CN116736108A - Method and device for estimating functional safety torque of electric drive system - Google Patents
Method and device for estimating functional safety torque of electric drive system Download PDFInfo
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Abstract
The application provides a functional safety torque estimation method of an electric drive system, which comprises the steps of obtaining a three-phase current sampling signal, a direct current bus voltage sampling signal, a three-phase upper bridge duty ratio stoping signal, a rotary sine sampling signal and a rotary cosine sampling signal of a target electric drive system power model; calculating the input power and the loss power of the motor according to the DC bus voltage signal, the three-phase upper bridge duty ratio signal, the three-phase current signal and the motor rotating speed signal; the current torque of the motor is estimated by the motor input power and the motor loss power. And the internal parameters of the battery are obtained without passing through a sensor and increasing the system cost, so that the torque safety monitoring of the electric drive system is realized. The method can improve the safety torque estimation precision of the electric drive system, meet the torque estimation requirement of high precision, and provide monitoring signals for the torque safety monitoring of the electric drive system; and the sensor measurement is avoided, and the cost is reasonably controlled.
Description
Technical Field
The application belongs to the technical field of electric drive system safety, and particularly relates to a method, a device, equipment and a storage medium for estimating functional safety torque of an electric drive system.
Background
New energy automobiles are now an important component of the automobile industry and are becoming an indispensable tool for people to travel. The electric drive system is used as an important component of the new energy automobile, and mainly comprises a motor controller, a motor and a speed reducer, is a key for converting electric energy into driving force, and bears important functions of realizing running of the automobile and the like, so that reliability and safety are important for the electric drive system. Along with the publication of the international standard of functional safety ISO26262 and the national standard GB/T34590, the safety of an electric drive system is more and more paid attention to, wherein torque safety is one of important safety targets in the electric drive system, and when some unexpected torque output occurs, the vehicle can enter a predefined safety state through corresponding processing by monitoring the motor output torque in real time during the running of the vehicle, so that unexpected harm is reduced, and personal safety is ensured.
In order to meet the torque safety target, the accurate output torque of the current motor is required to be obtained at first, then the current motor is subjected to subsequent safety monitoring, the motor torque is estimated through the battery voltage, the battery current and the current motor rotating speed, the torque state of the driving motor is monitored, and the risk of out-of-control torque of an electric driving system is reduced.
However, the voltage and the current of the battery end are used in the method, the energy conversion of the electric drive system cannot be accurately reflected, the estimation accuracy is low, the high-accuracy torque estimation requirement cannot be met, the corresponding sensors are often required to be added for acquiring the voltage and the current of the battery end, and the electric drive system is undoubtedly high in cost.
Disclosure of Invention
In view of the above problems, the present application provides a method and an apparatus for estimating a functional safety torque of an electric drive system, which can improve the accuracy of estimating the safety torque of the electric drive system and meet the requirement of high-accuracy torque estimation, and provide a monitoring signal for monitoring the safety torque of the electric drive system; the cost is reasonably controlled.
The application provides a method for estimating functional safety torque of an electric drive system, which comprises the following steps:
acquiring a three-phase current sampling signal, a direct-current bus voltage sampling signal, a three-phase upper bridge duty cycle stoping signal, a rotary sinusoidal sampling signal and a rotary cosine sampling signal of a power model of a target electric drive system; processing the three-phase current sampling signal to obtain a three-phase current signal; processing the DC bus voltage sampling signal to obtain a DC bus voltage signal; processing the three-phase upper bridge duty cycle stoping signal to obtain a three-phase upper bridge duty cycle signal; processing the rotational sine sampling signal and the rotational cosine sampling signal to obtain a rotational sine signal and a rotational cosine signal;
calculating the input power and the loss power of the motor according to the direct-current bus voltage signal, the three-phase upper bridge duty ratio signal, the three-phase current signal and the motor rotating speed signal;
and estimating the current torque of the motor through the input power of the motor and the loss power of the motor.
Further, the three-phase upper bridge duty cycle signal includes: a U-phase upper bridge duty cycle signal, a V-phase upper bridge duty cycle signal, and a W-phase upper bridge duty cycle signal;
the three-phase current signal includes: a U-phase current signal, a V-phase current signal, and a W-phase current signal.
Further, the rotational sinusoidal sampling signal and the rotational cosine sampling signal are processed to obtain a rotational sinusoidal signal and a rotational cosine signal; comprising the following steps:
the method comprises the steps of enabling a rotation sinusoidal sampling signal and a rotation cosine sampling signal in a rotation envelope signal to be de-enveloped into the rotation sinusoidal signal and the rotation cosine signal through a soft decoding algorithm;
and carrying out rotor position calculation and rotation speed calculation according to the rotational sine signal and the rotational cosine signal to obtain a motor rotation speed signal.
Further, the rotor position calculation and the rotation speed calculation according to the rotational variation sinusoidal signal and the rotational variation cosine signal to obtain a motor rotation speed signal, including:
and solving an arctangent function according to the rotation sine signal and the rotation cosine signal to obtain a rotation angle signal, combining the rotation zero angle to finally obtain the current motor rotor angle, and obtaining the current motor rotating speed signal through the rotor angle signal.
Further, the processing the three-phase upper bridge duty cycle stoping signal to obtain a three-phase upper bridge duty cycle signal includes:
acquiring period information of a current motor control main interrupt and the actual on time of an IGBT;
and calculating according to the period information and the actual on-time of the IGBT to obtain the three-phase upper bridge duty ratio signal.
Further, the calculating the input power of the motor according to the dc bus voltage signal, the three-phase upper bridge duty ratio signal and the three-phase current signal includes:
calculating a three-phase voltage signal according to the three-phase upper bridge duty ratio signal and the direct current bus voltage signal;
and calculating the input power of the motor according to the three-phase voltage signals and the three-phase current signals.
Further, the dc bus voltage signal is represented by the formula: udc=udc ADC * Cnv2, calculated;
wherein uDC ADC Is a current sampling value; cnv2 the DC voltage sampling conversion coefficient; uDC is the dc bus voltage signal.
Further, the calculating the motor loss power according to the three-phase current signal and the motor rotation speed signal includes:
according to the three-phase current signals and the motor rotating speed, table lookup is carried out to obtain motor loss power;
wherein, through the formula: i= (i) ADC -i offset ) Cnv1, calculating the three-phase current physical value signal, wherein: i is the physical value of the current, i ADC I is the current sampling value offset For current sampling bias, cnv is the current sampling conversion coefficient;
and calculating the three-phase current signal according to the three-phase current physical value.
Based on the same inventive concept, the application also provides a device for estimating the functional safety torque of an electric drive system, which comprises: the signal acquisition module is used for acquiring a three-phase current sampling signal, a direct-current bus voltage sampling signal, a three-phase upper bridge duty ratio stoping signal, a rotation sine sampling signal and a rotation cosine sampling signal of a power model of the target electric drive system;
the signal processing module is used for processing the three-phase current sampling signals to obtain three-phase current signals; processing the DC bus voltage sampling signal to obtain a DC bus voltage signal; processing the three-phase upper bridge duty cycle stoping signal to obtain a three-phase upper bridge duty cycle signal; processing the rotational sine sampling signal and the rotational cosine sampling signal to obtain a rotational sine signal and a rotational cosine signal;
the signal calculation module is used for calculating the input power of the motor and the loss power of the motor according to the direct-current bus voltage signal, the three-phase upper bridge duty ratio signal, the three-phase current signal and the motor rotating speed signal;
and the torque estimation module is used for estimating the current torque of the motor through the motor input power and the motor loss power.
Based on the same inventive concept, the application also provides electronic equipment, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the steps of any one of the methods for estimating the functional safety torque of an electric drive system when executing a program stored on a memory.
Based on the same inventive concept, the present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor realizes the steps of any one of the methods of the electric drive system functional safety torque estimation method.
The beneficial effects of the embodiment of the specification are as follows:
based on the technical scheme, the three-phase current sampling signal, the direct-current bus voltage sampling signal, the three-phase upper bridge duty cycle stoping signal, the rotary sine sampling signal and the rotary cosine sampling signal of the power model of the target electric drive system are obtained; processing the three-phase current sampling signal to obtain a three-phase current signal; processing the DC bus voltage sampling signal to obtain a DC bus voltage signal; processing the three-phase upper bridge duty cycle stoping signal to obtain a three-phase upper bridge duty cycle signal; processing the rotational sine sampling signal and the rotational cosine sampling signal to obtain a rotational sine signal and a rotational cosine signal; calculating the input power and the loss power of the motor according to the DC bus voltage signal, the three-phase upper bridge duty ratio signal, the three-phase current signal and the motor rotating speed signal; the current torque of the motor is estimated by the motor input power and the motor loss power. And the internal parameters of the battery are obtained without passing through a sensor and increasing the system cost, so that the torque safety monitoring of the electric drive system is realized. Therefore, the scheme can improve the safety torque estimation precision of the electric drive system and meet the torque estimation requirement of high precision, and provides a monitoring signal for the torque safety monitoring of the electric drive system; and the sensor measurement is avoided, and the cost is reasonably controlled.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a method for estimating functional safety torque of an electric drive system according to the present application;
FIG. 2 is a schematic diagram of an electric drive system functional safety torque estimator apparatus according to the present application;
FIG. 3 shows a three-phase upper bridge Vce state capture schematic in the present application;
FIG. 4 is a schematic diagram of a multi-cycle on Vce state capture in accordance with the present application;
FIG. 5 illustrates a multi-cycle off Vce state capture schematic in accordance with the present application;
fig. 6 shows a schematic diagram of an electronic device of the application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings.
Referring to fig. 1, a method for estimating a functional safety torque of an electric drive system includes: acquiring a three-phase current sampling signal, a direct-current bus voltage sampling signal, a three-phase upper bridge duty cycle stoping signal, a rotary sinusoidal sampling signal and a rotary cosine sampling signal of a power model of a target electric drive system; performing signal processing on the obtained three-phase current sampling signal, the obtained direct-current bus voltage sampling signal, the obtained three-phase upper bridge duty cycle stoping signal, the obtained rotary-change sinusoidal sampling signal and the obtained rotary-change cosine sampling signal to obtain a direct-current bus voltage signal, a three-phase upper bridge duty cycle signal, a three-phase current signal and a motor rotating speed signal; calculating the input power and the loss power of the motor according to the direct-current bus voltage signal, the three-phase upper bridge duty ratio signal, the three-phase current signal and the motor rotating speed signal; and estimating the current torque of the motor through the input power of the motor and the loss power of the motor.
Specifically, the three-phase upper bridge duty cycle signal includes: a U-phase upper bridge duty cycle signal, a V-phase upper bridge duty cycle signal, and a W-phase upper bridge duty cycle signal; the three-phase current signal includes: a U-phase current signal, a V-phase current signal, and a W-phase current signal.
Specifically, a hardware ADC signal acquisition module is used for acquiring a three-phase current sampling signal, a direct current bus voltage sampling signal and a rotary sampling signal from the signals; and acquiring three-phase duty cycle stoping signals through a hardware IGBT driving chip and a TIM module of TC 277.
In some optional embodiments, the processing the obtained three-phase current sampling signal, the obtained direct-current bus voltage sampling signal, the obtained three-phase upper bridge duty cycle stoping signal, the obtained rotary sine sampling signal and the obtained rotary cosine sampling signal to obtain a direct-current bus voltage signal, a three-phase upper bridge duty cycle signal, a three-phase current signal and a motor rotation speed signal includes:
the method comprises the steps of enabling a rotation sinusoidal sampling signal and a rotation cosine sampling signal in a rotation envelope signal to be de-enveloped into the rotation sinusoidal signal and the rotation cosine signal through a soft decoding algorithm;
and carrying out rotor position calculation and rotation speed calculation according to the rotational sine signal and the rotational cosine signal to obtain a motor rotation speed signal.
In some optional embodiments, the rotor position calculation and the rotation speed calculation according to the rotational variation sinusoidal signal and the rotational variation cosine signal obtain a motor rotation speed signal, including:
and solving an arctangent function according to the rotation sine signal and the rotation cosine signal to obtain a rotation angle signal, combining the rotation zero angle to finally obtain the current motor rotor angle, and obtaining the current motor rotating speed signal through the rotor angle signal.
In some optional embodiments, the processing the obtained three-phase current sampling signal, the obtained direct-current bus voltage sampling signal, the obtained three-phase upper bridge duty cycle stoping signal, the obtained rotary sine sampling signal and the obtained rotary cosine sampling signal to obtain a direct-current bus voltage signal, a three-phase upper bridge duty cycle signal, a three-phase current signal and a motor rotation speed signal further includes:
acquiring period information of a current motor control main interrupt and the actual on time of an IGBT; and processing according to the obtained period information of the current motor control main interrupt and the actual on-time of the IGBT to obtain the three-phase upper bridge duty ratio signal.
Specifically, in order to obtain an accurate three-phase upper bridge duty ratio signal, firstly, period information of a main interruption of current motor control is required to be obtained, and secondly, the actual on time of the IGBT is required to be obtained; the electric drive system of the present application includes a carrier frequency changing control function, so that the following processes are required to be performed in order to acquire the cycle information for controlling the main interrupt:
s101, setting an interrupt task which is triggered synchronously with the control of a motor control period;
s102, setting a TIM channel, and capturing a time stamp of the interrupt task in the step 1;
and S103, calculating the time difference between two adjacent periods by the time stamp captured in the step 2, so as to obtain the period information of the main interrupt.
Specifically, referring to fig. 3, the electric driving system according to the present application includes carrier suppression and five-segment modulation functions, so by obtaining the actual switching state of the IGBT, the following processes are required for calculating the actual duty cycle signal:
s201, feeding back the Vce state of the current IGBT through an IGBT driving chip, wherein when the voltage of a direct current bus is higher than 10V, if the IGBT is in an off state at the moment, the Vce is fed back to be in a high level, and if the IGBT is in an on state at the moment, the Vce is fed back to be in a low level, and the conclusion is that the 1EDI2002AS driving chip of Ying Fei Ling is taken AS an example, and other similar products are also applicable;
s202, capturing the Vce state fed back in the step 1 through a TIM module capturing function, wherein the TIM module capturing function mainly utilizes the rising edge and the falling edge of a captured signal to capture and judge the signal state.
Referring to fig. 4 and fig. 5, when the electric drive control system enters the carrier suppression working condition, the continuous multi-period on and continuous multi-period off will occur, at this time, if the signal capturing function of the TIM is adopted, the duty cycle signal cannot be captured accurately, and at this time, the current duty cycle signal needs to be calculated according to the current Vce state and the related parameters of the capturing channel of the TIM.
When multicycle conduction and multicycle turn-off occur, taking one-phase duty ratio signal calculation as an example, firstly judging whether the ECNT value in the current phase TIM capturing channel is changed, if not, indicating that the current cycle does not detect the edge change, namely, the multicycle conduction or multicycle turn-off condition is small; and then judging that the current phase is in a multi-period on or multi-period off state by reading the level state of the current acquisition channel and the duty ratio of the phase in the previous period, and judging that the phase is in the multi-period on or the multi-period off state when the duty ratio of the previous period of the phase is larger than a certain threshold value (0.96 is taken herein) and the read level state of the acquisition channel of the phase is in a high level, and judging that the phase is in the multi-period on state and the duty ratio is 1 at the moment, otherwise, judging that the phase is in the multi-period off state and the duty ratio is 0 when the level state of the acquisition channel of the phase is in a low level.
Except for the multi-period on and multi-period off working conditions, capturing and calculating the duty ratio signals according to the GPR0 and GPR1 values of the TIM capturing module, wherein the working conditions are as follows:
s301, when the difference value between the GPR1 and the GPR0 is larger than a certain multiple of the period calculated in the process of S103 (0.93 is taken here), judging that the current duty ratio of the phase is 1;
and S302, dividing the working condition in S301, and calculating the current duty ratio according to the period calculated in S103 according to the difference value between the GPR1 and the GPR 0.
In some alternative embodiments, the calculating the motor input power from the dc bus voltage signal, the three-phase upper bridge duty cycle signal, and the three-phase current signal includes:
calculating a three-phase voltage signal according to the three-phase upper bridge duty ratio signal and the direct current bus voltage signal; and calculating the input power of the motor according to the three-phase voltage signals and the three-phase current signals.
In some alternative embodiments, the dc bus voltage signal is represented by the formula:
uDC＝uDC ADC *Cnv2
the method comprises the steps of calculating, wherein uDCADC is a current sampling value; cnv2 the DC voltage sampling conversion coefficient; uDC is the dc bus voltage signal.
Calculating a three-phase voltage signal according to the three-phase duty ratio signal, and passing through the formula:
u phase ＝(Dyc-0.5)*uDC
calculating a three-phase voltage signal, wherein u phase For phase voltages, dyc is a duty cycle signal.
In some alternative embodiments, the calculating the motor loss power from the three-phase current signal and the motor speed signal includes:
according to the three-phase current signals and the motor rotating speed, table lookup is carried out to obtain motor loss power;
wherein, through the formula:
i＝(i ADC -i offset )*Cnv1
calculating the three-phase current physical value signal, the commonWherein: i is the physical value of the current, i ADC I is the current sampling value offset For current sampling bias, cnv is the current sampling conversion coefficient;
and calculating the three-phase current signal Is according to the three-phase current physical value. The general manner of calculating the three-phase current signal according to the three-phase current physical value is not described herein. And (5) looking up a table according to Is and the motor rotating speed to obtain the motor loss power, wherein the loss power data are obtained through experimental tests.
According to the formula: p (P) in ＝u Uphase *i U +u Vphase *i V +u Wphase *i W Calculating the input power of the motor, wherein P in Inputting power for a motor; u (u) phase Is a three-phase voltage signal; i is a three-phase current signal;
calculating the current torque of the motor by combining the obtained motor input power with the motor loss power according to the formula:
calculating to obtain the current torque of the motor, wherein Te is the current torque; p (P) in Inputting power for a motor; p (P) loss The loss power of the motor is obtained according to a three-phase current lookup table; 9.55 is the torque coefficient.
Based on the same inventive concept, referring to fig. 2, the present application further provides an electric drive system functional safety torque estimation device, including: the signal acquisition module is used for acquiring a three-phase current sampling signal, a direct-current bus voltage sampling signal, a three-phase upper bridge duty ratio stoping signal, a rotation sine sampling signal and a rotation cosine sampling signal of a power model of the target electric drive system;
the signal processing module is used for carrying out signal processing on the obtained three-phase current sampling signal, the obtained direct-current bus voltage sampling signal, the obtained three-phase upper bridge duty cycle stoping signal, the obtained rotary-change sinusoidal sampling signal and the obtained rotary-change cosine sampling signal to obtain a direct-current bus voltage signal, a three-phase upper bridge duty cycle signal, a three-phase current signal and a motor rotating speed signal;
the signal calculation module is used for calculating the input power of the motor and the loss power of the motor according to the direct-current bus voltage signal, the three-phase upper bridge duty ratio signal, the three-phase current signal and the motor rotating speed signal;
and the torque estimation module is used for estimating the current torque of the motor through the motor input power and the motor loss power.
Based on the same inventive concept, referring to fig. 6, the present application also provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing any one of the method steps in the electric drive system function safety torque estimation method when executing the program stored in the memory.
The communication bus may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus, an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like.
The communication interface is used for communication between the electronic device and other devices.
The memory may include random access memory (Random Access Memory, RAM) or non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a Network Processor (NP), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
Based on the same inventive concept, the present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of any one of the methods of electric drive system functional safety torque estimation.
The computer-readable storage medium may be embodied in the apparatus/means described in the above embodiments; or may exist alone without being assembled into the apparatus/device. The above-described computer-readable storage medium carries one or more programs which, when executed, implement a method of electric drive system functional safety torque estimation according to an embodiment of the present disclosure.
According to embodiments of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, for example, but is not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Based on the technical scheme, the three-phase current sampling signal, the direct-current bus voltage sampling signal, the three-phase upper bridge duty cycle stoping signal, the rotary sine sampling signal and the rotary cosine sampling signal of the power model of the target electric drive system are obtained; processing the three-phase current sampling signal to obtain a three-phase current signal; processing the DC bus voltage sampling signal to obtain a DC bus voltage signal; processing the three-phase upper bridge duty cycle stoping signal to obtain a three-phase upper bridge duty cycle signal; processing the rotational sine sampling signal and the rotational cosine sampling signal to obtain a rotational sine signal and a rotational cosine signal; calculating the input power and the loss power of the motor according to the DC bus voltage signal, the three-phase upper bridge duty ratio signal, the three-phase current signal and the motor rotating speed signal; the current torque of the motor is estimated by the motor input power and the motor loss power. And the internal parameters of the battery are obtained without passing through a sensor and increasing the system cost, so that the torque safety monitoring of the electric drive system is realized. Therefore, the scheme can improve the safety torque estimation precision of the electric drive system and meet the torque estimation requirement of high precision, and provides a monitoring signal for the torque safety monitoring of the electric drive system; and the sensor measurement is avoided, and the cost is reasonably controlled.
Although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (11)
1. A method for estimating a functional safety torque of an electric drive system, comprising:
acquiring a three-phase current sampling signal, a direct-current bus voltage sampling signal, a three-phase upper bridge duty cycle stoping signal, a rotary sinusoidal sampling signal and a rotary cosine sampling signal of a power model of a target electric drive system;
processing the three-phase current sampling signal to obtain a three-phase current signal; processing the DC bus voltage sampling signal to obtain a DC bus voltage signal; processing the three-phase upper bridge duty cycle stoping signal to obtain a three-phase upper bridge duty cycle signal; processing the rotational sine sampling signal and the rotational cosine sampling signal to obtain a rotational sine signal and a rotational cosine signal;
calculating the input power and the loss power of the motor according to the direct-current bus voltage signal, the three-phase upper bridge duty ratio signal, the three-phase current signal and the motor rotating speed signal;
and estimating the current torque of the motor through the input power of the motor and the loss power of the motor.
2. The method of claim 1, wherein the three-phase upper bridge duty cycle signal comprises: a U-phase upper bridge duty cycle signal, a V-phase upper bridge duty cycle signal, and a W-phase upper bridge duty cycle signal;
the three-phase current signal includes: a U-phase current signal, a V-phase current signal, and a W-phase current signal.
3. The method of claim 1, wherein the pitch sinusoidal sampling signal and the pitch cosine sampling signal are processed to obtain a pitch sinusoidal signal and a pitch cosine signal; comprising the following steps:
the method comprises the steps of enabling a rotation sinusoidal sampling signal and a rotation cosine sampling signal in a rotation envelope signal to be de-enveloped into the rotation sinusoidal signal and the rotation cosine signal through a soft decoding algorithm;
and carrying out rotor position calculation and rotation speed calculation according to the rotational sine signal and the rotational cosine signal to obtain a motor rotation speed signal.
4. A method according to claim 3, wherein said calculating the rotor position and the rotational speed from the pitch sinusoidal signal and the pitch cosine signal comprises:
and solving an arctangent function according to the rotation sine signal and the rotation cosine signal to obtain a rotation angle signal, combining the rotation zero angle to finally obtain the current motor rotor angle, and obtaining the current motor rotating speed signal through the rotor angle signal.
5. The method of claim 1, wherein processing the three-phase upper bridge duty cycle stope signal to obtain a three-phase upper bridge duty cycle signal comprises:
acquiring period information of a current motor control main interrupt and the actual on time of an IGBT;
and calculating according to the period information and the actual on-time of the IGBT to obtain the three-phase upper bridge duty ratio signal.
6. The method of claim 1 or 5, wherein said calculating motor input power from said dc bus voltage signal, a three-phase upper bridge duty cycle signal, and a three-phase current signal comprises:
calculating a three-phase voltage signal according to the three-phase upper bridge duty ratio signal and the direct current bus voltage signal;
and calculating the input power of the motor according to the three-phase voltage signals and the three-phase current signals.
7. The method of claim 6, wherein the dc bus voltage signal is represented by the formula: udc=udc ADC * Cnv2, calculated;
wherein uDC ADC Is a current sampling value; cnv2 the DC voltage sampling conversion coefficient; uDC is the dc bus voltage signal.
8. The method of claim 1, wherein said calculating motor loss power from said three-phase current signal and motor speed signal comprises:
according to the three-phase current signals and the motor rotating speed, table lookup is carried out to obtain motor loss power;
wherein, through the formula: i= (i) ADC -i offset ) Cnv1, calculating the three-phase current physical value signal, wherein: i is the physical value of the current, i ADC I is the current sampling value offset For current sampling bias, cnv is the current sampling conversion coefficient;
and calculating the three-phase current signal according to the three-phase current physical value.
9. An electric drive system functional safety torque estimator, comprising: the signal acquisition module is used for acquiring a three-phase current sampling signal, a direct-current bus voltage sampling signal, a three-phase upper bridge duty ratio stoping signal, a rotation sine sampling signal and a rotation cosine sampling signal of a power model of the target electric drive system;
the signal processing module is used for processing the three-phase current sampling signals to obtain three-phase current signals; processing the DC bus voltage sampling signal to obtain a DC bus voltage signal; processing the three-phase upper bridge duty cycle stoping signal to obtain a three-phase upper bridge duty cycle signal; processing the rotational sine sampling signal and the rotational cosine sampling signal to obtain a rotational sine signal and a rotational cosine signal;
the signal calculation module is used for calculating the input power of the motor and the loss power of the motor according to the direct-current bus voltage signal, the three-phase upper bridge duty ratio signal, the three-phase current signal and the motor rotating speed signal;
and the torque estimation module is used for estimating the current torque of the motor through the motor input power and the motor loss power.
10. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the steps of the method of any one of claims 1-8 when executing a program stored on a memory.
11. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any of claims 1-8.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117270487A (en) * | 2023-11-17 | 2023-12-22 | 北京芯驰半导体科技有限公司 | Sampling control system, method and chip for analog signals |
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| CN117270487A (en) * | 2023-11-17 | 2023-12-22 | 北京芯驰半导体科技有限公司 | Sampling control system, method and chip for analog signals |
| CN117270487B (en) * | 2023-11-17 | 2024-01-23 | 北京芯驰半导体科技有限公司 | Sampling control system, method and chip for analog signals |
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