CN102403948A - Permanent-magnet alternating current servo motor for electric vehicle and controller thereof - Google Patents
Permanent-magnet alternating current servo motor for electric vehicle and controller thereof Download PDFInfo
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- CN102403948A CN102403948A CN2011103721234A CN201110372123A CN102403948A CN 102403948 A CN102403948 A CN 102403948A CN 2011103721234 A CN2011103721234 A CN 2011103721234A CN 201110372123 A CN201110372123 A CN 201110372123A CN 102403948 A CN102403948 A CN 102403948A
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Abstract
The invention discloses a permanent-magnet alternating current servo motor for electric vehicle and a controller thereof, belonging to the field of drive power device for the electric vehicle; the permanent-magnet alternating current servo motor comprises a motor and a controller, and is characterized in that a rotor outer ring of the motor is provided with a stainless steel rotor bushing, and the rear end is provided with a rotor position sensor taken as an incremental encoder; a circuit board, an IGBT (Insulated Gate Bipolar Translator) butt-joint tube module and a Hall current sensor in the controller are connected electrically by lead wires; the controller consists of a control board and a drive board; singlechips are mounted on the control board and form a digital PMSM (Permanent Magnet Synchronous Motor) sine-wave orthogonal vector control signal by program and control circuits; and the drive board drives the motor to rotate. Therefore, the motor is stable in starting current, large in starting torque, constant and smooth in torque characteristic, and high in utilization rate of electrical energy.
Description
Technical field
The invention belongs to used for electric vehicle driving power device field, particularly a kind of 8～150KW battery-driven used for electric vehicle permanent magnetic Ac servo motor and controller thereof of being applicable to.
Background technology
At present, known used for electric vehicle motor and controller thereof comprise: brush direct current motor, asynchronous AC motor, brshless DC motor etc.Along with the development of modern electronic technology, in automobile-used electric machine control system, there is the brush direct current machine progressively to be replaced by asynchronous AC motor and brshless DC motor.
The asynchronous AC motor control system of being made up of AC frequency conversion system and asynchronous machine has obtained good application high-power aspect automobile-used.This system is also referred to as the VVVF system.Be characterized in: mechanical structure is simple, cost is low, low torque ripple, low noise, does not need position transducer.But electric driver circuit is complicated, can adopt higher input voltage, and relatively the total conversion efficiency of magneto is lower, is specially adapted to the high-power railroad vehicle of line powering.
In the middle low power trackless vehicle, brshless DC motor and control system thereof have obtained using widely.Because brushless DC motor control system has adopted magneto, need not exciting current, does not have rotor loss, so its conversion efficiency is higher.Compare with direct current machine,, simplify the structure, improved reliability owing to cancelled commutator.Simultaneously, the control circuit and the position transducer of dc brushless motor are simple, adopt square wave drive, are called the BLDC system.But its torque is unsmooth, has pulsating nature, is applicable to low power occasion.
Except above-mentioned electric machine control system, also have stepping motor, switched reluctance machines etc., but because their electric control circuits are complicated, torque characteristics is bad.Stepping motor is at a high speed incompatible, and the switched reluctance machines noise is bigger.In vehicular electric machine, all be not applied.
In a word, asynchronous AC motor and frequency-variable controller thereof and brshless DC motor and controller thereof are the most frequently used on the present electric automobile two kinds of motors and controller thereof.The shortcoming of these two kinds of power set is: starting current is big, staring torque is little, utilization rate of electrical is not too high.
Summary of the invention
The object of the present invention is to provide a kind of used for electric vehicle permanent magnetic Ac servo motor and controller thereof that adopts the sinusoidal wave orthogonal vector drive controlling of permanent magnetic Ac servo motor numeral PMSM mode.
The technical scheme that the present invention adopted is: this used for electric vehicle permanent magnetic Ac servo motor and controller thereof comprise motor and two relatively independent mechanical parts of controller, and motor and controller are electrically connected through cable.Motor adopts the permanent magnetic Ac servo motor, and the parts of motor have bearing, power output shaft, sealing ring, front end housing, rotor, stainless steel rotor cover, shell, stator, rear end cap, cable interface, incremental photoelectric encoder, encoder chamber cap.Power output shaft and rotor are fixed together, and are supported on respectively on the front and rear cover with bearing, and front and rear cover and shell, stator, encoder chamber cap are fixed together, and sealing ring is installed on the front end housing, and the cable interface is installed on the rear end cap.Stainless steel sleeve is equipped with in permanent magnetic Ac servo motor rotor magnetic steel outer ring, in the rearward end of motor the rotor-position sensor with motor coaxle is installed.This transducer is an incremental encoder, and U, V, W and A, B, Z six tunnel differential wave circuit are arranged, and it sends rotor-position to controller.Controller is made up of tube module, three Hall current sensors casing, radiator, power input/output interface, code device signal and operator input signal and output signaling interface, control board, drive plate, three high-power IGBTs.Radiator is fixed on the casing, and control board, drive plate, IGBT are fixed on the radiator tube module and current sensor, and control board is connected through the power-on and power-off of row's faller gill seat with drive plate.The circuit part of controller is formed also by control board, drive plate, three high-power IGBTs to tube module, three Hall current sensors, and order is electrically connected.Circuit on the control board comprises low-voltage power circuit, operator input signal circuit, current detection circuit, abnormal detection circuit, motor encoder testing circuit, CAN telecommunication circuit, single-chip microcomputer and memory circuit, output circuit, driving output circuit, and they are electrically connected according to the operation principle order.Wherein, The output of operator input signal circuit, current detection circuit, abnormal detection circuit, motor encoder testing circuit is electrically connected with the input port line of single-chip microcomputer; The delivery outlet line of single-chip microcomputer is electrically connected with output circuit, driving output circuit; The output of driving output circuit is electrically connected with the drive circuit on the drive plate, and low-voltage power circuit provides power supply to each circuit on the control board.Circuit on the drive plate 15 comprises preceding stage drive circuit, abnormality processing and the protective circuit of high-voltage power circuit, power circuit, and they are electrically connected according to the operation principle order.Wherein, The output of drive circuit is electrically connected tube module with IGBT; Abnormality processing and protective circuit detect motor temperature, drive plate temperature and voltage, Hall current sensor; Its output is electrically connected with the preceding stage drive circuit of power circuit and the abnormal detection circuit on the control board, and high-voltage power circuit provides power supply for control board and drive plate.Be solidified with working procedure in the single-chip microcomputer of control board; Through program and hardware circuit; Form the sinusoidal wave orthogonal vector control signal of digital PMSM, finally drive three high-power IGBTs to tube module, make of the requirement running of permanent magnetic Ac servo motor according to operator input signal by drive plate.
The invention has the beneficial effects as follows that controller architecture is simple, the electric motor starting electric current is steady, staring torque is big, torque characteristics is constant smoothly, utilization rate of electrical is high.Be specially adapted to the battery-driven electric automobile of 8～150KW, have significantly energy-conservation effect, can effectively increase once the charge distance travelled of back electric automobile of storage battery.
Description of drawings
Accompanying drawing 1 is a system principle diagram of the present invention.
Accompanying drawing 2 is permanent magnetic Ac servo motor profiles of an embodiment.
Accompanying drawing 3 is controller profiles of an embodiment.
Accompanying drawing 4 is one of control board schematic diagrams of embodiment controller: low-voltage power circuit.
Accompanying drawing 5 be the embodiment controller the control board schematic diagram two: the operator input signal circuit.
Accompanying drawing 6 be the embodiment controller the control board schematic diagram three: current detection circuit.
Accompanying drawing 7 be the embodiment controller the control board schematic diagram four: abnormal detection circuit.
Accompanying drawing 8 be the embodiment controller the control board schematic diagram five: the motor encoder testing circuit.
Accompanying drawing 9 be the embodiment controller the control board schematic diagram six: the CAN telecommunication circuit.
Accompanying drawing 10 be the embodiment controller the control board schematic diagram seven: single-chip microcomputer and memory circuit.
Accompanying drawing 11 be the embodiment controller the control board schematic diagram eight: output circuit.
Accompanying drawing 12 be the embodiment controller the control board schematic diagram nine: drive output circuit.
Accompanying drawing 13 is one of drive plate schematic diagrams of embodiment controller: high-voltage power circuit.
Accompanying drawing 14 be the embodiment controller the drive plate schematic diagram two: the preceding stage drive circuit of power circuit.
Accompanying drawing 15 be the embodiment controller the drive plate schematic diagram three: abnormality processing and protective circuit.
Among Fig. 1, controller is made up of tube module control board, drive plate, Hall current sensor, IGBT.Encoder and permanent magnetic Ac servo motor shaft mechanical connection.The part of outmost dotted line is a controller, and two parts that inner dotted line is surrounded are respectively control board and drive plate.
Among Fig. 2,1. bearing 1, and 2. power output shaft 2, and 3. sealing ring 3, and 4. front end housing 4, and 5. rotor 5, and 6. stainless steel rotor cover 6, and 7. shell 7, and 8. stator 8, and 9. rear end cap 9,10. cable interface 10,11. incremental photoelectric encoders 11,12. encoder chamber caps 12.
Among Fig. 3,13. signaling interfaces, 13,14. control boards, 14,15. drive plates, 15,16. Hall current sensors, 16,17. power input/output interfaces 17,18.IGBT is to tube module 18,19. casings 19,20. radiators 20.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is further specified.
In Fig. 1, operator input signal circuit acceptor's control command mainly contains: gear, brake, mode initialization, throttle speed command, and the throttle speed command is a voltage analog signal, other is a switching signal.The output circuit output switching signal, output services state, abnormal alarm also can be used for controlling.The CAN telecommunication circuit can communicate with other end points, can take orders and output state.The input power supply is a DC power supply, is directly connected to three IGBT to tube module 18, also gives the high-voltage power circuit power supply on the drive plate 15 simultaneously.Hall current sensor 16 has three, and wherein two is U phase and V current detecting mutually, and its output offers the current detection circuit on the control board 14, supplies single-chip microcomputer and program to carry out Current Control and uses; Another is that total current detects, and its output offers abnormal detection circuit on the control board 14, supplies the use of protecting and report to the police of single-chip microcomputer and program.The U of encoder, V, W and A, B, Z six tunnel differential waves send rotor-position on the control board 14 motor encoder testing circuit, to realize orthogonal vector control, also are used for detection speed simultaneously with unusual.Other each functional circuit is linked in sequence and works according to principle.
Be solidified with working procedure in the single-chip microcomputer of control board 14; Through program and hardware circuit; Form the sinusoidal wave orthogonal vector control signal of digital PMSM, finally drive three high-power IGBTs to tube module 18, make of the requirement running of permanent magnetic Ac servo motor according to operator input signal by drive plate 15.
In Fig. 2, the parts of motor have bearing 1, power output shaft 2, sealing ring 3, front end housing 4, rotor 5, stainless steel rotor cover 6, shell 7, stator 8, rear end cap 9, cable interface 10, incremental photoelectric encoder 11, encoder chamber cap 12.Power output shaft 2 is fixed together with rotor 5; And be supported on respectively on the front and rear cover 9 with bearing 1; Front and rear cover 9 is fixed together with shell 7, stator 8, encoder chamber cap 12, and sealing ring 3 is installed on the front end housing 4, and cable interface 10 is installed on the rear end cap 9.The rotor of permanent magnetic Ac servo motor and stainless steel rotor cover are fixed together, and leave the gap between rotor cover and the stator 8, and the encoder code disk shaft of rearward end is connected with rotor coaxial.Power line and code device signal line are drawn through cable interface 10 separately respectively.
In Fig. 3, controller is made up of tube module 18, three Hall current sensors 16 casing 19, radiator 20, power input/output interface 17, code device signal, operator input signal, output signaling interface 13, control board 14, drive plate 15, three high-power IGBTs.Radiator 20 is fixed on the casing 19, and control board 14, drive plate 15, IGBT are fixed on the radiator 20 tube module 18 and current sensor, and control board 14 is connected through the power-on and power-off of row's faller gill seat with drive plate 15.The core component of controller is control board 14, drive plate 15, and they all are circuit boards, and the electronic component of each funtion part is installed above it, relates to further specifying of control board 14 and drive plate 15 circuit, combines the schematic diagram of each several part circuit to carry out below.
Controller is electrically connected with the permanent magnetic Ac servo motor through cable.
In Fig. 4, Vin+16V is sent by the high-voltage power circuit of drive plate 15, through L1, U7, U8, U12 and circuit element separately, generates V+16V, Vcc, V5V and V-12V low-tension supply, supplies control board 14 each circuit to use.
In Fig. 5, the gear of operator input signal, brake, mode initialization signal are connected to the pin of single-chip microcomputer respectively through optocoupler GO1～GO8.The throttle speed command signal is directly connected to the A/D pin of single-chip microcomputer.
In the drawings, U, V phase current signal after U3A, U3B processing and amplifying, are given the A/D pin of single-chip microcomputer.
In Fig. 7, anomaly detection signal is connected to the pin of single-chip microcomputer respectively through optocoupler GO9～GO12.
In Fig. 8, the U of motor encoder, V, W and A, B, Z six tunnel differential waves are through giving the pin of single-chip microcomputer after U6, the U10A～U10F processing.
In Fig. 9, CANH and CANL signal are connected to the pin of single-chip microcomputer through U2 and optocoupler GO15, GO16.
In the drawings, U1 is a single-chip microcomputer, and U5 is a memory.Be solidified with working procedure in the single-chip microcomputer,, form the sinusoidal wave orthogonal vector control signal of digital PMSM, from pin output U, V, the W three-phase pulsewidth ripple of single-chip microcomputer through the peripheral registers functional module on program and the single-chip microcomputer.Memory is used for preserving parameter and data.
In Figure 11, realize the output of 8 path switching signals with U11.
In Figure 12, realize driving output circuit with optocoupler GO17～GO22, output U, V, W three tunnel complementary height and low pulsewidth ripples.Its pulsewidth has determined the size of current of electric, and period of change includes the sinusoidal information amount.
In Figure 13, GO23 and U16, U17, T1 are high-voltage power circuits, and it produces Vout16V, Vd+12V, Vd-12V.U14 and U15 produce the low-tension supply Vd+12V and the Vd+5V of drive plate 15 usefulness.
In Figure 14, U18 is the prime chip for driving of power circuit, and it has overcurrent and turn-offs and under-voltage lock-out facility, realizes driving and protection to the IGBT module, in the time of unusually to the single-chip microcomputer output alarm signal.In Figure 15 embodiment drive plate 15 schematic diagrams; Abnormality processing and protective circuit have been formed by U19A, U19B, U20A, U20B, U21A, U21B, U22A, U22B; Detect driver high temperature, motor high temperature, driver low pressure etc. respectively, their output is connected to the pin of single-chip microcomputer.
Claims (4)
1. used for electric vehicle permanent magnetic Ac servo motor and controller thereof; Be made up of motor and controller, the casing of controller (19) is gone up fixed heat sink (20), the inner mounting circuit boards of casing (19), power driving circuit; Controller and motor are electrically connected through cable; This motor adopts the permanent magnetic Ac servo motor, and it is characterized in that: stainless steel rotor cover (6) is equipped with in the rotor outer ring of said motor, and rearward end is equipped with the rotor-position sensor with motor coaxle; Said rotor-position sensor is an incremental encoder, and U, V, W and A, B, Z six tunnel differential wave circuit are arranged, and it sends rotor-position to controller; Circuit board in the controller and three IGBT are electrically connected with lead tube module (18) and three Hall current sensors (16), and controller is made up of control board (14) and drive plate (15); Control board (14) is gone up the single-chip microcomputer that is solidified with working procedure is installed, and through program and control circuit, forms the sinusoidal wave orthogonal vector control signal of digital PMSM, is rotated through driving circuit drives permanent magnetic Ac servo motor by drive plate (15).
2. used for electric vehicle permanent magnetic Ac servo motor according to claim 1 and controller thereof; It is characterized in that: the control circuit on the control board in the controller (14) has low-voltage power circuit, operator input signal circuit, current detection circuit, abnormal detection circuit, motor encoder testing circuit, CAN telecommunication circuit, single-chip microcomputer and memory circuit, output circuit and driving output circuit, is electrically connected according to the operation principle order; Wherein, The output of operator input signal circuit, current detection circuit, abnormal detection circuit, motor encoder testing circuit is electrically connected with the input port line of single-chip microcomputer; The delivery outlet line of single-chip microcomputer is electrically connected with output circuit, driving output circuit; The output of driving output circuit is electrically connected with the drive circuit on the drive plate (15), and low-voltage power circuit provides power supply for each circuit on the control board (14).
3. used for electric vehicle permanent magnetic Ac servo motor according to claim 2 and controller thereof; It is characterized in that: the drive circuit on the drive plate in the controller (15) comprises preceding stage drive circuit, abnormality processing and the protective circuit of high-voltage power circuit, power circuit; Be electrically connected according to the operation principle order; Wherein, The output of drive circuit is electrically connected tube module (18) with IGBT; Abnormality processing and protective circuit detect motor temperature, drive plate (15) temperature and voltage, Hall current sensor (16), and its output is electrically connected with the preceding stage drive circuit of power circuit and the abnormal detection circuit on the control board (14), and high-voltage power circuit provides power supply for control board (14) and drive plate (15).
4. used for electric vehicle permanent magnetic Ac servo motor according to claim 3 and controller thereof; It is characterized in that: three Hall current sensors (16); Wherein two is U phase and V phase current testing circuit; Be electrically connected with the current detection circuit on the control board (14), another is that total current detects, and is electrically connected with abnormality processing and protective circuit on the drive plate (15).
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| CN2011103721234A CN102403948A (en) | 2011-11-07 | 2011-11-07 | Permanent-magnet alternating current servo motor for electric vehicle and controller thereof |
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| CN2011103721234A CN102403948A (en) | 2011-11-07 | 2011-11-07 | Permanent-magnet alternating current servo motor for electric vehicle and controller thereof |
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| CN102684576A (en) * | 2012-05-23 | 2012-09-19 | 东方电气集团东风电机有限公司 | Permanent magnet motor controller applied to pure electric car and control method |
| CN102710189A (en) * | 2012-05-28 | 2012-10-03 | 西北工业大学 | Control method for brushless continuous current dynamo and device thereof |
| CN102979748A (en) * | 2012-11-30 | 2013-03-20 | 杭州顿力电器有限公司 | Outer rotor electronic control fan and speed regulating method |
| CN104539202A (en) * | 2015-01-27 | 2015-04-22 | 奉化市兴宇特种电机制造有限公司 | Direct-current brushless motor control device for airless spraying |
| CN109217573A (en) * | 2017-07-05 | 2019-01-15 | 苏州力耀新能源科技有限公司 | A kind of electronic cruel vehicle motor controller |
| CN112994558A (en) * | 2021-04-29 | 2021-06-18 | 潍坊博奥汽车配件有限公司 | Asynchronous motor controller |
| CN113162483A (en) * | 2021-05-21 | 2021-07-23 | 内蒙古工业大学 | Direct current brushless motor servo driver based on FOC |
| CN115755688A (en) * | 2022-11-11 | 2023-03-07 | 上海航福智能科技有限公司 | Automobile alternating current driving controller |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102684576A (en) * | 2012-05-23 | 2012-09-19 | 东方电气集团东风电机有限公司 | Permanent magnet motor controller applied to pure electric car and control method |
| CN102710189A (en) * | 2012-05-28 | 2012-10-03 | 西北工业大学 | Control method for brushless continuous current dynamo and device thereof |
| CN102979748A (en) * | 2012-11-30 | 2013-03-20 | 杭州顿力电器有限公司 | Outer rotor electronic control fan and speed regulating method |
| CN104539202A (en) * | 2015-01-27 | 2015-04-22 | 奉化市兴宇特种电机制造有限公司 | Direct-current brushless motor control device for airless spraying |
| CN109217573A (en) * | 2017-07-05 | 2019-01-15 | 苏州力耀新能源科技有限公司 | A kind of electronic cruel vehicle motor controller |
| CN112994558A (en) * | 2021-04-29 | 2021-06-18 | 潍坊博奥汽车配件有限公司 | Asynchronous motor controller |
| CN112994558B (en) * | 2021-04-29 | 2024-05-24 | 潍坊博奥汽车配件有限公司 | Asynchronous motor controller |
| CN113162483A (en) * | 2021-05-21 | 2021-07-23 | 内蒙古工业大学 | Direct current brushless motor servo driver based on FOC |
| CN115755688A (en) * | 2022-11-11 | 2023-03-07 | 上海航福智能科技有限公司 | Automobile alternating current driving controller |
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Application publication date: 20120404 |