CN101402322A - Control method of brushless DC motor in operation of electric car and hybrid power car - Google Patents
Control method of brushless DC motor in operation of electric car and hybrid power car Download PDFInfo
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- CN101402322A CN101402322A CNA2008102188999A CN200810218899A CN101402322A CN 101402322 A CN101402322 A CN 101402322A CN A2008102188999 A CNA2008102188999 A CN A2008102188999A CN 200810218899 A CN200810218899 A CN 200810218899A CN 101402322 A CN101402322 A CN 101402322A
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- 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
- Y02T10/64—Electric machine technologies in electromobility
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- 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
Abstract
The invention discloses a method for controlling the running of a direct current brushless motor in an electric vehicle or a hybrid vehicle, wherein the direct current brushless motor adopts a torque control mode and a speed control mode. The method can control the running process of the motor in the electric vehicle or the hybrid vehicle more reasonably through controlling the output torque control and the speed control, and can generate good effect in harmonizing other motive power.
Description
Technical field
The present invention relates to a kind of control dc brushless motor torque and speed passed through, control the control method that dc brushless motor moves in electronlmobil, hybrid vehicle.
Background technology
The subject matter that influences at present the development of electronlmobil and hybrid vehicle is: one. electronlmobil is difficult to adapt to the changing road conditions of state of kinematic motion needs; Two. the distance that the every charging of electronlmobil once can be travelled is shorter; Three. driving engine and electrical motor coordinated operation are undesirable in the hybrid vehicle.
Wherein, for overcoming above-mentioned condition, prior art has adopted multiple scheme, and wherein a kind of scheme is to adopt AC induction motor, and realizes that by the pattern of alternating current dynamo being carried out torque control the technique effect of this scheme is better.But the shortcoming of its existence is that the in-use performance of AC induction motor itself is not very superior, and the pattern that only adopts torque to control, effect in actual use are not ideals very, can not meet the demands.
Summary of the invention
At the problems referred to above, the invention provides that a kind of use is more reliable, efficient is higher, coordinate the control method that the even better dc brushless motor of other power effects moves in electronlmobil, hybrid vehicle.
The technical solution adopted in the present invention is:
The control method that dc brushless motor moves in electronlmobil or hybrid vehicle, dc brushless motor adopts torque master mode and speed control mode.
Torque control can depend on the electric comb current control among the present invention, and the electric comb current control here is that the variation according to load moment realizes torque control by current relay.Speed control depends on the control of motor phase voltage.Relatively realize speed control according to given speed and actual detected speed by speed regulator.Implementation procedure of the present invention is: by measuring rotor rotating speed and electric current, by speed regulator, current relay is regulated the PWM ripple and is realized the phase voltage adjusting, realizes the adjusting of torque and the adjusting of speed.Because torque and speed are controlled all the time,, are in generating state motor and power and also can well coordinate so motor and load can well be coordinated when being in motoring condition.Therefore no matter be motoring condition or generating state, all making the electrical motor electric energy be transformed into mechanical energy or electrical generator mechanical energy, to be transformed into the efficient of electric energy higher.
Motor is selected dc brushless motor for use among the present invention, this motor has the characteristic of the exportable big torque of little, the in light weight low speed of volume, rotating speed of motor is directly proportional with electric comb voltage, the output torque of motor is directly proportional with the electric comb electric current, load moment and motor speed are inversely proportional to, the characteristic that load moment is directly proportional with motor electric comb electric current, thereby series of advantages such as it is simple to have control, and the clear and definite phase mutual interference of controlled object is little.
The invention has the beneficial effects as follows: the present invention makes motor operational process control in electronlmobil and hybrid vehicle more reasonable by control of control motor output torque and speed control, and is coordinating also to produce good effect aspect other power.Simultaneously, therefore the invention method all may command torque and speed under the unequally loaded operating mode can control the efficient of motor when different loads in electronlmobil and the hybrid vehicle, improve its combined efficiency.
The specific embodiment
The control method that dc brushless motor of the present invention moves in electronlmobil, dc brushless motor adopts torque master mode and speed control mode.
The control method that dc brushless motor moves in hybrid vehicle, dc brushless motor adopts torque master mode and speed control mode.
In above control method, this output torque mode and speed control specifically are that motor is selected dc brushless motor for use, adopt torque mode and speed control.Torque control and speed control are regulated the PWM ripple by speed regulator, current relay and are realized the phase voltage adjusting, thereby realize the adjusting of motor torque and the adjusting of speed by measuring rotor rotating speed, electric comb electric current.
A kind of double-motor or the application process of multi-motor coordination operational mode on electronlmobil, with a plurality of motor-driven or brake this vehicle, each motor moves in the mode of control output torque, or one of them otherwise moves, remaining motor produces common driving of resultant torque or braking electric vehicle all with the operation of torque mode.Wherein, the motor that adopts is a dc brushless motor, its output torque control and speed control are regulated the PWM ripple by speed regulator, current relay and are realized the phase voltage adjusting by measuring rotor rotating speed and motor electric comb electric current, realize motor torque control and speed control.
In like manner, the control method of motor in hybrid vehicles is with the same, the motor that adopts is a dc brushless motor, its output torque control and speed control are by measuring rotor rotating speed and motor electric comb electric current, regulate the PWM ripple by speed regulator, current relay and realize phase voltage is regulated, realize motor torque control and speed control.
In addition, control method for the motor in electronlmobil, hybrid vehicle, as its control from view of profit, for particular motor, when the torque control rate is controlled, preestablish a torque/speed curves, promptly set different torques and rotating speed, make motor follow this curve motion, make the drive efficiency of motor the highest according to different situations, by regulating phase voltage, obtain required torque and speed.
And for the control method of the electrical generator in electronlmobil, hybrid vehicle, as its generating efficiency control, for particular motor (electrical generator), in the control of torque control rate, preestablish a torque/speed curves, promptly set different torques and rotating speed, make the generating efficiency of motor (electrical generator) the highest according to different situations, by regulating voltage, obtain required torque and rotating speed.
Certainly, the above electrical motor and electrical generator can be to be in motoring condition or generating state by same motor, and this two states can be in response to concrete change working.
Torque control depends on the electric comb current control among the present invention, speed control depends on phase voltage control, torque control here and speed control realize according to rotor speed adjustment synchronous speed, promptly realize motor torque control and speed control by regulating phase voltage.Implementation procedure of the present invention is: by measuring rotor rotating speed and motor electric comb electric current, regulate the PWM ripple by speed regulator, current relay and realize the motor phase voltage is regulated, realize motor torque control and speed control.Because torque and speed are controlled all the time, so motor and load can well be coordinated when being in motoring condition, be in generating state motor and power and also can well coordinate, making the electrical motor electric energy be transformed into mechanical energy or electrical generator mechanical energy, to be transformed into the efficient of electric energy higher.
Specific embodiments (is example with the electronlmobil)
1, make electronlmobil adapt to the changing road conditions of state of kinematic motion needs
As everyone knows, the rail vehicle have all adopted electric locomotive mostly.But because highway road conditions complexity, often run into hillside, bend, driving, pedestrian etc., the running state of motor often changes, the time and press the driving condition operation, the time and move by braking mode.And the most method for controlling number of revolution control motors that adopt of prior art move, when motor is in rotating speed control, in order to adapt to the state of kinematic motion that motor often changes, the output torque of motor alters a great deal, the torque rating of motor must could satisfy its need of work very greatly, and this is to be difficult to realize in actual applications.Therefore, only rely on electronlmobil less use on highway communication of speed control, be difficult to promote.
The invention scheme makes motor be in driving condition or braking mode all is to move under output torque control, speed control method.Motor adopts the method for output torque control, speed control, because torque is controlled, as long as output torque is controlled in the motor torque rating, just can satisfy the requirement of automobile motor operation under different road conditions.Be the method for example explanation output torque control and speed control below with the dc brushless motor:
For specific dc brushless motor, at each rotary speed working point, its output torque depends on the electric comb electric current of motor, as long as that is to say output torque and output speed that the phase voltage of having determined each rotating speed point and electric comb electric current just can be determined each rotating speed point of motor.The method of the invention control output torque and speed is: according to rotor speed and motor electric comb electric current, the duty that changes the PWM ripple is recently regulated phase voltage control motor torque and speed, the method that replaces used direct control motor speed makes electronlmobil adapt to complicated road conditions.Because torque is the exercising result of power, the state of kinematic motion of object is by external force vectorial sum decision, that is to say can carry out when torque that different power produces is on same object vector superposed.This shows that the effect that electronlmobil adopts the method for torque and speed control to adapt to other external force is to be relatively easy to, and by torque control and speed, can make electronlmobil adapt to the complex road condition that runs in operational process.
2, improve electrical efficiency, increase the distance that charging electric vehicle once travels.
At present, increasing capacity of cell is to increase the distance that charging electric vehicle once travels, and improves once the travel main method of the shorter problem of distance of charging electric vehicle.
The invention promptly improves electrical efficiency by increasing unit quantity of electricity institute work, increases the distance that charging electric vehicle once travels, and improves the charging electric vehicle shorter problem of distance of once travelling.
Currently marketed AC induction motor all has an efficiency index, and in electronlmobil suitable power specification, when motor load was rated load, nominal load, its service efficiency was generally between 80%-90%; When load-rate of motor reduced, its service efficiency decreased.And the load of motor is constantly to change in the electronlmobil, in order to be no more than the motor rated load, nominal load, can only select the maximum load of power of motor greater than electronlmobil, therefore the load factor of motor usually tens percent, per centum, or even zero (zero load), the combined efficiency of motor very low (being commonly called as low load with strong power).
For dc brushless motor, it is simple in structure, and is reliable, particularly have other motor incomparable high efficiency, characteristic with the exportable big torque of the volume big low speed of little, in light weight power density can realize that output-constant operation is not commonly called as the low load with strong power problem.
According to each rotating speed of condition of loading a cooresponding torque, motor working efficiency highest region are arranged all.When controlling motor torque, speed, make motor follow the peak efficiency torque/speed curves operation of this motor, by regulating phase voltage, controlling torque and speed with phase voltage.Efficient when motor is worked in this case is higher, is higher than the work efficiency of traditional control method far away, thereby increases the distance that charging electric vehicle once travels.
On the other hand, electric automobile during traveling runs into complex road conditions such as bend, driving, pedestrian, uphill/downhill often, often needs braking.The glancing impact motor is in generating state, saves in the battery electric energy when becoming Drive for EV after the mechanical energy in the braking procedure is changed into electric energy and is rectified into direct current.Use the described method of the invention, electronlmobil is when braking mode, motor is in generating state, this moment, motor was controlled with torque, for dc brushless motor, make it follow the operation of predefined peak efficiency torque/speed curves, by the regulating control torque, most effective when making motor make electrical generator.The efficient that this method makes mechanical energy transform electric energy improves, thereby increases the distance that charging electric vehicle once travels.
3, a kind of double dynamical or application of many power coordinated operation pattern on electronlmobil or hybrid vehicle.
Automobile is with two or multiple electric motors controlling and driving, and this moment, motor was in the torque state of a control, the torque of motor output and be that total torque is to drive the torque that automobile needs.
With two or multiple electric motors through the motor combined action of the change speed gear box of different converter speed ratios or different rated speed of rotation in same dynamical axis, each motor is in the operation of torque mode, by the requirement of control convenience according to each operating mode torque of automobile, with the quality of each motor at each performance of operating condition, set the ratio of each motor output torque, make motor all in the big torque of speed stage output that oneself is fit to, thereby reach the purpose of two or multiple electric motors coordinated operation.The method of the invention control output torque, speed is: according to rotor speed, by speed regulator, current relay is regulated the PWM ripple and is realized phase voltage is regulated, and realizes motor torque control and speed control.Because torque is the exercising result of power, the state of kinematic motion of object is determined by the external force vectorial sum, that is to say can carry out when torque that different power produces is on same object vector superposed, this shows, the effect that a kind of double-motor or many motor powers system or other hybrid power systems adopt the method for torque control to adapt to other external force is to be relatively easy to, so, can solve the problem that electronlmobil and hybrid vehicle run in double dynamical or many power coordinated operation process by torque control and speed control.
4, the described motor torque control method of the invention, motor high-efficiency operation method also are applicable to tandem or parallel type hybrid dynamic automobile, and its control method is identical with above-mentioned Control of Electric Vehicles method, does not give unnecessary details at this.
Claims (8)
1, the control method moved in electronlmobil of dc brushless motor is characterized in that: dc brushless motor adopts torque master mode and speed control mode.
2, the control method moved in electronlmobil of dc brushless motor according to claim 1 is characterized in that: described torque control realizes that by the electric comb current control mode described speed control realizes by motor phase voltage mode.
3, the control method in electronlmobil, moved of dc brushless motor according to claim 2, it is characterized in that: the electric comb current control is that the variation according to load moment realizes by current relay, the control of motor phase voltage is according to the comparison of given speed and actual detected speed, realizes speed control by speed regulator.
4, the control method in electronlmobil, moved of dc brushless motor according to claim 3, it is characterized in that: torque control and speed control are by measuring rotor rotating speed and electric current, regulate the PWM ripple by speed regulator, current relay and realize the phase voltage adjusting, thereby realize the adjusting of motor torque and the adjusting of speed.
5, the control method moved in hybrid vehicle of dc brushless motor is characterized in that: dc brushless motor adopts torque master mode and speed control mode.
6, the control method moved in hybrid vehicle of dc brushless motor according to claim 5 is characterized in that: described torque control realizes that by the electric comb current control mode described speed control realizes by motor phase voltage mode.
7, the control method in hybrid vehicle, moved of dc brushless motor according to claim 5, it is characterized in that: the electric comb current control is that the variation according to load moment realizes by current relay, the control of motor phase voltage is according to the comparison of given speed and actual detected speed, realizes speed control by speed regulator.
8, the control method in hybrid vehicle, moved of dc brushless motor according to claim 5, it is characterized in that: torque control and speed control are by measuring rotor rotating speed and electric current, regulate the PWM ripple by speed regulator, current relay and realize the phase voltage adjusting, thereby realize the adjusting of motor torque and the adjusting of speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008102188999A CN101402322A (en) | 2008-11-05 | 2008-11-05 | Control method of brushless DC motor in operation of electric car and hybrid power car |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2008102188999A CN101402322A (en) | 2008-11-05 | 2008-11-05 | Control method of brushless DC motor in operation of electric car and hybrid power car |
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| CN101402322A true CN101402322A (en) | 2009-04-08 |
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| CNA2008102188999A Pending CN101402322A (en) | 2008-11-05 | 2008-11-05 | Control method of brushless DC motor in operation of electric car and hybrid power car |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303545A (en) * | 2011-06-24 | 2012-01-04 | 沈阳工业大学 | Dual-wheel and double-fed driving system and driving method of electric automobile |
| CN103973178A (en) * | 2013-01-24 | 2014-08-06 | 博泽哈尔施塔特汽车零件两合公司 | Regulating device for moveable motor vehicle part |
| CN105818712A (en) * | 2016-03-17 | 2016-08-03 | 电子科技大学 | Self-adaptive starting control method for four-wheel hub electric automobile |
| CN106411213A (en) * | 2015-07-27 | 2017-02-15 | 比亚迪股份有限公司 | Method and device used for providing motor stator current values |
-
2008
- 2008-11-05 CN CNA2008102188999A patent/CN101402322A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303545A (en) * | 2011-06-24 | 2012-01-04 | 沈阳工业大学 | Dual-wheel and double-fed driving system and driving method of electric automobile |
| CN102303545B (en) * | 2011-06-24 | 2014-01-08 | 沈阳工业大学 | Dual-wheel and double-fed driving system and driving method of electric automobile |
| CN103973178A (en) * | 2013-01-24 | 2014-08-06 | 博泽哈尔施塔特汽车零件两合公司 | Regulating device for moveable motor vehicle part |
| CN103973178B (en) * | 2013-01-24 | 2018-04-06 | 博泽哈尔施塔特汽车零件两合公司 | Adjusting apparatus for movable vehicle part |
| CN106411213A (en) * | 2015-07-27 | 2017-02-15 | 比亚迪股份有限公司 | Method and device used for providing motor stator current values |
| CN106411213B (en) * | 2015-07-27 | 2019-09-13 | 比亚迪股份有限公司 | For providing the method and device of motor stator current value |
| CN105818712A (en) * | 2016-03-17 | 2016-08-03 | 电子科技大学 | Self-adaptive starting control method for four-wheel hub electric automobile |
| CN105818712B (en) * | 2016-03-17 | 2017-11-21 | 电子科技大学 | A kind of four-wheel wheel hub electric automobile is adaptively started to walk control method |
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Effective date of registration: 20090508 Address after: Guangdong city of Heshan Province three industrial development zone Gulao town Heshan City Helong Electrical Co. Ltd. post encoding: 529700 Applicant after: Heshan Helong Electro-mechanical Co., Ltd. Address before: 804, 61 Jinhua Mansion, No. 1, Donghua, Guangdong, Jiangmen Province, China: 529000 Applicant before: Feng Ke Jian Co-applicant before: Feng Xianmin Co-applicant before: Feng Zemin |
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Free format text: CORRECT: ADDRESS; FROM: 529700 HESHAN HELONG ELECTROMECHANICAL CO., LTD., SANLIAN INDUSTRY DEVELOPMENT AREA, GULAO TOWN, HESHAN CITY, GUANGDONG PROVINCE TO: 529725 NO.18, JIANSHE WEST ROAD, TAOYUAN TOWN, HESHAN CITY, GUANGDONG PROVINCE |
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Effective date of registration: 20110210 Address after: 529725 No. 18 Jianshe West Road, Taoyuan Town, Guangdong, Heshan Applicant after: Guangdong Heshan Xinli Stripsteel Co., Ltd. Address before: 529700 Guangdong city of Heshan Province three industrial development zone Gulao town Heshan City Helong Electrical Co. Ltd. Applicant before: Heshan Helong Electro-mechanical Co., Ltd. |
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Open date: 20090408 |