WO2019119872A1 - 控制直流母线放电方法、***、计算机设备及存储介质 - Google Patents

控制直流母线放电方法、***、计算机设备及存储介质 Download PDF

Info

Publication number
WO2019119872A1
WO2019119872A1 PCT/CN2018/103625 CN2018103625W WO2019119872A1 WO 2019119872 A1 WO2019119872 A1 WO 2019119872A1 CN 2018103625 W CN2018103625 W CN 2018103625W WO 2019119872 A1 WO2019119872 A1 WO 2019119872A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
current
coordinate system
voltage control
control signal
Prior art date
Application number
PCT/CN2018/103625
Other languages
English (en)
French (fr)
Inventor
夏铸亮
刘伟
覃兴琨
张慧忠
廖展图
赵小坤
Original Assignee
广州汽车集团股份有限公司
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 广州汽车集团股份有限公司 filed Critical 广州汽车集团股份有限公司
Priority to US16/337,415 priority Critical patent/US11290047B2/en
Publication of WO2019119872A1 publication Critical patent/WO2019119872A1/zh

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/36—Arrangements for braking or slowing; Four quadrant control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

Definitions

  • the present invention relates to the field of power system technologies, and in particular, to a method, a system, a computer device, and a storage medium for controlling a DC bus discharge.
  • the high-voltage system of the electric product using the permanent magnet synchronous motor as the driving motor is composed of a power battery pack (high-voltage battery pack), a drive motor inverter (motor controller), a permanent magnet synchronous motor and other high-voltage electrical appliances.
  • a power battery pack high-voltage battery pack
  • drive motor inverter motor controller
  • permanent magnet synchronous motor and other high-voltage electrical appliances.
  • Each consumer has a storage capacitor on the high-voltage DC input side. In the case of a serious fault, the internal relay of the power battery pack is disconnected, and the power supply to the high voltage loop is stopped, but the capacitor on the high voltage DC bus has a high voltage due to residual power, which may cause electric shock to the contact person.
  • the residual power of the high-voltage DC bus can be discharged quickly (for example, less than 60V) by a certain method (for example, within 2s). This discharge process is called active discharge of a high voltage system.
  • a rotor position sensor such as a resolver Resolver
  • the stator current is controlled according to the rotor rotation angle (only D-axis current, no Q-axis) Current) to prevent the stator current from producing mechanical torque.
  • the rotor position sensor fails, it will not be able to prevent the stator current from generating mechanical torque, which will make it impossible to quickly discharge residual power from the high-voltage DC bus.
  • a method for controlling a DC bus discharge comprising:
  • the method further includes the step of controlling the switching device to be turned off when it is detected that the voltage of the DC bus is lower than a preset value.
  • the random current reference signal of the random current reference command includes an alpha axis component current and a beta axis component current, wherein the expected value of the alpha axis component current is 0, and the expected value of the beta axis component current is 0, a
  • the variance of the axial component current is the same as the variance of the ⁇ -axis component current, and the covariance of the ⁇ -axis component current and the covariance of the ⁇ -axis component current are zero.
  • the step of converting the voltage control signal in the stator coordinate system into a three-phase voltage control signal, and controlling the operating state of the switching device according to the three-phase voltage control signal further includes:
  • the three-phase voltage control signal is pulse width modulated to generate a PWM signal
  • the PWM signal is caused to control the operating state of the switching device.
  • the motor current signal is converted to a current signal in a stator coordinate system using a Clarke transform.
  • a control DC bus discharge system includes:
  • An active bleed command receiving module is configured to receive an active bleed command
  • Obtaining a signal module configured to acquire a motor current signal according to the active bleed command
  • a signal conversion module configured to convert the motor current signal into a current signal in a stator coordinate system
  • a signal output module configured to output a voltage control signal in a stator coordinate system based on a current signal in the stator coordinate system and a random current reference command of a preset stator coordinate system
  • a control module configured to convert the voltage control signal in the stator coordinate system into a three-phase voltage control signal, and control an operating state of the switching device according to the three-phase voltage control signal.
  • the method further includes: a detecting module, configured to control the switching device to be turned off when detecting that the voltage of the DC bus is lower than a preset value.
  • control module comprises:
  • a signal conversion unit configured to convert the voltage control signal in the stator coordinate system into a three-phase voltage control signal by inverse Clarke transform
  • a signal modulating unit configured to pulse-width modulate the three-phase voltage control signal to generate a PWM signal
  • the control unit is configured to enable the PWM signal to control the operating state of the switching device.
  • a computer device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the computer program to implement the Control the DC bus discharge method.
  • a storage medium having stored thereon is a computer program that, when executed by a processor, implements the method of controlling a DC bus discharge.
  • the above-mentioned DC bus discharge method, system, computer equipment and storage medium control the working state of the switching device by outputting a voltage control signal in a stator coordinate system through a current signal in a stator coordinate system and a random current reference command of a preset stator coordinate system.
  • Discharging the motor controller solves the problem that when the rotor position sensor fails, the stator current cannot be prevented from generating mechanical torque, which may result in the inability to quickly discharge residual power on the high voltage DC bus.
  • FIG. 1 is a schematic diagram of a high voltage system and a motor controller of an electric vehicle according to the present invention
  • FIG. 2 is a schematic flow chart of a method for controlling a DC bus discharge according to an embodiment of the present invention
  • FIG. 3 is a schematic flow chart of a method for controlling a DC bus discharge according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a process of controlling a DC bus discharge method according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a DC bus discharge system controlled according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a control DC bus discharge system according to an embodiment of the present invention.
  • the high-voltage system of electric vehicle using permanent magnet synchronous motor as the driving motor is composed of power battery pack (high-voltage battery pack), drive motor inverter (motor controller), permanent magnet synchronous motor and other high-voltage electrical appliances. .
  • the high-voltage DC input side of each appliance generally has storage capacitors C bus and C0. In the case of a serious fault, the internal relay of the power battery pack is disconnected, and the power supply to the high-voltage circuit is stopped. However, the capacitor on the high-voltage DC bus has high voltage due to residual power. These high voltages have potential safety to the occupants and maintenance personnel.
  • the vehicle safety specification will require that after the internal relay of the battery pack is disconnected, the residual power of the high-voltage DC busbar can be discharged quickly (for example, less than 60V) by a certain method (for example, within 2s). This discharge process is called active discharge of a high voltage system. Therefore, it is necessary to discharge the residual power of the high voltage DC bus through the voltage controller control switches Q 1 , Q 2 , Q 3 , Q 4 , Q 5 , and Q 6 .
  • FIG. 2 shows a method of controlling a DC bus discharge in one embodiment, which includes the following steps S210 to S250.
  • Step S210 receiving an active bleed command.
  • the motor controller when it is necessary to bleed the current on the high voltage bus, the motor controller receives the active bleed command.
  • the active bleed command may be issued by a vehicle control unit (VCU).
  • VCU vehicle control unit
  • the vehicle controller In the case of a complete vehicle failure, the vehicle's high-voltage system is powered off, the vehicle controller will issue an active bleed command.
  • Step S220 acquiring a motor current signal according to the active bleed instruction.
  • the motor current signal is a three-phase current signal of the motor
  • the current sensor a detecting device can detect the information of the measured current, and can detect the detected information according to a certain rule
  • the three-phase current signal of the motor is obtained by transforming into an electrical signal or other required form of information output that meets certain standards to meet the requirements of information transmission, processing, storage, display, recording and control.
  • Step S230 converting the motor current signal into a current signal in a stator coordinate system
  • the current coordinates (I ⁇ , I ⁇ ) in the stator coordinate system are directly corresponding to the three-phase currents (I a , I b , I c ) of the motor, and the conversion relationship between them is a constant matrix.
  • the matrix coefficient does not include the rotational angle ⁇ of the rotor.
  • Such a coordinate system can be seen as a coordinate system tied to the stator of the motor, so it is customarily called a "stator coordinate system.”
  • the motor current signal includes an A-phase current I a , a B-phase current I b , and a C-phase current I c .
  • the motor current signals obtained by the current sensor are three-phase current signals I a , I b , I c .
  • the three-phase current signals I a , I b , I c are converted into two-phase currents by a Clarke transform (Clarke transform converts the original three-phase current into two-phase currents, from a three-phase stator A-B-C coordinate system to a two-phase stator
  • the ⁇ - ⁇ coordinate system also referred to as 3/2 transformation) (abc ⁇ ) becomes the current signals I ⁇ and I ⁇ in the stator coordinate system.
  • Step S240 outputting a voltage control signal in the stator coordinate system based on the current signal in the stator coordinate system and the random current reference command of the preset stator coordinate system.
  • the random current reference command of the preset stator coordinate system may be internally generated by the controller, and the random current reference command of the preset stator coordinate system includes random current reference value information, and the random current reference value of the preset stator coordinate system is I ⁇ * I ⁇ * .
  • the random current reference value I ⁇ * I ⁇ * of the preset stator coordinate system in the random current reference command of the preset stator coordinate system is input to the feedback control unit. After the control operation, the feedback control unit outputs the voltage control signal U ⁇ * U ⁇ * in the stator coordinate system.
  • the random current reference signal of the random current reference command includes an ⁇ -axis component current I ⁇ * and a ⁇ -axis component current I ⁇ * .
  • the ⁇ -axis component current I ⁇ * and the ⁇ -axis component current I ⁇ * may be random, and may be any random sequence as long as the expected value of the ⁇ -axis component current I ⁇ * is 0, and the ⁇ -axis component current is satisfied.
  • I ⁇ * expected value is 0, ⁇ -axis component of the current I ⁇ * variance with beta] axis component current I ⁇ * is the same as the variance, ⁇ -axis component of the current I ⁇ * covariance, ⁇ -axis component of the current I ⁇ * covariance Is 0.
  • the conditions to be met can be expressed as:
  • I ⁇ * I ⁇ * can be independently selected as follows:
  • f(i) is the probability density function of the current command i.
  • each control cycle has a pair of random current commands, denoted as I ⁇ , k * and I ⁇ , k * , and the subscript k represents the kth control cycle.
  • the relationship between random current commands between different cycles can be expressed by a correlation function (or power density spectrum).
  • the time series of I ⁇ * and I ⁇ * of the present invention may be a white noise sequence, or may be a sequence having a specific correlation function designed for other specific purposes.
  • the random current reference command of the preset stator coordinate system is a random white noise current.
  • the random white noise current power spectrum is wide, and the high frequency part will increase the resistance loss due to the skin effect, thereby accelerating the residual power discharge speed. Since the current command is a random sequence, the generated torque is a randomly varying torque, and the expected value of the torque is zero, so practically no effective torque is generated, as follows:
  • the expected value of the torque is zero, and the actual motor torque is expressed as a high-frequency random fluctuation torque with an average of zero.
  • Step S250 converting the voltage control signal in the stator coordinate system into a three-phase voltage control signal, and controlling the working state of the switching device according to the three-phase voltage control signal.
  • the switching device here may be the switching devices Q1, Q2, Q3, Q4, Q5 and Q6 shown in FIG.
  • the step of converting the voltage control signal in the stator coordinate system into a three-phase voltage control signal, and controlling the operating state of the switching device according to the three-phase voltage control signal further includes steps S252 to S256. :
  • Step S252 converting the voltage control signal in the stator coordinate system into a three-phase voltage control signal by inverse Clark transform
  • Step S254 the three-phase voltage control signal is pulse width modulated to generate a PWM signal
  • step S256 the PWM signal is caused to control the operating state of the switching device.
  • the feedback control unit outputs the voltage command U ⁇ * U ⁇ * in the stator coordinates through inverse Clarke transformation (simplifies the voltage loop equation on the original two-phase winding into a voltage loop equation on the three-phase winding, from the two-phase stator After the ⁇ - ⁇ coordinate system is transformed into the two-phase stator A-B-C coordinate system, ( ⁇ abc) becomes a three-phase voltage command (U a * , U b * , U c * ).
  • the three-phase voltage command (U a * , U b * , U c * ) is modulated by pulse width (PWM) (pulse width modulation is an analog control method that modulates the transistor base or MOS tube gate according to the change of the corresponding load The polarity is biased to change the on-time of the transistor or MOS transistor, thereby realizing the change of the output of the switching power supply.)
  • PWM pulse width modulation
  • the inverter is controlled to operate, so that the motor current follows the current command. I ⁇ * I ⁇ * changes.
  • the PWM wave modulation method selects 5-step SVPWM modulation. Since the 5-step SVPWM modulation is selected, the ripple current generated is larger, which is more conducive to the loss current.
  • the above method for controlling the DC bus discharge uses the control of the current in the stator coordinate system, and the control current in the stator coordinate system does not use the ⁇ signal, so that the motor controller can be discharged, and the rotor position sensor fails to be solved. Preventing the stator current from generating mechanical torque, resulting in the inability to quickly drain residual power from the high voltage DC bus.
  • the above method for controlling the DC bus discharge even if the permanent magnet synchronous motor rotor position sensor fails, can still perform high pressure relief through the motor winding, and almost no effective torque is generated to the rotor during the venting process, and the discharge efficiency can be improved.
  • a method for controlling a DC bus discharge further includes a step S260 after the step S210 to the step S250.
  • Step S260 when it is detected that the voltage of the DC bus is lower than a preset value, the switching device is controlled to be turned off.
  • the preset value may be a range of voltage values that do not cause harm to the human body, such as 60V or less.
  • the voltage of the DC bus is detected in real time.
  • the motor controller stops actively discharging.
  • the above-mentioned method for controlling the DC bus discharge automatically stops the discharge after the discharge task is completed, and avoids being in the state all the time.
  • a method for controlling a DC bus discharge the motor three-phase current signals Ia, Ib, Ic, Ia, Ib, Ic obtained by the current sensor are converted by Clarke.
  • the current signals I ⁇ and I ⁇ in the stator coordinate system are generated by the controller software internally by the random current reference command I ⁇ * I ⁇ * in the stator coordinate system, and the current signals I ⁇ and I ⁇ in the stator coordinate system are
  • the random current reference command I ⁇ * I ⁇ * in the stator coordinate system is sent to the feedback control unit. After the control operation, the feedback control unit outputs the voltage command U ⁇ * U ⁇ * under the stator coordinates.
  • the present application further provides a control DC bus discharge system, including: an active bleed command receiving module 310 , an acquisition signal module 320 , a signal conversion module 330 , a signal output module 340 , and a control module 350 .
  • the active bleed command receiving module 310 is configured to receive an active bleed command
  • the motor controller when it is necessary to bleed the current on the high voltage bus, the motor controller receives the active bleed command.
  • Obtaining a signal module 320 configured to acquire a motor current signal according to the active bleed instruction
  • the motor current signal is a three-phase current signal of the motor.
  • the current sensor (the current sensor is a detecting device, can sense the current of the measured current, and can sense the detected
  • the information is converted into a three-phase current signal of the motor obtained by changing the electrical signal or other required form of information required to meet certain standards to meet the requirements of information transmission, processing, storage, display, recording and control.
  • a signal conversion module 330 configured to convert the motor current signal into a current signal in a stator coordinate system
  • the current coordinates (I ⁇ , I ⁇ ) in the stator coordinate system are directly corresponding to the three-phase currents (I a , I b , I c ) of the motor, and the conversion relationship between them is a constant matrix.
  • the matrix coefficient does not include the rotational angle ⁇ of the rotor.
  • Such a coordinate system can be seen as a coordinate system tied to the stator of the motor, so it is customarily called a "stator coordinate system.”
  • the motor current signals are I a , I b , I c
  • the motor current signals obtained by the current sensors are I a , I b , I c .
  • (I a , I b , I c ) is transformed into two-phase current by the Clarke transform (Clarke transform, the original three-phase current is reduced to two-phase current, from the three-phase stator A-B-C coordinate system to the two-phase stator ⁇ - ⁇
  • the coordinate system also known as the 3/2 transform) (abc ⁇ )
  • a signal output module 340 configured to output a voltage control signal in a stator coordinate system based on a current signal in the stator coordinate system and a random current reference command of a preset stator coordinate system;
  • the random current reference command of the preset stator coordinate system is internally generated by the controller software, and the random current reference command of the preset stator coordinate system includes random current reference value information, and the random current reference value of the preset stator coordinate system is I ⁇ * I ⁇ * .
  • the random current reference value I ⁇ * I ⁇ * of the preset stator coordinate system in the random current reference command of the preset stator coordinate system is input to the feedback control unit. After the control operation, the feedback control unit outputs the voltage control signal U ⁇ * U ⁇ * in the stator coordinate system.
  • the current signal in the stator coordinate system, the random current reference command output of the preset stator coordinate system, and the random current reference command in the step of outputting the voltage control signal in the stator coordinate system satisfy the following conditions: random current reference signals I ⁇ * and I ⁇
  • the expected values of * are all 0, the variances of the random current reference signals I ⁇ * and I ⁇ * are the same, and the covariance of the random current reference signals I ⁇ * and I ⁇ * is 0.
  • I ⁇ * I ⁇ * current command generated internally by the software is random and may be any random sequence as long as the following requirements are met:
  • I ⁇ * I ⁇ * can be independently selected as follows:
  • f(i) is the probability density function of the current command i.
  • each control cycle has a pair of random current commands, denoted as I ⁇ , k * and I ⁇ , k * , and the subscript k represents the kth control cycle.
  • the relationship between random current commands between different cycles can be expressed by a correlation function (or power density spectrum).
  • the time series of I ⁇ * and I ⁇ * of the present invention may be a white noise sequence, or may be a sequence having a specific correlation function designed for other specific purposes.
  • the random current reference command of the preset stator coordinate system is a random white noise current.
  • the random white noise current power spectrum is wide, and the high frequency part will increase the resistance loss due to the skin effect, thereby accelerating the residual power discharge speed. Since the current command is a random sequence, the generated torque is a randomly varying torque, and the expected value of the torque is zero, so practically no effective torque is generated, as follows:
  • the expected value of the torque is zero, and the actual motor torque is expressed as a high-frequency random fluctuation torque with an average of zero.
  • the control module 350 is configured to convert the voltage control signal in the stator coordinate system into a three-phase voltage control signal, and control an operating state of the switching device according to the three-phase voltage control signal.
  • control module 350 further includes a signal conversion unit 352 , a signal modulation unit 354 , and a control unit 356 .
  • a signal conversion unit 352 configured to convert a voltage control signal in the stator coordinate system into a three-phase voltage control signal by an inverse Clark transform
  • a signal modulating unit 354 configured to pulse-width modulate the three-phase voltage control signal to generate a PWM signal
  • the control unit 356 is configured to enable the PWM signal to control the operating state of the switching device.
  • the feedback control unit outputs the voltage command U ⁇ * U ⁇ * in the stator coordinates through inverse Clarke transformation (simplifies the voltage loop equation on the original two-phase winding into a voltage loop equation on the three-phase winding, from the two-phase stator After the ⁇ - ⁇ coordinate system is transformed into the two-phase stator A-B-C coordinate system, ( ⁇ abc) becomes a three-phase voltage command (U a * , U b * , U c * ).
  • the three-phase voltage command (U a * , U b * , U c * ) is modulated by pulse width (PWM) (pulse width modulation is an analog control method that modulates the transistor base or MOS tube gate according to the change of the corresponding load The polarity is biased to change the on-time of the transistor or MOS transistor, thereby realizing the change of the output of the switching power supply.)
  • PWM pulse width modulation
  • the inverter is controlled to operate, so that the motor current follows the current command. I ⁇ * I ⁇ * changes.
  • the PWM wave modulation method selects 5-step SVPWM modulation. Since the 5-step SVPWM modulation is selected, the ripple current generated is larger, which is more conducive to the loss current.
  • control DC bus discharge system adopts the control of the current in the stator coordinate system, and the control current in the stator coordinate system does not use the ⁇ signal, so that the motor controller can be discharged, and the rotor position sensor fails to be solved. Preventing the stator current from generating mechanical torque, resulting in the inability to quickly drain residual power from the high voltage DC bus.
  • control DC bus discharge system even if the permanent magnet synchronous motor rotor position sensor fails, can still perform high pressure discharge through the motor winding, and almost no effective torque is generated to the rotor during the venting process, and the discharge efficiency can be improved.
  • a control DC bus discharge system further includes a detection module.
  • a detecting module configured to control the switching device to be turned off when detecting that the voltage of the DC bus is lower than a preset value.
  • the preset value may be a range of voltage values that do not cause harm to the human body, such as 60V or less.
  • the voltage of the DC bus is detected in real time.
  • the motor controller stops actively discharging.
  • control DC bus discharge system automatically stops discharging after the discharge task is completed, and avoids being in a state all the time.
  • the program can be stored in a non-transitory computer.
  • the program may be stored in a storage medium of the computer system and executed by at least one processor in the computer system to implement the method including the control DC bus discharge method as described above. The flow of the example.
  • a storage medium having stored thereon a computer program, wherein the program, when executed by the processor, implements a method of controlling a DC bus discharge as in any of the above embodiments.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
  • the computer storage medium storing the computer program, by implementing the flow of the embodiment including the above-described respective control DC bus discharge methods, thereby controlling the current in the stator coordinate system by controlling the current in the stator coordinate system
  • the ⁇ signal is not used, and the motor controller can be discharged, which solves the problem that when the rotor position sensor fails, the stator current cannot be prevented from generating mechanical torque, thereby causing the problem that the residual power of the high-voltage DC bus cannot be quickly discharged.
  • a computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program, such as Any of the above embodiments controls the DC bus discharge method.
  • the computer device when the processor executes the program, controls the current in the stator coordinate system, and controls the current in the stator coordinate system without using the ⁇ signal, so that the motor controller can be discharged, and the rotor position sensor is solved. In the event of failure, it will not be possible to prevent the stator current from generating mechanical torque, which may result in the inability to quickly discharge residual power from the high voltage DC bus.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

本发明涉及一种控制直流母线放电方法，包括：接收主动泄放命令；根据所述主动泄放指令获取电机电流信号；将所述电机电流信号转换为定子坐标系下的电流信号；基于所述定子坐标系下的电流信号、预设定子坐标系的随机电流参考指令输出定子坐标系下的电压控制信号；将所述定子坐标系下的电压控制信号转换为三相电压控制信号，并根据所述三相电压控制信号控制开关器件的工作状态。通过定子坐标系下的电流信号、预设定子坐标系的随机电流参考指令输出定子坐标系下的电压控制信号控制开关器件的工作状态，使电机控制器放电，解决了当转子位置传感器失效时，将无法防止定子电流产生机械扭矩，从而导致无法迅速将高压直流母线上残余电能泄放掉的问题。

Description

控制直流母线放电方法、***、计算机设备及存储介质 技术领域
本发明涉及电力***技术领域，特别是涉及一种控制直流母线放电方法、***、计算机设备及存储介质。
背景技术
采用永磁同步电机作为驱动电机的电动产品高压***，由动力电池包(高压电池包)、驱动电机逆变器(电机控制器)、永磁同步电机和其他高压用电器组成。每个用电器高压直流输入侧一般都有储能电容。在严重故障情况下，动力电池包内部继电器断开，停止给高压回路供电，但是高压直流母线上的电容会因残余电能而有高压，这些高电压可能会造成接触者触电。因此安全规范中会要求在电池包内部继电器断开后，通过一定的办法迅速(比如2s内)将高压直流母线上残余电能泄放掉(比如低于60V)。这种放电过程被称为高压***的主动放电。
目前的高压***的主动放电的方法，在放电过程中，需要转子位置传感器(如旋转变压器Resolver)来获取永磁同步电机转子转角，然后根据转子转角控制定子电流(只有D轴电流，没有Q轴电流)，以防止定子电流产生机械扭矩。但是，当转子位置传感器失效时，将无法防止定子电流产生机械扭矩，从而导致无法迅速将高压直流母线上残余电能泄放掉。
发明内容
基于此，有必要针对当转子位置传感器失效时，将无法防止定子电流产生机械扭矩，从而导致无法迅速将高压直流母线上残余电能泄放掉的问题，提供一种控制直流母线放电方法、***、计算机设备及存储介质。
一种控制直流母线放电方法，包括：
接收主动泄放命令；
根据所述主动泄放指令获取电机电流信号；
将所述电机电流信号转换为定子坐标系下的电流信号；
基于所述定子坐标系下的电流信号、预设定子坐标系的随机电流参考指令输出定子坐标系下的电压控制信号；
将所述定子坐标系下的电压控制信号转换为三相电压控制信号，并根据所述三相电压控制信号控制开关器件的工作状态。
在其中一个实施例中，还包括步骤：当检测到直流母线的电压低于预设值时，控制所述开关器件断开。
在其中一个实施例中，所述随机电流参考指令的随机电流参考信号包括α轴分量电流和β轴分量电流，其中，α轴分量电流的期望值为0，β轴分量电流的期望值为0，α轴分量电流的方差与β轴分量电流的方差相同，α轴分量电流的协方差，β轴分量电流的协方差为0。
在其中一个实施例中，所述将所述定子坐标系下的电压控制信号转换为三相电压控制信号，并根据所述三相电压控制信号控制开关器件的工作状态步骤还包括：
将所述定子坐标系下的电压控制信号通过逆Clarke变换转换为三相电压控制信号；
将三相电压控制信号采用脉冲宽度调制，产生PWM信号；
使PWM信号控制开关器件的工作状态。
在其中一个实施例中，采用Clarke变换将所述电机电流信号转换为定子坐标系下的电流信号。
在其中一个实施例中，一种控制直流母线放电***，包括：
主动泄放命令接收模块，用于接收主动泄放命令；
获取信号模块，用于根据所述主动泄放指令获取电机电流信号
信号转换模块，用于将所述电机电流信号转换为定子坐标系下的电流信号；
信号输出模块，用于基于所述定子坐标系下的电流信号、预设定子坐标系的随机电流参考指令输出定子坐标系下的电压控制信号；
控制模块，用于将所述定子坐标系下的电压控制信号转换为三相电压控制信号，并根据所述三相电压控制信号控制开关器件的工作状态。
在其中一个实施例中，还包括：检测模块，用于当检测到直流母线的电压低于预设值时，控制所述开关器件断开。
在其中一个实施例中，控制模块包括：
信号转换单元，用于将所述定子坐标系下的电压控制信号通过逆Clarke变换转换为三相电压控制信号；
信号调制单元，用于将三相电压控制信号采用脉冲宽度调制，产生PWM信号；
控制单元，用于使PWM信号控制开关器件的工作状态。
在其中一个实施例中，一种计算机设备，包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现所述的控制直流母线放电方法。
在其中一个实施例中，一种存储介质，其上存储有计算机程序，该程序被处理器执行时实现所述的控制直流母线放电方法。
上述控制直流母线放电方法、***、计算机设备及存储介质，通过定子坐标系下的电流信号、预设定子坐标系的随机电流参考指令输出定子坐标系下的电压控制信号控制开关器件的工作状态，使电机控制器放电，解决了当转子位置传感器失效时，将无法防止定子电流产生机械扭矩，从而导致无法迅速将高压直流母线上残余电能泄放掉的问题。
附图说明
图1为本发明的电动汽车高压***和电机控制器原理图；
图2为本发明一个实施例中控制直流母线放电方法的流程示意图；
图3为本发明一个实施例中控制直流母线放电方法的流程示意图；
图4为本发明一个实施例中控制直流母线放电方法的过程示意图；
图5为本发明一个实施例中控制直流母线放电***的结构示意图；
图6为本发明一个实施例中控制直流母线放电***的结构示意图。
具体实施方式
为使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步的详细说明。应当理解，此处所描述的具体实施方式仅仅用以解释本发明，并不限定本发明的保护范围。
请参阅图1，采用永磁同步电机作为驱动电机的电动汽车高压***，由动力电池包(高压电池包)、驱动电机逆变器(电机控制器)、永磁同步电机和其他高压用电器组成。每个用电器高压直流输入侧一般都有储能电容C bus、C0。在严重故障情况下，动力电池包内部继电器断开，停止给高压回路供电，但是高压直流母线上的电容会因残余电能而有高压，这些高电压有危害乘员、维修人员的潜在安全。因此整车安全规范中会要求在电池包内部继电器断开后，通过一定的办法迅速(比如2s内)将高压直流母线上残余电能泄放掉(比如低于60V)。这种放电过程被称为高压***的主动放电。因此，需要通过电压控制器控制开关Q 1、Q 2、Q 3、Q 4、Q 5、Q 6将高压直流母线上残余电能泄放掉。
图2示出了一个实施例中的控制直流母线放电方法，其包括如下步骤S210至步骤S250。
步骤S210，接收主动泄放命令。
其中，当需要泄放高压母线上的电流时，电机控制器接收到主动泄放命令。该主动泄放指令可以是由整车控制器VCU(vehicle control unit)发出的。在整车出现故障、整车高压***下电等情况下，整车控制器会发出主动泄放指令。
步骤S220，根据所述主动泄放指令获取电机电流信号。
其中，电机电流信号为电机三相电流信号，当接收到主动泄放指令时，通过电流传感器(一种检测装置，能检测到被测电流的信息，并能将检测到的信息，按一定规律变换成为符合一定标准需要的电信号或其他所需形式的信息输出，以满足信息的传输、处理、存储、显示、记录和控制等要求)获取的电机三相电流信号。
步骤S230，将所述电机电流信号转换为定子坐标系下的电流信号；
其中，定子坐标系下的电流坐标(I α，I β)是直接和电机的三相电流(I a、I b、I c)一一对应的，他们之间的转换关系是一个常数矩阵，矩阵系数不包含转子的 转动角度θ。这样的坐标系，可以看成是一个捆绑在电机定子上的坐标系，因此习惯上称之为“定子坐标系”。
具体地，电机电流信号包括A相电流I a、B相电流I b、C相电流I c，通过电流传感器获取的电机电流信号为三相电流信号I a、I b、I c。对三相电流信号I a、I b、I c经过Clarke(克拉克)变换(Clarke变换将原来的三相电流简化成两相电流，从三相定子A－B—C坐标系变换到两相定子α－β坐标系。也称为3/2变换)(abc→αβ)后变成定子坐标系下的电流信号I α、I β。
步骤S240，基于所述定子坐标系下的电流信号、预设定子坐标系的随机电流参考指令输出定子坐标系下的电压控制信号。
其中，预设定子坐标系的随机电流参考指令可以是由控制器内部产生，预设定子坐标系的随机电流参考指令中包含随机电流参考值信息，其预设定子坐标系的随机电流参考值为I α *I β *。将定子坐标系下的电流信号I α、I β。、预设定子坐标系的随机电流参考指令中的预设定子坐标系的随机电流参考值I α *I β *一同输入反馈控制单元。经过控制运算后，反馈控制单元输出定子坐标系下的电压控制信号U α *U β *。所述随机电流参考指令的随机电流参考信号包括α轴分量电流I α *和β轴分量电流I β *。其中，α轴分量电流I α *和β轴分量电流I β *可以是随机的，可以是任意一种随机序列，其只要满足：α轴分量电流I α *的期望值为0，β轴分量电流I β *的期望值为0，α轴分量电流I α *的方差与β轴分量电流I β *的方差相同，α轴分量电流I α *的协方差，β轴分量电流I β *的协方差为0。该需满足的条件具体可表示为：
Figure PCTCN2018103625-appb-000001
举例来说，I α *I β *的可以独立地选择如下均匀分布：
Figure PCTCN2018103625-appb-000002
f(i)为电流指令i的概率密度函数。
由于电流的控制一般是固定频率的离散控制，每个控制周期都会有一对随机的电流指令，记为I α,k *和I β,k *，下标k表示第k个控制周期。不同周期之间的随机电流指令之间的关系可由相关函数(或功率密度谱)表述。本发明I α *和I β *的时间序列可以是白噪声序列，也可以是按照其他一定目的设计的具有特定相关函数的序列。
具体地，预设定子坐标系的随机电流参考指令为随机白噪声电流。
放电过程中，随机白噪声电流功率频谱宽，其高频部分会因为集肤效应而增大电阻损耗，从而加快残余电能泄放速度。由于电流指令为随机序列，所以产生的转矩是随机变化的转矩，转矩的期望值为零，因此实际几乎不会产生有效的扭矩，分析如下：
假设转子坐标D轴正向和定子坐标α轴正向夹角为θ，那么此时的转矩T e和I αI β的关系为：
Figure PCTCN2018103625-appb-000003
将式(1)结合(3)分析可得：
E[T e]＝0         (4)
即转矩的期望值为零，实际电机转矩表现为平均为零的高频随机波动转矩。
步骤S250，将所述定子坐标系下的电压控制信号转换为三相电压控制信号，并根据所述三相电压控制信号控制开关器件的工作状态。这里的开关器件可以是图1中所示的开关器件Q1、Q2、Q3、Q4、Q5和Q6。
其中，请参阅图3，所述将所述定子坐标系下的电压控制信号转换为三相电压控制信号，并根据所述三相电压控制信号控制开关器件的工作状态步骤还包括步骤S252至S256：
步骤S252，将所述定子坐标系下的电压控制信号通过逆克拉克变换转换为三相电压控制信号；
步骤S254，将三相电压控制信号采用脉冲宽度调制，产生PWM信号；
步骤S256，使PWM信号控制开关器件的工作状态。
进一步地，反馈控制单元输出定子坐标下的电压指令U α *U β *经过逆Clarke变换(将原来的两相绕组上的电压回路方程式简化成三相绕组上的电压回路方程式，从两相定子α－β坐标系变换到两相定子A－B—C坐标系)后(αβ→abc)变成三相电压指令(U a *、U b *、U c *)。三相电压指令(U a *、U b *、U c *)经过脉冲宽度(PWM)调制(脉冲宽度调制是一种模拟控制方式，其根据相应载荷的变化来调制晶体管基极或MOS管栅极的偏置，来实现晶体管或MOS管导通时间的改变，从而实现开关稳压电源输出的改变)后，产生各个开关器件的PWM信号，从而控制逆变器工作，使得电机电流跟随电流指令I α *I β *变化。
具体地，PWM波调制方式选择5步SVPWM调制。由于选择5步SVPWM调制，产生的纹波电流更大，更有利于损耗电流。
上述控制直流母线放电方法，采用在定子坐标系下对电流进行控制，而在定子坐标系下控制电流就不用θ信号，就能使电机控制器放电，解决了当转子位置传感器失效时，将无法防止定子电流产生机械扭矩，从而导致无法迅速将高压直流母线上残余电能泄放掉的问题。
上述控制直流母线放电方法，即便永磁同步电机转子位置传感器失效，仍然可以通过电机绕组进行高压泄放，且泄放过程中几乎不会对转子产生有效的扭矩，同时放电效率可以得到提高。
请参阅图2，在其中一个实施例中，一种控制直流母线放电方法在步骤S210至步骤S250之后还包括步骤S260。
步骤S260，当检测到直流母线的电压低于预设值时，控制所述开关器件断开。
其中，预设值可以是到达不会对人体造成伤害的电压值范围，如60V以下。在放电过程中，对直流母线的电压进行实时检测，当检测到直流母线电压达到安全电压要求后，电机控制器停止主动放电。
上述的控制直流母线放电方法，在放电任务完成后会自动停止放电，避免一直处于状态。
请参阅图4，在其中一个实施例中，一种控制直流母线放电方法，通过电流传感器获取的电机三相电流信号Ia、Ib、Ic，Ia、Ib、Ic经过Clarke(克拉克)变换后变成定子坐标系下的电流信号I α、I β，并由控制器软件内部产生定子坐标系下的随机电流参考指令I α *I β *，将定子坐标系下的电流信号I α、I β和定子坐标系下的随机电流参考指令I α *I β *一同送入反馈控制单元。经过控制运算后，反馈控制单元输出定子坐标下的电压指令U α *U β *经过逆Clarke变换后(αβ→abc)变成三相电压指令(U a *、U b *、U c *)。三相电压指令经过PWM调制后，产生控制Q1…Q6各个开关器件的逆变电路驱动PWM信号，从而控制逆变器工作，使得电机电流跟随电流指令I α *I β *变化。
请参阅图5，本申请还提供一种控制直流母线放电***，包括：主动泄放命令接收模块310、获取信号模块320、信号转换模块330、信号输出模块340、控制模块350。
主动泄放命令接收模块310，用于接收主动泄放命令；
其中，当需要泄放高压母线上的电流时，电机控制器接收到主动泄放命令。
获取信号模块320，用于根据所述主动泄放指令获取电机电流信号；
其中，电机电流信号为电机三相电流信号，当接收到主动泄放指令时，通过电流传感器(电流传感器，是一种检测装置，能感受到被测电流的信息，并能将检测感受到的信息，按一定规律变换成为符合一定标准需要的电信号或其他所需形式的信息输出，以满足信息的传输、处理、存储、显示、记录和控制等要求)获取的电机三相电流信号。
信号转换模块330，用于将所述电机电流信号转换为定子坐标系下的电流信号；
其中，定子坐标系下的电流坐标(I α，I β)是直接和电机的三相电流(I a、I b、I c)一一对应的，他们之间的转换关系是一个常数矩阵，矩阵系数不包含转子的转动角度θ。这样的坐标系，可以看成是一个捆绑在电机定子上的坐标系，因此习惯上称之为“定子坐标系”。
具体地，电机电流信号为I a、I b、I c，通过电流传感器获取的电机电流信号为I a、I b、I c。(I a、I b、I c)经过Clarke(克拉克)变换(Clarke变换将原来的三 相电流简化成两相电流，从三相定子A－B—C坐标系变换到两相定子α－β坐标系。也称为3/2变换)(abc→αβ)后变成定子坐标系下的电流信号I αI β。
信号输出模块340，用于基于所述定子坐标系下的电流信号、预设定子坐标系的随机电流参考指令输出定子坐标系下的电压控制信号；
其中，预设定子坐标系的随机电流参考指令是由控制器软件内部产生，预设定子坐标系的随机电流参考指令中包含随机电流参考值信息，其预设定子坐标系的随机电流参考值为I α *I β *。将定子坐标系下的电流信号I αI β。、预设定子坐标系的随机电流参考指令中的预设定子坐标系的随机电流参考值I α *I β *一同输入反馈控制单元。经过控制运算后，反馈控制单元输出定子坐标系下的电压控制信号U α *U β *。所述定子坐标系下的电流信号、预设定子坐标系的随机电流参考指令输出定子坐标系下的电压控制信号步骤中的随机电流参考指令满足以下条件：随机电流参考信号I α*和I β*的期望值都为0、随机电流参考信号I α*和I β*的方差相同、随机电流参考信号I α*和I β*的协方差为0。
进一步地，软件内部产生的I α *I β *电流指令是随机的，可以是任意一种随机序列，只要满足如下要求：
Figure PCTCN2018103625-appb-000004
举例来说，I α *I β *的可以独立地选择如下均匀分布：
Figure PCTCN2018103625-appb-000005
f(i)为电流指令i的概率密度函数。
由于电流的控制一般是固定频率的离散控制，每个控制周期都会有一对随机的电流指令，记为I α,k *和I β,k *，下标k表示第k个控制周期。不同周期之间的随机电流指令之间的关系可由相关函数(或功率密度谱)表述。本发明I α *和I β *的时间序列可以是白噪声序列，也可以是按照其他一定目的设计的具有特定相 关函数的序列。
具体地，预设定子坐标系的随机电流参考指令为随机白噪声电流。
放电过程中，随机白噪声电流功率频谱宽，其高频部分会因为集肤效应而增大电阻损耗，从而加快残余电能泄放速度。由于电流指令为随机序列，所以产生的转矩是随机变化的转矩，转矩的期望值为零，因此实际几乎不会产生有效的扭矩，分析如下：
假设转子坐标D轴正向和定子坐标α轴正向夹角为θ，那么此时的转矩T e和I αI β的关系为：
Figure PCTCN2018103625-appb-000006
将式(1)结合(3)分析可得：
E[T e]＝0       (4)
即转矩的期望值为零，实际电机转矩表现为平均为零的高频随机波动转矩。
控制模块350，用于将所述定子坐标系下的电压控制信号转换为三相电压控制信号，并根据所述三相电压控制信号控制开关器件的工作状态。
其中，请参阅图6，控制模块350还包括：信号转换单元352、信号调制单元354、控制单元356。
信号转换单元352，用于将所述定子坐标系下的电压控制信号通过逆克拉克变换转换为三相电压控制信号；
信号调制单元354，用于将三相电压控制信号采用脉冲宽度调制，产生PWM信号；
控制单元356，用于使PWM信号控制开关器件的工作状态。
进一步地，反馈控制单元输出定子坐标下的电压指令U α *U β *经过逆Clarke变换(将原来的两相绕组上的电压回路方程式简化成三相绕组上的电压回路方程式，从两相定子α－β坐标系变换到两相定子A－B—C坐标系)后(αβ→abc)变成三相电压指令(U a *、U b *、U c *)。三相电压指令(U a *、U b *、U c *)经过脉冲宽度(PWM)调制(脉冲宽度调制是一种模拟控制方式，其根据相应载荷的 变化来调制晶体管基极或MOS管栅极的偏置，来实现晶体管或MOS管导通时间的改变，从而实现开关稳压电源输出的改变)后，产生各个开关器件的PWM信号，从而控制逆变器工作，使得电机电流跟随电流指令I α *I β *变化。
具体地，PWM波调制方式选择5步SVPWM调制。由于选择5步SVPWM调制，产生的纹波电流更大，更有利于损耗电流。
上述控制直流母线放电***，采用在定子坐标系下对电流进行控制，而在定子坐标系下控制电流就不用θ信号，就能使电机控制器放电，解决了当转子位置传感器失效时，将无法防止定子电流产生机械扭矩，从而导致无法迅速将高压直流母线上残余电能泄放掉的问题。
上述控制直流母线放电***，即便永磁同步电机转子位置传感器失效，仍然可以通过电机绕组进行高压泄放，且泄放过程中几乎不会对转子产生有效的扭矩，同时放电效率可以得到提高。
请参阅图5，在其中一个实施例中，一种控制直流母线放电***，还包括检测模块。
检测模块，用于当检测到直流母线的电压低于预设值时，控制所述开关器件断开。
其中，预设值可以是到达不会对人体造成伤害的电压值范围，如60V以下。在放电过程中，对直流母线的电压进行实时检测，当检测到直流母线电压达到安全电压要求后，电机控制器停止主动放电。
上述的控制直流母线放电***，在放电任务完成后会自动停止放电，避免一直处于状态。
此外，本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一非易失性的计算机可读取存储介质中，如本发明实施例中，该程序可存储于计算机***的存储介质中，并被该计算机***中的至少一个处理器执行，以实现包括如上述各控制直流母线放电方法的实施例的流程。
为此，在一个实施例中，还提供一种存储介质，其上存储有计算机程序， 其中，该程序被处理器执行时实现如上述各实施例中的任意一种控制直流母线放电方法。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random AccessMemory，RAM)等。
该计算机存储介质，其存储的计算机程序，通过实现包括如上述各控制直流母线放电方法的实施例的流程，从而可以通过采用在定子坐标系下对电流进行控制，而在定子坐标系下控制电流就不用θ信号，就能使电机控制器放电，解决了当转子位置传感器失效时，将无法防止定子电流产生机械扭矩，从而导致无法迅速将高压直流母线上残余电能泄放掉的问题。
此外，在一个实施例中，还提供一种计算机设备，该计算机设备包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其中，处理器执行所述程序时实现如上述各实施例中的任意一种控制直流母线放电方法。
该计算机设备，其处理器执行程序时，通过采用在定子坐标系下对电流进行控制，而在定子坐标系下控制电流就不用θ信号，就能使电机控制器放电，解决了当转子位置传感器失效时，将无法防止定子电流产生机械扭矩，从而导致无法迅速将高压直流母线上残余电能泄放掉的问题。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种控制直流母线放电方法，其特征在于，包括：
    接收主动泄放命令；
    根据所述主动泄放指令获取电机电流信号；
    将所述电机电流信号转换为定子坐标系下的电流信号；
    基于所述定子坐标系下的电流信号、预设定子坐标系的随机电流参考指令输出定子坐标系下的电压控制信号；
    将所述定子坐标系下的电压控制信号转换为三相电压控制信号，并根据所述三相电压控制信号控制开关器件的工作状态。
  2. 根据权利要求1所述的控制直流母线放电方法，其特征在于，还包括步骤：当检测到直流母线的电压低于预设值时，控制所述开关器件断开。
  3. 根据权利要求1所述的控制直流母线放电方法，其特征在于，所述随机电流参考指令的随机电流参考信号包括α轴分量电流和β轴分量电流，其中，α轴分量电流的期望值为0，β轴分量电流的期望值为0，α轴分量电流的方差与β轴分量电流的方差相同，α轴分量电流的协方差，β轴分量电流的协方差为0。
  4. 根据权利要求1所述的控制直流母线放电方法，其特征在于，所述将所述定子坐标系下的电压控制信号转换为三相电压控制信号，并根据所述三相电压控制信号控制开关器件的工作状态步骤还包括：
    将所述定子坐标系下的电压控制信号通过逆Clarke变换转换为三相电压控制信号；
    将三相电压控制信号采用脉冲宽度调制，产生PWM信号；
    使PWM信号控制开关器件的工作状态。
  5. 根据权利要求1所述的控制直流母线放电方法，其特征在于，采用Clarke变换将所述电机电流信号转换为定子坐标系下的电流信号。
  6. 一种控制直流母线放电***，其特征在于，包括：
    主动泄放命令接收模块，用于接收主动泄放命令；
    获取信号模块，用于根据所述主动泄放指令获取电机电流信号；
    信号转换模块，用于将所述电机电流信号转换为定子坐标系下的电流信号；
    信号输出模块，用于基于所述定子坐标系下的电流信号、预设定子坐标系的随机电流参考指令输出定子坐标系下的电压控制信号；
    控制模块，用于将所述定子坐标系下的电压控制信号转换为三相电压控制信号，并根据所述三相电压控制信号控制开关器件的工作状态。
  7. 根据权利要求6所述的控制高压***放电***，其特征在于，还包括：检测模块，用于当检测到直流母线的电压低于预设值时，控制所述开关器件断开。
  8. 根据权利要求6所述的控制高压***放电***，其特征在于，控制模块包括：
    信号转换单元，用于将所述定子坐标系下的电压控制信号通过逆Clarke变换转换为三相电压控制信号；
    信号调制单元，用于将三相电压控制信号采用脉冲宽度调制，产生PWM信号；
    控制单元，用于使PWM信号控制开关器件的工作状态。
  9. 一种计算机设备，包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至5任意一项所述的控制直流母线放电方法。
  10. 一种存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1至5任意一项所述的控制直流母线放电方法。
PCT/CN2018/103625 2017-12-20 2018-08-31 控制直流母线放电方法、***、计算机设备及存储介质 WO2019119872A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/337,415 US11290047B2 (en) 2017-12-20 2018-08-31 DC bus discharge control method and system, computer device, and storage medium

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711385478.0A CN109951126B (zh) 2017-12-20 2017-12-20 控制直流母线放电方法、***、计算机设备及存储介质
CN201711385478.0 2017-12-20

Publications (1)

Publication Number Publication Date
WO2019119872A1 true WO2019119872A1 (zh) 2019-06-27

Family

ID=66993028

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/103625 WO2019119872A1 (zh) 2017-12-20 2018-08-31 控制直流母线放电方法、***、计算机设备及存储介质

Country Status (3)

Country Link
US (1) US11290047B2 (zh)
CN (1) CN109951126B (zh)
WO (1) WO2019119872A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110518809A (zh) * 2019-08-29 2019-11-29 海信（山东）空调有限公司 一种变频器控制装置及方法、空调
CN113472270B (zh) * 2020-03-31 2023-05-26 广汽埃安新能源汽车有限公司 电机电路保护方法及其***
CN113595373B (zh) * 2021-08-09 2023-02-21 合肥阳光电动力科技有限公司 一种功率变换器的主动放电方法和控制器
CN115051608B (zh) * 2022-06-16 2024-03-08 西北工业大学 基于母线电流新轴向定位坐标变换的三相电流重构方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105270182A (zh) * 2014-06-27 2016-01-27 联合汽车电子有限公司 新能源汽车对母线高压的放电方法
CN106505527A (zh) * 2016-12-19 2017-03-15 广东美的制冷设备有限公司 电机驱动保护装置、过压保护方法及变频空调器

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102223100A (zh) * 2011-06-17 2011-10-19 北京中能清源科技有限公司 基于修正比例谐振调节器的三相并网逆变器控制方法
JP5884746B2 (ja) * 2013-02-08 2016-03-15 株式会社デンソー 交流電動機の制御装置
DE102013226763A1 (de) * 2013-12-19 2015-06-25 Bayerische Motoren Werke Aktiengesellschaft Sicherheitsschaltungsanordnung für eine elektrische Antriebseinheit
JP6098603B2 (ja) * 2014-09-25 2017-03-22 トヨタ自動車株式会社 車両の制御装置
CN104852658B (zh) * 2015-05-28 2017-12-26 西北工业大学 两相静止坐标系下永磁同步电机解耦矢量控制装置及方法
KR102024303B1 (ko) * 2015-06-02 2019-09-23 엘에스산전 주식회사 인버터 제어 방법
JP6985193B2 (ja) * 2018-03-22 2021-12-22 日立Astemo株式会社 放電制御装置
US11418141B2 (en) * 2019-09-18 2022-08-16 Eaton Intelligent Power Limited Hybrid drive apparatus

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105270182A (zh) * 2014-06-27 2016-01-27 联合汽车电子有限公司 新能源汽车对母线高压的放电方法
CN106505527A (zh) * 2016-12-19 2017-03-15 广东美的制冷设备有限公司 电机驱动保护装置、过压保护方法及变频空调器

Also Published As

Publication number Publication date
CN109951126A (zh) 2019-06-28
US11290047B2 (en) 2022-03-29
CN109951126B (zh) 2020-12-11
US20210328533A1 (en) 2021-10-21

Similar Documents

Publication Publication Date Title
WO2019119872A1 (zh) 控制直流母线放电方法、***、计算机设备及存储介质
US9950627B2 (en) Power conversion device
KR100986712B1 (ko) 모터구동시스템의 제어장치 및 방법
US8232753B2 (en) Control device for electric motor drive apparatus
US7952309B2 (en) Rotating electrical machine control device
US9853589B2 (en) Electric power system for controlling an electric machine
EP2923438B1 (en) Multilevel converter
JP5493220B2 (ja) 電動機駆動方法および電動車両用駆動装置
EP2579452A1 (en) Control method and control device for an electric power regulator
CN106026724B (zh) 用于电力逆变器的控制装置
EP2372894B1 (en) Direct-current to three-phase alternating-current inverter system
US20150207438A1 (en) Inverter apparatus
EP4068615B1 (en) System and method for an inverter for self-excitation of an induction machine
JP2016032420A (ja) インバータ装置
JP2018506253A (ja) 電流変換方法及びデバイス並びにそのようなデバイスを備える車両
US9923505B2 (en) Methods and systems for controlling an electric motor
CN112928969A (zh) 用于电动机的早期故障检测和缓解
EP3160036B1 (en) Power conversion apparatus
Rekioua et al. DSP-controlled direct torque control of induction machines based on modulated hysteresis control
US9240744B2 (en) Methods, systems and apparatus for adjusting current and/or torque commands used to control operation of an asynchronous machine
WO2019119871A1 (zh) 控制直流母线放电方法、装置、设备及存储介质
EP3258593B1 (en) System and method for an inverter for self-excitation of an induction machine
US20130175960A1 (en) Methods, systems and apparatus for generating current commands used to control operation of an electric machine
CN111262461B (zh) 一种驱动控制方法、驱动控制装置及计算机可读存储介质
US20210087985A1 (en) Control apparatus, vehicle system, and control method

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18892582

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18892582

Country of ref document: EP

Kind code of ref document: A1