CN114123934A - Electric drive system locked-rotor protection method based on current integral - Google Patents
Electric drive system locked-rotor protection method based on current integral Download PDFInfo
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- CN114123934A CN114123934A CN202111213402.6A CN202111213402A CN114123934A CN 114123934 A CN114123934 A CN 114123934A CN 202111213402 A CN202111213402 A CN 202111213402A CN 114123934 A CN114123934 A CN 114123934A
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a locked-rotor protection method of an electric drive system based on current integration, which comprises the steps of judging that a product enters locked rotor when the rotating speed of a motor is in a locked-rotor rotating speed range, and identifying the maximum value of three-phase current; if the maximum value of the three-phase current is greater than the current limit value I1, performing accumulated integration on the current; if the current integral value is greater than the integral limit value sigma 1, torque output is required to be limited; if the maximum value of the three-phase current is smaller than the current limit value I2, performing cumulative subtraction integration on the current; if the current integration value is smaller than the integration limit value σ 2, the torque output can be increased appropriately. The invention not only considers the relation between torque and current, but also considers that the electric angle is not changed when in locked-rotor, the three-phase current is output in a direct current mode, and the phase with the largest current in the three phases is heated and is most seriously and easily damaged, so that the maximum value in the three-phase current is integrated when the locked-rotor occurs, and the product performance can be exerted to the maximum extent on the premise of ensuring the product safety.
Description
Technical Field
The invention relates to the field of motor protection, in particular to a locked-rotor protection method of an electric drive system based on current integration.
Background
According to the working principle of the electric drive system, the IGBT is controlled to carry out switching chopping on the direct current bus voltage to generate three-phase alternating current according to the change of the electric angle, and the interaction between the magnetic field synthesized by the three-phase alternating current and the magnetic field of the motor rotor drives the rotor to rotate by utilizing the electromagnetic generation principle. The electric automobile can move forwards only after the driving force overcomes the gravity and the friction force because of the gravity and the friction force of the tire, and the process that the electric control industry outputs the torque of the motor to rotate is called locked-rotor. When in locked-rotor, because the electrical angle of the motor is unchanged, the chopping duty ratio of the three-phase IGBT switch is kept unchanged, the three-phase current is approximately output in a direct current mode, and if the product has no locked-rotor protection measures, the IGBT damage or the motor burnout is very easy to occur under the working condition.
The locked rotor protection function is essential to the safe use of products, and the good locked rotor protection function can ensure the safety of the products and can also enable the performance of the products to be brought into full play.
In patent document 1, "a motor stalling protection method for an electric vehicle electric drive system" (application number: 201110180484.9), a torque is divided into more than 3 torque intervals from 0 to the maximum torque in a sequence from small to large, stalling preset time T is set for each torque interval, a motor controller detects the rotating speed and the torque of a motor in real time, timing is started when the rotating speed of the motor is in a stalling rotating speed judgment interval, if the time T for the motor to be in the stalling rotating speed judgment interval is longer than or equal to the preset time T corresponding to the torque, it is judged that the motor has stalled, the torque requirement of an accelerator pedal is not considered after the motor stalls, the motor controller unloads the torque of the motor step by step according to a preset value, and starts to detect the rotating speed, the torque and timing again after the torque of the motor is unloaded each time, if the motor is still in a stalling state, the motor torque continues to be unloaded until the motor is detected to be in a non-locked-rotor condition.
In patent document 2 "a method for protecting locked-rotor of an electric drive system and limiting torque" (application number: 201110238218.7), motor locked-rotor is protected according to a motor locked-rotor torque protection characteristic curve to limit motor torque output; limiting the output torque of the electric drive system according to the inverter temperature torque limiting characteristic curve; limiting power output according to an inverter temperature over-current capability curve, and correspondingly converting current limitation into limitation on motor output torque; limiting the maximum output torque of the electric drive system capable of outputting the torque according to the locked rotor protection and the temperature torque limitation;
in patent document 3, "a method for protecting locked-rotor of an electric vehicle driving system based on a threshold" (application number: 201710366887. X), when the rotation speed of a motor is less than a lower threshold and a motor torque command from a vehicle controller is greater than an upper threshold, locked-rotor protection is performed; when the rotating speed of the motor is greater than the upper limit value of the motor or the torque instruction of the motor is less than the lower limit threshold value of the motor, the locked-rotor protection is quitted; when the rotating speed of the motor is less than the lower limit threshold value, the relation between the temperature of the motor power module and the threshold value is further judged; and after locked-rotor protection is carried out, determining a corresponding torque limit threshold value according to different relations between the temperature of the power module and the threshold value, and limiting the motor torque instruction below the threshold value to obtain the actual execution torque of the motor.
In patent document 4 "locked-rotor protection method and apparatus for motor system, vehicle, and storage medium" (application No. 201911016513.0), a corresponding current overload coefficient is calculated based on a torque overload coefficient and a locked-rotor torque coefficient of a motor system and a conversion relationship between torque and current; and if the accumulated heat of the motor system exceeds the heat calibration upper limit, adjusting the running torque of the motor system by adopting a preset derating coefficient.
In patent document 5 "motor locked-rotor protection system, method and motor" (application number: 202010043456.1), when the temperature of a power device is less than C1, the peak torque continues to be locked-rotor, a first safe time D1 for continuous locked-rotor under C1 is set, and when the continuous locked-rotor time exceeds D1, a first-stage over-temperature fault is triggered, the peak torque is reduced to a2, and output is maintained; and when the temperature of the power device is larger than or equal to C1, reducing the carrier frequency to B and continuing the peak torque.
In patent document 6 "locked-rotor protection system and method of motor drive controller for electric vehicle" (application number: 202010043456.1), whether locked-rotor is entered is judged according to an upper threshold and a lower threshold preset by the motor speed, and the first switching frequency and the second switching frequency of the IGBT are set to realize locked-rotor down-conversion protection in consideration of the IGBT loss; in a high-temperature area, according to the condition that the motor enters a locked rotor zone bit for the first time, the motor execution torque is controlled in a segmented mode by judging the temperature of the IGBT; in a low-temperature area, controlling the output torque of the motor by a linear interpolation method according to a preset upper limit threshold value and a preset lower limit threshold value of the collected IGBT temperature; and setting different loading/unloading rates to control the output torque of the motor according to the locked-rotor flag bit, the rotating speed locked-rotor flag bit, the IGBT temperature set value and the torque limit value.
The existing locked rotor protection technology is basically that whether locked rotor is started or not is judged according to the rotating speed of a motor, and then torque output limitation is carried out according to the execution time of torque or whether the temperature of the motor and the temperature of an IGBT exceed set values, so that the purpose of protecting products is achieved.
Patent documents 1, 2, and 4 limit torque output based on torque execution time. The torque output limitation is carried out according to the torque execution time, the torque is divided into sections, if the torque sections are divided into a small number, the torque difference between the two ends of each section is too large, the working time of small torque in the section can be shortened because the torque of the whole torque section can work safely within the set time, and the product performance can not be brought into full play. Even if the torque interval is divided sufficiently, the product performance is left with allowance due to different heating of products with the same torque and different electrical angles.
Patent documents 3, 5, and 6 limit the torque output based on the motor temperature and the IGBT temperature. Carry out the torque output restriction according to motor temperature, IGBT temperature and can lead to the protection not in time to cause the product to damage because of considering that the temperature sensor embedding point is not in the phase that calorific capacity is the highest, also can leave the allowance to produce the property, though can solve through increasing the sensor embedding point, nevertheless will increase product cost like this.
Disclosure of Invention
The invention aims to: the electric drive system locked-rotor protection method based on the current integral is provided, and the performance of the product can be brought into full play when locked-rotor occurs on the premise of ensuring the product safety and not increasing the product cost.
The technical scheme of the invention is as follows:
the electric drive system locked-rotor protection method based on the current integration comprises the following steps:
s1, selecting the maximum value Imax of the three-phase currents Ia, Ib and Ic of the electric drive system;
s2, judging whether the maximum value Imax of the three-phase current is larger than a current limit value I1, and if Imax is larger than I1, performing accumulation integration on the maximum value Imax of the three-phase current;
s3, judging whether the accumulated integral value sigma is larger than the integral limit value sigma 1, if sigma is larger than sigma 1, limiting the torque output.
Preferably, in step S2, if the three-phase current maximum value Imax is not greater than the current limit I1, the process proceeds to steps S4 and S5:
s4, judging whether the maximum value Imax of the three-phase current is smaller than a current limit value I2, and if Imax is smaller than I2, performing cumulative subtraction integration on the maximum value Imax of the three-phase current;
s5, it is determined whether the integrated value σ 'of the accumulation and subtraction is smaller than the integration limit σ 2, and if σ' < σ 2, the torque output is increased.
Preferably, before proceeding to step S1, step S0 is also performed first:
and S0, judging whether the motor rotating speed is in the locked rotating speed range, executing the locked rotating protection measures of the steps S1-S5 in the locked rotating speed range, and quitting the locked rotating protection measures if the motor rotating speed is not in the locked rotating speed range.
Preferably, in step S1, the maximum value Imax among the three-phase currents Ia, Ib, and Ic is the maximum value of the absolute values of the three-phase currents.
Preferably, the current limit I2< current limit I1 and the integration limit σ 2< integration limit σ 1.
The invention has the advantages that:
the electric drive system locked-rotor protection method based on the current integration protects the product based on the consideration of the total heat productivity, not only considers the relation between torque and current, but also considers that the electric angle is unchanged during locked-rotor, three-phase current is output in a direct current mode, the phase with the largest current in the three phases is heated most seriously and is damaged most easily, so that the maximum value in the three-phase current is integrated when locked-rotor occurs, and the product performance can be exerted to the maximum extent on the premise of ensuring the product safety.
Drawings
Fig. 1 is a flow chart of a method for electric drive system stall protection based on current integration according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples:
the working principle of the scheme of the invention is similar to that of the patent document 4, and the product is protected based on the consideration of the total heat productivity, but the patent document 4 only considers the relation between torque and current, does not consider the unbalance of three-phase current during the rotation blockage, and the uneven heating inside the product, so that the product can not be brought into full play in order to protect the product from being damaged. According to the scheme of the invention, the integral is carried out on the maximum value in the three-phase current when the locked rotor occurs, so that the product performance can be exerted to the maximum extent on the premise of ensuring the product safety.
As shown in fig. 1, the method for protecting a locked-rotor of an electric drive system based on current integration of the present invention comprises the steps of:
and S0, judging whether the motor rotating speed is in the locked rotating speed range, executing the locked rotating protection measures of the steps S1-S5 in the locked rotating speed range, and quitting the locked rotating protection measures if the motor rotating speed is not in the locked rotating speed range.
And S1, selecting the maximum value Imax in the absolute values of the three-phase currents Ia, Ib and Ic of the electric drive system.
S2, judging whether the maximum value Imax of the three-phase current is greater than a current limit value I1, if Imax is greater than I1, namely the product is in danger of burning when continuously working under the current, accumulating and integrating the maximum value Imax of the three-phase current, and entering step S3; if the three-phase current maximum value Imax is not greater than the current limit I1, steps S4 and S5 are entered.
S3, judging whether the accumulated integral value sigma is larger than the integral limit value sigma 1, if sigma is larger than sigma 1, indicating that the danger of burning the product exists when the working condition is continuously executed, and limiting the torque output for ensuring the product.
S4, judging whether the maximum value Imax of the three-phase current is smaller than a current limit value I2, wherein the current limit value I2 is smaller than a current limit value I1; if Imax < I2, i.e. the product can continue to operate at this current without the risk of burning out, the integral is cumulatively reduced for the maximum value Imax of the three-phase current.
S5, judging whether the accumulated and subtracted integral value sigma' is smaller than an integral limit value sigma 2, wherein the integral limit value sigma 2 is smaller than an integral limit value sigma 1; if σ' < σ 2, indicating that the product is in a safe zone away from the hazardous condition, the torque output may be increased appropriately.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All modifications made according to the spirit of the main technical scheme of the invention are covered in the protection scope of the invention.
Claims (5)
1. The electric drive system locked-rotor protection method based on current integration is characterized by comprising the following steps:
s1, selecting the maximum value Imax of the three-phase currents Ia, Ib and Ic of the electric drive system;
s2, judging whether the maximum value Imax of the three-phase current is larger than a current limit value I1, and if Imax is larger than I1, performing accumulation integration on the maximum value Imax of the three-phase current;
s3, judging whether the accumulated integral value sigma is larger than the integral limit value sigma 1, if sigma is larger than sigma 1, limiting the torque output.
2. The method for protecting the electric drive system from the stalling of the current integration-based according to claim 1, wherein in the step S2, if the maximum value Imax of the three-phase current is not greater than the current limit value I1, the method proceeds to the steps S4 and S5:
s4, judging whether the maximum value Imax of the three-phase current is smaller than a current limit value I2, and if Imax is smaller than I2, performing cumulative subtraction integration on the maximum value Imax of the three-phase current;
s5, it is determined whether the integrated value σ 'of the accumulation and subtraction is smaller than the integration limit σ 2, and if σ' < σ 2, the torque output is increased.
3. The method for electric drive system stalling protection based on current integration according to claim 2, wherein step S0 is further performed before step S1 is entered:
and S0, judging whether the motor rotating speed is in the locked rotating speed range, executing the locked rotating protection measures of the steps S1-S5 in the locked rotating speed range, and quitting the locked rotating protection measures if the motor rotating speed is not in the locked rotating speed range.
4. The method for current integration based electric drive system locked rotor protection according to claim 1, wherein in step S1, the maximum value Imax of the three-phase currents Ia, Ib and Ic is the maximum value of the absolute values of the three-phase currents.
5. The method of claim 2, wherein the current limit I2< current limit I1 and the integration limit σ 2< integration limit σ 1.
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| CN202111213402.6A CN114123934B (en) | 2021-10-19 | 2021-10-19 | Electric drive system locked rotor protection method based on current integration |
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| CN202111213402.6A CN114123934B (en) | 2021-10-19 | 2021-10-19 | Electric drive system locked rotor protection method based on current integration |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115257381A (en) * | 2022-08-18 | 2022-11-01 | 岚图汽车科技有限公司 | Vehicle motor locked-rotor protection method, device, equipment and storage medium |
| WO2024139048A1 (en) * | 2022-12-26 | 2024-07-04 | 比亚迪股份有限公司 | Vehicle control method, storage medium, and vehicle |
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2021
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Non-Patent Citations (1)
| Title |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115257381A (en) * | 2022-08-18 | 2022-11-01 | 岚图汽车科技有限公司 | Vehicle motor locked-rotor protection method, device, equipment and storage medium |
| WO2024139048A1 (en) * | 2022-12-26 | 2024-07-04 | 比亚迪股份有限公司 | Vehicle control method, storage medium, and vehicle |
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| CN114123934B (en) | 2024-06-25 |
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