CN112290838A - Method and system for controlling locked rotor of permanent magnet synchronous motor for electric automobile - Google Patents
Method and system for controlling locked rotor of permanent magnet synchronous motor for electric automobile Download PDFInfo
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- CN112290838A CN112290838A CN202011104129.9A CN202011104129A CN112290838A CN 112290838 A CN112290838 A CN 112290838A CN 202011104129 A CN202011104129 A CN 202011104129A CN 112290838 A CN112290838 A CN 112290838A
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- locked rotor
- permanent magnet
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0856—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load characterised by the protection measure taken
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
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- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to the technical field of electric vehicle motor control. The invention provides a method and a system for controlling locked rotor of a permanent magnet synchronous motor for an electric automobile, wherein the method comprises the following steps: acquiring the real-time rotating speed of a motor; judging whether the motor is in a locked-rotor state or not according to the real-time rotating speed of the motor; when the motor is in a locked-rotor state, executing a locked-rotor control command and acquiring three-phase current of the motor; calculating and obtaining the locked rotor heat according to the three-phase current of the motor; judging whether the locked rotor fault state exists or not according to the locked rotor heat quantity; and when the locked rotor fault state is achieved, executing a locked rotor fault protection instruction. The invention judges whether the electric automobile is in a locked-rotor state or not according to the real-time rotating speed of the motor, calculates the locked-rotor heat according to the three-phase current of the motor, and judges whether the electric automobile is in a locked-rotor fault state or not, thereby providing an effective locked-rotor working condition control strategy and improving the reliability of the electric automobile under the locked-rotor working condition.
Description
Technical Field
The invention relates to the technical field of electric vehicle motor control, in particular to a method and a system for controlling locked rotor of a permanent magnet synchronous motor for an electric vehicle.
Background
At present, the permanent magnet synchronous motor is widely applied to electric automobiles, and most of the electric automobiles which are put into use in the market adopt the permanent magnet synchronous motor as a power source. The electric automobile must satisfy different operating mode demands, and the locked-rotor working condition is exactly one of its operating mode that must satisfy, in order to improve electric automobile's reliability under the locked-rotor working condition, needs a better electric automobile locked-rotor working condition control strategy.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides a method and a system for controlling the locked rotor of a permanent magnet synchronous motor for an electric automobile.
In a first aspect, the invention provides a method for controlling locked rotor of a permanent magnet synchronous motor for an electric vehicle, which comprises the following steps:
acquiring the real-time rotating speed of a motor;
judging whether the permanent magnet synchronous motor is in a locked rotor state or not according to the real-time rotating speed of the motor;
when the permanent magnet synchronous motor is in a locked-rotor state, executing a locked-rotor control command and acquiring a motor three-phase current of the permanent magnet synchronous motor;
calculating and obtaining the locked rotor heat according to the three-phase current of the motor;
judging whether the permanent magnet synchronous motor is in a locked rotor fault state or not according to the locked rotor heat;
and when the permanent magnet synchronous motor is in a locked rotor fault state, executing a locked rotor fault protection instruction.
According to the first aspect, in a first possible implementation manner of the first aspect, the step of determining whether the permanent magnet synchronous motor is in a locked-rotor state according to the real-time rotating speed of the motor specifically includes the following steps:
comparing the real-time rotating speed of the motor with a preset rotating speed threshold according to the real-time rotating speed of the motor;
and when the real-time rotating speed of the motor is greater than the preset rotating speed threshold value, judging that the permanent magnet synchronous motor is in a locked-rotor state.
According to the first aspect, in a second possible implementation manner of the first aspect, the step of determining whether the permanent magnet synchronous motor is in a locked-rotor state according to the real-time rotating speed of the motor specifically includes the following steps:
according to the real-time rotating speed of the motor, carrying out filtering processing on the real-time rotating speed of the motor to obtain the effective rotating speed of the motor;
comparing the effective rotating speed of the motor with a preset rotating speed threshold according to the effective rotating speed of the motor;
and when the effective rotating speed of the motor exceeds a preset rotating speed threshold value, judging that the permanent magnet synchronous motor is in a locked-rotor state.
According to the first aspect, in a third possible implementation manner of the first aspect, the locked-rotor control instruction is executed when the permanent magnet synchronous motor is in a locked-rotor state, and a motor three-phase current of the permanent magnet synchronous motor is acquired; calculating and obtaining the locked rotor heat according to the three-phase current of the motor; according to the locked rotor heat, whether the permanent magnet synchronous motor is in a locked rotor fault state is judged, and the method specifically comprises the following steps:
when the permanent magnet synchronous motor is in a locked-rotor state, executing a locked-rotor control command, and acquiring motor three-phase currents Ia, Ib and Ic of the permanent magnet synchronous motor;
acquiring a continuous current threshold Ip of locked rotor protection, a maximum locked rotor preset current Imax and a time coefficient k;
according to the three-phase currents Ia, Ib, Ic and Imax of the motor, calculating and obtaining the locked rotor heat Pa, Pb, Pc and Pmax generated by A, B, C three-phase currents;
obtaining the comparison conditions of Pa > k x Pmax, Pb > k x Pmax and Pc > k x Pmax according to the rotation blocking heat quantity Pa, Pb, Pc and Pmax;
and when any one of Pa > k × Pmax or Pb > k × Pmax or Pc > k × Pmax is satisfied, determining that the permanent magnet synchronous motor is in a locked-rotor fault state.
According to the first aspect, in a fourth possible implementation manner of the first aspect, the locked rotor heat Pa, Pb, Pc, and Pmax generated by A, B, C three-phase currents and the locked rotor maximum preset current are obtained through calculation according to the three-phase currents Ia, Ib, Ic, and Imax of the motor; the method specifically comprises the following steps:
obtaining Ia according to three-phase currents Ia, Ib, Ic and Imax of the motor2-Ip2Comparing the difference value with 0;
when Ia2-Ip2When the current is less than or equal to 0, accumulating and reducing the heat generated by the motor to obtain the locked rotor heat Pa generated by the phase A current;
when Ia2-Ip2When the current is more than 0, accumulating the heat generated by the motor to obtain the current generated by the phase B currentThe locked rotor heat Pa;
obtaining Ib according to three-phase currents Ia, Ib, Ic and Imax of the motor2-Ip2Comparing the difference value with 0;
when Ib2An Ip2The phase current is less than or equal to 0, and the heat generated by the motor is reduced to obtain the locked rotor heat Pb generated by the phase current B;
when Ib2-Ip2When the current is more than 0, accumulating the heat generated by the motor to obtain the locked rotor heat Pb generated by the B-phase current;
obtaining Ic according to the three-phase currents Ia, Ib, Ic and Imax of the motor2-Ip2Comparing the difference value with 0;
when Ic is2-Ip2When the current is less than or equal to 0, accumulating and reducing the heat generated by the motor to obtain the locked rotor heat Pc generated by the C-phase current;
when Ic is2-Ip2When the current is more than 0, accumulating the heat generated by the motor to obtain the locked rotor heat Pc generated by the C-phase current;
obtaining Imax according to the three-phase currents Ia, Ib, Ic and Imax of the motor2-Ip2Comparing the difference value with 0;
when Imax is reached2-Ip2The heat generated by the motor is accumulated and reduced to obtain the locked rotor heat Pmax generated by the locked rotor maximum preset current Imax when the temperature is less than or equal to 0;
when Imax is reached2-Ip2And when the current is more than 0, accumulating the heat generated by the motor to obtain the locked rotor heat Pmax generated by the maximum locked rotor preset current Imax.
According to the first aspect, in a fifth possible implementation manner of the first aspect, the step of "executing the locked rotor control command and obtaining the motor three-phase current of the permanent magnet synchronous motor when the permanent magnet synchronous motor is in the locked rotor state" specifically includes the following steps:
when the permanent magnet synchronous motor is in a locked-rotor state, the motor is controlled to output a preset torque value, and the motor three-phase current of the permanent magnet synchronous motor is obtained.
According to the first aspect, in a sixth possible implementation manner of the first aspect, the step of executing the locked rotor fault protection command when the permanent magnet synchronous motor is in the locked rotor fault state includes the following steps:
and when the permanent magnet synchronous motor is in a locked rotor fault state, sending a motor locked rotor fault state instruction, and executing a motor stop instruction.
In a second aspect, the present invention provides a system for controlling locked rotor of a permanent magnet synchronous motor for an electric vehicle, comprising:
the first acquisition unit is used for acquiring the real-time rotating speed of the motor;
the second acquisition unit is used for acquiring three-phase current of the motor;
the first calculating unit is in communication connection with the second acquiring unit and is used for calculating and acquiring the locked rotor heat according to the acquired three-phase current of the motor;
the first judging unit is in communication connection with the first acquiring unit and is used for judging whether the permanent magnet synchronous motor is in a locked rotor state or not according to the real-time rotating speed of the motor;
the first judging unit is in communication connection with the first calculating unit and is used for judging whether the permanent magnet synchronous motor is in a locked rotor fault state or not according to the locked rotor heat;
the first control unit is in communication connection with the first judging unit and executes a locked rotor control instruction when the permanent magnet synchronous motor is in a locked rotor state;
and the second control unit is in communication connection with the first judging unit and the second judging unit and is used for executing a locked rotor fault protection instruction when the permanent magnet synchronous motor is in a locked rotor fault state.
According to the second aspect, in a first possible implementation manner of the second aspect, the method further includes:
and the first comparison unit is in communication connection with the first acquisition unit and is used for comparing the real-time rotating speed of the motor with a rotating speed threshold value.
According to the second aspect, in a second possible implementation manner of the second aspect, the method further includes:
and the filtering unit is in communication connection with the first acquisition unit and is used for filtering the acquired real-time motor rotating speed.
Compared with the prior art, the invention has the following advantages:
the invention provides a method and a system for controlling locked rotor of a permanent magnet synchronous motor for an electric vehicle, which are used for judging whether the permanent magnet synchronous motor is in a locked rotor state or not according to the real-time rotating speed of the motor, calculating the locked rotor heat according to the three-phase current of the motor, judging whether the permanent magnet synchronous motor is in a locked rotor fault state or not according to the locked rotor heat, executing a locked rotor control instruction to enable the motor to jump out of the locked rotor state when the motor is in the locked rotor fault state, and executing a locked rotor fault protection instruction to protect the motor when the motor is in the locked rotor fault state.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is another method flow diagram of an embodiment of the present invention;
FIG. 3 is another method flow diagram of an embodiment of the present invention;
fig. 4 is a functional block diagram of an embodiment of the present invention.
In the figure, the position of the upper end of the main shaft,
110. a first acquisition unit; 120. a first judgment unit; 130. a first control unit; 210. a second acquisition unit; 220. a first calculation unit; 230. a second judgment unit; 240. a second control unit.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Referring to fig. 1, an embodiment of the present invention provides a method for controlling locked-rotor of a permanent magnet synchronous motor for an electric vehicle, including the following steps:
s1, acquiring the real-time rotating speed of the motor;
s2, judging whether the permanent magnet synchronous motor is in a locked rotor state or not according to the real-time rotating speed of the motor;
s3, when the permanent magnet synchronous motor is in a locked rotor state, executing a locked rotor control command, and acquiring a motor three-phase current of the permanent magnet synchronous motor;
s4, calculating and obtaining the locked rotor heat according to the three-phase current of the motor;
s5, judging whether the PMSM is in a locked rotor fault state or not according to the locked rotor heat;
and S6, when the permanent magnet synchronous motor is in a locked rotor fault state, executing a locked rotor fault protection instruction.
The invention provides a method and a system for controlling locked rotor of a permanent magnet synchronous motor for an electric vehicle, which are used for judging whether the permanent magnet synchronous motor is in a locked rotor state or not according to the real-time rotating speed of the motor, calculating the locked rotor heat according to the three-phase current of the motor, judging whether the permanent magnet synchronous motor is in a locked rotor fault state or not according to the locked rotor heat, executing a locked rotor control instruction to enable the motor to jump out of the locked rotor state when the motor is in the locked rotor fault state, and executing a locked rotor fault protection instruction to protect the motor when the motor is in the locked rotor fault state.
In an embodiment, referring to fig. 2, the step of determining whether the permanent magnet synchronous motor is in a locked-rotor state according to the real-time rotating speed of the motor includes the following steps:
s21, comparing the real-time rotating speed of the motor with a preset rotating speed threshold value according to the real-time rotating speed of the motor;
and S22, when the real-time rotating speed of the motor is greater than the preset rotating speed threshold value, judging that the permanent magnet synchronous motor is in a locked-rotor state.
As described above, according to the invention, the real-time rotating speed of the motor can be acquired by the sensor, and whether the permanent magnet synchronous motor is in a locked-rotor state or not is judged according to the real-time rotating speed of the motor, so that the realization is convenient and reliable.
Referring to fig. 3, in an embodiment, the step of determining whether the permanent magnet synchronous motor is in the locked-rotor state according to the real-time rotating speed of the motor includes the following steps:
s211, filtering the real-time rotating speed of the motor according to the real-time rotating speed of the motor to obtain the effective rotating speed of the motor;
s212, comparing the effective rotating speed of the motor with a preset rotating speed threshold value according to the effective rotating speed of the motor;
s221, when the effective rotating speed of the motor exceeds a preset rotating speed threshold value, the permanent magnet synchronous motor is judged to be in a locked-rotor state.
And through filtering processing, the effective rotating speed of the motor is obtained, and the reliable judgment basis of the locked rotor state of the permanent magnet synchronous motor is realized.
In one embodiment, when the permanent magnet synchronous motor is in a locked-rotor state, the locked-rotor control instruction is executed, and the motor three-phase current of the permanent magnet synchronous motor is obtained; calculating and obtaining the locked rotor heat according to the three-phase current of the motor; according to the locked rotor heat, whether the permanent magnet synchronous motor is in a locked rotor fault state is judged, and the method specifically comprises the following steps:
when the permanent magnet synchronous motor is in a locked-rotor state, executing a locked-rotor control command, and acquiring motor three-phase currents Ia, Ib and Ic of the permanent magnet synchronous motor;
acquiring a continuous current threshold Ip of locked rotor protection, a maximum locked rotor preset current Imax and a time coefficient k;
according to the three-phase currents Ia, Ib, Ic and Imax of the motor, calculating and obtaining the locked rotor heat Pa, Pb, Pc and Pmax generated by A, B, C three-phase currents;
obtaining the comparison conditions of Pa > k x Pmax, Pb > k x Pmax and Pc > k x Pmax according to the rotation blocking heat quantity Pa, Pb, Pc and Pmax;
and when any one of Pa > k × Pmax or Pb > k × Pmax or Pc > k × Pmax is satisfied, determining that the permanent magnet synchronous motor is in a locked-rotor fault state.
According to the first aspect, in a fourth possible implementation manner of the first aspect, the locked rotor heat Pa, Pb, Pc, and Pmax generated by A, B, C three-phase currents and the locked rotor maximum preset current are obtained through calculation according to the three-phase currents Ia, Ib, Ic, and Imax of the motor; the method specifically comprises the following steps:
obtaining Ia according to three-phase currents Ia, Ib, Ic and Imax of the motor2-Ip2Comparing the difference value with 0;
when Ia2-Ip2When the current is less than or equal to 0, accumulating and reducing the heat generated by the motor to obtain the locked rotor heat Pa generated by the phase A current;
when Ia2-Ip2When the current is more than 0, accumulating the heat generated by the motor to obtain the locked rotor heat Pa generated by the phase B current;
obtaining Ib according to three-phase currents Ia, Ib, Ic and Imax of the motor2-Ip2Comparing the difference value with 0;
when Ib2-Ip2The phase current is less than or equal to 0, and the heat generated by the motor is reduced to obtain the locked rotor heat Pb generated by the phase current B;
when Ib2-Ip2When the current is more than 0, accumulating the heat generated by the motor to obtain the locked rotor heat Pb generated by the B-phase current;
obtaining Ic according to the three-phase currents Ia, Ib, Ic and Imax of the motor2-Ip2Comparing the difference value with 0;
when Ic is2-Ip2When the current is less than or equal to 0, accumulating and reducing the heat generated by the motor to obtain the locked rotor heat Pc generated by the C-phase current;
when Ic is2-Ip2When the current is more than 0, accumulating the heat generated by the motor to obtain the locked rotor heat Pc generated by the C-phase current;
obtaining the three-phase currents Ia, Ib, Ic and Imax of the motorImax2-Ip2Comparing the difference value with 0;
when Imax is reached2-Ip2The heat generated by the motor is accumulated and reduced to obtain the locked rotor heat Pmax generated by the locked rotor maximum preset current Imax when the temperature is less than or equal to 0;
when Imax is reached2-Ip2And when the current is more than 0, accumulating the heat generated by the motor to obtain the locked rotor heat Pmax generated by the maximum locked rotor preset current Imax.
As described above, according to the present invention, the heat value is obtained by calculation according to joule law, and is accumulated or subtracted under the corresponding different comparison conditions, so as to obtain the locked rotor heat amounts Pa, Pb, Pc, and Pmax.
In an embodiment, the step of executing the locked rotor control command and acquiring the three-phase current of the permanent magnet synchronous motor when the permanent magnet synchronous motor is in the locked rotor state includes the following steps:
when the permanent magnet synchronous motor is in a locked-rotor state, the motor is controlled to output a preset torque value, so that the motor jumps out of the locked-rotor state, and the motor three-phase current of the permanent magnet synchronous motor is obtained in the process.
In an embodiment, the step of executing the locked rotor fault protection command when the permanent magnet synchronous motor is in the locked rotor fault state includes the following steps:
when the permanent magnet synchronous motor is in a locked-rotor fault state, a motor locked-rotor fault state instruction is sent, a motor stop instruction is executed, the motor is prevented from being damaged due to overheating, and the purpose of protecting the motor is achieved.
Based on the same inventive concept, please refer to fig. 4, the present invention provides a system for controlling locked rotor of a permanent magnet synchronous motor for an electric vehicle, comprising: the system comprises a first acquisition unit 110, a second acquisition unit 210, a first calculation unit 220, a first judgment unit 120, a second judgment unit 230, a first control unit 130 and a second control unit 240, wherein the first acquisition unit 110 is used for acquiring the real-time rotating speed of the motor; the second obtaining unit 210 is configured to obtain a three-phase current of the motor; the first calculating unit 220 is in communication connection with the second obtaining unit 210, and is configured to calculate and obtain a locked rotor heat amount according to the obtained three-phase current of the motor; the first judging unit 120 is in communication connection with the first obtaining unit 110, and is configured to judge whether the permanent magnet synchronous motor is in a locked-rotor state according to a real-time rotating speed of the motor; the first judging unit 120 is in communication connection with the first calculating unit 220, and is configured to judge whether the permanent magnet synchronous motor is in a locked rotor fault state according to the locked rotor heat; the first control unit 130 is in communication connection with the first judging unit 120, and executes a locked rotor control instruction when the permanent magnet synchronous motor is in a locked rotor state; the second control unit 240 is communicatively connected to the first determining unit 120 and the second determining unit 230, and is configured to execute a locked rotor fault protection instruction when the permanent magnet synchronous motor is in a locked rotor fault state.
In an embodiment, the apparatus further includes a first comparing unit, where the first comparing unit is in communication connection with the first obtaining unit 110, and is configured to compare the real-time rotation speed of the motor with a rotation speed threshold.
In an embodiment, the system further includes a filtering unit, where the filtering unit is in communication connection with the first obtaining unit 110, and is configured to perform filtering processing on the obtained real-time motor rotation speed.
Based on the same inventive concept, the embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements all or part of the method steps of the above method.
The present invention can implement all or part of the processes of the above methods, and can also be implemented by using a computer program to instruct related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory 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 by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for controlling locked rotor of a permanent magnet synchronous motor for an electric automobile is characterized by comprising the following steps:
acquiring the real-time rotating speed of a motor;
judging whether the permanent magnet synchronous motor is in a locked rotor state or not according to the real-time rotating speed of the motor;
when the permanent magnet synchronous motor is in a locked-rotor state, executing a locked-rotor control command and acquiring a motor three-phase current of the permanent magnet synchronous motor;
calculating and obtaining the locked rotor heat according to the three-phase current of the motor;
judging whether the permanent magnet synchronous motor is in a locked rotor fault state or not according to the locked rotor heat;
and when the permanent magnet synchronous motor is in a locked rotor fault state, executing a locked rotor fault protection instruction.
2. The method for controlling the locked rotor of the permanent magnet synchronous motor for the electric vehicle according to claim 1, wherein the step of determining whether the permanent magnet synchronous motor is in the locked rotor state according to the real-time rotating speed of the motor comprises the following steps:
comparing the real-time rotating speed of the motor with a preset rotating speed threshold according to the real-time rotating speed of the motor;
and when the real-time rotating speed of the motor is greater than the preset rotating speed threshold value, judging that the permanent magnet synchronous motor is in a locked-rotor state.
3. The method for controlling the stalling of the PMSM for electric vehicle according to claim 2, wherein the method comprises "
Comparing the real-time rotating speed of the motor with a preset rotating speed threshold according to the real-time rotating speed of the motor;
and when the real-time rotating speed of the motor is greater than the preset rotating speed threshold value, judging that the permanent magnet synchronous motor is in a locked-rotor state. The method specifically comprises the following steps:
filtering the real-time rotating speed of the motor to obtain the effective rotating speed of the motor;
comparing the effective rotating speed of the motor with a preset rotating speed threshold according to the effective rotating speed of the motor;
and when the effective rotating speed of the motor exceeds a preset rotating speed threshold value, judging that the permanent magnet synchronous motor is in a locked-rotor state.
4. The method for controlling the locked rotor of the permanent magnet synchronous motor for the electric vehicle according to claim 1, wherein when the permanent magnet synchronous motor is in a locked rotor state, the locked rotor control command is executed, and a motor three-phase current of the permanent magnet synchronous motor is obtained; calculating and obtaining the locked rotor heat according to the three-phase current of the motor; according to the locked rotor heat, whether the permanent magnet synchronous motor is in a locked rotor fault state is judged, and the method specifically comprises the following steps:
when the permanent magnet synchronous motor is in a locked-rotor state, executing a locked-rotor control command, and acquiring motor three-phase currents Ia, Ib and Ic of the permanent magnet synchronous motor;
acquiring a continuous current threshold Ip of locked rotor protection, a maximum locked rotor preset current Imax and a time coefficient k;
according to the three-phase currents Ia, Ib, Ic and Imax of the motor, calculating and obtaining the locked rotor heat Pa, Pb, Pc and Pmax generated by A, B, C three-phase currents;
obtaining the comparison conditions of Pa > k x Pmax, Pb > k x Pmax and Pc > k x Pmax according to the rotation blocking heat quantity Pa, Pb, Pc and Pmax;
and when any one of Pa > k × Pmax or Pb > k × Pmax or Pc > k × Pmax is satisfied, determining that the permanent magnet synchronous motor is in a locked-rotor fault state.
5. The method for controlling the locked rotor of the permanent magnet synchronous motor for the electric vehicle as claimed in claim 4, wherein the locked rotor heat quantity Pa, Pb, Pc and Pmax generated by A, B, C three-phase current and the maximum locked rotor preset current are calculated according to the three-phase currents Ia, Ib, Ic and Imax of the motor; the method specifically comprises the following steps:
obtaining Ia according to three-phase currents Ia, Ib, Ic and Imax of the motor2-Ip2Comparing the difference value with 0;
when Ia2-Ip2When the current is less than or equal to 0, accumulating and reducing the heat generated by the motor to obtain the locked rotor heat Pa generated by the phase A current;
when Ia2-Ip2When the current is more than 0, accumulating the heat generated by the motor to obtain the locked rotor heat Pa generated by the phase B current;
obtaining Ib according to three-phase currents Ia, Ib, Ic and Imax of the motor2-Ip2Comparing the difference value with 0;
when Ib2-Ip2The phase current is less than or equal to 0, and the heat generated by the motor is reduced to obtain the locked rotor heat Pb generated by the phase current B;
when Ib2-Ip2When the current is more than 0, accumulating the heat generated by the motor to obtain the locked rotor heat Pb generated by the B-phase current;
obtaining Ic according to the three-phase currents Ia, Ib, Ic and Imax of the motor2-Ip2Comparing the difference value with 0;
when Ic is2-Ip2When the current is less than or equal to 0, accumulating and reducing the heat generated by the motor to obtain the locked rotor heat Pc generated by the C-phase current;
when Ic is2-Ip2When the current is more than 0, accumulating the heat generated by the motor to obtain the locked rotor heat Pc generated by the C-phase current;
obtaining Imax according to the three-phase currents Ia, Ib, Ic and Imax of the motor2-Ip2Comparing the difference value with 0;
when Imax is reached2-Ip2The heat generated by the motor is accumulated and reduced to obtain the locked rotor heat Pmax generated by the locked rotor maximum preset current Imax when the temperature is less than or equal to 0;
when Imax is reached2-Ip2And when the current is more than 0, accumulating the heat generated by the motor to obtain the locked rotor heat Pmax generated by the maximum locked rotor preset current Imax.
6. The method for controlling the locked rotor of the permanent magnet synchronous motor for the electric vehicle according to claim 1, wherein the step of executing the locked rotor control command and obtaining the motor three-phase current of the permanent magnet synchronous motor when the permanent magnet synchronous motor is in the locked rotor state specifically comprises the following steps:
when the permanent magnet synchronous motor is in a locked-rotor state, the motor is controlled to output a preset torque value, and the motor three-phase current of the permanent magnet synchronous motor is obtained.
7. The method for controlling the locked rotor of the permanent magnet synchronous motor for the electric vehicle according to claim 1, wherein the step of executing the locked rotor fault protection command when the permanent magnet synchronous motor is in the locked rotor fault state comprises the following steps:
and when the permanent magnet synchronous motor is in a locked rotor fault state, sending a motor locked rotor fault state instruction, and executing a motor stop instruction.
8. The utility model provides a PMSM lock-rotor control system for electric automobile which characterized in that includes:
the first acquisition unit is used for acquiring the real-time rotating speed of the motor;
the second acquisition unit is used for acquiring three-phase current of the motor;
the first calculating unit is in communication connection with the second acquiring unit and is used for calculating and acquiring the locked rotor heat according to the acquired three-phase current of the motor;
the first judging unit is in communication connection with the first acquiring unit and is used for judging whether the permanent magnet synchronous motor is in a locked rotor state or not according to the real-time rotating speed of the motor;
the second judging unit is in communication connection with the first calculating unit and is used for judging whether the permanent magnet synchronous motor is in a locked rotor fault state or not according to the locked rotor heat;
the first control unit is in communication connection with the first judging unit and executes a locked rotor control instruction when the permanent magnet synchronous motor is in a locked rotor state;
and the second control unit is in communication connection with the first judging unit and the second judging unit and is used for executing a locked rotor fault protection instruction when the permanent magnet synchronous motor is in a locked rotor fault state.
9. The system of claim 8, further comprising:
and the first comparison unit is in communication connection with the first acquisition unit and is used for comparing the real-time rotating speed of the motor with a rotating speed threshold value.
10. The system of claim 9, further comprising:
and the filtering unit is in communication connection with the first acquisition unit and is used for filtering the acquired real-time motor rotating speed.
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| CN113433455A (en) * | 2021-06-24 | 2021-09-24 | 中国第一汽车股份有限公司 | Control method, device and medium for stalling test of permanent magnet synchronous motor for electric vehicle |
| CN113489425A (en) * | 2021-06-04 | 2021-10-08 | 东风汽车集团股份有限公司 | Driving motor locked-rotor control method, system and storage medium |
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