying based on a preset corresponding relationship table between the acceleration and the derating percentage, which is not limited in this embodiment. Wherein the derating percentage is a value greater than 0 and less than or equal to 1.
Considering that the impact force applied to the conventional system of the automobile is mainly caused by the change of the wheel rotating speed (i.e. the wheel acceleration), and the wheel acceleration is positively correlated with the acceleration of the motor, it is preferable that, in the present embodiment, the percentage derating of the motor torque according to the rotating speed is specifically optimized as follows: calculating the acceleration of the motor according to the rotating speed; and inquiring a preset percentage inquiry graph to obtain the derating percentage corresponding to the acceleration, thereby further improving the practicability of the determined derating percentage.
The percentage query graph can be obtained by calibrating in advance according to the actual acceleration condition of the automobile passing through a bumpy road surface such as deceleration or rail road, the horizontal axis of the percentage query graph can be the acceleration of the motor, and the vertical axis can be the Derating percentage, as shown in fig. 8 (Derating in the graph)％Percentage deration) when the motor acceleration is less than or equal to the threshold ar_thresIn time, derating is not carried out on the torque value which can be output by the motor, namely the derating percentage is 100 percent; when the acceleration of the motor is larger than a threshold value ar_thresIn the meantime, a derating function for a torque value that can be output by the motor is turned on. When the derating percentage is inquired, the acceleration of the motor in the current detection period can be calculated according to the speed of the motor in the current detection period, the speed of the motor in the last detection period and the length of the detection period of the sensor, and the derating percentage of the motor torque is inquired based on the acceleration; the acceleration of the motor in the later stage of current detection can be obtained through calculation, the acceleration is input into a filter device for filtering, and the derating percentage of the motor torque is inquired based on the filtered acceleration, so that the fluctuation of the motor acceleration is further reduced, and the fluctuation of the derating percentage is further reduced.
It should be noted that the acceleration of the motor may be calculated according to the rotation speed of the motor, but it should be understood by those skilled in the art that when the operation described in S210 is performed before the step is performed and the acceleration of the motor is calculated during the process of performing the operation, the acceleration of the motor calculated in S210 may be directly obtained in the above optimization, and the operation of calculating the acceleration of the motor is not performed any more, but whether the acceleration of the motor is calculated or the acceleration calculated in S210 is obtained, it is within the protection scope of the present invention.
In order to ensure the stability of derating, in this embodiment, after the derating percentage corresponding to the acceleration is obtained by querying in the preset percentage query graph, the method may further include: correcting the derating percentage by adopting a preset percentage slope threshold value; correspondingly, the multiplying the torque value by the derating percentage specifically includes: and multiplying the torque value by the corrected derating percentage, so that the inquired derating percentage is corrected by limiting the slope of the derating percentage by adopting a preset percentage slope threshold, and the slope of the derating percentage is limited within a range corresponding to the percentage slope threshold, thereby avoiding the condition that the derating percentage fluctuates greatly.
Specifically, an ascending slope threshold (which is a positive value) and a descending slope threshold (which is a negative value) may be preset, after the derating percentage corresponding to the motor acceleration (that is, the derating percentage of the motor in the current detection period) is obtained through query, the slope of the motor derating percentage is calculated according to the derating percentage and the derating percentage of the motor in the last detection period, whether the slope is less than or equal to the ascending slope threshold and greater than or equal to the descending slope threshold is determined, and if yes, the derating percentage obtained through query is determined as the corrected derating percentage; and if not, correcting the inquired percentage according to the rising slope threshold or the falling slope threshold. The absolute value of the rising slope threshold may be greater than, less than or equal to the absolute value of the falling slope threshold, and in this embodiment, the rising slope threshold may be preferably set to a value whose absolute value is greater than the absolute value of the falling slope threshold, so that the motor can rapidly reduce the output torque, but can only slowly recover the reduced torque, thereby achieving the effect of smooth derating.
When the queried percentage is corrected, for example, when the slope of the derating percentage is greater than the rising slope threshold, calculating a first derating percentage when the slope is the rising slope threshold according to the derating percentage of the motor in the detection period, and determining the first derating percentage as the corrected derating percentage; and when the slope of the derating percentage is smaller than the derating slope threshold, calculating a second derating percentage when the slope is the derating slope threshold according to the derating percentage of the motor in the detection period, and determining the second derating percentage as the corrected derating percentage.
And S250, multiplying the torque value by the derating percentage to obtain a derating range of the motor torque, and executing S260 or S270.
Specifically, the maximum torque value is multiplied by the derating percentage to obtain a maximum value in a derating range, the minimum torque value is multiplied by the derating percentage to obtain a minimum value in the derating range, and the maximum value is used as an upper boundary and the minimum value is used as a lower boundary, so that the derating range of the motor torque can be obtained.
And S260, if the original torque value is in the de-rating range, determining the original torque value as a target torque value of the motor, and executing S280.
And S270, if the original torque value is out of the de-rating range, determining a critical value which is closest to the original torque value in the de-rating range as a target torque value of the motor.
And S280, controlling the motor to operate according to the target torque value through the IGBT power module.
According to the control method of the motor, derating control is carried out only when the acceleration of the motor exceeds the normal acceleration threshold value of the electric vehicle, and during derating control, the maximum torque value and the minimum torque value which can be output by the motor at the current rotating speed and the current power voltage value of the IGBT power module are firstly determined, and derating percentage of the motor torque is determined according to the motor torque; then multiplying the maximum torque value and the minimum torque value by the derating percentage respectively to obtain a derating range of the motor torque; and then determining a target torque value of the motor based on the derating range and an original torque value carried in the motor torque command, and controlling the motor to output torque according to the target torque value through the IGBT power module. By adopting the technical scheme, the condition that the automobile transmission system is severely twisted can be avoided, and the service life of the automobile rotating system is prolonged; the method can also reduce the calculation resources occupied by the motor derating control, make the torque output by the motor after the derating control more accord with the intention of a vehicle driver, and limit the output capability of the maximum torque of the motor instead of canceling the output of the motor torque under the condition that a vehicle transmission system is severely twisted, can protect the traditional system without influencing the acceleration performance of the whole vehicle, and improve the use experience of the vehicle driver.
EXAMPLE III
The third embodiment of the invention provides a control device of a motor. The device can be realized by software and/or hardware, can be generally integrated in a motor controller or a vehicle control unit of an electric vehicle, can be typically integrated in a motor controller of a pure electric vehicle, can control the motor by executing a control method of the motor, and is suitable for derating the torque output by the motor of the electric vehicle when the electric vehicle is accelerated rapidly and passes through a bumpy road. Fig. 9 is a block diagram of a control apparatus of a motor according to a third embodiment of the present invention, as shown in fig. 9, the control apparatus of a motor includes an obtaining module 301, a torque determining module 302, and a control module 303, wherein,
the acquiring module 301 is configured to acquire a rotation speed of a motor and a bus voltage value of an insulated gate bipolar transistor IGBT power module when receiving a motor torque instruction sent by a vehicle controller, where the motor torque instruction carries an original torque value pre-adjusted by the motor;
a torque determination module 302, configured to determine a target torque value of the motor according to the rotation speed, the bus pressure value, and the original torque value, where an absolute value of the target torque value is smaller than or equal to an absolute value of the original torque value;
and the control module 303 is configured to control the motor to operate according to the target torque value through the IGBT power module.
According to the control device of the motor provided by the third embodiment of the invention, when the acquisition module receives a motor torque command which is sent by the vehicle controller and carries an original torque value pre-adjusted to the motor, the rotation speed of the motor and the bus voltage value of the IGBT power module are acquired, the torque determination module determines a target torque value to which the motor needs to be derated according to the rotation speed, the bus voltage value and the original torque value, and the control module controls the IGBT power module to control the motor to operate according to the target torque value. By adopting the technical scheme, when the motor torque is in an abnormal range, the motor is controlled to output the torque within the normal range, so that the condition that the automobile transmission system is severely twisted can be avoided, and the service life of the automobile rotating system is prolonged.
In the above solution, the torque determination module 302 may include: the range determining unit is used for determining the derating range of the motor torque according to the rotating speed and the bus voltage value; a torque value determination unit for determining the original torque value as a target torque value of the motor when the original torque value is within the de-rated range; and when the original torque value is out of the de-rating range, determining a critical value which is closest to the original torque value in the de-rating range as a target torque value of the motor.
In the foregoing aspect, the range determining unit may include: a torque value determining subunit, configured to determine a torque value that can be output by the motor at the rotation speed and the bus voltage value, where the torque value includes a maximum torque value and a minimum torque value; the percentage determining subunit is used for determining the derating percentage of the motor torque according to the rotating speed; and the range determining subunit is used for multiplying the torque value by the derating percentage to obtain the derating range of the motor torque.
In the above scheme, the percentage determination subunit may be specifically configured to: calculating the acceleration of the motor according to the rotating speed; and inquiring a preset percentage inquiry graph to obtain the derating percentage corresponding to the acceleration.
In the above scheme, the percentage determination subunit may be further configured to: after the derating percentage corresponding to the acceleration is obtained by inquiring in the preset percentage inquiry diagram, correcting the derating percentage by adopting a preset percentage slope threshold value;
accordingly, the range determining subunit is particularly operable to: and multiplying the torque value by the corrected derating percentage to obtain the derating range of the motor torque.
Further, the control device of the motor may further include: and the acceleration determining module is used for determining that the acceleration of the motor exceeds a normal acceleration threshold of the electric vehicle before the rotating speed of the motor and the bus voltage value of the insulated gate bipolar transistor IGBT power module are obtained.
The motor control device provided by the third embodiment of the invention can execute the motor control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the motor control method. For details of the motor control method provided in any embodiment of the present invention, reference may be made to the technical details not described in detail in this embodiment.
Example four
Fig. 10 is a schematic structural diagram of a motor controller according to a fourth embodiment of the present invention, as shown in fig. 10, the motor controller includes a processor 40 and a memory 41; the number of processors 40 in the motor controller may be one or more, and one processor 40 is taken as an example in fig. 10; the processor 40 and the memory 41 in the motor controller may be connected by a bus or other means, and fig. 10 illustrates the connection by a bus as an example.
The memory 41, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the control method of the motor in the embodiment of the present invention (for example, the acquisition module 301, the torque determination module 302, and the control module 303 in the control apparatus of the motor). The processor 40 executes various functional applications and data processing of the motor controller by executing software programs, instructions and modules stored in the memory 41, that is, implements the above-described motor control method.
The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 41 may further include memory located remotely from processor 40, which may be connected to the motor controller via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
A fourth embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for controlling an electric machine, the method including:
when a motor torque instruction sent by a vehicle controller is received, the rotating speed of a motor and the bus voltage value of an insulated gate bipolar transistor IGBT power module are obtained, and the motor torque instruction carries an original torque value pre-adjusted by the motor;
determining a target torque value of the motor according to the rotating speed, the bus pressure value and the original torque value, wherein the absolute value of the target torque value is smaller than or equal to the absolute value of the original torque value;
and controlling the motor to operate according to the target torque value through the IGBT power module.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the control method of the motor provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the control device of the motor, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE five
The fifth embodiment of the invention provides a motor control system. The system can perform derating control on the torque output by the motor by executing the control method of the motor. Fig. 11 is a schematic structural diagram of a motor control system according to a fifth embodiment of the present invention, as shown in fig. 11, the motor control system includes a motor controller 1, a sensor 2, and an IGBT power module 27, wherein,
the sensor 2 is connected with the motor controller 1 and is used for detecting the rotating speed of the motor and the bus voltage value of the IGBT power module 27;
the motor controller 1 is connected with the IGBT power module 27 and the vehicle controller, and is configured to obtain a rotation speed of the motor and a bus voltage value of the IGBT power module 27, which are detected by the sensor 2, when receiving a motor torque instruction sent by the vehicle controller, where the motor torque instruction carries an original torque value to which the motor is pre-adjusted; determining a target torque value of the motor according to the rotating speed, the bus pressure value and the original torque value, wherein the absolute value of the target torque value is smaller than or equal to the absolute value of the original torque value; generating a driving signal according to the target torque value, and driving the IGBT power module 27 with the driving signal;
the IGBT power module 27 is connected with the motor and used for controlling the motor to operate based on the driving signal.
The sensor 2 includes, but is not limited to, a voltage sensor and a position sensor, and may further include a current sensor, such that a bus voltage value of the IGBT power module 27 may be detected by the voltage sensor, a rotational speed of the motor may be detected by the position sensor, and a current of the motor may be detected by the current sensor.
For example, the control process of the motor control system provided by the embodiment on the motor may be as follows: the sensor 2 detects the rotating speed of the motor and the bus voltage value of the IGBT power module 27 and sends the rotating speed and the bus voltage value to the motor controller 1; when receiving a motor torque instruction sent by the vehicle control unit, the motor controller 1 determines a target torque value required to be output by the motor according to the torque of the motor sent by the sensor 2 and the bus voltage value of the IGBT power module 27, generates a driving signal based on the target torque value, and drives the IGBT power module 27 by using the driving signal; the IGBT power module 27 controls the motor to output a target torque value under the drive of the drive signal.
According to the motor control system provided by the fifth embodiment of the invention, when the motor torque is in an abnormal range, the motor is controlled to output the torque within a normal range, so that the condition that the automobile transmission system is severely twisted can be avoided, and the service life of the automobile rotating system is prolonged.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A method of controlling a motor, comprising:
when a motor torque instruction sent by a vehicle controller is received, the rotating speed of a motor and the bus voltage value of an insulated gate bipolar transistor IGBT power module are obtained, and the motor torque instruction carries an original torque value pre-adjusted by the motor;
determining a target torque value of the motor according to the rotating speed, the bus voltage value and the original torque value, wherein the absolute value of the target torque value is smaller than or equal to the absolute value of the original torque value;
and controlling the motor to operate according to the target torque value through the IGBT power module.
2. The method of claim 1, wherein said determining a target torque value for the electric machine based on the rotational speed, the bus voltage value, and the raw torque value comprises:
determining a derating range of the motor torque according to the rotating speed and the bus voltage value;
determining the original torque value as a target torque value of the motor if the original torque value is within the de-rated range;
and if the original torque value is out of the de-rating range, determining a critical value in the de-rating range, which is closest to the original torque value, as a target torque value of the motor.
3. The method of claim 2, wherein determining a de-rated range of motor torque based on the rotational speed and the bus voltage value comprises:
determining an output torque value which can be output by the motor under the rotating speed and the bus voltage value, wherein the output torque value comprises a maximum torque value and a minimum torque value;
determining the derating percentage of the motor torque according to the rotating speed;
and multiplying the output torque value by the derating percentage to obtain the derating range of the motor torque.
4. The method of claim 3, wherein determining a derating percentage of motor torque based on the rotational speed comprises:
calculating the acceleration of the motor according to the rotating speed;
and inquiring a preset percentage inquiry graph to obtain the derating percentage corresponding to the acceleration.
5. The method according to claim 4, wherein after obtaining the derating percentage corresponding to the acceleration by querying from the preset percentage query graph, the method further comprises:
correcting the derating percentage by adopting a preset percentage slope threshold value;
correspondingly, the multiplying the output torque value by the derating percentage specifically includes:
multiplying the output torque value by the corrected derating percentage.
6. The method according to any one of claims 1 to 5, wherein before the obtaining of the rotation speed of the motor and the bus voltage value of the IGBT power module, the method further comprises the following steps:
determining that an acceleration of the electric machine exceeds a normal acceleration threshold of the electric vehicle.
7. A control device of a motor, characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the rotating speed of a motor and the bus voltage value of an Insulated Gate Bipolar Transistor (IGBT) power module when receiving a motor torque instruction sent by a vehicle controller, and the motor torque instruction carries an original torque value pre-adjusted by the motor;
the torque determination module is used for determining a target torque value of the motor according to the rotating speed, the bus voltage value and the original torque value, wherein the absolute value of the target torque value is smaller than or equal to the absolute value of the original torque value;
and the control module is used for controlling the motor to operate according to the target torque value through the IGBT power module.
8. A motor controller, comprising:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of controlling an electric machine according to any one of claims 1-6.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, carries out a method of controlling an electric machine according to any one of claims 1-6.
10. A motor control system is characterized by comprising a motor controller, a sensor and an insulated gate bipolar transistor IGBT power module, wherein,
the sensor is connected with the motor controller and used for detecting the rotating speed of the motor and the bus voltage value of the IGBT power module;
the motor controller is connected with the IGBT power module and the whole vehicle controller and is used for acquiring the rotating speed of the motor and the bus voltage value of the IGBT power module, which are detected by the sensor, when receiving a motor torque instruction sent by the whole vehicle controller, wherein the motor torque instruction carries an original torque value to which the motor is pre-adjusted; determining a target torque value of the motor according to the rotating speed, the bus voltage value and the original torque value, wherein the absolute value of the target torque value is smaller than or equal to the absolute value of the original torque value; generating a driving signal according to the target torque value, and driving the IGBT power module by adopting the driving signal;
and the IGBT power module is connected with the motor and used for controlling the motor to operate based on the driving signal.
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