CN113415174A - Bus current limiting control method and related device for vehicle motor controller - Google Patents

Bus current limiting control method and related device for vehicle motor controller Download PDF

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Publication number
CN113415174A
CN113415174A CN202110714046.XA CN202110714046A CN113415174A CN 113415174 A CN113415174 A CN 113415174A CN 202110714046 A CN202110714046 A CN 202110714046A CN 113415174 A CN113415174 A CN 113415174A
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Prior art keywords
torque
current
value
increment
zero
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Inventor
杨金波
骆志伟
赵志刚
胡小龙
王艳
王伟洋
董星言
蒋雨菲
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Beijing Institute of Space Launch Technology
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Beijing Institute of Space Launch Technology
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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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H9/00—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
    • H02H9/02—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection responsive to excess current
    • 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
    • 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
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/549—Current
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

One or more embodiments of the present specification disclose a bus current limiting control method and related apparatus for a vehicle motor controller, the method including: the motor controller receives a torque instruction issued by the vehicle controller, then selects to perform closed-loop control on discharging current or closed-loop control on charging current according to the current bus current direction, specifically outputs a torque increment to be adjusted through the PI regulator, and then performs amplitude limiting processing on the torque increment: if the control is discharge current closed-loop control, the torque increment is limited below zero; and if the control is charging current closed loop control, limiting the torque increment to be above zero. Finally, the torque increment is superposed on the torque command, and the original torque control program is continued. The method can realize closed-loop current-limiting control of bus current in a motor controller program, ensure that the charging current and the discharging current of the battery are in an allowable range, and improve the accuracy of the current-limiting control of charging and discharging of the power battery.

Description

Bus current limiting control method and related device for vehicle motor controller
Technical Field
The present invention relates to the field of automotive power drive technologies, and in particular, to a bus current limiting control method and a related device for an automotive motor controller.
Background
In a new energy vehicle driving system, a vehicle motor controller mainly has the function of receiving a torque instruction issued by a vehicle control unit and driving a motor to operate according to the torque instruction. The power supply for the motor drive system is generally provided by a power battery, which is usually equipped with its own battery management system for monitoring and fault protection of the operating state of the power battery. Generally, when a power battery is in different states, different requirements are imposed on the discharge current and the charge current of the battery. When the battery charge/discharge current exceeds the allowable value, damage may be caused to the power battery. Therefore, the battery management system will allow the maximum current I allowed by the current dischargingdrmaxAnd maximum allowable charging current IcrmaxThe current torque command is adjusted by the vehicle controller according to the requirement, and the output current of the power battery is ensured not to exceed the allowable value.
In order to ensure that the output current of a power battery is within a certain range, a vehicle control unit usually calculates the maximum discharge power and the charge power of the battery according to a current limiting value and a current voltage, then multiplies an efficiency value to obtain the output power range of a motor, and finally calculates the maximum electric torque T allowed to be output by the motor according to the current rotating speedpmaxAnd a maximum braking torque TnmaxAnd limits the current torque command to within this range. Due to the driveThe efficiency of the system varies throughout the speed and torque range, and the efficiency used to calculate the output power of the motor tends to be less accurate and still likely to cause the battery current to exceed the allowable value.
At present, the whole vehicle controller can perform closed-loop control on bus current, and when the bus current exceeds a limit value, an output torque command is automatically adjusted, so that the bus current is stabilized at an allowable value. However, the whole vehicle controller acquires the bus current and outputs the torque command through the CAN bus, so that large time delay exists, and the control effect is influenced.
Disclosure of Invention
One or more embodiments of the present disclosure provide a bus current-limiting control method and related apparatus for a vehicle motor controller, so as to perform closed-loop current-limiting control on a bus current through the motor controller itself, and only a torque instruction, a current maximum charging current value and a current maximum discharging current value need to be normally sent to the motor controller, and adjustment of the torque is completed by the motor controller itself without depending on a complete machine controller, thereby reducing time delay and improving a current-limiting control effect on the premise of ensuring that an output current is stable at an allowable value.
To solve the above technical problem, one or more embodiments of the present specification are implemented as follows:
in a first aspect, a bus current limiting control method for a vehicle motor controller is provided, and is applied to a motor controller of a new energy vehicle, and the method includes:
receiving a torque instruction issued by a vehicle control unit, wherein the torque instruction at least carries a maximum charging current value and a maximum discharging current value;
determining a torque increment in a current working control state according to a maximum charging current value or a maximum discharging current value in the torque instruction and a current bus current value, wherein the working control state is discharging current control or charging current control;
carrying out amplitude limiting processing on the torque increment in different working control states;
and updating the torque command based on the torque value obtained by the amplitude limiting processing, and controlling the motor by the updated torque command.
In a second aspect, a bus current limiting control device for a vehicle motor controller is provided, which is applied to a motor controller of a new energy vehicle, and the device includes:
the receiving module is used for receiving a torque instruction issued by the vehicle control unit, wherein the torque instruction at least carries a maximum charging current value and a maximum discharging current value;
the determining module is used for determining the torque increment in the current limiting control state according to the maximum charging current value or the maximum discharging current value in the torque instruction and the current bus current value;
the processing module is used for carrying out amplitude limiting processing on the current torque fixed value by using the torque increment based on different rotating speeds under different current limiting control states;
and the control module is used for updating the torque instruction based on the torque value obtained by the amplitude limiting processing and controlling the motor by the updated torque instruction.
In a third aspect, a motor controller is provided, which includes the bus current limiting control device of the vehicle motor controller according to the second aspect.
In a fourth aspect, a new energy automobile is provided, which includes the motor controller of the third aspect.
According to the technical scheme provided by one or more embodiments of the specification, closed-loop current-limiting control is performed on the bus current through the motor controller, only a torque instruction, the current maximum charging current value and the current maximum discharging current value are required to be normally sent to the motor controller, the adjustment of the torque is completed by the motor controller, and the whole machine controller is not required to be relied on, so that on the premise that the output current is stable at an allowable value, time delay is reduced, and the current-limiting control effect is improved.
Drawings
In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, reference will now be made briefly to the attached drawings, which are needed in the description of one or more embodiments or prior art, and it should be apparent that the drawings in the description below are only some of the embodiments described in the specification, and that other drawings may be obtained by those skilled in the art without inventive exercise.
Fig. 1 is a schematic step diagram of a bus current limiting control method for a vehicle motor controller according to an embodiment of the present disclosure.
Fig. 2a is a flow chart of instruction information in the prior art.
Fig. 2b is a flow chart of instruction information provided by the embodiments of the present specification.
Fig. 3 is a flow chart of a motor controller to bus current limiting strategy provided by one embodiment of the present description.
Fig. 4 is a schematic structural diagram of a bus current limiting control device of a vehicle motor controller according to an embodiment of the present disclosure.
Fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present specification.
Detailed Description
In order to make the technical solutions in the present specification better understood, the technical solutions in one or more embodiments of the present specification will be clearly and completely described below with reference to the accompanying drawings in one or more embodiments of the present specification, and it is obvious that the one or more embodiments described are only a part of the embodiments of the present specification, and not all embodiments. All other embodiments that can be derived by a person skilled in the art from one or more of the embodiments described herein without making any inventive step shall fall within the scope of protection of this document.
The invention aims to provide a bus current closed-loop current-limiting control strategy of a vehicle motor controller. The motor controller receives a torque instruction, a maximum charging current value and a maximum discharging current value issued by the whole vehicle controller, then selects to perform discharging current closed-loop control or charging current closed-loop control according to the current bus current direction, specifically outputs a torque increment needing to be adjusted through the PI regulator, and then performs amplitude limiting processing on the torque increment: if the control is discharge current closed-loop control, the torque increment is limited below zero; and if the control is charging current closed loop control, limiting the torque increment to be above zero. Finally, the torque increment is superposed on the torque command, and the original torque control program is continued. The method can realize closed-loop current limiting control of bus current in a motor controller program, and ensures that the charging current and the discharging current of the battery are in an allowable range.
Example one
Referring to fig. 1, a schematic step view of a bus current-limiting control method for a vehicle motor controller provided in an embodiment of the present disclosure is shown, where the method may be applied to a motor controller of a new energy vehicle, that is, an execution main body in fig. 1 may be the motor controller or a bus current-limiting control device for the vehicle motor controller, and is mainly used to replace a vehicle controller to implement current-limiting control on bus current, so as to ensure that a charging current and a discharging current are within an allowable range, so as to protect a power battery. The method may comprise the steps of:
step 102: and receiving a torque command issued by the vehicle control unit, wherein the torque command at least carries a maximum charging current value or a maximum discharging current value.
Step 104: and determining the torque increment in the current working control state according to the maximum charging current value or the maximum discharging current value in the torque instruction and the current bus current value, wherein the working control state is discharging current control or charging current control.
Firstly, determining whether the current working control state is a discharging current control state or a charging current control state according to the current bus current direction;
then, the corresponding torque increments are calculated based on the different operating control states.
Alternatively, step 104 may be specifically performed as:
determining the current working control state of the motor according to whether the current bus current is greater than zero;
and subtracting the current bus current value from the maximum charging current value or the maximum discharging current value in the torque instruction, and then performing PI operation to calculate the torque increment in the current working control state.
The PI regulator is a linear controller, and forms a control deviation according to a given value and an actual output value, and linearly combines the proportion and the integral of the deviation to form a control quantity to perform control operation on a controlled object.
Step 106: and carrying out amplitude limiting processing on the torque increment under different working control states.
Specifically, in the discharge current control state, the torque increment is limited to zero or less; in the charge current control state, the torque increment is limited to zero or more.
Optionally, in the discharge current control state, if the calculated torque increment is greater than zero, adjusting the torque increment to zero, otherwise, keeping unchanged; further, judging whether the current rotating speed is greater than zero, if so, adding the torque increment to the torque fixed value to obtain a final torque value, otherwise, subtracting the torque increment from the torque fixed value to obtain a final torque value;
in the charging current control state, if the calculated torque increment is smaller than zero, the torque increment is adjusted to be zero, otherwise, the torque increment is kept unchanged; and further, judging whether the current rotating speed is greater than zero, if so, adding the torque increment to the torque fixed value to obtain a final torque value, and if not, subtracting the torque increment from the torque fixed value to obtain the final torque value.
Step 108: and updating the torque command based on the torque value obtained by the amplitude limiting processing, and controlling the motor by the updated torque command.
Therefore, the accuracy of the current-limiting control of charging and discharging of the power battery is improved, and the charging and discharging current of the battery is ensured to be in an allowable range. The whole vehicle controller does not need to add any operation, and can complete the current-limiting control of the bus current only by sending the maximum values of the charging current and the discharging current to the motor controller.
The above scheme is explained below by means of a specific flowchart.
Firstly, referring to fig. 2a, as a command information flow diagram in the prior art, after a battery management system sends a determined maximum value of a discharging current and a determined maximum value of a charging current to a vehicle controller, the vehicle controller locally performs a bus current limiting strategy, and then constructs a torque command based on at least two parameters after current limiting processing, and sends the torque command to a motor controller so as to control the motor to operate. Comparing fig. 2b, which is a strange information flow diagram in the present application, after the battery management system sends the determined maximum value of the discharging current and the maximum value of the charging current to the vehicle control unit, the vehicle control unit constructs a torque command based on at least the two parameters and sends the torque command to the motor controller, and after the motor controller locally performs bus current limiting processing, the motor controller controls the motor to operate by using the updated torque command.
Next, refer to the motor controller to bus current limiting strategy flow diagram shown in fig. 3.
1. Judging the current bus current IdcAnd if the current is larger than zero, carrying out bus discharging current closed-loop control, and if the current is smaller than zero, carrying out bus charging current closed-loop control.
2. And subtracting the current bus current value from the current discharge current maximum value or the current charging current maximum value, and then carrying out PI operation to calculate the torque increment delta T required to be adjusted.
3. In the discharge current closed-loop control, the calculated torque increment Δ T is set to zero if it is greater than zero, otherwise it remains unchanged. And when the rotating speed omega is larger than zero, the torque set value T is added with the torque increment delta T to obtain a final torque command value. When the rotation speed omega is less than zero, the torque set value T is subtracted by the torque increment delta T to obtain a torque command value.
4. In the charge current closed-loop control, the calculated torque increment Δ T is set to zero if it is smaller than zero, otherwise it remains unchanged. And when the rotating speed omega is larger than zero, the torque set value T is added with the torque increment delta T to obtain a final torque command value. When the rotation speed omega is less than zero, the torque set value T is subtracted by the torque increment delta T to obtain a torque command value.
5. And continuing to calculate the torque control according to the adjusted torque command.
Through the technical scheme, the motor controller receives a torque instruction, a maximum charging current value and a maximum discharging current value issued by the whole vehicle controller, then, selects to perform discharging current closed-loop control or charging current closed-loop control according to the current bus current direction, and can specifically output a torque increment needing to be adjusted through the PI regulator, and then, performs amplitude limiting processing on the torque increment: if the control is discharge current closed-loop control, the torque increment is limited below zero; and if the control is charging current closed loop control, limiting the torque increment to be above zero. Finally, the torque increment is superposed on the torque command, and the original torque control program is continued. The method can realize closed-loop current-limiting control of bus current in a motor controller program, ensure that the charging current and the discharging current of the battery are in an allowable range, and improve the accuracy of the current-limiting control of charging and discharging of the power battery.
Example two
Referring to fig. 4, for a bus current limiting control device of a vehicle motor controller provided in an embodiment of the present disclosure, the device 400 may include:
a receiving module 402, configured to receive a torque instruction issued by a vehicle controller, where the torque instruction at least carries a maximum charging current value and a maximum discharging current value;
a determining module 404, configured to determine, according to a maximum charging current value or a maximum discharging current value in the torque instruction, a torque increment in a current-limiting control state according to a current bus current value;
the processing module 406 is configured to perform amplitude limiting processing on the current torque constant value by using the torque increment based on different rotation speeds in different current limiting control states;
and the control module 408 is configured to update the torque command based on the torque value obtained through the amplitude limiting processing, and control the motor with the updated torque command.
Optionally, as an embodiment, when determining the torque increment in the current operation control state according to the maximum charging current value or the maximum discharging current value in the torque command and the current bus current value, the determining module is specifically configured to: determining the current working control state of the motor according to whether the current bus current is greater than zero; and subtracting the current bus current value from the maximum charging current value or the maximum discharging current value in the torque instruction, and then performing PI operation to calculate the torque increment in the current working control state.
In a specific implementation manner of the embodiment of this specification, when the processing module performs amplitude limiting processing on the torque increment in different operation control states, the processing module is specifically configured to: limiting the torque increment to be below zero in a discharge current control state; in the charge current control state, the torque increment is limited to zero or more.
In another specific implementation manner of the embodiment of this specification, the processing module is specifically configured to:
in the discharge current control state, if the calculated torque increment is larger than zero, the torque increment is adjusted to be zero, otherwise, the torque increment is kept unchanged; further, judging whether the current rotating speed is greater than zero, if so, adding the torque increment to the torque fixed value to obtain a final torque value, otherwise, subtracting the torque increment from the torque fixed value to obtain a final torque value;
in the charging current control state, if the calculated torque increment is smaller than zero, the torque increment is adjusted to be zero, otherwise, the torque increment is kept unchanged; and further, judging whether the current rotating speed is greater than zero, if so, adding the torque increment to the torque fixed value to obtain a final torque value, and if not, subtracting the torque increment from the torque fixed value to obtain the final torque value.
Through the technical scheme, the motor controller receives a torque instruction, a maximum charging current value and a maximum discharging current value issued by the whole vehicle controller, then, selects to perform discharging current closed-loop control or charging current closed-loop control according to the current bus current direction, and can specifically output a torque increment needing to be adjusted through the PI regulator, and then, performs amplitude limiting processing on the torque increment: if the control is discharge current closed-loop control, the torque increment is limited below zero; and if the control is charging current closed loop control, limiting the torque increment to be above zero. Finally, the torque increment is superposed on the torque command, and the original torque control program is continued. The method can realize closed-loop current-limiting control of bus current in a motor controller program, ensure that the charging current and the discharging current of the battery are in an allowable range, and improve the accuracy of the current-limiting control of charging and discharging of the power battery.
EXAMPLE III
The embodiment of the present specification further provides a motor controller, including the bus current-limiting control device for a vehicle motor controller according to any one of the above-mentioned schemes, and in addition, may further include other existing device parts, which are not described herein again.
Meanwhile, the embodiment of the specification further provides a new energy automobile which comprises the motor controller and other parts forming the automobile.
Example four
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present specification. Referring to fig. 5, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 5, but this does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
And the processor reads a corresponding computer program from the nonvolatile memory to the memory and then runs the computer program to form the bus current limiting control device of the vehicle motor controller on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
receiving a torque instruction issued by a vehicle control unit, wherein the torque instruction at least carries a maximum charging current value and a maximum discharging current value;
determining a torque increment in a current working control state according to a maximum charging current value or a maximum discharging current value in the torque instruction and a current bus current value, wherein the working control state is discharging current control or charging current control;
carrying out amplitude limiting processing on the torque increment in different working control states;
and updating the torque command based on the torque value obtained by the amplitude limiting processing, and controlling the motor by the updated torque command.
The method performed by the apparatus according to the embodiment shown in fig. 1 of the present specification may be implemented in or by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The methods, steps, and logic blocks disclosed in one or more embodiments of the present specification may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with one or more embodiments of the present disclosure may be embodied directly in hardware, in a software module executed by a hardware decoding processor, or in a combination of the hardware and software modules executed by a hardware decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may also execute the method of fig. 1 and implement the functions of the corresponding apparatus in the embodiment shown in fig. 1, which are not described herein again in this specification.
Of course, besides the software implementation, the electronic device of the embodiment of the present disclosure does not exclude other implementations, such as a logic device or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or a logic device.
Through the technical scheme, the motor controller receives a torque instruction, a maximum charging current value and a maximum discharging current value issued by the whole vehicle controller, then, selects to perform discharging current closed-loop control or charging current closed-loop control according to the current bus current direction, and can specifically output a torque increment needing to be adjusted through the PI regulator, and then, performs amplitude limiting processing on the torque increment: if the control is discharge current closed-loop control, the torque increment is limited below zero; and if the control is charging current closed loop control, limiting the torque increment to be above zero. Finally, the torque increment is superposed on the torque command, and the original torque control program is continued. The method can realize closed-loop current-limiting control of bus current in a motor controller program, ensure that the charging current and the discharging current of the battery are in an allowable range, and improve the accuracy of the current-limiting control of charging and discharging of the power battery.
Example four
Embodiments of the present specification also propose a computer-readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a portable electronic device comprising a plurality of application programs, are capable of causing the portable electronic device to perform the method of the embodiment shown in fig. 1, and in particular for performing the method of:
receiving a torque instruction issued by a vehicle control unit, wherein the torque instruction at least carries a maximum charging current value and a maximum discharging current value;
determining a torque increment in a current working control state according to a maximum charging current value or a maximum discharging current value in the torque instruction and a current bus current value, wherein the working control state is discharging current control or charging current control;
carrying out amplitude limiting processing on the torque increment in different working control states;
and updating the torque command based on the torque value obtained by the amplitude limiting processing, and controlling the motor by the updated torque command.
Through the technical scheme, the motor controller receives a torque instruction, a maximum charging current value and a maximum discharging current value issued by the whole vehicle controller, then, selects to perform discharging current closed-loop control or charging current closed-loop control according to the current bus current direction, and can specifically output a torque increment needing to be adjusted through the PI regulator, and then, performs amplitude limiting processing on the torque increment: if the control is discharge current closed-loop control, the torque increment is limited below zero; and if the control is charging current closed loop control, limiting the torque increment to be above zero. Finally, the torque increment is superposed on the torque command, and the original torque control program is continued. The method can realize closed-loop current-limiting control of bus current in a motor controller program, ensure that the charging current and the discharging current of the battery are in an allowable range, and improve the accuracy of the current-limiting control of charging and discharging of the power battery.
In short, the above description is only a preferred embodiment of the present disclosure, and is not intended to limit the scope of the present disclosure. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present specification shall be included in the protection scope of the present specification.
The system, apparatus, module or unit illustrated in one or more of the above embodiments may be implemented by a computer chip or an entity, or by an article of manufacture with a certain functionality. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

Claims (10)

1. A bus current limiting control method of a vehicle motor controller is applied to a motor controller of a new energy vehicle, and is characterized by comprising the following steps:
receiving a torque instruction issued by a vehicle control unit, wherein the torque instruction at least carries a maximum charging current value and a maximum discharging current value;
determining a torque increment in a current working control state according to a maximum charging current value or a maximum discharging current value in the torque instruction and a current bus current value, wherein the working control state is discharging current control or charging current control;
carrying out amplitude limiting processing on the torque increment in different working control states;
and updating the torque command based on the torque value obtained by the amplitude limiting processing, and controlling the motor by the updated torque command.
2. The bus current-limiting control method of the vehicle motor controller according to claim 1, wherein determining a torque increment in a current operation control state according to a maximum charging current value or a maximum discharging current value in the torque command and a current bus current value specifically comprises:
determining the current working control state of the motor according to whether the current bus current is greater than zero;
and subtracting the current bus current value from the maximum charging current value or the maximum discharging current value in the torque instruction, and then performing PI operation to calculate the torque increment in the current working control state.
3. The bus current-limiting control method of the vehicle motor controller according to claim 1, wherein the limiting process is performed on the torque increment in different operation control states, and specifically comprises:
limiting the torque increment to be below zero in a discharge current control state;
in the charge current control state, the torque increment is limited to zero or more.
4. The bus current limiting control method of a vehicle motor controller according to claim 3,
in the discharge current control state, if the calculated torque increment is larger than zero, the torque increment is adjusted to be zero, otherwise, the torque increment is kept unchanged; further, in the present invention,
judging whether the current rotating speed is greater than zero, if so, adding the torque increment to the torque fixed value to obtain a final torque value, otherwise, subtracting the torque increment from the torque fixed value to obtain a final torque value;
in the charging current control state, if the calculated torque increment is smaller than zero, the torque increment is adjusted to be zero, otherwise, the torque increment is kept unchanged; further, in the present invention,
and judging whether the current rotating speed is greater than zero, if so, adding the torque increment to the torque fixed value to obtain a final torque value, and if not, subtracting the torque increment from the torque fixed value to obtain the final torque value.
5. The utility model provides an automobile-used machine controller generating line current-limiting controlling means, is applied to the machine controller of new forms of energy vehicle which characterized in that, the device includes:
the receiving module is used for receiving a torque instruction issued by the vehicle control unit, wherein the torque instruction at least carries a maximum charging current value and a maximum discharging current value;
the determining module is used for determining the torque increment in the current limiting control state according to the maximum charging current value or the maximum discharging current value in the torque instruction and the current bus current value;
the processing module is used for carrying out amplitude limiting processing on the current torque fixed value by using the torque increment based on different rotating speeds under different current limiting control states;
and the control module is used for updating the torque instruction based on the torque value obtained by the amplitude limiting processing and controlling the motor by the updated torque instruction.
6. The bus current-limiting control device of the vehicle motor controller according to claim 5, wherein the determining module is specifically configured to, when determining the torque increment in the current operation control state according to the maximum charging current value or the maximum discharging current value in the torque command and the current bus current value:
determining the current working control state of the motor according to whether the current bus current is greater than zero;
and subtracting the current bus current value from the maximum charging current value or the maximum discharging current value in the torque instruction, and then performing PI operation to calculate the torque increment in the current working control state.
7. The bus current-limiting control device of the vehicle motor controller according to claim 5, wherein the processing module is specifically configured to, when performing amplitude limiting processing on the torque increment in different operation control states:
limiting the torque increment to be below zero in a discharge current control state;
in the charge current control state, the torque increment is limited to zero or more.
8. The vehicle motor controller bus current-limiting control device of claim 7, wherein the processing module is specifically configured to:
in the discharge current control state, if the calculated torque increment is larger than zero, the torque increment is adjusted to be zero, otherwise, the torque increment is kept unchanged; further, in the present invention,
judging whether the current rotating speed is greater than zero, if so, adding the torque increment to the torque fixed value to obtain a final torque value, otherwise, subtracting the torque increment from the torque fixed value to obtain a final torque value;
in the charging current control state, if the calculated torque increment is smaller than zero, the torque increment is adjusted to be zero, otherwise, the torque increment is kept unchanged; further, in the present invention,
and judging whether the current rotating speed is greater than zero, if so, adding the torque increment to the torque fixed value to obtain a final torque value, and if not, subtracting the torque increment from the torque fixed value to obtain the final torque value.
9. A motor controller comprising the bus current limiting control device of the motor controller for a vehicle according to any one of claims 5 to 8.
10. A new energy automobile, characterized by comprising the motor controller of claim 9.
CN202110714046.XA 2021-06-25 2021-06-25 Bus current limiting control method and related device for vehicle motor controller Pending CN113415174A (en)

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