CN116587886A - Control method and system for electric drive system - Google Patents

Control method and system for electric drive system Download PDF

Info

Publication number
CN116587886A
CN116587886A CN202310879692.0A CN202310879692A CN116587886A CN 116587886 A CN116587886 A CN 116587886A CN 202310879692 A CN202310879692 A CN 202310879692A CN 116587886 A CN116587886 A CN 116587886A
Authority
CN
China
Prior art keywords
voltage vector
vector amplitude
driving
real
expected voltage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310879692.0A
Other languages
Chinese (zh)
Inventor
龚循飞
邓建明
罗锋
于勤
张俊
熊慧慧
张萍
樊华春
廖程亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangxi Isuzu Motors Co Ltd
Original Assignee
Jiangxi Isuzu Motors Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangxi Isuzu Motors Co Ltd filed Critical Jiangxi Isuzu Motors Co Ltd
Priority to CN202310879692.0A priority Critical patent/CN116587886A/en
Publication of CN116587886A publication Critical patent/CN116587886A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/427—Voltage
    • 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

Landscapes

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

Abstract

The invention provides a control method and a control system of an electric drive system, wherein the method comprises the following steps: calculating driving parameters corresponding to a driving motor in the current vehicle according to the driving instructions, and outputting current instructions corresponding to the driving motor through a PI controller; calculating a corresponding expected voltage vector amplitude according to the driving parameters and the current instruction, and calculating a maximum voltage vector amplitude which can be used for driving the motor according to the real-time output voltage of the driving battery in the vehicle and the real-time switch state of the inverter; judging whether the expected voltage vector amplitude is larger than the maximum voltage vector amplitude; if yes, judging that an overmodulation mode is entered, and carrying out self-adaptive adjustment on the expected voltage vector amplitude through a first modulation strategy contained in the overmodulation mode so as to enable an inverter in the vehicle to output the self-adaptively adjusted expected voltage vector amplitude. The invention can meet the working requirements of the driving motor in real time and improves the use experience of users.

Description

Control method and system for electric drive system
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a control method and a control system of an electric drive system.
Background
Along with the progress of science and technology and the rapid development of productivity, new energy automobiles are gradually accepted by people, are popularized in daily life of people, bring convenience to the life of people, and promote the use experience of people.
The micro-control unit (Microcontroller Unit; MCU) is the core of the whole electric drive system and is used for reading the working state of each control unit and controlling each unit. More specifically, the inverter is a critical component for driving the operation of the motor, and its lifetime and switching loss values directly affect the performance and lifetime of the electric drive system.
Most of the existing inverters adopt a space vector pulse width modulation method to control the magnitude and direction of an output voltage vector so as to control the rotating speed and the torque of a motor. However, when the motor is controlled to operate at a high speed by the method, the voltage generated by the direct current bus cannot be fully utilized due to the limitation of the output voltage of the battery and the switch state of the inverter, so that the output voltage vector amplitude is insufficient, the working requirement of the driving motor cannot be met, and the use experience of a user is correspondingly reduced.
Disclosure of Invention
Based on the above, the invention aims to provide a control method and a control system of an electric drive system, which are used for solving the problem that the working requirement of a drive motor cannot be met due to insufficient amplitude of an output voltage vector caused by insufficient voltage generated by a direct current bus in the prior art.
An embodiment of the present invention provides a method for controlling an electric drive system, where the method includes:
when a driving instruction issued by the whole vehicle controller is received, driving parameters corresponding to a driving motor in the current vehicle are calculated according to the driving instruction, and a current instruction corresponding to the driving motor is output through a PI controller;
calculating a corresponding expected voltage vector amplitude according to the driving parameters and the current instruction, and calculating a maximum voltage vector amplitude which can be used for the driving motor according to the real-time output voltage of a driving battery in the vehicle and the real-time switching state of an inverter;
judging whether the expected voltage vector amplitude is larger than the maximum voltage vector amplitude;
and if the expected voltage vector amplitude is judged to be larger than the maximum voltage vector amplitude, judging to enter an overmodulation mode, and carrying out self-adaptive adjustment on the expected voltage vector amplitude through a first modulation strategy contained in the overmodulation mode so as to enable an inverter in the vehicle to output the self-adaptively adjusted expected voltage vector amplitude.
The beneficial effects of the invention are as follows: according to the method, the driving parameters and the current instructions needed by the driving motor are calculated in real time according to the received driving instructions, based on the driving parameters and the current instructions, expected voltage vector amplitude corresponding to the current driving instructions is calculated, meanwhile, the maximum voltage vector amplitude which can be used for the current driving motor is synchronously calculated according to the real-time parameters of the driving battery, based on the maximum voltage vector amplitude and the current expected voltage vector amplitude, the magnitude between the current expected voltage vector amplitude and the maximum voltage vector amplitude is judged in real time, whether an overmodulation mode needs to be entered or not can be correspondingly judged, the magnitude of the voltage vector amplitude output by the inverter can be correspondingly regulated, the working requirements of the driving motor can be further met in real time, and the use experience of a user is correspondingly improved.
Preferably, the step of calculating the corresponding expected voltage vector magnitude according to the driving parameter and the current command includes:
when the current instruction is acquired, constructing a straight shaft and a quadrature shaft which are matched with the driving motor, and calculating a first expected voltage component corresponding to the straight shaft and a second expected voltage component corresponding to the quadrature shaft according to the driving parameters;
Simultaneously inputting the first expected voltage component and the second expected voltage component into a preset coordinate system to convert the first expected voltage component into a corresponding first vector magnitude and the second expected voltage component into a corresponding second vector magnitude;
and accumulating the first vector amplitude and the second vector amplitude to correspondingly generate the expected voltage vector amplitude.
Preferably, the expression for calculating the first desired voltage component is:
Vd_ref=Rs×Id_ref-p×ωr×Ls×Iq_ref
wherein vd_ref represents the first desired voltage component, rs represents a phase resistance, ls represents a phase inductance, p represents a pole pair number, id_ref-p and iq_ref each represent the current command, ωr represents a rotor speed;
the expression for calculating the second desired voltage component is:
Vq_ref=Rs×Iq_ref+p×ωr×(Ls×Id_ref+Φf)
wherein vq_ref represents the second desired voltage component, rs represents the phase resistance, ls represents the phase inductance, p represents the pole pair number, iq_ref and id_ref both represent the current command, and Φf represents the permanent magnet flux linkage.
Preferably, the step of obtaining the desired voltage vector magnitude by the second modulation strategy included in the normal modulation mode includes:
selecting two corresponding adjacent basic voltage vectors from a preset database according to the first expected voltage component, the second expected voltage component and the working sector information, and calculating a switching time proportion matched with the inverter according to the two basic voltage vectors;
And when the expected voltage vector amplitude is obtained, controlling the inverter to output the expected voltage vector amplitude in real time based on the switching time proportion.
A second aspect of an embodiment of the present invention proposes an electric drive system control system, wherein the system comprises:
the first calculation module is used for calculating driving parameters corresponding to a driving motor in the current vehicle according to the driving instructions when receiving the driving instructions issued by the whole vehicle controller, and outputting current instructions corresponding to the driving motor through the PI controller;
the second calculation module is used for calculating a corresponding expected voltage vector amplitude according to the driving parameters and the current instruction, and calculating a maximum voltage vector amplitude which can be used for the driving motor according to the real-time output voltage of the driving battery in the vehicle and the real-time switch state of the inverter;
the judging module is used for judging whether the expected voltage vector amplitude is larger than the maximum voltage vector amplitude;
and the first output module is used for judging that the expected voltage vector amplitude is larger than the maximum voltage vector amplitude, entering an overmodulation mode, and carrying out self-adaptive adjustment on the expected voltage vector amplitude through a first modulation strategy contained in the overmodulation mode so as to enable the inverter in the vehicle to output the self-adaptively adjusted expected voltage vector amplitude.
In the above electric drive system control system, the first calculation module is specifically configured to:
when the current instruction is acquired, constructing a straight shaft and a quadrature shaft which are matched with the driving motor, and calculating a first expected voltage component corresponding to the straight shaft and a second expected voltage component corresponding to the quadrature shaft according to the driving parameters;
simultaneously inputting the first expected voltage component and the second expected voltage component into a preset coordinate system to convert the first expected voltage component into a corresponding first vector magnitude and the second expected voltage component into a corresponding second vector magnitude;
and accumulating the first vector amplitude and the second vector amplitude to correspondingly generate the expected voltage vector amplitude.
In the above electric drive system control system, the expression for calculating the first desired voltage component is:
Vd_ref=Rs×Id_ref-p×ωr×Ls×Iq_ref
wherein vd_ref represents the first desired voltage component, rs represents a phase resistance, ls represents a phase inductance, p represents a pole pair number, id_ref-p and iq_ref each represent the current command, ωr represents a rotor speed;
the expression for calculating the second desired voltage component is:
Vq_ref=Rs×Iq_ref+p×ωr×(Ls×Id_ref+Φf)
Wherein vq_ref represents the second desired voltage component, rs represents the phase resistance, ls represents the phase inductance, p represents the pole pair number, iq_ref and id_ref both represent the current command, and Φf represents the permanent magnet flux linkage.
In the above electric drive system control system, the second calculation module is specifically configured to:
reading the real-time output voltage of the driving battery in real time, and detecting the real-time switching state of the inverter, wherein the real-time switching state is dynamically changed;
determining a real-time working state of the inverter according to the real-time switching state, wherein the real-time working state comprises working sector information of the inverter;
and calculating the maximum voltage vector amplitude according to the real-time output voltage and the working sector information based on a preset algorithm.
In the above electric drive system control system, the electric drive system control system further includes a second output module, where the second output module is specifically configured to:
and if the expected voltage vector amplitude is smaller than the maximum voltage vector amplitude, judging to enter a normal modulation mode, and acquiring the expected voltage vector amplitude through a second modulation strategy contained in the normal modulation mode so as to enable an inverter in the vehicle to output the expected voltage vector amplitude.
In the above electric drive system control system, the second calculation module is further specifically configured to:
selecting two corresponding adjacent basic voltage vectors from a preset database according to the first expected voltage component, the second expected voltage component and the working sector information, and calculating a switching time proportion matched with the inverter according to the two basic voltage vectors;
and when the expected voltage vector amplitude is obtained, controlling the inverter to output the expected voltage vector amplitude in real time based on the switching time proportion.
Wherein, in the above-mentioned electric drive system control system, electric drive system control system still includes monitoring module, monitoring module is specifically used for:
real-time monitoring the actual voltage and the actual current output by the inverter, and reversely calculating the actual motor rotating speed and the actual motor torque of the driving motor according to the actual voltage and the actual current;
and generating a corresponding feedback instruction based on the actual motor rotating speed and the actual motor torque, and adjusting control parameters in the PI controller in real time according to the feedback instruction.
A third aspect of the embodiments of the present invention proposes a computer comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the electric drive system control method as described above when executing the computer program.
A fourth aspect of the embodiments of the present invention proposes a readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements an electric drive system control method as described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a control method of an electric drive system according to a first embodiment of the present invention;
fig. 2 is a block diagram of an electric drive system control system according to a third embodiment of the present invention.
The invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a control method of an electric driving system according to a first embodiment of the present invention is shown, where the control method of an electric driving system according to the present invention can meet the working requirements of a driving motor in real time, and accordingly improves the use experience of a user.
Specifically, the control method of the electric drive system provided in this embodiment specifically includes the following steps:
step S10, when a driving instruction issued by the whole vehicle controller is received, driving parameters corresponding to a driving motor in the current vehicle are calculated according to the driving instruction, and a current instruction corresponding to the driving motor is output through a PI controller;
in particular, in this embodiment, it should be first described that, the control method of the electric driving system provided in this embodiment may be applied to new energy automobiles of different vehicle types at the same time, so as to improve the control efficiency of the electric driving system, and correspondingly improve the use experience of the user. It should be noted that, the control method of the electric drive system provided in this embodiment is implemented based on hardware such as a whole vehicle controller, an inverter, a driving motor, and a PI controller in the new energy vehicle. And the above components can be in signal communication with each other to achieve efficient operation of the electric drive system.
Based on this, in this step, it should be noted that when the user starts the vehicle and prepares to drive, the whole vehicle controller will start to operate at this time and immediately send a driving instruction to the MCU, and further, the current MCU can calculate, in real time, a driving parameter corresponding to the driving motor in the current vehicle according to the received driving instruction, where the driving parameter may include parameters such as a driving voltage, a driving current, and a driving torque. On the basis, a current instruction corresponding to the current driving motor is output through a preset PI controller, so that subsequent processing is facilitated.
Step S20, calculating a corresponding expected voltage vector amplitude according to the driving parameters and the current instruction, and calculating a maximum voltage vector amplitude which can be used for the driving motor according to the real-time output voltage of the driving battery in the vehicle and the real-time switch state of the inverter;
further, in this step, it should be noted that, after the MCU obtains the required driving parameters and the current command, the MCU immediately calculates, according to the current driving parameters and the current command, a corresponding expected voltage vector amplitude according to an algorithm preset in the MCU, where the expected voltage vector amplitude is specifically the driving voltage required by the driving motor in the current vehicle during operation.
Meanwhile, the MCU can also calculate the maximum voltage vector amplitude of the driving motor which can be used in the current vehicle according to the real-time output voltage of the driving battery in the current vehicle and the real-time switch state of the inverter in real time. Specifically, the maximum voltage vector magnitude is the maximum voltage that can be output by the driving battery inside the current vehicle.
Step S30, judging whether the expected voltage vector amplitude is larger than the maximum voltage vector amplitude;
further, in this step, after the desired voltage vector amplitude and the maximum voltage vector amplitude are obtained through the above steps, in order to accurately determine whether the voltage that can be output by the driving battery in the current vehicle can be satisfied with the corresponding driving of the current driving motor, this step immediately compares the current desired voltage vector amplitude with the maximum voltage vector amplitude.
Specifically, the step compares the magnitude of the current expected voltage vector magnitude and the current maximum voltage vector magnitude in real time, and executes a corresponding strategy according to the comparison result.
And step S40, if the expected voltage vector amplitude is judged to be larger than the maximum voltage vector amplitude, judging to enter an overmodulation mode, and carrying out self-adaptive adjustment on the expected voltage vector amplitude through a first modulation strategy contained in the overmodulation mode so as to enable an inverter in the vehicle to output the self-adaptively adjusted expected voltage vector amplitude.
Finally, in this step, it should be noted that, if the current expected voltage vector amplitude is determined in real time in this step to be greater than the current maximum voltage vector amplitude, the current MCU determines that an overmodulation mode needs to be entered, and at the same time, the current expected voltage vector amplitude is adaptively adjusted through a first modulation policy previously included in the overmodulation mode, that is, the magnitude of the expected voltage vector amplitude is correspondingly reduced.
Further, after the magnitude of the desired voltage vector magnitude is adjusted, the inverter in the current vehicle can correspondingly output the current desired voltage vector magnitude so as to further start the driving motor.
When the device is used, the driving parameters and the current command required by the driving motor are calculated in real time according to the received driving command, the expected voltage vector amplitude corresponding to the current driving command is calculated based on the driving parameters, meanwhile, the maximum voltage vector amplitude which can be used for the current driving motor is synchronously calculated according to the real-time parameters of the driving battery, based on the maximum voltage vector amplitude, the size between the current expected voltage vector amplitude and the maximum voltage vector amplitude is judged in real time, whether an overmodulation mode needs to be entered or not can be correspondingly judged, the size of the voltage vector amplitude output by the inverter can be correspondingly regulated, the working requirement of the driving motor can be further met in real time, and the use experience of a user is correspondingly improved.
It should be noted that the foregoing implementation is only for illustrating the feasibility of the present application, but this does not represent that the electric drive system control method of the present application has only one implementation procedure, and may be incorporated into the feasible embodiment of the present application, as long as the electric drive system control method of the present application can be implemented.
In summary, the control method of the electric drive system provided by the embodiment of the application can meet the working requirements of the drive motor in real time, and correspondingly improves the use experience of users.
The second embodiment of the present application also provides an electric drive system control method, which is different from the electric drive system control method provided in the first embodiment in that:
specifically, in this embodiment, it should be noted that the step of calculating the corresponding expected voltage vector magnitude according to the driving parameter and the current command includes:
when the current instruction is acquired, constructing a straight shaft and a quadrature shaft which are matched with the driving motor, and calculating a first expected voltage component corresponding to the straight shaft and a second expected voltage component corresponding to the quadrature shaft according to the driving parameters;
Simultaneously inputting the first expected voltage component and the second expected voltage component into a preset coordinate system to convert the first expected voltage component into a corresponding first vector magnitude and the second expected voltage component into a corresponding second vector magnitude;
and accumulating the first vector amplitude and the second vector amplitude to correspondingly generate the expected voltage vector amplitude.
Specifically, in this embodiment, it should be noted that, in order to accurately determine how much voltage vector should be output by the inverter in the current vehicle to start the driving motor in the current vehicle, after the current command is obtained, the MCU in this embodiment may construct, in the current vehicle, a straight axis and a quadrature axis adapted to the current driving motor through a program preset in the current vehicle, where it should be noted that the straight axis and the quadrature axis are virtual axes, so as to facilitate subsequent calculation. Further, the present embodiment calculates a first desired voltage component corresponding to the current straight axis and a second desired voltage component corresponding to the current quadrature axis in real time by the driving parameters. In addition, it should be noted that the inverter provided in this embodiment has a plurality of sectors inside, and each sector exists in the αβ coordinate system, and specifically, the function of the sectors is to determine the synthesis manner of the output voltage vector of the inverter. According to the SVPWM (space vector pulse width modulation) principle, the inverter output voltage vector may be formed by combining two adjacent basic voltage vectors and two zero voltage vectors. And different sectors are selected corresponding to different basic voltage vectors, the switching state and the switching time proportion of the inverter need to be determined according to the sector in which the desired voltage vector is located.
Based on this, the step further inputs the first desired voltage component and the second desired voltage component into a predetermined coordinate system at the same time, that is, into the αβ coordinate system, and converts the current first desired voltage component into a corresponding first vector magnitude and converts the current second desired voltage component into a corresponding second vector magnitude in the current αβ coordinate system. On the basis, the current first vector amplitude and the current second vector amplitude are accumulated, so that the expected voltage vector amplitude can be correspondingly generated.
Specifically, in this embodiment, it should also be noted that, the above expression for calculating the first desired voltage component is:
Vd_ref=Rs×Id_ref-p×ωr×Ls×Iq_ref；
wherein vd_ref represents the first desired voltage component, rs represents a phase resistance, ls represents a phase inductance, p represents a pole pair number, id_ref-p and iq_ref each represent the current command, ωr represents a rotor speed;
the expression for calculating the second desired voltage component is:
Vq_ref=Rs×Iq_ref+p×ωr×(Ls×Id_ref+Φf)；
wherein vq_ref represents the second desired voltage component, rs represents the phase resistance, ls represents the phase inductance, p represents the pole pair number, iq_ref and id_ref both represent the current command, and Φf represents the permanent magnet flux linkage.
In particular, in this embodiment, it should also be noted that, by using the algorithm, the first desired voltage component and the second desired voltage component can be accurately calculated, so as to facilitate subsequent processing.
Further, the foregoing MCU converts the current first desired voltage component and the second desired voltage component into corresponding expressions of a first vector magnitude and a second vector magnitude, respectively, as follows:
Vα_ref=Vd_ref×cosθ-Vq_ref×sinθ；
Vβ_ref=Vd_ref×sinθ+Vq_ref×cosθ；
where vα_ref represents a first vector magnitude, θ represents a rotation angle of the rotor, and vβ_ref represents a second vector magnitude, so that subsequent processing can be facilitated.
In this embodiment, the step of calculating the maximum voltage vector magnitude applicable to the driving motor from the real-time output voltage of the driving battery and the real-time switching state of the inverter in the vehicle includes:
reading the real-time output voltage of the driving battery in real time, and detecting the real-time switching state of the inverter, wherein the real-time switching state is dynamically changed;
determining a real-time working state of the inverter according to the real-time switching state, wherein the real-time working state comprises working sector information of the inverter;
And calculating the maximum voltage vector amplitude according to the real-time output voltage and the working sector information based on a preset algorithm.
In addition, in the present embodiment, in order to accurately calculate the maximum voltage vector magnitude that can be output by the driving battery in the current vehicle, the present embodiment reads the real-time output voltage of the current driving battery in real time, and correspondingly detects the real-time switching state of the inverter, specifically, the real-time switching state is dynamically changed. Meanwhile, the real-time working state of the current inverter can be correspondingly determined according to the real-time switch state, specifically, the real-time working state specifically comprises the working sector information of the inverter, and more specifically, the current inverter comprises six working sectors.
Further, after the real-time output voltage and the working sector information are obtained, the maximum voltage vector magnitude can be calculated according to a preset algorithm. Specifically, the expression of the algorithm is:
Vmax=Vdc/√n
where Vmax represents the maximum voltage vector magnitude, vdc represents the real-time output voltage, v represents root number operation, and n represents the working sector.
In addition, in this embodiment, it should be further noted that the method further includes:
and if the expected voltage vector amplitude is smaller than the maximum voltage vector amplitude, judging to enter a normal modulation mode, and acquiring the expected voltage vector amplitude through a second modulation strategy contained in the normal modulation mode so as to enable an inverter in the vehicle to output the expected voltage vector amplitude.
In addition, in this embodiment, it should be further noted that, correspondingly, if the embodiment determines that the expected voltage vector magnitude is smaller than the maximum voltage vector magnitude in real time, it is noted that the current expected voltage vector magnitude is within a reasonable range, and if excessive adjustment is not needed, it is immediately determined that the normal modulation mode is entered, and at the same time, the expected voltage vector magnitude is obtained through a second modulation strategy included in the normal modulation mode.
Further, the current desired voltage vector magnitude is also output through an inverter within the current vehicle.
In this embodiment, it should be noted that, the step of obtaining the desired voltage vector magnitude through the second modulation strategy included in the normal modulation mode includes:
Selecting two corresponding adjacent basic voltage vectors from a preset database according to the first expected voltage component, the second expected voltage component and the working sector information, and calculating a switching time proportion matched with the inverter according to the two basic voltage vectors;
and when the expected voltage vector amplitude is obtained, controlling the inverter to output the expected voltage vector amplitude in real time based on the switching time proportion.
In this embodiment, it should be noted that, after the first desired voltage component, the second desired voltage component, and the operating sector information that are needed are obtained through the above steps, further, two adjacent basic voltage vectors that are corresponding to each other can be selected from the preset database through the above information. It should be noted that, the output voltage vector of the inverter provided in this embodiment is formed by combining two adjacent basic voltage vectors and two zero voltage vectors. Wherein. The basic voltage vector refers to a voltage vector corresponding to the six switches of the inverter when only two of the switches are turned on.
Based on this, the present embodiment can further calculate, according to the current two basic voltage vectors, a switching time ratio adapted to the current inverter, specifically, the switching time ratio refers to a time ratio of the inverter outputting different basic voltage vectors in one PWM switching period. On the basis, the current inverter is correspondingly controlled to output the expected voltage vector amplitude according to the switching time proportion.
In this embodiment, it should be noted that, the method further includes:
real-time monitoring the actual voltage and the actual current output by the inverter, and reversely calculating the actual motor rotating speed and the actual motor torque of the driving motor according to the actual voltage and the actual current;
and generating a corresponding feedback instruction based on the actual motor rotating speed and the actual motor torque, and adjusting control parameters in the PI controller in real time according to the feedback instruction.
In this embodiment, it should be noted that, in order to enable the electric driving system in the current vehicle to be in a high-efficiency working state continuously, the embodiment also monitors the actual voltage and the actual current output by the current inverter in real time during the running process of the automobile, and further calculates the actual motor rotation speed and the actual motor torque of the current driving motor reversely according to the actual voltage and the actual current. Further, a feedback instruction adapted to the PI controller is generated according to the current actual motor speed and the actual motor torque, and based on the feedback instruction, the control parameters inside the PI controller can be finally adjusted in real time according to the current feedback instruction.
It should be noted that, for the sake of brevity, the method according to the second embodiment of the present invention, which implements the same principle and some of the technical effects as the first embodiment, is not mentioned here, and reference is made to the corresponding content provided by the first embodiment.
In summary, the control method of the electric drive system provided by the embodiment of the invention can meet the working requirements of the drive motor in real time, and correspondingly improves the use experience of users.
Referring to fig. 2, there is shown an electric drive system control system according to a third embodiment of the present invention, wherein the system includes:
the first calculation module 12 is configured to calculate, when a driving instruction issued by the vehicle controller is received, a driving parameter corresponding to a driving motor in a current vehicle according to the driving instruction, and output a current instruction corresponding to the driving motor through the PI controller;
a second calculation module 22, configured to calculate a corresponding expected voltage vector magnitude according to the driving parameter and the current command, and calculate a maximum voltage vector magnitude that can be used for the driving motor according to a real-time output voltage of a driving battery in the vehicle and a real-time switching state of an inverter;
A determining module 32 for determining whether the desired voltage vector magnitude is greater than the maximum voltage vector magnitude;
and the first output module 42 is configured to determine to enter an overmodulation mode if the expected voltage vector magnitude is determined to be greater than the maximum voltage vector magnitude, and adaptively adjust the expected voltage vector magnitude according to a first modulation strategy included in the overmodulation mode, so that the inverter in the vehicle outputs the adaptively adjusted expected voltage vector magnitude.
In the above electric drive system control system, the first computing module 12 is specifically configured to:
when the current instruction is acquired, constructing a straight shaft and a quadrature shaft which are matched with the driving motor, and calculating a first expected voltage component corresponding to the straight shaft and a second expected voltage component corresponding to the quadrature shaft according to the driving parameters;
simultaneously inputting the first expected voltage component and the second expected voltage component into a preset coordinate system to convert the first expected voltage component into a corresponding first vector magnitude and the second expected voltage component into a corresponding second vector magnitude;
And accumulating the first vector amplitude and the second vector amplitude to correspondingly generate the expected voltage vector amplitude.
In the above electric drive system control system, the expression for calculating the first desired voltage component is:
Vd_ref=Rs×Id_ref-p×ωr×Ls×Iq_ref
wherein vd_ref represents the first desired voltage component, rs represents a phase resistance, ls represents a phase inductance, p represents a pole pair number, id_ref-p and iq_ref each represent the current command, ωr represents a rotor speed;
the expression for calculating the second desired voltage component is:
Vq_ref=Rs×Iq_ref+p×ωr×(Ls×Id_ref+Φf)
wherein vq_ref represents the second desired voltage component, rs represents the phase resistance, ls represents the phase inductance, p represents the pole pair number, iq_ref and id_ref both represent the current command, and Φf represents the permanent magnet flux linkage.
In the above electric drive system control system, the second calculation module 22 is specifically configured to:
reading the real-time output voltage of the driving battery in real time, and detecting the real-time switching state of the inverter, wherein the real-time switching state is dynamically changed;
determining a real-time working state of the inverter according to the real-time switching state, wherein the real-time working state comprises working sector information of the inverter;
And calculating the maximum voltage vector amplitude according to the real-time output voltage and the working sector information based on a preset algorithm.
In the above electric drive system control system, the electric drive system control system further includes a second output module 52, where the second output module 52 is specifically configured to:
and if the expected voltage vector amplitude is smaller than the maximum voltage vector amplitude, judging to enter a normal modulation mode, and acquiring the expected voltage vector amplitude through a second modulation strategy contained in the normal modulation mode so as to enable an inverter in the vehicle to output the expected voltage vector amplitude.
In the above electric drive system control system, the second calculation module 22 is specifically further configured to:
selecting two corresponding adjacent basic voltage vectors from a preset database according to the first expected voltage component, the second expected voltage component and the working sector information, and calculating a switching time proportion matched with the inverter according to the two basic voltage vectors;
and when the expected voltage vector amplitude is obtained, controlling the inverter to output the expected voltage vector amplitude in real time based on the switching time proportion.
In the above electric drive system control system, the electric drive system control system further includes a monitoring module 62, where the monitoring module 62 is specifically configured to:
real-time monitoring the actual voltage and the actual current output by the inverter, and reversely calculating the actual motor rotating speed and the actual motor torque of the driving motor according to the actual voltage and the actual current;
and generating a corresponding feedback instruction based on the actual motor rotating speed and the actual motor torque, and adjusting control parameters in the PI controller in real time according to the feedback instruction.
A fourth embodiment of the invention provides a computer comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the embodiments as provided above when executing the computer program.
A fifth embodiment of the present invention provides a readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the embodiments as provided above.
In summary, the method and the system for controlling the electric drive system provided by the embodiment of the invention can meet the working requirements of the drive motor in real time, and correspondingly improve the use experience of users.
The above-described respective modules may be functional modules or program modules, and may be implemented by software or hardware. For modules implemented in hardware, the various modules described above may be located in the same processor; or the above modules may be located in different processors in any combination.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (10)

1. A method of controlling an electric drive system, the method comprising:
When a driving instruction issued by the whole vehicle controller is received, driving parameters corresponding to a driving motor in the current vehicle are calculated according to the driving instruction, and a current instruction corresponding to the driving motor is output through a PI controller;
calculating a corresponding expected voltage vector amplitude according to the driving parameters and the current instruction, and calculating a maximum voltage vector amplitude which can be used for the driving motor according to the real-time output voltage of a driving battery in the vehicle and the real-time switching state of an inverter;
judging whether the expected voltage vector amplitude is larger than the maximum voltage vector amplitude;
and if the expected voltage vector amplitude is judged to be larger than the maximum voltage vector amplitude, judging to enter an overmodulation mode, and carrying out self-adaptive adjustment on the expected voltage vector amplitude through a first modulation strategy contained in the overmodulation mode so as to enable an inverter in the vehicle to output the self-adaptively adjusted expected voltage vector amplitude.
2. The electric drive system control method according to claim 1, characterized in that: the step of calculating the corresponding expected voltage vector amplitude according to the driving parameter and the current instruction comprises the following steps:
When the current instruction is acquired, constructing a straight shaft and a quadrature shaft which are matched with the driving motor, and calculating a first expected voltage component corresponding to the straight shaft and a second expected voltage component corresponding to the quadrature shaft according to the driving parameters;
simultaneously inputting the first expected voltage component and the second expected voltage component into a preset coordinate system to convert the first expected voltage component into a corresponding first vector magnitude and the second expected voltage component into a corresponding second vector magnitude;
and accumulating the first vector amplitude and the second vector amplitude to correspondingly generate the expected voltage vector amplitude.
3. The electric drive system control method according to claim 2, characterized in that: the expression for calculating the first desired voltage component is:
Vd_ref=Rs×Id_ref-p×ωr×Ls×Iq_ref
wherein vd_ref represents the first desired voltage component, rs represents a phase resistance, ls represents a phase inductance, p represents a pole pair number, id_ref-p and iq_ref each represent the current command, ωr represents a rotor speed;
the expression for calculating the second desired voltage component is:
Vq_ref=Rs×Iq_ref+p×ωr×(Ls×Id_ref+Φf)
wherein vq_ref represents the second desired voltage component, rs represents the phase resistance, ls represents the phase inductance, p represents the pole pair number, iq_ref and id_ref both represent the current command, and Φf represents the permanent magnet flux linkage.
4. The electric drive system control method according to claim 2, characterized in that: the step of calculating a maximum voltage vector magnitude usable for the driving motor from a real-time output voltage of a driving battery inside the vehicle and a real-time switching state of an inverter includes:
reading the real-time output voltage of the driving battery in real time, and detecting the real-time switching state of the inverter, wherein the real-time switching state is dynamically changed;
determining a real-time working state of the inverter according to the real-time switching state, wherein the real-time working state comprises working sector information of the inverter;
and calculating the maximum voltage vector amplitude according to the real-time output voltage and the working sector information based on a preset algorithm.
5. The electric drive system control method according to claim 4, characterized in that: the method further comprises the steps of:
and if the expected voltage vector amplitude is smaller than the maximum voltage vector amplitude, judging to enter a normal modulation mode, and acquiring the expected voltage vector amplitude through a second modulation strategy contained in the normal modulation mode so as to enable an inverter in the vehicle to output the expected voltage vector amplitude.
6. The electric drive system control method according to claim 5, characterized in that: the step of obtaining the desired voltage vector magnitude by a second modulation strategy included in the normal modulation mode to cause an inverter inside the vehicle to output the desired voltage vector magnitude includes:
selecting two corresponding adjacent basic voltage vectors from a preset database according to the first expected voltage component, the second expected voltage component and the working sector information, and calculating a switching time proportion matched with the inverter according to the two basic voltage vectors;
and when the expected voltage vector amplitude is obtained, controlling the inverter to output the expected voltage vector amplitude in real time based on the switching time proportion.
7. The electric drive system control method according to claim 1, characterized in that: the method further comprises the steps of:
real-time monitoring the actual voltage and the actual current output by the inverter, and reversely calculating the actual motor rotating speed and the actual motor torque of the driving motor according to the actual voltage and the actual current;
and generating a corresponding feedback instruction based on the actual motor rotating speed and the actual motor torque, and adjusting control parameters in the PI controller in real time according to the feedback instruction.
8. An electric drive system control system, the system comprising:
the first calculation module is used for calculating driving parameters corresponding to a driving motor in the current vehicle according to the driving instructions when receiving the driving instructions issued by the whole vehicle controller, and outputting current instructions corresponding to the driving motor through the PI controller;
the second calculation module is used for calculating a corresponding expected voltage vector amplitude according to the driving parameters and the current instruction, and calculating a maximum voltage vector amplitude which can be used for the driving motor according to the real-time output voltage of the driving battery in the vehicle and the real-time switch state of the inverter;
the judging module is used for judging whether the expected voltage vector amplitude is larger than the maximum voltage vector amplitude;
and the first output module is used for judging that the expected voltage vector amplitude is larger than the maximum voltage vector amplitude, entering an overmodulation mode, and carrying out self-adaptive adjustment on the expected voltage vector amplitude through a first modulation strategy contained in the overmodulation mode so as to enable the inverter in the vehicle to output the self-adaptively adjusted expected voltage vector amplitude.
9. A computer comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the electric drive system control method according to any one of claims 1 to 7 when executing the computer program.
10. A readable storage medium having stored thereon a computer program, wherein the program when executed by a processor implements the electric drive system control method according to any one of claims 1 to 7.
CN202310879692.0A 2023-07-18 2023-07-18 Control method and system for electric drive system Pending CN116587886A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310879692.0A CN116587886A (en) 2023-07-18 2023-07-18 Control method and system for electric drive system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310879692.0A CN116587886A (en) 2023-07-18 2023-07-18 Control method and system for electric drive system

Publications (1)

Publication Number Publication Date
CN116587886A true CN116587886A (en) 2023-08-15

Family

ID=87608499

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310879692.0A Pending CN116587886A (en) 2023-07-18 2023-07-18 Control method and system for electric drive system

Country Status (1)

Country Link
CN (1) CN116587886A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111262492A (en) * 2019-12-24 2020-06-09 浙江零跑科技有限公司 Anti-saturation current regulator and method for vehicle permanent magnet synchronous motor
CN111711394A (en) * 2020-07-09 2020-09-25 浙江大学 Vector flux weakening control system of permanent magnet synchronous motor of electric drive system
CN112054736A (en) * 2020-09-11 2020-12-08 南通大学 Permanent magnet synchronous motor model prediction current overmodulation control method for optimizing zone modulation
CN112234887A (en) * 2020-09-04 2021-01-15 中国船舶重工集团公司第七0七研究所 Space voltage vector PWM (pulse-Width modulation) method based on double independent H bridges
CN113472267A (en) * 2020-03-31 2021-10-01 安徽威灵汽车部件有限公司 Overmodulation control method and device, motor drive system, and storage medium

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111262492A (en) * 2019-12-24 2020-06-09 浙江零跑科技有限公司 Anti-saturation current regulator and method for vehicle permanent magnet synchronous motor
CN113472267A (en) * 2020-03-31 2021-10-01 安徽威灵汽车部件有限公司 Overmodulation control method and device, motor drive system, and storage medium
CN111711394A (en) * 2020-07-09 2020-09-25 浙江大学 Vector flux weakening control system of permanent magnet synchronous motor of electric drive system
CN112234887A (en) * 2020-09-04 2021-01-15 中国船舶重工集团公司第七0七研究所 Space voltage vector PWM (pulse-Width modulation) method based on double independent H bridges
CN112054736A (en) * 2020-09-11 2020-12-08 南通大学 Permanent magnet synchronous motor model prediction current overmodulation control method for optimizing zone modulation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
袁庆庆: "《级联型多电平逆变器的SVPWM控制***》", 上海交通大学出版社, pages: 112 - 115 *

Similar Documents

Publication Publication Date Title
US7589486B2 (en) Control system for multiphase rotary electric machines
US8339094B2 (en) Methods, systems and apparatus for overmodulation of a five-phase machine
US8639405B2 (en) Electric motor drive system for an electric vehicle
US9413281B2 (en) Apparatus for controlling AC motor
US20090128069A1 (en) Motor Control Apparatus and Control Apparatus for hybrid Electric Vehicles
JP6138413B2 (en) Motor drive device
JP2017204918A (en) Controller for ac motor
US8896245B2 (en) Methods, systems and apparatus for generating voltage command signals for controlling operation of an electric machine
CN115085610B (en) Linear brake control method and device applied to competition-level remote control model car
US20130015803A1 (en) Methods, systems and apparatus for reducing power loss in an electric motor drive system
JP2015109770A (en) Motor driving device
CN116674396B (en) New energy automobile electric drive system control method and system
CN112260604B (en) Control method of drive circuit, electric appliance and storage medium
CN116587886A (en) Control method and system for electric drive system
JP2012138982A (en) Motor controller and electric apparatus
CN111279607B (en) Control device for rotating electrical machine
US10396698B2 (en) Drive device and drive system
JP5370748B2 (en) Control device for motor drive device
CN116470819A (en) Motor driving device
JP2013230052A (en) Motor control device
US10630217B2 (en) Apparatus and method for controlling inverter for driving motor
CN107017813B (en) Control device and system for driving motor for vehicle
CN111464100A (en) Permanent magnet synchronous motor control method and system based on model predictive control
CN117458949B (en) Motor control system, control method and control device thereof, and storage medium
Sue et al. A new field-weakening control scheme for surface mounted permanent-magnet synchronous motor drives

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20230815

RJ01 Rejection of invention patent application after publication