CN102386817B - 电动马达扭矩估算 - Google Patents

电动马达扭矩估算 Download PDF

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CN102386817B
CN102386817B CN2011102309694A CN201110230969A CN102386817B CN 102386817 B CN102386817 B CN 102386817B CN 2011102309694 A CN2011102309694 A CN 2011102309694A CN 201110230969 A CN201110230969 A CN 201110230969A CN 102386817 B CN102386817 B CN 102386817B
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axle
motor
shaft current
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CN102386817A (zh
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J·吴
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Ford Global Technologies LLC
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    • 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
    • B60L15/2045—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 for optimising the use of energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • 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
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    • H02P21/20—Estimation of torque
    • 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
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    • B60L2220/00—Electrical machine types; Structures or applications thereof
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    • B60L2220/14—Synchronous machines
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    • B60—VEHICLES IN GENERAL
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    • 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
    • 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
    • B60L2240/423—Torque
    • 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
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/441—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
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    • B60L2260/44—Control modes by parameter estimation
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract

本发明提供了一种控制包括永磁(PM)同步马达的车辆的方法。校准马达以使得对于每个扭矩指令均具有对应的直轴(d轴)和交轴(q轴)电流指令。该方法包扩建立扭矩指令T*。分别确定对应于扭矩指令T*的d轴和q轴电流指令Id*、Iq*。基于Id*、Iq*控制马达。分别测量d轴和q轴电流Id、Iq。根据扭矩指令T*与扭矩差之和估算输出扭矩。根据Id*、Iq*、Id、和Iq的函数确定扭矩差。可基于估算的输出扭矩控制车辆。

Description

电动马达扭矩估算
技术领域
本发明涉及电动马达扭矩估算。本发明还涉及使用永磁(PM)马达的混合动力及电动车辆。
背景技术
永磁(PM)同步马达的使用已变得十分广泛。总体上，PM同步马达包括转子，其具有安装在转子周边或隐藏在马达内部的永磁体。
在一些PM同步马达的应用中，需要估算产生的马达扭矩。
现有扭矩估算方法基于扭矩方程：
T＝P/2[phi×Iq+(Ld-Lq)×Id×Iq]
其中P为磁极数，phi为永磁体磁链(flux linkage)，Id和Iq为测量并转换至马达的d轴、q轴的电流，Ld和Lq为d轴、q轴的电感。Ld和Lq还由于磁路的饱和特性而受到Id和Iq的影响。
通常，可容易地精确测量电流，而phi仅随着温度线性变化并因此可容易地进行调节。
尽管该方法在一些应用中较为合适，然而该方法的问题在于估算的精确性总体上依赖于对Ld和Lq的估算，而这十分难以达到。
专利文件US2006/0006825A1、US2009/0179602A1、WO2007066182A1、EP1014554A2、US7586286和EP1401093A2中公开了背景信息。2001年1月出版的《亚历山大工程学》杂志(AlexandriaEngineering Journal)第40卷第1期中Y.S.Mohamed和A.A.Hassan撰写的《改善的直接扭矩控制的感应马达驱动的性能》(Performance of modifieddirect torque controlled induction motor drives)一文中可得到更多的背景信息。
发明内容
本发明的目的在于提供一种改进的电动马达扭矩估算。更为详细地，本发明的目的在于通过使用电流反馈和电流指令提供对电机的扭矩估算的改善。
根据本发明的一个方面，提供了一种控制包括有永磁(PM)同步马达的方法。校准马达以使得对于每个扭矩指令均具有对应的直轴(d轴，direct-axis)和交轴(q轴，quadrature axis)电流指令。该方法包含建立扭矩指令T*，并分别确定对应于扭矩指令T*的d轴和q轴电流指令Id*、Iq*。
该方法还包含基于Id*、Iq*控制马达，并分别测量d轴和q轴电流Id、Iq。根据扭矩指令T*与扭矩差之和估算输出扭矩。根据Id*、Iq*、Id、和Iq的函数确定扭矩差。可基于估算的输出扭矩控制车辆。
更为详细地，本发明预见到在本发明的任意实施例中可分别或以合适的组合包括多种其它特征。例如，扭矩指令T*可基于车辆工况。车辆可包括存储器，且基于估算的输出扭矩控制车辆可包括将诊断代码存储在存储器中(例如在估算的输出扭矩处于该值的正常期待范围之外时)。
在一些实施例中，通过建立查值表将扭矩指令映射至对应的直轴(d轴)和交轴(q轴)电流指令。
在一个实施例中，该方法还包含分别计算d轴和q轴电流误差Id_e和Iq_e，其中Id_e＝Id-Id*，Iq_e＝Iq-Iq*。随后，根据下列方程确定扭矩差：
T_diff＝P/2×[Phi×Iq_e+(Ld-Lq)×(Id_e×Iq*+Iq_e×Id*+Id_e×Iq_e)]
其中T_diff为扭矩差，P为磁极数，phi为永磁体磁链，Ld为d轴的电感，Lq为q轴的电感。
应了解，本发明实施例在使用永磁(PM)马达的混合动力和电动车辆中尤为有用。另外，可在其它应用中采用本发明实施例。
根据本发明的另一个方面，提供了一种控制永磁(PM)同步马达的方法。校准马达以使得对于每个扭矩指令均具有对应的直轴(d轴)和交轴(q轴)电流指令。该方法包含建立扭矩指令T*，并分别确定对应于扭矩指令T*的d轴和q轴电流指令Id*、Iq*。该方法还包含基于Id*、Iq*控制马达，并分别测量d轴和q轴电流Id、Iq。根据扭矩指令T*和扭矩差之和估算输出扭矩。根据Id*、Iq*、Id和Iq的函数确定扭矩差。可产生指示估算的输出扭矩的输出信号。
根据本发明的一个实施例，该方法还包含：产生指示估算的输出扭矩的输出信号。
根据本发明的一个实施例，该方法还包含：建立查值表用于将各个扭矩指令映射至对应的直轴(d轴)和交轴(q轴)电流指令。
根据本发明的一个实施例，该方法还包含：分别计算d轴和q轴电流误差Id_e、Iq_e；其中Id_e＝Id-Id*；且Iq_e＝Iq-Iq*。
根据本发明的一个实施例，该方法还包含根据下列方程确定扭矩差：
T_diff＝P/2×[Phi×Iq_e+(Ld-Lq)×(Id_e×Iq*+Iq_e×Id*+Id_e×Iq_e)]
其中T_diff为扭矩差，P为磁极数，phi为永磁体磁链，Ld为d轴的电感，Lq为q轴的电感。
根据本发明的再一个方面，提供了一种控制控制永磁(PM)同步马达的装置。该装置包含马达控制器，其配置用于：分别基于对应于扭矩指令T*的d轴和q轴电流指令Id*、Iq*控制马达。马达控制器分别测量d轴和q轴电流Id、Iq。根据扭矩指令T*和扭矩差之和估算输出扭矩，其中根据Id*、Iq*、Id和Iq的函数确定扭矩差。可产生指示估算的输出扭矩的输出信号。
附图说明
图1为动力分离动力系统配置的示意图。
图2为框图形式的动力系统动力流向图的示意图。
图3说明了电动马达装置，包括马达控制器和永磁(PM)同步马达。
图4说明了控制永磁(PM)同步马达的方法。
图5说明了控制包括永磁(PM)同步马达的车辆的方法。
图6进一步说明了估算输出扭矩更为详细的方面。
具体实施方式
根据需要，本说明书中公开了本发明的具体实施例。然而应理解，所公开的实施例仅为本发明的示例，其可以多种替代形式实施。附图无需按比例绘制，可放大或缩小一些特征以显示特定组件的细节。因此，本说明书中公开的具体结构性和功能性细节不应解释为限定，而仅为用于教导本领域技术人员以多种方式实施本发明的代表性基础。
本发明涵盖了电动马达扭矩估算的多个方面。下面将更为详细地描述其示例。
在一个特定实施例中，马达校准期间对扭矩的测量相对精确；获得各个扭矩值对应的直轴(d轴)和交轴(q轴)电流指令以建立查值表用于将各个扭矩指令映射至对应的直轴(d轴)和交轴(q轴)电流指令。在马达运转期间，基于车辆工况建立扭矩指令T*，并从查值表分别确定对应于扭矩指令T*的d轴和q轴电流指令。向马达发布电流指令Id*、Iq*。分别测量实际d轴和q轴电流Id、Iq。
如果Id、Iq反馈与指令Id*、Iq*匹配得很好，则扭矩应当非常接近扭矩指令T*。假定校准100％精确，如果Id、Iq与Id*、Iq*相比误差为零，则与扭矩指令T*相比应当为零扭距误差。
通过将Id改写为Id*+Id_e并将Iq改写为Iq*+Iq_e(其中Id_e和Iq_e为误差)，扭矩估算可为：T＝P/2×[phi×(Iq*+Iq_e)+(Ld-Lq)×(Id*+Id_e)×(Iq*+Iq_e)]。假设零电流误差等同于零扭距误差，扭矩指令T*＝P/2×[phi×Iq*+(Ld-Lq)×Id*×Iq*]。将扭矩估算分解为P/2×[phi×Iq*+(Ld-Lq)×Id*×Iq*]+P/2×[Phi×Iq_e+(Ld-Lq)×Id_e×Iq*+Iq_e×Id*+Id_e×Iq_e)]，可基于先前的假设以T*取代第一部分并仅计算由Id和Iq的差所导致的扭矩差。该方法可减少对细化Ld和Lq估算或计算(其较为困难且常常不够精确)的需要。
可在多种应用中实施本发明实施例。一个示例为混合动力电动车辆动力系。
图1中显示了混合动力电动车辆动力系。车辆系统控制器(VSC)10、电池及电池能量控制模块(BECM)12、和传动系统14以及马达-发电机子系统包含控制器局域网(CAN)。由VSC10控制的内燃发动机16通过扭矩输入轴18将扭矩分配至传动系统14。
传动系统14包括行星齿轮单元20，其包含环形齿轮22、中心齿轮24、和行星架总成26。环形齿轮22将扭矩分配至变速齿轮(包含啮合齿轮元件28、30、32、34、及36)。传动系统14的扭矩输出轴38通过差速器及车桥机构42可驱动地连接至车辆牵引轮40。
齿轮30、32、及34安装在中间轴上，齿轮32接合马达驱动的齿轮44。电动马达46驱动齿轮44，其作用为中间轴齿轮机构的扭矩输入。
电池通过能量流路径48、54向马达传递电能。如52处，发电机50所示的已知方式电连接至电池及马达46。
如本领域技术人员所了解的，图1的动力分离动力系统可以多种不同模式运转。如图所示，传动系有两个动力源。第一动力源为发动机和发电机子系统的组合，其使用行星齿轮单元20连接在一起。另一动力源包括电力驱动系统(包括马达46、发电机50、和电池)，其中电池作用为发电机50和马达46的能量存储介质。
总体上，VSC10计算满足驱动轮动力要求加上所有附件负载所需的总发动机动力，并独立安排带有或不带有实际发动机性能的反馈的发动机转速和负载运转点以满足总动力要求。此类型的方法通常特意用于最大化燃料经济性并可用在其他类型的动力系统(例如VSC)中。
图2中说明了图1中所示的动力分离动力系统图的多个元件之间的能量流路径。基于驾驶员和其它输入安排燃料供应计划。发动机16向行星齿轮单元20传输动力。附件负载减少了可用发动机制动力。通过行星环形齿轮将动力传递至中间轴齿轮30、32、34。来自传动系统的动力输出驱动车轮。
发电机50在作用为马达时可向行星齿轮机构传递动力。当作用为发电机时，发电机50由行星齿轮机构驱动。类似地，可以任意方向分配在马达46和中间轴齿轮30、32、34之间的动力分配。
如图1、2中所示，发动机动力输出可通过控制发电机50分离为两条路径。在运转时，系统确定驾驶员对扭矩的需求并在两个动力源之间实现动力的最佳分离。
图3说明了电动马达70。电动马达70包括马达控制器72和永磁(PM)同步马达74。可根据本发明实施例控制电动马达70。本发明实施例在使用PM同步马达的混合动力及电动车辆中较为有用。例如，马达46或发电机50(图1、2)可采用PM同步马达，而电动马达70可代表马达46或发电机50。本发明实施例在其它应用中也十分有用，电动马达70可代表一些其它的电动马达。总体上在本示例中，通过向控制PM同步马达74的马达控制器72提供扭矩指令来运转电动马达70并试图提供指令的扭矩输出。如本领域技术人员所了解的，马达控制器72可接收其它输入(例如可用电压和当前马达转速)。本领域技术人员应理解，计算来自电动马达70的输出扭矩较为困难。对于某些应用，需要知道其输出扭矩。例如，在车辆应用中，可将估算的电动马达扭矩与该值的期待范围相比较用于诊断目的。
更为详细地，图4说明了控制PM同步马达74的示例方法。如查值表80处所示，校准电动马达使得对于每个扭矩指令均有对应的直轴(d轴)和交轴(q轴)电流指令。在此示例中，查值表80用于基于提供给马达控制器的扭矩指令T*和DC总线电压及马达转速来确定d轴电流指令Id*和q轴电流指令Iq*。基于Id*和Iq*控制PM同步马达74。随后测量实际d轴电流Id和q轴电流Iq，并在框82处估算输出扭矩。更为具体地，根据扭矩指令T*和扭矩差之和估算输出扭矩。根据Id*、Iq*、Id、和Iq的函数确定扭矩差。将估算的输出扭矩T(或扭矩差T*)提供给合适的车辆控制器以在控制车辆(包括例如诊断分析)时使用。
图5说明了控制包括永磁(PM)同步马达的车辆的方法。在框90处，校准马达并建立查值表用于将各个扭矩指令映射至对应的直轴(d轴)和交轴(q轴)电流指令。用于建立这种查值表的技术对本领域技术人员是已知的。在框92处，基于车辆工况建立扭矩指令T*。在框94处，分别确定对应于扭矩指令T*的d轴和q轴电流指令Id*、Iq*。在框96处，基于Id*和Iq*控制马达。在框98处，分别测量d轴和q轴电流Id、Iq。
在框100处根据本发明实施例估算输出扭矩。更为详细地，根据扭矩指令T*和扭矩差之和估算输出扭矩。根据Id*、Iq*、Id、和Iq的函数确定扭矩差。如框102处所指示，可以多种方式使用估算的输出扭矩。例如，可基于估算的输出扭矩控制车辆，可将诊断代码存储在存储器中、或者可产生指示估算的输出扭矩的输出信号。
图6说明了估算输出扭矩的其它更为详细的方面。在框110处，根据I_e＝Id-Id*和Iq_e＝Iq-Iq*分别计算d轴和q轴电流误差Id_e、Iq_e。
在框112处，根据下列方程计算扭矩差：
T_diff＝P/2×[Phi×Iq_e+(Ld-Lq)×Id_e×Iq*+Iq_e×Id*+Id_e×Iq_e)]
其中T_diff为扭矩差，P为磁极数，phi为永磁体磁链，Ld为d轴的电感，Lq为q轴的电感。
尽管上文已经描述了本文的示例性实施例，其并非意为着这些实施例描述了本发明的所有可能形式。应当理解为，本说明书中所使用的词语为描述性词语而非限定，且应理解可作出多种改变而不脱离本发明的实质和范围。另外，可组合多种实施例的特征以构成本发明的其它实施例。

Claims (3)

1.一种控制永磁（PM）同步马达的装置，所述装置包含：
马达控制器，配置用于：
分别基于对应于扭矩指令T*的d轴电流指令Id*和q轴电流指令Iq*控制所述马达；
分别测量d轴电流Id和q轴电流Iq；以及
根据所述扭矩指令T*和扭矩差之和估算输出扭矩，根据Id*、Iq*、Id和Iq的函数确定所述扭矩差，
其中，所述马达控制器进一步配置用于：
分别计算d轴电流误差Id_e和q轴电流误差Iq_e，其中，Id_e=Id-Id*，Iq_e=Iq-Iq*，
其中，根据下列方程确定所述扭矩差：
T_diff=P/2×[Phi×Iq_e+(Ld-Lq)×(Id_e×Iq*+Iq_e×Id*+Id_e×Iq_e)],其中，T_diff为所述扭矩差，P为磁极数，phi为永磁体磁链，Ld为所述d轴的电感，Lq为所述q轴的电感。
2.根据权利要求1所述的装置，其中，所述马达控制器进一步配置用于：
产生指示所述估算的输出扭矩的输出信号。
3.根据权利要求1所述的装置，其中，所述马达控制器进一步配置用于：
建立查值表用于将各个扭矩指令映射至对应的直轴（d轴）电流指令和交轴（q轴）电流指令。
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