CN102490614A - Comprehensive protection control method for controller drive system of electric automobile - Google Patents
Comprehensive protection control method for controller drive system of electric automobile Download PDFInfo
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- CN102490614A CN102490614A CN2011103609605A CN201110360960A CN102490614A CN 102490614 A CN102490614 A CN 102490614A CN 2011103609605 A CN2011103609605 A CN 2011103609605A CN 201110360960 A CN201110360960 A CN 201110360960A CN 102490614 A CN102490614 A CN 102490614A
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Abstract
The invention provides a comprehensive protection control method for a controller drive system of an electric automobile, which relates to the field of power devices of new-energy automobiles and the control field of permanent-magnet motors. The control method comprises the following steps of: after obtaining a next periodic pulse modulation duty cycle of a drive power device by calculating, acquiring temperature and voltage signals by an over-temperature protection control module; calculating the maximum permissible average current standards of a generating line and a phase line by combining temperature external characteristic curves of a power component and an energy storage capacitor; inputting the maximum permissible average current standards of the generating line and the phase line to a generating line and the phase line maximum average current protection control module and adjusting an output duty cycle; after judging by an overvoltage and undervoltage protection control module, entering a PWM (Pulse Wavelength Modulation) output module; and judging whether to cut off PWM outputs cycle by cycle or permanently cut off by coordinating with a generating line and the phase line peak current limit standard judgment module and a generating line and the phase line peak current overcurrent standard lock module. According to the comprehensive protection control method for the controller drive system of the electric automobile, the damage to the electric automobile arising from high current can be avoided.
Description
Technical field
The present invention relates to the engine installation field of new-energy automobile and the control field of magneto-electric machine, be specifically related to a kind of general protection control method of controller drives system of electronlmobil.
Background technology
Along with the develop rapidly of new-energy automobile technology, the research and development focus of pure electric automobile technology has concentrated on battery, motor, these three technical fields of motor driven systems gradually.At present, pure electric automobile mainly contains 5 types of DC motor (DCM), induction motor (IM) (IM), permasyn morot (BLDC and PMSM) and switched reluctance motors (SRM) with electrical motor.
Be different from the traction system that other field uses, in order to make electronlmobil satisfy climbing, to stay hill-start and acceleration needs, traction system should be able to provide enough big peak torque.Through comparing, the permasyn morot torque density is the highest, and is most effective, and control is simpler, and cost is also cheap relatively, therefore becomes the main flow traction system motor on the elec. vehicle market.
The control system of permasyn morot is different from other electric machine control systems; Its drive system main body is three-phase six bridge driving circuits; The conducting that it controls the FET of half-bridge up and down of the different half-bridges in the three-phase six bridge driving circuits in any time through the high-frequency pulsed width modulation waveform realizes in the motor stator any two mutually or the conducting of three phase windings; Thereby realize the electromagnetic energy conversion, come the rotor of traction permanent magnetic body material to rotate.
Under the restriction of human electric shock's level of protection of national electronlmobil and battery-driven car own vol; What all adopt in the systems such as pure electronic manned vehicle, pure electronic min-truck is the low-pressure high-power drive system; General battery voltage is smaller or equal to 72 volts; System's gross horsepower is greater than 10 kilowatts; This just means that the rated current that is used for driving the power field effect pipe in the permasyn morot controller drives system at least will be greater than 300 amperes, and band carries the peak current that produces when starting and will this means in the permagnetic synchronous motor controller drives system of low-pressure high-power electronlmobil greater than 600 amperes; The suffered current stress of each brachium pontis power tube in three-phase six bridge circuits is very large; Because current electronic semi-conductor technology limitation has generally adopted MOS or IGBT equipower device parallel technology, at present though this technology has alleviated the current stress of each brachium pontis; But many labile factors have been increased; The current stress that each MOS or IGBT equipower device receive in the single brachium pontis can not be absolute equilibrium, and the power device temperature rise that current stress is big will inevitably be higher than the average temperature rising of overall power device, thereby improves the temperature rise of whole driving circuit.And be different from the motor driver that industry and civil area are used, the applying working condition of electronlmobil is very complicated, except the overload frequent starting; Strengthen the ground-surface test, also need experience the test of various extreme climate environments, the lasting pernicious loss of the electronic devices and components in the motor driven systems except being brought under the big electric current excess temperature condition; Also can meet with hidden danger such as high temperature, moist water inlet, owing to the threephase stator winding of permagnetic synchronous motor is connected on the generator neutral point through wye connection, in the electric vehicle controller operational process; The generation of above-mentioned any situation all will cause controller to receive overcurrent, overvoltage; Under-voltage; Phase fault, the influence of faults such as excess temperature, this will certainly cause the damage of electronic devices and components in the electric machine controller drive system; Comprising important spare parts such as reservoir capacitance, power field effect pipes; Half-bridge parallel connection driving FET for low-pressure high-power brushless motor actuator causes fatal harm, causes MOS or the damage of IGBT equipower device in batches, has a strong impact on the operation stability and the maintainability of electronlmobil.Yet thereby the control method of the drive system of magneto-electric machine commonly used protection at present is bus current and phase line current sample to be taked the method for closed loop control through microprocessor to electric current; The average current that only limits to flow through in the power controlling FET prevents that it from surpassing the rated current index of itself; Can't consider prevention and general protection when controlling the loss of motor driven systems continuation and realizing that it takes place more above-mentioned mortal injury situation to other important performance characteristic such as DC bus-bar voltage, driving voltage, instantaneous peak current and temperature comprehensively.
Summary of the invention
The general protection control method that the purpose of this invention is to provide a kind of controller drives system of electronlmobil, it can make high-power electric electric motor of automobile drive system avoid lasting loss and the fatal harm of bringing under big electric current and the bad working environments condition.
In order to solve the existing problem of background technology; The present invention takes following technical scheme: its control method is: the Control of PMSM technical field that will introduce electronlmobil to the control theory in safe range of drive system average current, temperature, bus voltage and peak current; Set up the special module of integrated digital signal processor and technical modelling Eltec; After electric machine controller calculates next recurrent pulse modulation duty cycle of driving power device through the PID control closed loop to motor torque, speed; Through overheat protector control module collecting temperature voltage signal; Temperature full-throttle characteristics in conjunction with power device and reservoir capacitance; Calculate the maximum bus phase line average current standard that allows; Be input to bus, the maximum average current protection of phase line control module; The adjustment output duty cycle enters into the PWM output module after judging through over-and under-voltage protection control module then, cooperates bus, phase line peak current current limliting standard judge module and bus, phase line peak current overcurrent standard latch module to judge whether to pursue PWM output then and turn-offs (CBC mode) still permanent shutoff (OSH mode) week.
Described overheat protector control module is made up of temperature sampling circuit, AD modulus signal change-over circuit and overheat protector control algorithm; The power device shell temperature in the collection motor driven systems and the external temperature of reservoir capacitance; The PWM cut-off signals is exported in judgement through the borderline risk temperature timely; After treating that said temperature recovers normal range, recover PWM output; And the PWM cut-off signals is exported in the judgement through the borderline risk temperature timely, treat that said temperature recovers normal range after, recover PWM output; And, calculate power device in the safe range and allow the maximum average current standard passed through, as the foundation of bus, the maximum average current protection of phase line control module in conjunction with the temperature full-throttle characteristics of electronic devices and components.
Described bus, the maximum average current protection of phase line control module are made up of dc bus current sample circuit, UV phase input and output current sampling circuit, AD modulus signal change-over circuit and bus, the maximum average current protection of phase line control algorithm; Through of the collection of each PWM cycle fixed time to the actual average current signal of bus current and phase line current; Compare with the maximum average current standard under the safe range; Modulation duty cycle to speed and the output of torque closed loop is carried out the Real-time and Dynamic adjustment, outputs to next module then.
Described over-and under-voltage protection control module is made up of DC bus-bar voltage sample circuit, driving voltage is under-voltage sampling decision circuitry, AD modulus signal change-over circuit and over-and under-voltage protection control algorithm; Through each PWM cycle fixed time the bus average voltage is carried out real-time sampling, compare, judge whether need the zero clearing dutycycle this moment with the maximum voltage standard under the safe range; Obtain the under-voltage signal of driving voltage through the under-voltage sampling decision circuitry of driving voltage, in time the zero clearing dutycycle.
Described bus, phase line peak current current limliting standard judge module are made up of bus current sample circuit, phase line input and output current sampling circuit and peak current current limliting standard decision circuitry.Its function is that real-time voltage signal feedback to dc bus current, phase line instantaneous current compares with peak current current limliting standard value; As surpassing peak current current limliting standard value; Then output current limiting signal (CBC) triggers turn-offing by all of PWM to the PWM output module.
Described bus, phase line peak current overcurrent standard latch module are made up of bus current sample circuit, phase line input and output current sampling circuit and peak current overcurrent standard latch cicuit; Voltage signal feedback to dc bus current, phase line instantaneous current compares with peak current overcurrent standard value in real time; As surpassing peak current overcurrent standard value; Output latch signal (DRIVE) then, the pwm signal that triggers the PWM output module forever latchs the incident of shutoff, and latch signal (DRIVE) can be sent to the main attracting device on dc bus and the batteries of electric automobile simultaneously; Main attracting device is broken off, but need just release of manual reset.
The present invention makes high-power electric electric motor of automobile drive system avoid lasting loss and the fatal harm of bringing under big electric current and the bad working environments condition through electric vehicle controller is realized the general protection Control work to the controller drives system to the control in safe range of drive system average current, temperature, bus voltage, driving voltage and peak current.
Description of drawings:
Fig. 1 is a method and technology schematic flow sheet of the present invention;
Fig. 2 is the temperature sampling circuit figure of the overheat protector control module among the present invention;
Fig. 3 is the full-throttle characteristics figure of metal-oxide-semiconductor maximum continuous current among the present invention and shell temperature;
Fig. 4 is the DC bus-bar voltage sample circuit figure of over-and under-voltage protection control module among the present invention;
Fig. 5 is the under-voltage sample circuit figure of driving voltage of over-and under-voltage protection control module among the present invention;
Fig. 6 is U phase peak current current limliting standard decision circuitry figure among the present invention;
Fig. 7 is peak current over-current signal latch cicuit figure among the present invention;
Fig. 8 is pwm signal triple gate latch cicuit figure among the present invention;
Fig. 9 is the maximum continuous current of IRFS4010 among the present invention and the full-throttle characteristics figure of shell temperature;
Figure 10 is maximum Average Current Control design sketch among the present invention;
Figure 11 turn-offs sequential chart for pwm signal among the present invention by week.
The specific embodiment:
With reference to Fig. 1-11; This specific embodiment is taked following technical scheme: its control method is: the Control of PMSM technical field that will introduce electronlmobil to the control theory in safe range of drive system average current, temperature, bus voltage and peak current; Set up the special module of integrated digital signal processor and technical modelling Eltec; After electric machine controller calculates next recurrent pulse modulation duty cycle of driving power device through the PID control closed loop to motor torque, speed; Through overheat protector control module collecting temperature voltage signal; Temperature full-throttle characteristics in conjunction with power device and reservoir capacitance; Calculate the maximum bus phase line average current standard that allows, be input to bus, the maximum average current protection of phase line control module, the adjustment output duty cycle; Enter into the PWM output module after judging through over-and under-voltage protection control module then, cooperate bus, phase line peak current current limliting standard judge module and bus, phase line peak current overcurrent standard latch module to judge whether to pursue PWM output then and turn-off (CBC mode) still permanent shutoff (OSH mode) week.
Described overheat protector control module is made up of temperature sampling circuit, AD modulus signal change-over circuit and overheat protector control algorithm; The power device shell temperature in the collection motor driven systems and the external temperature of reservoir capacitance; The PWM cut-off signals is exported in judgement through the borderline risk temperature timely; After treating that said temperature recovers normal range, recover PWM output; And the PWM cut-off signals is exported in the judgement through the borderline risk temperature timely, treat that said temperature recovers normal range after, recover PWM output; And, calculate power device in the safe range and allow the maximum average current standard passed through, as the foundation of bus, the maximum average current protection of phase line control module in conjunction with the temperature full-throttle characteristics of electronic devices and components.
Temperature sampling circuit to the external temperature of power device shell temperature and reservoir capacitance mainly is made up of thermally dependent resistor and linear amplifier.As shown in Figure 2, R2 is the NTC NTC resister, and its position is installed near the housing of power device fixing cooling fins and reservoir capacitance.When temperature build-up, the resistance of R2 can be more and more littler, and the power supply dividing potential drop on it also can be more and more littler, behind the RC LPF through R3, C2, inserts linear operational amplifier, and then through R6, the clamped back of R7 dividing potential drop gets into the AD switching channel of DSP.
Sample temperature magnitude of voltage in the time of in fact
is:
The full-throttle characteristics of the corresponding maximum leakage current of shell temperature of MOS is as shown in Figure 3; Can use this temperature curve of segmentation straight line simulation, the maximum average current value that draws the single MOS under each temperature is for
.
In the formula:
is the slope of segmentation straight line;
is the maximum leakage current value of this segmentation straight line origin temp MOS,
be the MOS shell temperature of this moment.
Then the maximum of n paralleling MOS permission drain current aviation value is n*
.
Overheat protector control algorithm single cycle step is following:
(1) gathering also, analogue to digital conversion obtains temperature sampling circuit voltage digital value
.
(2) The temperature coefficient table query NTC get
corresponding to the actual temperature value
.
(3) if the not set of excess temperature sign; Then contrast
and the highest permission operating temperature
of electronic devices and components such as power device and reservoir capacitance; If be higher than this critical temperature; The beginning accumulated counts; If last till some, then set excess temperature zone bit (Overtemp_Flag); If excess temperature sign set; The minimum of electronic devices and components such as contrast
and power device and the reservoir capacitance temperature
that allows to resume work then; The beginning accumulated counts; If last till some, excess temperature sign (Overtemp_Flag) then resets.
(4) if the not set of excess temperature zone bit.Then
is updated in the temperature external curve equation of this model MOS, the maximum that obtains single MOS allows the maximum drain current aviation value n*
(n is the quantity of single brachium pontis paralleling MOS) of permission of drain current aviation value
and system.
(5) the maximum average current value n*
that allows of system is passed to bus, the maximum average current protection of phase line control module.(Overtemp_Flag) passes to the PWM output module with the excess temperature sign.
Described bus, the maximum average current protection of phase line control module are made up of dc bus current sample circuit, UV phase input and output current sampling circuit, AD modulus signal change-over circuit and bus, the maximum average current protection of phase line control algorithm; Through of the collection of each PWM cycle fixed time to the actual average current signal of bus current and phase line current; Compare with the maximum average current standard under the safe range; Modulation duty cycle to speed and the output of torque closed loop is carried out the Real-time and Dynamic adjustment, outputs to next module then.
Dc bus current sample circuit, UV phase input and output current sampling circuit mainly are made up of two-way closed loop Hall type current sensor; Can measure the electric current of random waveform simultaneously; Like direct current, interchange, pulse current, secondary is measured complete electrical isolation between electric current and the tested electric current in former limit.
Bus, the maximum average current of phase line protect control algorithm single cycle step following:
(1) gathers and analogue to digital conversion obtains real-time dc bus and UV phase phase current sampling circuit voltage digital value
,
and
; The intermediate point in cycle is exported in analog signal sampling and AD conversion constantly for PWM, to
,
and
carry out digital de-noising filtering.
(2) electric current and the UV that checks in the actual cooresponding dc bus of sampled voltage according to current sensor inducing current and output voltage corresponding tables be the actual value of phase current
,
and
mutually; According to the characteristic
of permagnetic synchronous motor, calculate the actual value of W phase phase current this moment then.
The maximum of (3) phase current and bus current actual value and the input of overheat protector control module being come allows average current value
to do comparison; If greater than
; Set average current overcurrent sign (OveraverageCurrent_Flag) immediately then; If less than
, average current overcurrent sign (OveraverageCurrent_Flag) immediately then resets.
(4) if OveraverageCurrent_Flag set; Then ignore the dutyfactor value that this PWM cycle internal torque, speed closed loop calculate; On the basis of the final output duty cycle value of PWM last time in the cycle, carry out the decay of certain slope; If OveraverageCurrent_Flag resets, then still continue to use the dutyfactor value that this PWM cycle internal torque, speed closed loop calculate.
(5) the output duty cycle value is to next control module.
Described over-and under-voltage protection control module is made up of DC bus-bar voltage sample circuit, driving voltage is under-voltage sampling decision circuitry, AD modulus signal change-over circuit and over-and under-voltage protection control algorithm; Through each PWM cycle fixed time the bus average voltage is carried out real-time sampling, compare, judge whether need the zero clearing dutycycle this moment with the maximum voltage standard under the safe range; Obtain the under-voltage signal of driving voltage through the under-voltage sampling decision circuitry of driving voltage, in time the zero clearing dutycycle.
The DC bus-bar voltage sample circuit is mainly gathered DC bus-bar voltage, is added in the magnitude of voltage at MOS power tube drain-source two ends on Real Time Observation three-phase six bridge circuits, avoids the overvoltage of MOS drain-source, and causes the metal-oxide-semiconductor over-voltage breakdown to damage.Its sample circuit mainly is made up of components and parts such as divider resistance, negative feedback operational amplifier and linear optical couplings.Adopt linear optical coupling can realize the isolation between analog quantity and the digital quantity preferably, avoid high potential to seal in low-voltage device and cause damage.As shown in Figure 4;
is bus voltage; Through getting into negative feedback operational amplifier after R1 and the R2 dividing potential drop; Be input to the light-emitting diode D1 end of linear optical coupling HCNR200 then; Variation through
; The working current
of D1 end changes; The servo light quantity that sends infrared light also changes; The linear ratio of servo light quantity that the electric current of the output light emitting diode D3 of HCNR200
and D1 send; Thereby the voltage signal that changes; Then through a positive scale operation amplifier with voltage signal, be divided into the AD conversion mouthful that gets into DSP after the acceptable voltage range of DSP.
Driving voltage promptly offers the voltage-reference of MOS power tube as grid source cut-in voltage; Because in the low-pressure high-power system; The driving voltage of general power MOS pipe is to be produced by the Switching Power Supply that band is isolated, with the light current power unit of microprocessor system be electrical isolation.Sampling decision circuitry that driving voltage is under-voltage mainly is made up of divider resistance, single limit comparator and high speed photo coupling.This part circuit mainly carries out real-time observation to the driving voltage source, avoids gate source voltage to cross low and causes metal-oxide-semiconductor to open slowly and not exclusively, thereby increase switching loss, and junction temperature raises and damages metal-oxide-semiconductor.Its sample circuit is as shown in Figure 5.Wherein
is drive voltage signal; The roadbed reference voltage source output (being generally 5V) that
produces for the Switching Power Supply control chip, its precision reaches 1%.Its principle of work is following:
passes through R1; The R2 dividing potential drop gets into the in-phase input end of comparator; Through with the comparison of anti-phase input
voltage; The output logic high-low level; The conducting situation of conversion high speed photo coupling O1 then, thus the digital signal that produces FAIL_LV_LOW gets into the IO mouth of DSP.Under the normal situation of driving voltage, comparator output terminal is a high level, and this moment, optocoupler was in not on-state; FAIL_LV_LOW is in high level state, and under the under-voltage situation of driving voltage, comparator is output as low level; The optocoupler conducting, FAIL_LV_LOW switches to low level state.Under
reference voltage source unmodified situation; Can pass through R1, the resistance of R2 changes under-voltage judgment threshold.
Over-and under-voltage protection control algorithm single cycle step is following:
(1) gathers and be converted to the digital value
of the voltage signal of real-time dc bus, read the FAIL_LV_LOW logic signal levels.
(2)? According acquisition circuit parameters calculated
corresponding to the actual value of the DC link voltage
.
(3) compare
and the maximum operating voltage
of metal-oxide-semiconductor drain-source and dc bus storage capacitor; If
is greater than
; Then begin stored count; Reach certain numerical value; Set overvoltage flag bit (OverVoltage_Flag); If
is less than
Then begin stored count, reach certain numerical value, overvoltage zone bit (OverVoltage_Flag) resets.Judge the input of FAIL_LV_LOW signal, if low, the under-voltage zone bit of set (LowVoltage_Flag), if high, the under-voltage zone bit (LowVoltage_Flag) that resets,
(4) judge if overvoltage zone bit (OverVoltage_Flag) and under-voltage zone bit (LowVoltage_Flag) as if wherein any set, then will be gone up the dutycycle zero setting of a control protection module input.If all not set does not then change dutycycle.
(5) the output duty cycle value is to next control module.
Described bus, phase line peak current current limliting standard judge module are made up of bus current sample circuit, phase line input and output current sampling circuit and peak current current limliting standard decision circuitry.Its function is that real-time voltage signal feedback to dc bus current, phase line instantaneous current compares with peak current current limliting standard value; As surpassing peak current current limliting standard value; Then output current limiting signal (CBC) triggers turn-offing by all of PWM to the PWM output module.
Peak current current limliting standard decision circuitry is made up of the window voltage comparator circuit, its structure (the current limliting standard decision circuitry of U phase phase line peak current) as shown in Figure 6.Its input signal for the bus and the instantaneous current phase of the Hall voltage signal
,
,
.Window voltage comparator is a relatively output circuit of dual threshold; Its threshold value
and
are to pass through R1 by DVCC; R2; R3; R4; The R5 electric resistance partial pressure obtains, and wherein
and
magnitude of voltage are:
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Described bus, phase line peak current overcurrent standard latch module are made up of bus current sample circuit, phase line input and output current sampling circuit and peak current overcurrent standard latch cicuit; Voltage signal feedback to dc bus current, phase line instantaneous current compares with peak current overcurrent standard value in real time; As surpassing peak current overcurrent standard value; Output latch signal (DRIVE) then, the pwm signal that triggers the PWM output module forever latchs the incident of shutoff, and latch signal (DRIVE) can be sent to the main attracting device on dc bus and the batteries of electric automobile simultaneously; Main attracting device is broken off, but need just release of manual reset.
Peak current overcurrent standard latch cicuit is made up of window voltage comparator circuit and rest-set flip-flop latch cicuit; Wherein the structure of window voltage comparator is identical with peak current current limliting standard decision circuitry; Input remains instantaneous current Hall voltage signal
,
,
of the feedback of current sensor; But its voltage threshold is different with the voltage threshold in the current-limiting circuit; Wherein upper voltage limit threshold value
is greater than
;
is less than
; So its comparator counter-rotating trigger condition; From electric current, greater than the current limliting standard.Thereby no matter when bus or phase line instantaneous current peak value surpassed the overcurrent level threshold value, window voltage comparator output signal OSH can be changed to low level and be transferred to the rest-set flip-flop latch cicuit.Its circuit is as shown in Figure 7; OSH, CLR and LOCK are the input end of rest-set flip-flop latch cicuit; OSH is the set incoming signal, and when the upset of OSH signal was low level, latch cicuit output DRIVE signal promptly overturn and is high level; Even at this moment the OSH signal reverts to high level, the DRIVE signal also still maintains high level.CLR is a reseting input signal, and this signal is input as high level when normal operation, behind the overcurrent trouble removal, can be the low level DRIVE signal that resets through putting this signal.LOCK is a latch signal, if the LOCK signal is a low level, this rest-set flip-flop is OSH no matter, and how the CLR signal changes, and the DRIVE output signal still remains unchanged, and when the LOCK signal is high level, is in released state, does not influence other functions.
Described PWM output module is made up of DSP in-to-in PWM chopper circuit and peripheral triple gate output buffers circuit.PWM chopper circuit radical function is with the duty cycle conversion that receives from top module to be six tunnel pulse patterns output of same frequency pulse width variations; Has an internal comparator simultaneously; Input is the output signal CBC of bus, phase line peak current current limliting standard judge module; When CBC is low level, can trigger turn-offing of PWM output, no matter promptly how many this output duty cycle values is by all (cycle-by-cycle); Will close the delivery port of six pulse patterns in this cycle, get into next cycle then and judge whether output again.Peripheral triple gate output buffers circuit radical function is the drive current of intensifier pulse waveform and judges whether still output immediately of buffer memory through enable signal.Its structure is as shown in Figure 8.Wherein chip enable working end signal is input as G; When G is low level; Cache chip is in normal working, and the opening and closing of access control power device smoothly of six road pwm pulses is when G is high level; Six road pwm pulses will be latched, and can't export the power device of three-phase six bridges to.This enable signal G links to each other with the output signal DRIVE of bus, phase line peak current overcurrent standard latch module; So when the DRIVE signal is kept low level; Six road pwm pulses just can normally be exported, if the DRIVE signal is kept high level when constant, and will be by this buffer sealing output.
This specific embodiment makes high-power electric electric motor of automobile drive system avoid lasting loss and the fatal harm of bringing under big electric current and the bad working environments condition through electric vehicle controller is realized the general protection Control work to the controller drives system to the control in safe range of drive system average current, temperature, bus voltage, driving voltage and peak current.
Embodiment: present embodiment is 72 volts to rated voltage, and rating horsepower is that 20 kilowatts electronlmobil master drives the Control of PMSM device as the application test object.The digital signal processor that this object is selected for use is TMS320F2802; The PWM modulating frequency is made as 16k hz, and the two-way closed loop Hall type current sensor range that bus, phase line adopt is 2000 amperes, and the zero current benchmark is 2.5V; The energy storage filter capacitor maximum operating temperature that system adopts is 105 degree; Maximum operating voltage is 100 volts, and the MOS model of selecting for use is IRFS4010, and the paralleling MOS quantity of three-phase six each brachium pontis of bridge is 16.
Through the dutycycle that motor torque, speed closed loop are calculated after; Gather the temperature of reservoir capacitance and the shell temperature of MOS in real time; The temperature full-throttle characteristics figure of IRFS4010, as shown in Figure 9, it is in the time of 25 degrees centigrade; The maximum continuous average current is 180 amperes; In the time of 100 degrees centigrade, the maximum continuous average current is 127 amperes, approaches straight slope at 25 ~ 100 degrees centigrade with interior curve; The equation of straight line of simulating this section curve for
(A); Draw the maximum average current permissible value that under each temperature, can move of single MOS thus, because each brachium pontis paralleling MOS quantity is 16, then this system maximum average current permissible value that can move is 16*
; When the maximum operating temperature 105 of temperature arrival reservoir capacitance is spent; Then send the excess temperature breakdown signal, dutycycle zero setting quits work.
⑵ gather actual bus phase line current sensor feedback voltage signal; Be converted to the digital value of the feedback voltage of electric current in the midpoint in PWM cycle through DSP in-to-in AD modular converter; Amperemeter/ammtr through current sensor calculates and obtains dc bus and U, the V true average of line current mutually; Through doing comparison with the average current standard of maximum permission this moment; Dutycycle is handled,, then dutycycle is carried out 1% decay in the speed in each PWM cycle (62.5 microsecond) through DSP if surpassed the highest average current standard.If do not surpass the highest average current standard; Then keeping former speed torque closed loop, to calculate required dutycycle constant; Its maximum Average Current Control actual effect is shown in figure 10, and this figure is the mechanical characteristic figure of 20 kilowatts of permagnetic synchronous motors of actual measurement, and black line is represented the bus average current among the figure; After torque is increased to certain numerical value, through. bus, the maximum average current protection of phase line control module are suppressed at 430 amperes with bus average current maxim.
⑶ because the maximum operating voltage of IRFS4010 and energy storage filter capacitor all is 100 volts; Then through sample circuit to DC bus-bar voltage sampling and AD conversion after, through DSP time-delay algorithm process, if bus voltage is higher than 100 volts to the regular hour; Putting dutycycle immediately is zero, quits work.The grid source drive voltage range of IRFS4010 is
20V; Optimal drive voltage is 15V; When driving voltage was lower than 8V, its switching loss will sharply strengthen, and therefore setting driving voltage under-voltage protection decision circuitry protection benchmark is 8V; When driving voltage is under-voltage; DSP receives under-voltage signal, and in time putting dutycycle is zero, closes the switching valve of three-phase six bridges.
⑷ the maximum current of IRFS4010 in the time of 100 degrees centigrade is 127 amperes, and when 16 metal-oxide-semiconductors of parallel connection, its total volume is 2032 amperes, because the current sensor operating voltage of selecting for use is 5V; The zero current reference voltage is 2.5V, according to the current gain table of current sensor, calculate when forward current be 600 ampere-hours; Feedback voltage is 2.86V, and counter-current is 600 ampere-hours, and feedback voltage is 2.14V; When forward current is 1400 ampere-hours, feedback voltage is 3.35V, and counter-current is 1400 ampere-hours; Feedback voltage is 1.65V, and the controller of 72V20KW is removed loss, and the bus rated current is about 300 amperes; So setting bus peak current current limliting standard is 600 amperes, and the resistance of the window comparator in the bus peak current current limliting decision circuitry is adjusted, and changes dual threshold into 2.86V and 2.14V respectively.The moment of carrying startup at the magneto-electric machine band needs very big phase current support; So setting phase line peak current current limliting standard is 1400 amperes; The resistance of the window comparator in the phase line peak current current limliting decision circuitry is adjusted, changed dual threshold into 3.35V and 1.65V respectively.As long as the immediate current of bus or phase line exceeds peak value current limliting standard; Then window comparator circuit upset CBC signal is a low level; Thereby get into
pin of TMS320F2802; Thereby trigger all shutoff incidents of pursuing of pwm signal output; Its actual working timing figure such as Figure 11, the too high phenomenon of instantaneous current that can actv. suppresses bus and phase line takes place, and reaches the effect to the peak current current limliting.
⑸ it is 700 ampere-hours through electric current that current sensor is worked as forward, and feedback voltage is 2.92V, is 700 ampere-hours through electric current oppositely; Feedback voltage is 2.08V, and when forward is 1600 ampere-hours through electric current, feedback voltage is 3.65V; Be 1600 ampere-hours through electric current oppositely, feedback voltage is 1.35V, and setting bus peak current overcurrent standard is 700 amperes; The resistance of the window comparator in the bus peak current overcurrent decision circuitry is adjusted, changed dual threshold into 2.92V and 2.08V respectively.Setting is 1600 amperes with phase line peak current overcurrent standard, and the resistance of the window comparator in the phase line peak current overcurrent decision circuitry is adjusted, and changes dual threshold into 3.65V and 1.35V respectively.As long as the immediate current of bus or phase line exceeds peak value overcurrent standard, peak current overcurrent standard latch cicuit will latch this over-current state in a flash, and the upset of DRIVE output signal is high level; Be input to the Enable Pin of triple gate output buffers circuit, thereby latch pwm signal output, and break off the main attracting device of dc bus simultaneously; Need parking checking; Behind the trouble-shooting, but the ability manual reset works on.Through repeatedly artificial phase fault, the short circuit of phase source and busbar short-circuit experiment, this guard method is reliable and stable.
This kind is to the general protection control method of the electric vehicle controller drive system of low-pressure high-power; Successfully being used in rated voltage is 72 volts; Rating horsepower is that 20 kilowatts electronlmobil master drives on the Control of PMSM device; Through long-term stability experiment and destructive test, begin scale of mass production.
Claims (6)
1. the general protection control method of the controller drives system of an electronlmobil; The control method that it is characterized in that it is: the Control of PMSM technical field that will introduce electronlmobil to the control theory in safe range of drive system average current, temperature, bus voltage and peak current; Set up the special module of integrated digital signal processor and technical modelling Eltec; After electric machine controller calculates next recurrent pulse modulation duty cycle of driving power device through the PID control closed loop to motor torque, speed; Through overheat protector control module collecting temperature voltage signal; Temperature full-throttle characteristics in conjunction with power device and reservoir capacitance; Calculate the maximum bus phase line average current standard that allows, be input to bus, the maximum average current protection of phase line control module, the adjustment output duty cycle; Enter into the PWM output module after judging through over-and under-voltage protection control module then, cooperate bus, phase line peak current current limliting standard judge module and bus, phase line peak current overcurrent standard latch module to judge whether that need pursue week to PWM output turn-offs still permanent shutoff then.
2. the general protection control method of the controller drives system of a kind of electronlmobil according to claim 1; It is characterized in that described overheat protector control module is made up of temperature sampling circuit, AD modulus signal change-over circuit and overheat protector control algorithm; The power device shell temperature in the collection motor driven systems and the external temperature of reservoir capacitance; The PWM cut-off signals is exported in judgement through the borderline risk temperature timely, treat that said temperature recovers normal range after, recover PWM output; And the PWM cut-off signals is exported in the judgement through the borderline risk temperature timely, treat that said temperature recovers normal range after, recover PWM output; And, calculate power device in the safe range and allow the maximum average current standard passed through, as the foundation of bus, the maximum average current protection of phase line control module in conjunction with the temperature full-throttle characteristics of electronic devices and components.
3. the general protection control method of the controller drives system of a kind of electronlmobil according to claim 1 is characterized in that described bus, the maximum average current protection of phase line control module be made up of dc bus current sample circuit, UV phase input and output current sampling circuit, AD modulus signal change-over circuit and bus, the maximum average current protection of phase line control algorithm; Through of the collection of each PWM cycle fixed time to the actual average current signal of bus current and phase line current; Compare with the maximum average current standard under the safe range; Modulation duty cycle to speed and the output of torque closed loop is carried out the Real-time and Dynamic adjustment, outputs to next module then.
4. the general protection control method of the controller drives system of a kind of electronlmobil according to claim 1 is characterized in that described over-and under-voltage protection control module is made up of DC bus-bar voltage sample circuit, driving voltage is under-voltage sampling decision circuitry, AD modulus signal change-over circuit and over-and under-voltage protection control algorithm; Through each PWM cycle fixed time the bus average voltage is carried out real-time sampling, compare, judge whether need the zero clearing dutycycle this moment with the maximum voltage standard under the safe range; Obtain the under-voltage signal of driving voltage through the under-voltage sampling decision circuitry of driving voltage, in time the zero clearing dutycycle.
5. the general protection control method of the controller drives system of a kind of electronlmobil according to claim 1 is characterized in that described bus, phase line peak current current limliting standard judge module be made up of bus current sample circuit, phase line input and output current sampling circuit and peak current current limliting standard decision circuitry; Its function is that real-time voltage signal feedback to dc bus current, phase line instantaneous current compares with peak current current limliting standard value, and as surpassing peak current current limliting standard value, then the output current limiting signal triggers the week of pursuing of PWM and turn-offs to the PWM output module.
6. the general protection control method of the controller drives system of a kind of electronlmobil according to claim 1 is characterized in that described bus, phase line peak current overcurrent standard latch module be made up of bus current sample circuit, phase line input and output current sampling circuit and peak current overcurrent standard latch cicuit; Voltage signal feedback to dc bus current, phase line instantaneous current compares with peak current overcurrent standard value in real time; As surpassing peak current overcurrent standard value; Output latch signal then, the pwm signal that triggers the PWM output module forever latchs the incident of shutoff, and latch signal can be sent to the main attracting device on dc bus and the batteries of electric automobile simultaneously; Main attracting device is broken off, but need just release of manual reset.
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| CN109067307B (en) * | 2018-07-05 | 2020-07-31 | 广东高标电子科技有限公司 | Temperature detection and protection method, system and device of motor drive circuit and motor protection system |
| CN109067307A (en) * | 2018-07-05 | 2018-12-21 | 广东高标电子科技有限公司 | A kind of temperature detection and guard method, system, device and protection system for motor of motor-drive circuit |
| CN110275474A (en) * | 2019-07-29 | 2019-09-24 | 高特电驱动科技(徐州)有限公司 | A kind of high-performance electric motor-car motor controller system |
| CN113839604A (en) * | 2020-06-24 | 2021-12-24 | 依必安派特穆尔芬根有限两合公司 | Locked rotor identification |
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| WO2022236580A1 (en) * | 2021-05-10 | 2022-11-17 | 舍弗勒技术股份两合公司 | Method and device for testing peak performance of motor |
| CN113992078A (en) * | 2021-11-22 | 2022-01-28 | 江苏科技大学 | Starting current control system and control method for permanent magnet synchronous motor |
| CN113992078B (en) * | 2021-11-22 | 2023-11-21 | 江苏科技大学 | Permanent magnet synchronous motor starting current control system and control method |
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