CN112421996B - Control method suitable for extreme sudden change of rotating speed of switched reluctance motor of electric automobile - Google Patents

Control method suitable for extreme sudden change of rotating speed of switched reluctance motor of electric automobile Download PDF

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CN112421996B
CN112421996B CN202011006963.4A CN202011006963A CN112421996B CN 112421996 B CN112421996 B CN 112421996B CN 202011006963 A CN202011006963 A CN 202011006963A CN 112421996 B CN112421996 B CN 112421996B
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rotating speed
switched reluctance
reluctance motor
preset
position signal
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CN112421996A (en
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蔡骏
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Nanjing University of Information Science and Technology
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Nanjing University of Information Science and Technology
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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
    • 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
    • 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
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention relates to a control method suitable for extreme sudden change of the rotating speed of a switched reluctance motor of an electric vehicle, which is designed by adopting a brand new strategy, realizes the judgment of the sudden change condition of the rotating speed of the motor by respectively calculating the time difference between the edge signals of the appointed directions of two adjacent position pulses in the position signals of each phase of the motor on the basis of the position signals of the motor, closes a main switching tube of each phase of the motor under the condition of sudden change of the rotating speed, and combines delay design to ensure that the electric vehicle enters an inertia running state, thereby avoiding the power system fault protection caused by the phase error of the switched reluctance motor of the electric vehicle, reducing the torque pulsation of the motor, avoiding the shaking of the electric vehicle and even burning out a motor controller, effectively improving the reliability of a driving system of the electric vehicle and optimizing the driving feeling of the electric vehicle by the actual execution of the whole design control strategy.

Description

Control method suitable for extreme sudden change of rotating speed of switched reluctance motor of electric automobile
Technical Field
The invention relates to a control method suitable for extreme sudden change of rotating speed of a switched reluctance motor of an electric automobile, and belongs to the technical field of locked-rotor protection of the switched reluctance motor.
Background
The switched reluctance motor is a novel speed regulating motor developed in the beginning of the 80 s, has the characteristics of simple structure, good fault tolerance, high efficiency and the like, becomes a new generation of stepless speed regulating system after a variable frequency speed regulating system and a brushless direct current motor speed regulating system, and has been successfully applied to the fields of household appliances, industrial application, aerospace and the like.
With the shortage of energy and the reduction of rare earth resources, the system gradually expands to the electric vehicle industry in recent years and slowly replaces the original brushless motor and alternating current motor driving system. Aiming at the problems that the road condition of an electric vehicle is variable, the road surface is rugged and uneven, and the sudden change of the rotating speed of the electric vehicle motor causes the mistaken turning-on of a controller, the current is overlarge, the vehicle shakes, and even the controller is burnt, the driving system of the electric vehicle switched reluctance motor needs to have certain processing capacity under the state of the extreme sudden change of the rotating speed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a control method suitable for the extreme sudden change of the rotating speed of the switched reluctance motor of the electric automobile, which can effectively deal with the sudden change state of the rotating speed of the motor and improve the running stability of the electric automobile.
The invention adopts the following technical scheme for solving the technical problems: the invention designs a control method suitable for the extreme mutation of the rotating speed of a switched reluctance motor of an electric automobile, which is used for detecting the extreme mutation condition of the rotating speed of the switched reluctance motor and completing corresponding drive control, wherein in the control method, a rotating speed mutation flag bit is initialized to be a preset second mark, and then the following steps are executed:
step A, detecting and obtaining a position signal of the switched reluctance motor, judging whether the position signal is an edge signal in a specified direction, if so, defining the position signal as a current position signal, obtaining the detection obtaining time of the current position signal, and then entering step B; otherwise, continuing to execute the detection and judgment of the step A;
b, judging whether an edge signal which is obtained by the adjacent last detection and is in phase with the current position signal and corresponds to the specified direction exists, if so, defining the edge signal which is obtained by the adjacent last detection and is in phase with the current position signal and corresponds to the specified direction as the last position signal, and entering the step C; otherwise, returning to the step A;
step C, obtaining the detection obtaining time of the last position signal, obtaining the period duration corresponding to the current position signal by combining the detection obtaining time of the current position signal, and then entering the step D;
d, judging whether the last position signal has the corresponding period duration, if so, entering the step E; otherwise, returning to the step A;
step E, according to the period duration corresponding to the last position signal, combining the period duration corresponding to the current position signal to obtain an absolute value of a difference between the two, wherein the absolute value is used as a period difference value to be analyzed, and then, the step F is carried out;
step F, judging whether the period difference value to be analyzed is larger than a preset period difference upper limit threshold value, if so, entering the step G; otherwise, entering step H;
g, obtaining the rotating speed of the switched reluctance motor corresponding to the preset time length in the historical time direction at the current moment, judging whether the rotating speed is greater than a preset rotating speed upper limit threshold value, if so, updating a rotating speed mutation flag bit to be a preset first mark, and entering the step H; otherwise, directly entering step H;
step H, judging whether the rotating speed sudden change flag bit is a preset first mark, if so, controlling to close a three-phase main switch of the switched reluctance motor, starting timing, and then entering the step I; otherwise, returning to the step A;
step I, acquiring a rotating speed of the switched reluctance motor corresponding to the current time and preset duration in the historical time direction, and entering a step J when any condition is met in a time sequence according to the condition that the rotating speed is less than or equal to a preset period difference upper limit threshold value and the condition that timing reaches a preset delay timing upper limit threshold value;
and J, updating the rotating speed sudden change flag bit to be a preset second mark, timing and clearing, and then returning to the step A.
As a preferred technical scheme of the invention: in the step A, when the position signal of the switched reluctance motor obtained by detection is judged to be an edge signal in a specified direction, if so, the position signal is defined as a current position signal, the detection obtaining time of the current position signal is obtained, meanwhile, an interrupt program state is entered, and then a step C is entered;
in the step H, the interrupt program state is exited first, and then it is determined whether the rotation speed mutation flag bit is the preset first flag.
As a preferred technical scheme of the invention: obtaining the rotating speed of the switched reluctance motor corresponding to the preset duration in the historical time direction at the current moment according to the following method;
the method comprises the steps of firstly, detecting and obtaining the rotating speed of the switched reluctance motor at each moment corresponding to the current moment in the preset time length in the historical time direction, and then, calculating an average value, namely, the average value is used as the rotating speed of the switched reluctance motor corresponding to the current moment in the preset time length in the historical time direction.
As a preferred technical scheme of the invention: obtaining the rotating speed of the switched reluctance motor corresponding to the preset duration in the historical time direction at the current moment according to the following method;
the method comprises the steps of firstly, detecting and obtaining the rotating speed of the switched reluctance motor at each moment corresponding to the current moment in the preset time length in the historical time direction, then removing the maximum value and the minimum value, and then calculating the average value, namely the average value is used as the rotating speed of the switched reluctance motor corresponding to the current moment in the preset time length in the historical time direction.
As a preferred technical scheme of the invention: the edge signal in the appointed direction is a rising edge signal or a falling edge signal.
As a preferred technical scheme of the invention: the preset first mark is 1, and the preset second mark is 0.
Compared with the prior art, the control method suitable for the extreme sudden change of the rotating speed of the switched reluctance motor of the electric automobile has the following technical effects:
the invention designs a control method suitable for extreme sudden change of the rotating speed of a switched reluctance motor of an electric vehicle, adopts a brand new strategy to design, realizes judgment of the sudden change condition of the rotating speed of the motor by respectively calculating the time difference between the edge signals in the appointed direction of two adjacent position pulses in the position signals of each phase of the motor based on the position signals of the motor, closes a main switching tube of each phase of the motor under the condition of sudden change of the rotating speed, and combines delay design to ensure that the electric vehicle enters an inertia running state, thereby avoiding power system fault protection caused by phase error of the switched reluctance motor of the electric vehicle, reducing the torque pulsation of the motor, avoiding the shaking of the electric vehicle and even burning a motor controller.
Drawings
FIG. 1 is a flow chart of a method for controlling extreme sudden change of rotating speed of a switched reluctance motor of an electric vehicle according to the present invention;
FIG. 2 is a schematic diagram of an error Hall position in an embodiment of the present invention;
FIG. 3 is a schematic diagram of an error Hall position and current waveform in an embodiment of the present invention;
FIG. 4 is a schematic diagram of currents after measures are taken at an incorrect Hall position in an embodiment of the present invention.
The signal sources include CapA _ up1, capA _ up2, capA _ up3 and CapA _ up4, respectively, A-phase sequential rising edge signals, capA _ num1, capA _ num2, capA _ num3 and CapA _ num4, A-phase sequential rising edge values, capB-phase sequential rising edge signals, capB _ up1, capB _ up2, capB-up 3 and CapB-up 4, capB _ num1, capB _ num2 and CapB _ num3, capC-phase sequential rising edge signals, capC-phase sequential cycle values, capC _ num1, capC _ num2 and CapC _ up 3.
Detailed Description
The following description will explain embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention designs a control method suitable for the extreme sudden change of the rotating speed of a switched reluctance motor of an electric vehicle, which is used for detecting the extreme sudden change of the rotating speed of the switched reluctance motor and finishing corresponding drive control.
Step A, detecting and obtaining a position signal of the switched reluctance motor, judging whether the position signal is an edge signal in a specified direction, if so, defining the position signal as a current position signal, obtaining the detection obtaining time of the current position signal, and then entering step B; otherwise, the detection and judgment of the step A are continuously executed.
In practical application, an interrupt design is further added to the scheme, that is, in step a, when the detected position signal of the switched reluctance motor is determined to be an edge signal in a specified direction, the position signal is defined as a current position signal, and the detection acquisition time of the current position signal is obtained, and meanwhile, the scheme enters an interrupt program state, and then the step B is entered.
The edge signal in the direction specified here specifically means a rising edge signal or a falling edge signal.
B, judging whether an edge signal which is obtained by the adjacent last detection and is in phase with the current position signal and corresponds to the specified direction exists, if so, defining the edge signal which is obtained by the adjacent last detection and is in phase with the current position signal and corresponds to the specified direction as the last position signal, and entering the step C; otherwise, returning to the step A.
And C, acquiring the detection acquisition time of the last position signal, acquiring the period duration corresponding to the current position signal by combining the detection acquisition time of the current position signal, and then entering the step D.
D, judging whether the corresponding cycle duration exists in the last position signal, if so, entering the step E; otherwise, returning to the step A.
And E, obtaining an absolute value of a difference value between the period duration corresponding to the last position signal and the period duration corresponding to the current position signal according to the period duration corresponding to the last position signal, using the absolute value as a period difference value to be analyzed, and entering the step F.
Step F, judging whether the period difference value to be analyzed is larger than a preset period difference upper limit threshold value, if so, entering the step G; otherwise, go to step H.
For a three-phase motor, the steps B to C are performed for the phases a, B and C in the three-phase motor, that is, when the current position signal in the step a comes from the phase a, the steps B to C are performed for the phase a; when the current position signal in the step A comes from the phase B, the next steps from the step B to the step C are carried out, namely, the operation is carried out on the phase B; when the current position signal in step a is from phase C, the next steps B to C are performed, i.e. the operation is performed for phase C.
G, obtaining the rotating speed of the switched reluctance motor corresponding to the preset time length in the historical time direction at the current moment, judging whether the rotating speed is greater than a preset rotating speed upper limit threshold value, if so, updating a rotating speed mutation flag bit to be a preset first mark, and entering the step H; otherwise, directly entering step H.
In cooperation with the above-mentioned design of the interrupt added for the actual execution of step a, the exit interrupt is also further designed in the actual design of step H as follows.
Step H, exiting the state of the interrupt program, judging whether the rotating speed mutation flag bit is a preset first mark, if so, controlling to close a three-phase main switch of the switched reluctance motor, starting timing, and entering the step I; otherwise, returning to the step A.
Step I, obtaining the rotating speed of the switched reluctance motor corresponding to the preset time length from the current moment to the historical time direction, and entering step J when any condition is met according to the time sequence aiming at the condition that the rotating speed is less than or equal to the preset period difference upper limit threshold value and the condition that the timing reaches the preset delay timing upper limit threshold value.
For the delay involved in the steps H to I, in practical application, the delay design is designed to ensure that a certain delay time is ensured after the three-phase main switch of the switched reluctance motor is turned off, so that the electric vehicle can smoothly cross the obstacle road surface, and the electric vehicle switching tube is prevented from being turned off too short to enter the execution program frequently.
In the step G and the step I, for the rotating speed of the switched reluctance motor corresponding to the preset time duration in the historical time direction at the current moment, in practical application, the specific design is obtained by executing the following method.
The method comprises the steps of firstly, detecting and obtaining the rotating speed of the switched reluctance motor at each moment corresponding to the current moment in the preset time length in the historical time direction, and then, calculating an average value, namely, the average value is used as the rotating speed of the switched reluctance motor corresponding to the current moment in the preset time length in the historical time direction.
In practical application, for the operation of obtaining the average value, the maximum value and the minimum value can be further designed and removed on the basis of obtaining the rotation speeds, and how to obtain the average value is used as the rotation speed of the switched reluctance motor corresponding to the preset duration in the historical time direction at the current moment.
And J, updating the rotating speed sudden change flag bit to be a preset second mark, timing and clearing, and then returning to the step A.
In practical applications, the first flag is preset to be 1, and the second flag is preset to be 0.
The control method suitable for the extreme sudden change of the rotating speed of the switched reluctance motor of the electric automobile is applied to the reality, as shown in figure 2, the phase change sequence of the switched reluctance motor used in the embodiment is A → B → C → A, three phases are conducted in turn according to the sequence, the conduction interval is set to be the normal operation of the motor, the angle of the rising edge of the captured A phase is updated to 0 degrees, the angle of the rising edge of the captured B phase is updated to 15 degrees, the angle of the rising edge of the captured C phase is updated to 30 degrees, in the sudden change interval of the rotating speed, the angle is still updated, but the time for calculating each degree is not changed, so that the angle calculation error is caused.
If the motor speed suddenly changes, as shown in a sudden change judgment section of a position signal in fig. 2, the periodic value of the hall position signal of the motor suddenly increases, so that an angle calculation error of the control unit is caused, and therefore whether the sudden change of the speed occurs is judged according to the difference value of two adjacent periods.
In view of the above situation, the control method for the extreme sudden change of the rotating speed of the switched reluctance motor of the electric vehicle according to the present invention is implemented, and the implementation result is shown in fig. 4.
The technical scheme is designed into a control method suitable for extreme sudden change of the rotating speed of the switched reluctance motor of the electric vehicle, a brand new strategy is adopted for design, based on motor position signals, the time difference between the edge signals in the appointed direction of two adjacent position pulses in the phase position signals of the motor is respectively calculated, the judgment of the sudden change condition of the rotating speed of the motor is realized, and in the case of the sudden change of the rotating speed, the main switching tube of each phase of the motor is closed, and the delay design is combined, so that the electric vehicle enters an inertia running state, the power system fault protection caused by the phase error of the switched reluctance motor of the electric vehicle is avoided, the torque pulsation of the motor is reduced, the problem that the electric vehicle shakes and even burns a motor controller is avoided, the actual execution of the whole design control strategy effectively improves the reliability of a driving system of the electric vehicle, and the driving feeling of the electric vehicle is optimized.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (4)

1. A control method suitable for the extreme sudden change of the rotating speed of a switched reluctance motor of an electric automobile is used for detecting the extreme sudden change condition of the rotating speed of the switched reluctance motor and finishing corresponding drive control, and is characterized in that firstly, a rotating speed sudden change flag bit is initialized to be a preset second mark, and then the following steps are executed:
step A, detecting and obtaining a position signal of the switched reluctance motor, judging whether the position signal is an edge signal in a specified direction, if so, defining the position signal as a current position signal, obtaining the detection obtaining time of the current position signal, simultaneously entering an interrupt program state, and then entering step B; otherwise, continuing to execute the detection and judgment of the step A;
the edge signal in the specified direction is a rising edge signal or a falling edge signal;
b, judging whether an edge signal which is obtained by the adjacent last detection and is in phase with the current position signal and corresponds to the specified direction exists, if so, defining the edge signal which is obtained by the adjacent last detection and is in phase with the current position signal and corresponds to the specified direction as a last position signal, and entering the step C; otherwise, returning to the step A;
step C, obtaining the detection obtaining time of the last position signal, obtaining the period duration corresponding to the current position signal by combining the detection obtaining time of the current position signal, and entering the step D;
d, judging whether the corresponding cycle duration exists in the last position signal, if so, entering the step E; otherwise, returning to the step A;
step E, according to the period duration corresponding to the last position signal, combining the period duration corresponding to the current position signal to obtain an absolute value of a difference between the two, wherein the absolute value is used as a period difference value to be analyzed, and then, the step F is carried out;
step F, judging whether the period difference value to be analyzed is larger than a preset period difference upper limit threshold value, if so, entering the step G; otherwise, entering step H;
g, obtaining the rotating speed of the switched reluctance motor corresponding to the preset time length in the historical time direction at the current moment, judging whether the rotating speed is greater than a preset rotating speed upper limit threshold value, if so, updating a rotating speed mutation flag bit to be a preset first mark, and entering the step H; otherwise, directly entering step H;
step H, exiting the state of the interrupt program, judging whether the rotating speed mutation flag bit is a preset first mark, if so, controlling to close a three-phase main switch of the switched reluctance motor, starting timing, and entering the step I; otherwise, returning to the step A;
step I, acquiring a rotating speed of the switched reluctance motor corresponding to the current time and preset duration in the historical time direction, and entering a step J when any condition is met in a time sequence according to the condition that the rotating speed is less than or equal to a preset period difference upper limit threshold value and the condition that timing reaches a preset delay timing upper limit threshold value;
and J, updating the rotating speed sudden change flag bit to be a preset second mark, timing and clearing, and then returning to the step A.
2. The method for controlling the extreme sudden change of the rotating speed of the switched reluctance motor of the electric automobile according to the claim 1 is characterized in that: obtaining the rotating speed of the switched reluctance motor corresponding to the preset duration in the historical time direction at the current moment according to the following method;
the method comprises the steps of firstly detecting and obtaining the rotating speed of the switched reluctance motor at each moment corresponding to the preset time length from the current moment to the historical time direction, and then calculating an average value, namely the average value is used as the rotating speed of the switched reluctance motor at the preset time length from the current moment to the historical time direction.
3. The method for controlling the extreme sudden change of the rotating speed of the switched reluctance motor suitable for the electric automobile according to claim 2 is characterized in that: obtaining the rotating speed of the switched reluctance motor corresponding to the preset time length from the current time to the historical time direction according to the following method;
the method comprises the steps of firstly detecting and obtaining the rotating speed of the switched reluctance motor at each moment corresponding to the preset duration from the current moment to the historical time direction, then removing the maximum value and the minimum value, and then calculating the average value, namely the rotating speed of the switched reluctance motor corresponding to the preset duration from the current moment to the historical time direction.
4. The method for controlling the extreme sudden change of the rotating speed of the switched reluctance motor of the electric automobile according to the claim 1 is characterized in that: the preset first mark is 1, and the preset second mark is 0.
CN202011006963.4A 2020-09-23 2020-09-23 Control method suitable for extreme sudden change of rotating speed of switched reluctance motor of electric automobile Active CN112421996B (en)

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JPS60134789A (en) * 1983-12-21 1985-07-18 Matsushita Electric Ind Co Ltd Rotation controller of motor
JP6058150B2 (en) * 2013-09-30 2017-01-11 三菱電機株式会社 Power conversion device for electric vehicle and control method for power conversion device
CN105356795B (en) * 2014-08-18 2017-12-08 珠海格力节能环保制冷技术研究中心有限公司 The system and method for obtaining motor speed feedback signal
CN105553364A (en) * 2015-12-17 2016-05-04 北京芯盈速腾电子科技有限责任公司 Motor vector control method based on estimation of interval angle of hall signal
CN108023514A (en) * 2016-11-04 2018-05-11 德昌电机(深圳)有限公司 Application apparatus, electric machine and its motor driving integrated circuit

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