CN111907341A - Locked-rotor protection system and method of motor drive controller for electric vehicle - Google Patents

Locked-rotor protection system and method of motor drive controller for electric vehicle Download PDF

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Publication number
CN111907341A
CN111907341A CN202010756018.XA CN202010756018A CN111907341A CN 111907341 A CN111907341 A CN 111907341A CN 202010756018 A CN202010756018 A CN 202010756018A CN 111907341 A CN111907341 A CN 111907341A
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locked
motor
rotor
trq
igbt
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CN111907341B (en
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刘蕾
魏冰
程胜民
张陈
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Hefei JEE Power System Co Ltd
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Hefei JEE Power System Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/10—Electrical machine types
    • B60L2220/14—Synchronous machines
    • 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
    • B60L2240/10—Vehicle control parameters
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/36—Temperature of vehicle components or parts
    • 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
    • B60L2240/421—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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

Abstract

The invention discloses a locked rotor protection system and a locked rotor protection method of a motor drive controller for an electric vehicle, which judge whether locked rotor enters according to an upper limit threshold value and a lower limit threshold value preset by the rotating speed of a motor, and set a first switching frequency and a second switching frequency of an IGBT to realize locked rotor frequency reduction protection by considering the loss of the IGBT; in a high-temperature area, according to the condition that the motor enters a locked rotor zone bit for the first time, the motor execution torque is controlled in a segmented mode by judging the temperature of the IGBT; in a low-temperature area, controlling the output torque of the motor by a linear interpolation method according to a preset upper limit threshold value and a preset lower limit threshold value of the collected IGBT temperature; setting different loading/unloading rates to control the output torque of the motor according to the locked-rotor flag bit, the rotating speed locked-rotor flag bit, the IGBT temperature set value and the torque limit value; the invention comprehensively considers the locked-rotor frequency-reduction protection, the torque-limiting protection of the high-temperature area and the output characteristic of the low-temperature area to protect the IGBT driving module, and the actual application effect of the whole vehicle is better.

Description

Locked-rotor protection system and method of motor drive controller for electric vehicle
Technical Field
The invention belongs to the technical field of control of an electric drive system of a pure electric vehicle, and particularly relates to a locked rotor protection system and a locked rotor protection method of a motor drive controller for the electric vehicle.
Background
In recent years, with the development of the core technology of new energy automobiles, namely three-electricity (battery, electric drive and electric control), the high dynamic property, safety and reliability of the new energy automobiles directly influence the performance of the vehicles. An electric drive system, namely a motor and a controller, is used as one of core parts of an electric automobile, and during driving, direct current is converted into alternating current through three-phase bridge type inversion mainly according to an IGBT power drive module in the controller, and a switch of a power unit is controlled through an SVPWM algorithm to drive a permanent magnet synchronous motor. Aiming at the complex and special working conditions of the whole automobile in practice, for example: under the working condition of low rotating speed and large torque of a ramp, the motor enters locked rotor, and the temperature rise of an IGBT driving module of the controller is fast at the moment; under a low-temperature environment (-20 ℃ to-40 ℃), the bearing capacity of the IGBT is limited due to the reduction of the performance of the inductor and the capacitor, so that the control protection strategy is equally important under high/low temperature, and the damage of the IGBT driving module is avoided.
Patent document 1 (publication number: CN102350958B) discloses a motor stall protection method for an electric vehicle electric drive system, which drives a motor by using a three-phase drive axle of a motor controller according to a torque instruction requirement, and detects the rotation speed and output torque of the motor in real time; and starting timing when the motor stops rotating, if the continuous time of the motor stopping under the same torque is greater than or equal to the preset time corresponding to the torque, judging that the motor has locked-rotor, starting to unload the motor torque until the motor is detected to be in a non-locked-rotor state, and protecting the IGBT driving module by using the locked-rotor method.
The control method in the scheme of patent document 1 and the locked rotor protection method of the present patent have the following disadvantages:
(1) when the motor is locked, the temperature of the IGBT is rapidly increased, and the temperature of the IGBT is not combined with locked-rotor protection at the same time, so that the rapid, safe and reliable protection of the IGBT driving module is not facilitated;
(2) the protection of the IGBT driving module is realized by controlling the output torque of the motor, and the influence of the switching frequency is not considered;
(3) the output characteristics of components and parts at low temperature are not considered, and the bearing capacity of the IGBT is not comprehensive enough.
In the prior art, under the motor stalling condition, if the depth of an accelerator pedal is larger and larger, the torque instruction of the whole VCU received by a motor controller is increased continuously, the stalling current is increased, if the switching frequency of the IGBT is higher at the moment, the temperature of the IGBT is also increased rapidly, the temperature of the IGBT cannot be reduced rapidly only by a method of limiting or reducing the output torque of the motor, the temperature of the IGBT cannot be reduced rapidly, the temperature of the IGBT is high in a short time due to the influence of the torque unloading rate, and the service life of a power module is reduced or even damaged for a long time. Meanwhile, in a low-temperature environment, due to the performance degradation of components such as inductors, capacitors and semiconductors, the vehicle is cold started again after standing for a period of time, and the large current may exceed the bearing capacity of the IGBT.
Disclosure of Invention
The invention aims to: the locked rotor protection system and the locked rotor protection method of the motor drive controller for the electric automobile comprehensively consider locked rotor frequency reduction protection, torque limit protection of a high-temperature area and output characteristics of a low-temperature area, control actual output torque of a motor according to the locked rotor protection under different limiting conditions, and protect an IGBT drive module.
The technical scheme of the invention is as follows:
a locked rotor protection system of a motor drive controller for an electric vehicle includes:
the signal acquisition processing module is used for acquiring the depth of an accelerator pedal, the rotating speed of a motor and the temperature of an IGBT (insulated gate bipolar transistor), receiving a VCU (voltage-controlled unit) torque instruction through a CAN (controller area network) bus and filtering the acquired signal;
the sensor module outputs a motor rotating speed and position signal;
and the IGBT drive control module converts direct current into alternating current through three-phase bridge inversion, outputs a PWM signal to control a switch of the power unit to drive the permanent magnet synchronous motor through a current controller and an SVPWM algorithm, and outputs the actual execution torque of the motor.
A locked rotor protection method of a motor drive controller for an electric vehicle comprises the following steps:
s100, judging a locked rotor zone bit of the motor driving controller: judging whether to enter locked rotor according to an upper limit threshold and a lower limit threshold preset by the rotating speed of the motor, and setting a first switching frequency and a second switching frequency of the IGBT to realize locked rotor frequency reduction protection by considering the loss of the IGBT;
s200, controlling the maximum value of the output torque of the motor in the high-temperature area: in a high-temperature area, according to the condition that the motor enters a locked rotor zone bit for the first time, the motor execution torque is controlled in a segmented mode by judging the temperature of the IGBT;
s300, controlling the maximum value of the output torque of the motor in the low-temperature area; in a low-temperature area, controlling the output torque of the motor by a linear interpolation method according to a preset upper limit threshold value and a preset lower limit threshold value of the collected IGBT temperature;
s400, realizing locked rotor protection of the motor drive controller: and setting different loading/unloading rates to control the output torque of the motor according to the locked-rotor flag bit, the rotating speed locked-rotor flag bit, the IGBT temperature set value and the torque limit value.
Preferably, the method for determining the locked rotor flag of the motor drive controller in step S100 is as follows:
setting a lower limit threshold value S1 and an upper limit threshold value S2 of the motor speed, and setting a motor actual torque threshold value Trq _ Act; the IGBT first switching frequency PWM1 and the second switching frequency PWM2 are judged according to the following conditions:
s101, if the rotating speed of the motor is smaller than a preset lower limit threshold value S1, enabling a rotating speed locked-rotor flag to be effective;
s102, if the rotating speed of the motor is greater than a preset upper limit threshold value S2, the rotating speed locked-rotor flag bit is invalid;
s103, if the rotating speed of the motor is between a preset lower threshold value S1 and an upper threshold value S2, maintaining the state of the rotating speed locked-rotor flag at the previous moment unchanged;
s104, if the rotating speed locked-rotor flag bit is effective, the locked-rotor flag bit is effective, and meanwhile, the switching frequency is set to be PWM 2;
s105, if the rotating speed locked-rotor flag bit is effective and the actual torque of the motor is smaller than the threshold value Trq _ Act, entering the locked-rotor flag bit for the first time to be effective;
s106, if the rotating speed locked-rotor flag bit is effective and the actual torque of the motor is greater than the threshold value Trq _ Act, entering the locked-rotor flag bit for the first time and keeping the state of the previous moment unchanged;
s107, if the rotating speed locked-rotor flag bit is invalid, the locked-rotor flag bit is invalid when the rotating speed locked-rotor flag bit enters for the first time, and meanwhile the switching frequency is set to be PWM 1;
wherein S1< S2; PWM1> PWM 2; the actual torque threshold value Trq _ Act of the motor is obtained through calibration.
Preferably, the method for controlling the maximum value of the output torque of the motor in the high temperature region in step S200 includes two cases:
when the locked-rotor flag bit is entered for the first time, the locked-rotor flag bit is valid:
s201, if the temperature of the IGBT is greater than a preset first temperature threshold H1, setting the motor output torque limit Trq _ Max to k1Trq _ H1;
s202, if the temperature of the IGBT is greater than the preset second temperature threshold H2 and less than the first temperature threshold H1, the motor output torque limit Trq _ Max is k2Trq _ H2;
s203, if the temperature of the IGBT is greater than a preset third temperature threshold H3 and less than a second temperature threshold H2, the motor output torque limit Trq _ Max is k3Trq _ H3;
s204, if the temperature of the IGBT is less than the third temperature threshold H3, setting the motor output torque limit Trq _ Max to k4Trq _ H4;
when the first-time entering of the locked-rotor flag bit is invalid:
s205, motor output torque limit Trq _ Max ═ k0Trq _ H0;
s206, if the VCU torque command Trq _ Cmd is greater than the motor output torque limit Trq _ Max, the motor actual torque Trq _ Act is Trq _ Max; otherwise, the actual torque Trq _ Act of the motor is Trq _ Cmd;
wherein k0, k1, k2, k3 and k4 are all positive values, and the value range is 0-1;
presetting a first temperature threshold, a second temperature threshold and a third temperature threshold for the IGBT: h1> H2> H3; the maximum locked-rotor torque limits Trq _ H0, Trq _ H1, Trq _ H2, Trq _ H3 and Trq _ H4 are obtained by comprehensively considering IGBT losses and IGBT bearing capacity calibration under different locked-rotor currents.
Preferably, the method for controlling the maximum value of the output torque of the motor in the low temperature region in step S300 includes:
s301, if the IGBT temperature threshold is smaller than a preset threshold L1: the motor output torque limit Trq _ Max is Trq _ Lim- | L1 |;
s302, if the IGBT temperature threshold is larger than a preset threshold L1 and smaller than a preset threshold L2, then: the motor output torque limit Trq _ Max is Trq _ Lim;
s303, if the IGBT temperature threshold is smaller than a threshold L2: the motor output torque limit is obtained according to linear interpolation:
Trq_Max＝Trq_Lim-|L1|+((|Tigbt+L1|)*(|L2-L1|))；
s304, if the VCU torque command Trq _ Cmd is larger than the output torque limit Trq _ Max, then: the motor actual torque Trq _ Act is Trq _ Max; otherwise, the motor actual torque Trq _ Act is Trq _ Cmd;
wherein the IGBT temperature threshold value L1< L2< 0.
Preferably, the method for implementing locked rotor protection of the motor driving controller in step S400 includes:
s401, if the locked-rotor flag bit is 0, when the rotation speed locked-rotor flag bit is not 1, the following steps are performed: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b1Trq _ Max;
s402, if the locked-rotor flag bit is 0, when the rotation speed locked-rotor flag bit is 1, then:
1) if the count T is less than or equal to T1 when the locked rotor is in the locked rotor state, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b1Trq _ Max;
2) if the locked rotor timing count T > T1, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b2Trq _ Max;
s403, if the locked rotor flag bit is 1, setting locked rotor counting timing time T1, T2;
1) if the count T is less than or equal to T2 when the locked rotor is in the locked rotor state, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b3Trq _ Max;
2) if the locked rotor timing count T > T2, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b4Trq _ Max;
s404: if the VCU torque command Trq _ Cmd is greater than the output locked torque Trq _ Stall, then: the motor actual torque Trq _ Act is Trq _ Stall; otherwise, the motor actual torque Trq _ Act is Trq _ Cmd;
wherein b1, b2, b3 and b4 are all positive values, and the value range is 0-1; b1< b2< b3< b4, timing times T1 and T2, and torque coefficients b1, b2, b3 and b4 are calibrated through a locked rotor test.
The invention has the advantages that:
the locked-rotor protection system and the locked-rotor protection method for the motor drive controller for the electric automobile, provided by the invention, have clear logic, are easy to realize without increasing hardware cost, and comprehensively consider the locked-rotor frequency-reduction protection, the torque-limiting protection of a high-temperature area and the output characteristics of a low-temperature area to protect the IGBT drive module. Under high temperature, the motor is in a locked-rotor working condition, the maximum value of the output torque of the motor is limited, and the temperature of the IGBT can be quickly reduced; at low temperatures, the output torque is controlled, particularly for cold start conditions after the vehicle is stationary. The proposal effectively protects the IGBT driving module, and the actual application effect of the whole vehicle is better.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a block diagram of a locked rotor protection system of a motor drive controller for an electric vehicle according to the present invention;
FIG. 2 is a flow chart of a method for determining a locked rotor flag bit of a motor driving controller according to the present invention;
FIG. 3 is a flow chart of the control of the maximum output torque of the motor drive controller in the high temperature zone according to the present invention;
FIG. 4 is a flow chart of the control of the maximum value of the output torque of the motor drive controller in the low temperature region according to the present invention;
fig. 5 is a control flow chart of locked rotor protection of the motor driving controller according to the present invention.
Detailed Description
As shown in fig. 1, the locked rotor protection system of a motor drive controller for an electric vehicle according to the present invention includes: the signal acquisition processing module is used for acquiring the depth of an accelerator pedal, the rotating speed of a motor and the temperature of an IGBT (insulated gate bipolar transistor), receiving a VCU (voltage-controlled unit) torque instruction through a CAN (controller area network) bus and filtering the acquired signal; the sensor module outputs a motor rotating speed and position signal; and the IGBT drive control module converts direct current into alternating current through three-phase bridge inversion, outputs a PWM signal to control a switch of the power unit to drive the permanent magnet synchronous motor through a current controller and an SVPWM algorithm, and outputs the actual execution torque of the motor.
The specific implementation method of the locked-rotor protection method of the motor drive controller for the electric vehicle in the embodiment comprises the following steps:
s100, judging a locked rotor zone bit of the motor driving controller: judging whether to enter locked rotor according to an upper limit threshold and a lower limit threshold preset by the rotating speed of the motor, and setting a first switching frequency and a second switching frequency of the IGBT to realize locked rotor frequency reduction protection by considering the loss of the IGBT;
s200, controlling the maximum value of the output torque of the motor in the high-temperature area: in a high-temperature area, according to the condition that the motor enters a locked rotor zone bit for the first time, the motor execution torque is controlled in a segmented mode by judging the temperature of the IGBT;
s300, controlling the maximum value of the output torque of the motor in the low-temperature area; in a low-temperature area, controlling the output torque of the motor by a linear interpolation method according to a preset upper limit threshold value and a preset lower limit threshold value of the collected IGBT temperature;
s400, realizing locked rotor protection of the motor drive controller: and setting different loading/unloading rates to control the output torque of the motor according to the locked-rotor flag bit, the rotating speed locked-rotor flag bit, the IGBT temperature set value and the torque limit value.
As shown in fig. 2, the method for determining the locked rotor flag of the motor driving controller in step S100 includes:
setting a lower limit threshold value S1 and an upper limit threshold value S2 of the motor speed, and setting a motor actual torque threshold value Trq _ Act; the IGBT first switching frequency PWM1 and the second switching frequency PWM2 are judged according to the following conditions:
s101, if the rotating speed of the motor is smaller than a preset lower limit threshold value S1, enabling a rotating speed locked-rotor flag to be effective;
s102, if the rotating speed of the motor is greater than a preset upper limit threshold value S2, the rotating speed locked-rotor flag bit is invalid;
s103, if the rotating speed of the motor is between a preset lower threshold value S1 and an upper threshold value S2, maintaining the state of the rotating speed locked-rotor flag at the previous moment unchanged;
s104, if the rotating speed locked-rotor flag bit is effective, the locked-rotor flag bit is effective, and meanwhile, the switching frequency is set to be PWM 2;
s105, if the rotating speed locked-rotor flag bit is effective and the actual torque of the motor is smaller than the threshold value Trq _ Act, entering the locked-rotor flag bit for the first time to be effective;
s106, if the rotating speed locked-rotor flag bit is effective and the actual torque of the motor is greater than the threshold value Trq _ Act, entering the locked-rotor flag bit for the first time and keeping the state of the previous moment unchanged;
s107, if the rotating speed locked-rotor flag bit is invalid, the locked-rotor flag bit is invalid when the rotating speed locked-rotor flag bit enters for the first time, and meanwhile the switching frequency is set to be PWM 1;
wherein S1< S2; PWM1> PWM 2; the actual torque threshold value Trq _ Act of the motor is obtained through calibration.
As shown in fig. 3, the method for controlling the maximum value of the output torque of the motor in the high temperature region in step S200 includes two cases:
when the locked-rotor flag bit is entered for the first time, the locked-rotor flag bit is valid:
s201, if the temperature of the IGBT is greater than a preset first temperature threshold H1, setting the motor output torque limit Trq _ Max to k1Trq _ H1;
s202, if the temperature of the IGBT is greater than the preset second temperature threshold H2 and less than the first temperature threshold H1, the motor output torque limit Trq _ Max is k2Trq _ H2;
s203, if the temperature of the IGBT is greater than a preset third temperature threshold H3 and less than a second temperature threshold H2, the motor output torque limit Trq _ Max is k3Trq _ H3;
s204, if the temperature of the IGBT is less than the third temperature threshold H3, setting the motor output torque limit Trq _ Max to k4Trq _ H4;
when the first-time entering of the locked-rotor flag bit is invalid:
s205, motor output torque limit Trq _ Max ═ k0Trq _ H0;
s206, if the VCU torque command Trq _ Cmd is greater than the motor output torque limit Trq _ Max, the motor actual torque Trq _ Act is Trq _ Max; otherwise, the actual torque Trq _ Act of the motor is Trq _ Cmd;
wherein k0, k1, k2, k3 and k4 are all positive values, and the value range is 0-1;
presetting a first temperature threshold, a second temperature threshold and a third temperature threshold for the IGBT: h1> H2> H3; the maximum locked-rotor torque limits Trq _ H0, Trq _ H1, Trq _ H2, Trq _ H3 and Trq _ H4 are obtained by comprehensively considering IGBT losses and IGBT bearing capacity calibration under different locked-rotor currents.
As shown in fig. 4, the method of controlling the maximum value of the output torque of the motor in the low temperature region in step S300 includes:
s301, if the IGBT temperature threshold is smaller than a preset threshold L1: the motor output torque limit Trq _ Max is Trq _ Lim- | L1 |;
s302, if the IGBT temperature threshold is larger than a preset threshold L1 and smaller than a preset threshold L2, then: the motor output torque limit Trq _ Max is Trq _ Lim;
s303, if the IGBT temperature threshold is smaller than a threshold L2: the motor output torque limit is obtained according to linear interpolation:
Trq_Max＝Trq_Lim-|L1|+((|Tigbt+L1|)*(|L2-L1|))；
s304, if the VCU torque command Trq _ Cmd is larger than the output torque limit Trq _ Max, then: the motor actual torque Trq _ Act is Trq _ Max; otherwise, the motor actual torque Trq _ Act is Trq _ Cmd;
wherein the IGBT temperature threshold value L1< L2< 0.
As shown in fig. 5, the method for implementing locked rotor protection of the motor driving controller in step S400 includes:
s401, if the locked-rotor flag bit is 0, when the rotation speed locked-rotor flag bit is not 1, the following steps are performed: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b1Trq _ Max;
s402, if the locked-rotor flag bit is 0, when the rotation speed locked-rotor flag bit is 1, then:
1) if the count T is less than or equal to T1 when the locked rotor is in the locked rotor state, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b1Trq _ Max;
2) if the locked rotor timing count T > T1, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b2Trq _ Max;
s403, if the locked rotor flag bit is 1, setting locked rotor counting timing time T1, T2;
1) if the count T is less than or equal to T2 when the locked rotor is in the locked rotor state, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b3Trq _ Max;
2) if the locked rotor timing count T > T2, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b4Trq _ Max;
s404: if the VCU torque command Trq _ Cmd is greater than the output locked torque Trq _ Stall, then: the motor actual torque Trq _ Act is Trq _ Stall; otherwise, the motor actual torque Trq _ Act is Trq _ Cmd;
wherein b1, b2, b3 and b4 are all positive values, and the value range is 0-1; b1< b2< b3< b4, timing times T1 and T2, and torque coefficients b1, b2, b3 and b4 are calibrated through a locked rotor test.
The invention comprehensively considers the locked-rotor frequency-reduction protection, the torque-limiting protection of a high-temperature area and the output characteristic of a low-temperature area to protect the IGBT driving module. Under high temperature, the motor is in a locked-rotor working condition, the maximum value of the output torque of the motor is limited, and the temperature of the IGBT can be quickly reduced; at low temperatures, the output torque is controlled, particularly for cold start conditions after the vehicle is stationary. The proposal effectively protects the IGBT driving module, and the actual application effect of the whole vehicle is better.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All modifications made according to the spirit of the main technical scheme of the invention are covered in the protection scope of the invention.

Claims (6)

1. The utility model provides a locked rotor protection system of motor drive controller for electric automobile which characterized in that includes:
the signal acquisition processing module is used for acquiring the depth of an accelerator pedal, the rotating speed of a motor and the temperature of an IGBT (insulated gate bipolar transistor), receiving a VCU (voltage-controlled unit) torque instruction through a CAN (controller area network) bus and filtering the acquired signal;
the sensor module outputs a motor rotating speed and position signal;
and the IGBT drive control module converts direct current into alternating current through three-phase bridge inversion, outputs a PWM signal to control a switch of the power unit to drive the permanent magnet synchronous motor through a current controller and an SVPWM algorithm, and outputs the actual execution torque of the motor.
2. A locked rotor protection method of a motor drive controller for an electric vehicle is characterized by comprising the following steps:
s100, judging a locked rotor zone bit of the motor driving controller: judging whether to enter locked rotor according to an upper limit threshold and a lower limit threshold preset by the rotating speed of the motor, and setting a first switching frequency and a second switching frequency of the IGBT to realize locked rotor frequency reduction protection by considering the loss of the IGBT;
s200, controlling the maximum value of the output torque of the motor in the high-temperature area: in a high-temperature area, according to the condition that the motor enters a locked rotor zone bit for the first time, the motor execution torque is controlled in a segmented mode by judging the temperature of the IGBT;
s300, controlling the maximum value of the output torque of the motor in the low temperature region: in a low-temperature area, controlling the output torque of the motor by a linear interpolation method according to a preset upper limit threshold value and a preset lower limit threshold value of the collected IGBT temperature;
s400, realizing locked rotor protection of the motor drive controller: and setting different loading/unloading rates to control the output torque of the motor according to the locked-rotor flag bit, the rotating speed locked-rotor flag bit, the IGBT temperature set value and the torque limit value.
3. The method for protecting locked rotor of a motor driving controller for an electric vehicle according to claim 2, wherein the method for determining the locked rotor flag bit of the motor driving controller in step S100 is as follows:
setting a lower limit threshold value S1 and an upper limit threshold value S2 of the motor speed, and setting a motor actual torque threshold value Trq _ Act; the IGBT first switching frequency PWM1 and the second switching frequency PWM2 are judged according to the following conditions:
s101, if the rotating speed of the motor is smaller than a preset lower limit threshold value S1, enabling a rotating speed locked-rotor flag to be effective;
s102, if the rotating speed of the motor is greater than a preset upper limit threshold value S2, the rotating speed locked-rotor flag bit is invalid;
s103, if the rotating speed of the motor is between a preset lower threshold value S1 and an upper threshold value S2, maintaining the state of the rotating speed locked-rotor flag at the previous moment unchanged;
s104, if the rotating speed locked-rotor flag bit is effective, the locked-rotor flag bit is effective, and meanwhile, the switching frequency is set to be PWM 2;
s105, if the rotating speed locked-rotor flag bit is effective and the actual torque of the motor is smaller than the threshold value Trq _ Act, entering the locked-rotor flag bit for the first time to be effective;
s106, if the rotating speed locked-rotor flag bit is effective and the actual torque of the motor is greater than the threshold value Trq _ Act, entering the locked-rotor flag bit for the first time and keeping the state of the previous moment unchanged;
s107, if the rotating speed locked-rotor flag bit is invalid, the locked-rotor flag bit is invalid when the rotating speed locked-rotor flag bit enters for the first time, and meanwhile the switching frequency is set to be PWM 1;
wherein S1< S2; PWM1> PWM 2; the actual torque threshold value Trq _ Act of the motor is obtained through calibration.
4. The stall protection method of a motor drive controller for an electric vehicle according to claim 3, wherein the method of controlling the maximum value of the output torque of the motor in the high temperature zone in step S200 includes two cases:
when the locked-rotor flag bit is entered for the first time, the locked-rotor flag bit is valid:
s201, if the temperature of the IGBT is greater than a preset first temperature threshold H1, setting the motor output torque limit Trq _ Max to k1Trq _ H1;
s202, if the temperature of the IGBT is greater than the preset second temperature threshold H2 and less than the first temperature threshold H1, the motor output torque limit Trq _ Max is k2Trq _ H2;
s203, if the temperature of the IGBT is greater than a preset third temperature threshold H3 and less than a second temperature threshold H2, the motor output torque limit Trq _ Max is k3Trq _ H3;
s204, if the temperature of the IGBT is less than the third temperature threshold H3, setting the motor output torque limit Trq _ Max to k4Trq _ H4;
when the first-time entering of the locked-rotor flag bit is invalid:
s205, motor output torque limit Trq _ Max ═ k0Trq _ H0;
s206, if the VCU torque command Trq _ Cmd is greater than the motor output torque limit Trq _ Max, the motor actual torque Trq _ Act is Trq _ Max; otherwise, the actual torque Trq _ Act of the motor is Trq _ Cmd;
wherein k0, k1, k2, k3 and k4 are all positive values, and the value range is 0-1;
presetting a first temperature threshold, a second temperature threshold and a third temperature threshold for the IGBT: h1> H2> H3; the maximum locked-rotor torque limits Trq _ H0, Trq _ H1, Trq _ H2, Trq _ H3 and Trq _ H4 are obtained by comprehensively considering IGBT losses and IGBT bearing capacity calibration under different locked-rotor currents.
5. The lock-rotor protection method of a motor drive controller for an electric vehicle according to claim 4, wherein the method of controlling the maximum value of the output torque of the motor in the low temperature region in step S300 includes:
s301, if the IGBT temperature threshold is smaller than a preset threshold L1: the motor output torque limit Trq _ Max is Trq _ Lim- | L1 |;
s302, if the IGBT temperature threshold is larger than a preset threshold L1 and smaller than a preset threshold L2, then: the motor output torque limit Trq _ Max is Trq _ Lim;
s303, if the IGBT temperature threshold is smaller than a threshold L2: the motor output torque limit is obtained according to linear interpolation:
Trq_Max＝Trq_Lim-|L1|+((|Tigbt+L1|)*(|L2-L1|))；
s304, if the VCU torque command Trq _ Cmd is larger than the output torque limit Trq _ Max, then: the motor actual torque Trq _ Act is Trq _ Max; otherwise, the motor actual torque Trq _ Act is Trq _ Cmd;
wherein the IGBT temperature threshold value L1< L2< 0.
6. The method for protecting locked rotor of a motor driving controller for an electric vehicle according to claim 5, wherein the method for protecting locked rotor of a motor driving controller in step S400 comprises:
s401, if the locked-rotor flag bit is 0, when the rotation speed locked-rotor flag bit is not 1, the following steps are performed: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b1Trq _ Max;
s402, if the locked-rotor flag bit is 0, when the rotation speed locked-rotor flag bit is 1, then:
1) if the count T is less than or equal to T1 when the locked rotor is in the locked rotor state, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b1Trq _ Max;
2) if the locked rotor timing count T > T1, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b2Trq _ Max;
s403, if the locked rotor flag bit is 1, setting locked rotor counting timing time T1, T2;
1) if the count T is less than or equal to T2 when the locked rotor is in the locked rotor state, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b3Trq _ Max;
2) if the locked rotor timing count T > T2, then: the motor driving controller outputs locked-rotor torque Trq _ Stall which is b4Trq _ Max;
s404: if the VCU torque command Trq _ Cmd is greater than the output locked torque Trq _ Stall, then: the motor actual torque Trq _ Act is Trq _ Stall; otherwise, the motor actual torque Trq _ Act is Trq _ Cmd;
wherein b1, b2, b3 and b4 are all positive values, and the value range is 0-1; b1< b2< b3< b4, timing times T1 and T2, and torque coefficients b1, b2, b3 and b4 are calibrated through a locked rotor test.
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