CN103050944A - Traction motor controller for electric vehicle - Google Patents
Traction motor controller for electric vehicle Download PDFInfo
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- CN103050944A CN103050944A CN2012104319820A CN201210431982A CN103050944A CN 103050944 A CN103050944 A CN 103050944A CN 2012104319820 A CN2012104319820 A CN 2012104319820A CN 201210431982 A CN201210431982 A CN 201210431982A CN 103050944 A CN103050944 A CN 103050944A
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Abstract
The invention provides a traction motor controller which adopts a full closed-loop manner and has a function of completely protecting hardware and software. Mainly, a positive bus-bar relay closed-loop protection control module, an overvoltage, overcurrent and over-temperature hardware logic protection control module, a hardware protection state feedback module, a three-phase inverter circuit module, a module for measuring the temperature of each path of IGBT (Insulated Gate Bipolar Translator) and a traction motor controller isolation detection module are added. By adding the circuit modules, the operating state of each part of the traction motor controller can be monitored, various fault protection can be implemented by hardware or software, and meanwhile, the traction motor controller is protected from being damaged due to damage to parts related to the traction motor controller.
Description
Technical field
The invention belongs to new-energy automobile traction electric machine control field, particularly a kind of electric automobile traction motor controller.
Background technology
In Hyundai Motor, the shared ratio of electronic unit is increasing, and the security reliability of electronic unit plays key effect to the safety of automobile.New-energy automobile is compared orthodox car more electronic unit, and traction motor controller is the key safety parts in the new-energy automobile, and it is safe and reliable, and safe operation has decisive role to new-energy automobile.And present existing traction motor controller is perfect not to the reliable control of inherently safe, only carries out simple high pressure, overcurrent, overheat protector control, and bus relay running status is not monitored.Not in place to the state-detection of electric machine controller and protection, and fault and guard mode that can not the record controls implement body.
Summary of the invention
In order to solve problem in the prior art, the invention provides a kind of electric machine controller that adopts the protection of closed-loop hardware-software, can overcome problems of the prior art, can not increase any cost again simultaneously.
The present invention is achieved through the following technical solutions:
A kind of electric automobile traction motor controller, it is characterized in that this device comprises: control module (1), busbar voltage current detection module (2), hardware logic protection module (6), hardware protection block of state (8), three-phase inverting circuit module (7), IGBT driver module (9), IGBT module temperature detecting module (10), three-phase current detection module (11), motor temperature detection module (12), motor rotor position/rotating speed detection module (13), insulation monitoring module (14); Described electric machine controller can be realized positive bus-bar relay closed loop protection control, overvoltage, overcurrent, the control of excess temperature hardware protection, and the insulation of hardware protection STATE FEEDBACK CONTROL, the IGBT temperature survey of the every road of three-phase inverting circuit and traction motor controller detects.
Further, described positive bus-bar relay closed loop protection control is by positive bus-bar relay (3), preliminary filling relay (4), resistance R 3(5), current sensor (15), busbar voltage current detection module (2), control module (1) form.
Further; described positive bus-bar relay closed loop protection control is specially: when described controller precharge; described control module control positive bus-bar relay (3) disconnects, preliminary filling relay (4) closure, and control module this moment (1) detects the input of positive bus-bar relay to negative busbar voltage V by described electric current and voltage detection module (2)
N2-N3, pass in time voltage V
N2-N3Become large, control module (1) judges that preliminary filling relay (4) can normally closed, otherwise judges that preliminary filling relay (4) can not normally closed; When described controller normal operation, described control module (1) control positive bus-bar relay (3) is closed, preliminary filling relay (4) disconnects, and control module this moment (1) detects positive bus-bar relay (3) output to negative busbar voltage V by electric current and voltage detection module (2)
N1-N3, V
N2-N3, the positive bus-bar electric current I
DC, obtain the upper impedance of positive bus-bar relay (3)
If R 〉=R3 and I
DC〉=0, then control module (1) judges that positive bus-bar relay (3) does not have normally closed, and preliminary filling relay (4) is normal the disconnection not; If I
DC=0, then control module (1) judges that positive bus-bar relay (3) does not have normally closed, and preliminary filling relay (4) is normal to be disconnected; If Rb 〉=R 〉=Ra, then control module (1) is judged positive bus-bar relay (3) normally closed, preliminary filling relay (4) is normal to be disconnected, and wherein Ra is that positive bus-bar relay (3) contact contact resistance, Rb are the contact contact resistance that positive bus-bar relay (3) allows when closed; If R3 〉=R 〉=Rb, then control module (1) is judged positive bus-bar relay (3) normally closed, and preliminary filling relay (4) is normal to be disconnected, but oxidation of positive bus-bar relay (3) contact or burn, the contact contact resistance has surpassed allowed band, and positive bus-bar relay (3) needs to change.
Further, V
N1-N3, V
N2-N3Measurement adopt the electric resistance partial pressure method to measure I
DCMeasurement adopt Hall current sensor to measure.
Further, described hardware logic protection module (6); When this signal of three-phase inverting circuit enable signal INVERTER_ENABLE(is exported by hardware logic protection module (6)) when being high level, the IGBT of three-phase inverting circuit just allows conducting; When described control module (1) control three-phase inverting circuit enables, if three-phase inverting circuit enable signal INVERTER_ENABLE step-down when overvoltage, overcurrent or excess temperature appear in described controller, the IGBT of the three-phase inverting circuit conducting that is under an embargo.
Further; described hardware protection state feedback module (8) is inputted described control module (1) with all guard modes of controller; conveniently to review, make responding to control according to the guard mode signal and carry out software protection simultaneously by control module (1) with various guard mode records for control module (1).
Further, the hardware protection state of described feedback comprises: bus overcurrent, bus overvoltage, electric machine controller A phase output overcurrent, electric machine controller B phase output overcurrent, electric machine controller C phase output overcurrent, three-phase inverting circuit A phase IGBT T3 excess temperature, three-phase inverting circuit B phase IGBT T4 excess temperature, three-phase inverting circuit C phase IGBT T5 excess temperature, motor temperature T1 excess temperature, motor temperature T2 excess temperature.
Further, detect every road IGBT temperature T 4, T5, the T6 of three-phase inverting circuit module (7) by described IGBT module temperature detecting module (10), prevent from time to protect because of local overheating and damage described three-phase inverting circuit.
Further, described insulation monitoring module (14) detects positive bus-bar to the insulation resistance of controller housing and the negative busbar insulation resistance to controller housing; Described insulation monitoring module (14) is with measured value input control module (1), make the insulation resistance of control module (1) monitor controller, when insulation resistance less than warning during threshold values, control module (1) is cut off the bus relay, and control three-phase inverting circuit module (7) consumes in the described controller electric weight in the electric capacity, reports simultaneously insulation fault.
The invention has the beneficial effects as follows: by the motor traction controller of improvement of the present invention; the security reliability grade of traction motor controller is improved; realize complete self-protection control; can all dotted state of monitor controller and fault; the quantity of state of all parts of direct-detection guarantees the correctness to the controller protection, and validity.
Description of drawings
Fig. 1 is traction motor controller schematic diagram of the present invention;
Fig. 2 is overvoltage of the present invention, overcurrent, excess temperature hardware logic protection control principle drawing;
Fig. 3 is insulation detecting circuit schematic diagram of the present invention.
Embodiment
The present invention is further described below in conjunction with description of drawings and embodiment.
The present invention designs a kind of traction motor controller of closed-loop hardware-software protection; the main positive bus-bar relay closed loop that increases is protected control; overvoltage, overcurrent, excess temperature hardware logic protection control; the hardware protection STATE FEEDBACK CONTROL; the IGBT temperature survey of the every road of three-phase inverting circuit, the traction motor controller insulation detects.Make traction motor controller can monitor self each several part running status, can realize various error protections, protect traction motor controller self because the parts damages that are associated with traction motor controller do not damage simultaneously by hardware or software by increasing above circuit module.Accompanying drawing 1 is the traction motor controller schematic diagram after the improvement that designs of the present invention.
The traction motor controller technical scheme of the present invention's design is:
Increase positive bus-bar relay closed loop protection control, measure positive bus-bar relay inputoutput pair negative busbar voltage, calculate the pressure drop of positive bus-bar relay, thereby can judge whether the positive bus-bar relay has responded the control module control command, and whether operating state is normal.Overvoltage, overcurrent, excess temperature hardware logic protection control; by the hardware circuit mode; quick closedown three-phase inverting circuit protection controller in the situation of overvoltage, overcurrent, excess temperature fault occurs at controller, this mode is faster than software responses, and destructive malfunction is formed effective protection.Hardware protection STATE FEEDBACK CONTROL module feeds back to control module with concrete protection, make controller can monitor each circuit protection and can record, fault and protection are become can review.The IGBT temperature survey of the every road of three-phase inverting circuit can monitor the temperature of each half-bridge, effectively protects IGBT.Traction motor controller insulation detects, and detects in real time, prevents that controller from producing greatly safety failure because of the insulation resistance electric leakage rheology that diminishes.
Concrete control method is as follows:
One, positive bus-bar relay (3) closed loop protection control
Measure positive bus-bar relay (3) inputoutput pair negative busbar voltage, calculate positive bus-bar relay (3) pressure drop, thereby can judge whether positive bus-bar relay (3) has responded the control unit control command, and whether operating state is normal.Measuring positive bus-bar relay (3) input is V to negative busbar voltage
N1-N3, measuring positive bus-bar relay (3) output is V to negative busbar voltage
N2-N3, the measurement bus current is I
DCDuring electric machine controller precharge, control module (1) control positive bus-bar relay (3) disconnects, preliminary filling relay (4) closure, and control module this moment (1) detects voltage V by electric current and voltage detection module (2)
N2-N3Pass in time voltage V
N2-N3Become large, control module (1) judges that preliminary filling relay (4) can normally closed thus, otherwise can judge that preliminary filling relay (4) can not normally closed.During the electric machine controller normal operation, control module (1) control positive bus-bar relay closes, preliminary filling relay (4) disconnect, and control module this moment (1) detects voltage V by electric current and voltage detection module (2)
N1-N3, V
N2-N3, electric current I
DCCalculate impedance on bus relay this moment
If this moment R 〉=R3 (preliminary filling resistance) and I
DC〉=0, then control module (1) can judge that positive bus-bar relay (3) does not have normally closed, and preliminary filling relay (4) is normal the disconnection not; If I
DC=0, then control module (1) can judge that positive bus-bar relay (3) does not have normally closed, and preliminary filling relay (43) is normal to be disconnected; If Rb 〉=R 〉=Ra this moment (Ra is that positive bus-bar relay (3) contact contact resistance, Rb are the contact contact resistance that positive bus-bar relay (3) allows when closed), then control module (1) can be judged positive bus-bar relay (3) normally closed, and preliminary filling relay (4) is normal to be disconnected; If this moment R 3 〉=R 〉=Rb, then control module (1) can be judged positive bus-bar relay (3) normally closed, preliminary filling relay (4) is normal to be disconnected, but oxidation of positive bus-bar relay (3) contact or burn, the contact contact resistance has surpassed allowed band, and positive bus-bar relay (3) needs to change.V
N1-N3, V
N2-N3Method of measurement after isolation is amplified, send into controller module, I for adopting electric resistance partial pressure to measure voltage signal
DCMethod of measurement for adopting the Hall current sensor measuring-signal to send into control module.
Two, overvoltage, overcurrent, excess temperature hardware logic protection control
Hardware logic protection control module (6), physical circuit as shown in Figure 2.
INVERTER_ENABLE is three-phase inverting circuit module (7) enable signal, and this signal is protected control module (6) output by hardware logic, and when INVERTER_ENABLE was high level, the IGBT of three-phase inverting circuit module (7) just allowed open-minded.Control three-phase inverting circuit module (7) when enabling in control module (1), three-phase inverting circuit module (7) enable signal INVERTER_ENABLE step-down when overvoltage, overcurrent or excess temperature appear in controller, the IGBT of three-phase inverting circuit module (7) is under an embargo open-minded.Can not Sudden Changing Rate based on excess temperature, overcurrent, in case excess temperature occurs, overcurrent needs control module (1) control to reply normal operation, to guarantee that controller does not damage.Therefore in case go out excess temperature, overcurrent and need control module (1) control to send the CLEAR_FAULT_LATCHES signal to protect control module (6) rising edge level to hardware logic, could remove gentle overcurrent protection.Can guarantee that by hardware logic protection control destructive malfunction does not appear in controller like this.
Three, hardware protection STATE FEEDBACK CONTROL
Hardware protection state feedback module (8); this module guard mode that controller is all is sent into control module (1); conveniently to review, make responding to control according to the guard mode signal and carry out software protection simultaneously by control module (1) with various guard mode records for control module (1).The hardware protection state feedback comprises: bus overcurrent, bus overvoltage, controller A phase output overcurrent, controller B phase output overcurrent, controller C phase output overcurrent, three-phase inverting circuit A phase IGBTT3 excess temperature, three-phase inverting circuit B phase IGBT T4 excess temperature, three-phase inverting circuit C phase IGBT T5 excess temperature, motor temperature T1 excess temperature, motor temperature T2 excess temperature.
Four, the every road of three-phase inverting circuit IGBT temperature survey
Controller in the past only detects any temperature of three-phase inverting circuit.Three-phase inverting circuit module (7) may be damaged because local overheating can't detect in time to protect.This controller detects the every road of three-phase inverting circuit module (7) IGBT temperature T 4, T5, T6, can prevent that temperature detection is not in place.
Five, the traction motor controller insulation detects
Traction motor controller insulation monitoring module (14) detect positive bus-bar to controller housing insulation resistance and negative busbar to the controller housing insulation resistance.Insulation monitoring module (14) is sent measured value into control module (1), make the insulation resistance of control module (1) monitor controller, when insulation resistance less than warning during threshold values, controller cuts off the bus relay, and control three-phase inverting circuit module (7) consumes the interior electric weight of electric capacity in the controller, with the Times insulation fault, guarantee personal safety in controller insulation safety and the car.The insulation detecting circuit structure is such as figure, RP, RN be respectively the controller positive bus-bar to controller housing insulation resistance and negative busbar to the controller housing insulation resistance.Between positive and negative busbar and ground, connect much larger than the resistance of the minimum required value of insulation resistance.Then positive bus-bar and the negative busbar of sampling be voltage to earth respectively.Can obtain positive and negative busbar insulation against ground resistance value by calculating.
Above content is the further description of the present invention being done in conjunction with concrete preferred implementation, can not assert that implementation of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (9)
1. an electric automobile traction motor controller is characterized in that, this electric machine controller comprises:
Control module (1), busbar voltage current detection module (2), hardware logic protection module (6), hardware protection block of state (8), three-phase inverting circuit module (7), IGBT driver module (9), IGBT module temperature detecting module (10), three-phase current detection module (11), motor temperature detection module (12), motor rotor position/rotating speed detection module (13), insulation monitoring module (14); Described electric machine controller can be realized positive bus-bar relay closed loop protection control; overvoltage, overcurrent, excess temperature hardware logic protection control, the insulation of hardware protection STATE FEEDBACK CONTROL, the every road of three-phase inverting circuit IGBT temperature detection and traction motor controller detects.
2. traction motor controller according to claim 1 is characterized in that: described positive bus-bar relay closed loop protection control is by positive bus-bar relay (3), preliminary filling relay (4), resistance R 3(5), current sensor (15), busbar voltage current detection module (2), control module (1) form.
3. traction motor controller according to claim 2; it is characterized in that: described positive bus-bar relay closed loop protection control is specially: when described electric machine controller precharge; described control module (1) control positive bus-bar relay (3) disconnects, preliminary filling relay (4) closure, and this moment, control module detected positive bus-bar relay (3) input to negative busbar voltage V by described electric current and voltage detection module (2)
N2-N3, pass in time voltage V
N2-N3Become large, control module judges that preliminary filling relay (4) can normally closed, otherwise judges that preliminary filling relay (4) can not normally closed; When described electric machine controller normal operation, described control module (1) control positive bus-bar relay (3) is closed, preliminary filling relay (4) disconnects, and control module this moment (1) detects positive bus-bar relay (3) output to negative busbar voltage V by electric current and voltage detection module (2)
N1-N3, V
N2-N3, the positive bus-bar electric current I
DC, obtain the upper impedance of positive bus-bar relay (3)
If R 〉=R3 and I
DC〉=0, then control module (1) judges that positive bus-bar relay (3) does not have normally closed, and preliminary filling relay (4) is normal the disconnection not; If I
DC=0, then control module (1) judges that positive bus-bar relay (3) does not have normally closed, and preliminary filling relay (4) is normal to be disconnected; If Rb 〉=R 〉=Ra, then control module (1) is judged positive bus-bar relay (3) normally closed, preliminary filling relay (4) is normal to be disconnected, and wherein Ra is that positive bus-bar relay (3) contact contact resistance, Rb are the contact contact resistance that positive bus-bar relay (3) allows when closed; If R3 〉=R 〉=Rb, then control module (1) is judged positive bus-bar relay (3) normally closed, and preliminary filling relay (4) is normal to be disconnected, but oxidation of positive bus-bar relay (3) contact or burn, the contact contact resistance has surpassed allowed band, and positive bus-bar relay (3) needs to change.
4. traction motor controller according to claim 1 is characterized in that: V
N1-N3, V
N2-N3Measurement adopt the electric resistance partial pressure method to measure I
DCMeasurement adopt Hall current sensor to measure.
5. traction motor controller according to claim 1 is characterized in that: described hardware logic protection module (6); When this signal of three-phase inverting circuit module (7) enable signal INVERTER_ENABLE(by hardware logic protection module (6) when being output as high level, the IGBT of three-phase inverting circuit module (7) just allows conducting; When described control module (1) is controlled three-phase inverting circuit module (7) when enabling, the conducting if three-phase inverting circuit module (7) enable signal INVERTER_ENABLE step-down when overvoltage, overcurrent or excess temperature appear in described electric machine controller, the IGBT of three-phase inverting circuit are under an embargo.
6. traction motor controller according to claim 1; it is characterized in that: described hardware protection block of state (8) piece is inputted described control module (1) with all guard modes of electric machine controller; conveniently to review, make responding to control according to the guard mode signal and carry out software protection simultaneously by control module with various guard mode records for control module (1).
7. traction motor controller according to claim 6, it is characterized in that: the hardware protection state of described feedback comprises: bus overcurrent, bus overvoltage, electric machine controller A phase output overcurrent, electric machine controller B phase output overcurrent, electric machine controller C phase output overcurrent, three-phase inverting circuit A phase IGBT T3 excess temperature, three-phase inverting circuit B phase IGBT T4 excess temperature, three-phase inverting circuit C phase IGBT T5 excess temperature, motor temperature T1 excess temperature, motor temperature T2 excess temperature.
8. traction motor controller according to claim 1; it is characterized in that: detect every road IGBT temperature T 4, T5, the T6 of three-phase inverting circuit by described IGBT module temperature detecting module (10), prevent from time to protect because of local overheating and damage described three-phase inverting circuit.
9. traction motor controller according to claim 1 is characterized in that: described insulation monitoring module (14) detects positive bus-bar to the insulation resistance of controller housing and the negative busbar insulation resistance to controller housing; Described insulation monitoring module (14) is with measured value input control module (1), make the insulation resistance of control module (1) monitor controller, when insulation resistance less than warning during threshold values, control module (1) is cut off the bus relay, and control three-phase inverting circuit module (7) consumes in the described electric machine controller electric weight in the electric capacity, reports simultaneously insulation fault.
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| CN201210431982.0A CN103050944B (en) | 2012-11-02 | 2012-11-02 | Traction motor controller for electric vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210431982.0A CN103050944B (en) | 2012-11-02 | 2012-11-02 | Traction motor controller for electric vehicle |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105207449A (en) * | 2015-09-29 | 2015-12-30 | 广东美的制冷设备有限公司 | Intelligent power module |
| CN105896948A (en) * | 2014-12-31 | 2016-08-24 | 国家电网公司 | Driver having IGBT element service life pre-estimating function |
| JP6023990B2 (en) * | 2014-01-14 | 2016-11-09 | パナソニックＩｐマネジメント株式会社 | Motor drive device |
| CN106597080A (en) * | 2016-12-31 | 2017-04-26 | 中车太原机车车辆有限公司 | Traction motor fixed shunt resistor current monitoring device and method for railroad locomotive |
| CN106740583A (en) * | 2017-01-17 | 2017-05-31 | 北京新能源汽车股份有限公司 | Vehicle safety control method, device and automobile |
| CN107492867A (en) * | 2017-08-09 | 2017-12-19 | 深圳腾势新能源汽车有限公司 | Protection system for motor |
| CN109038498A (en) * | 2018-08-29 | 2018-12-18 | 深圳腾势新能源汽车有限公司 | Protection system for motor |
| CN110445102A (en) * | 2019-08-14 | 2019-11-12 | 上海英恒电子有限公司 | A kind of electronic RELAY devices and guard method |
| CN111865186A (en) * | 2019-04-29 | 2020-10-30 | 北京车和家信息技术有限公司 | Fault detection method, motor control method and related equipment |
| CN111884174A (en) * | 2020-08-13 | 2020-11-03 | 宁波坚晖新能源科技有限公司 | Control method for oil well motor |
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| JP6023990B2 (en) * | 2014-01-14 | 2016-11-09 | パナソニックＩｐマネジメント株式会社 | Motor drive device |
| CN105896948A (en) * | 2014-12-31 | 2016-08-24 | 国家电网公司 | Driver having IGBT element service life pre-estimating function |
| CN105207449A (en) * | 2015-09-29 | 2015-12-30 | 广东美的制冷设备有限公司 | Intelligent power module |
| CN106597080A (en) * | 2016-12-31 | 2017-04-26 | 中车太原机车车辆有限公司 | Traction motor fixed shunt resistor current monitoring device and method for railroad locomotive |
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| CN109038498A (en) * | 2018-08-29 | 2018-12-18 | 深圳腾势新能源汽车有限公司 | Protection system for motor |
| CN111865186A (en) * | 2019-04-29 | 2020-10-30 | 北京车和家信息技术有限公司 | Fault detection method, motor control method and related equipment |
| CN110445102A (en) * | 2019-08-14 | 2019-11-12 | 上海英恒电子有限公司 | A kind of electronic RELAY devices and guard method |
| CN110445102B (en) * | 2019-08-14 | 2021-11-26 | 上海英恒电子有限公司 | Electronic relay device and protection method |
| CN113422347A (en) * | 2020-03-17 | 2021-09-21 | 比亚迪股份有限公司 | Motor control system and vehicle |
| CN113422347B (en) * | 2020-03-17 | 2023-03-14 | 比亚迪股份有限公司 | Motor control system and vehicle |
| CN111884174A (en) * | 2020-08-13 | 2020-11-03 | 宁波坚晖新能源科技有限公司 | Control method for oil well motor |
| CN112186716A (en) * | 2020-09-07 | 2021-01-05 | 季华实验室 | IPM module fault detection and protection circuit of servo driver |
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