CN103050944B - Traction motor controller for electric vehicle - Google Patents
Traction motor controller for electric vehicle Download PDFInfo
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- CN103050944B CN103050944B CN201210431982.0A CN201210431982A CN103050944B CN 103050944 B CN103050944 B CN 103050944B CN 201210431982 A CN201210431982 A CN 201210431982A CN 103050944 B CN103050944 B CN 103050944B
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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 traction motor controller for electric vehicle.
Background technology
In Hyundai Motor, the ratio shared by electronic unit is increasing, and the safety of security reliability to automobile of electronic unit plays key effect.New-energy automobile compares orthodox car more electronic unit, and traction motor controller is the key safety parts in new-energy automobile, and it is safe and reliable has decisive role to new-energy automobile safe operation.And current existing traction motor controller reliably controls inherently safe perfect not, only carry out simple high pressure, overcurrent, overheat protector control, bus relay running status is not monitored.To the state-detection of electric machine controller and protection not in place, and can not the fault of record controls implement body and guard mode.
Summary of the invention
In order to solve problem in prior art, the invention provides a kind of electric machine controller adopting closed-loop hardware-software to protect, can problems of the prior art be overcome, any cost can not be increased again simultaneously.
The present invention is achieved through the following technical solutions:
A kind of traction motor controller for electric vehicle, 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 drive module (9), IGBT module temperature detecting module (10), three-phase current detection module (11), motor temperature detection module (12), motor rotor position/Rotating speed measring module (13), insulation monitoring module (14); Described electric machine controller can realize positive bus-bar relay closed loop protecting control, and overvoltage, overcurrent, excess temperature hardware protection control, the Insulation monitoring of the measurement of hardware protection STATE FEEDBACK CONTROL, three-phase inverting circuit every road IGBT temperature and traction motor controller.
Further, described positive bus-bar relay closed loop protecting control is by positive bus-bar relay (3), preliminary filling relay (4), resistance R3(5), current sensor (15), busbar voltage current detection module (2), control module (1) form.
Further; described positive bus-bar relay closed loop protecting control is specially: when described controller precharge; described control module controls positive bus-bar relay (3) disconnection, preliminary filling relay (4) closes, and now control module (1) detects the input of positive bus-bar relay to negative busbar voltage V by described measure voltage & current module (2)
n2-N3, pass voltage V in time
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 normally works, described control module (1) control positive bus-bar relay (3) is closed, preliminary filling relay (4) disconnects, and now control module (1) detects positive bus-bar relay (3) output to negative busbar voltage V by measure voltage & current module (2)
n1-N3, V
n2-N3, 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) does not normally disconnect; 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) normally disconnects; If Rb>=R>=Ra; then control module (1) judges positive bus-bar relay (3) normally closed; preliminary filling relay (4) normally disconnects, wherein Ra be positive bus-bar relay (3) contact resistance, Rb be positive bus-bar relay (3) closed time the contact resistance that allows; If R3>=R>=Rb, then control module (1) judges positive bus-bar relay (3) normally closed, and preliminary filling relay (4) normally disconnects, but positive bus-bar relay (3) contact has been oxidized or has burnt, contact resistance exceedes allowed band, and positive bus-bar relay (3) needs to change.
Further, V
n1-N3, V
n2-N3measurement adopt electric resistance partial pressure method to measure, I
dCmeasurement adopt Hall current sensor measure.
Further, described hardware logic protection module (6); When this signal of three-phase inverting circuit enable signal INVERTER_ENABLE(by hardware logic protection module (6) export) for high level time, the IGBT of three-phase inverting circuit just allows conducting; When described control module (1) control three-phase inverting circuit enable time, if described controller occur overvoltage, overcurrent or excess temperature time three-phase inverting circuit enable signal INVERTER_ENABLE step-down, the IGBT of three-phase inverting circuit is prohibited conducting.
Further; all guard modes of controller are inputted described control module (1) by described hardware protection state feedback module (8); various guard mode record is reviewed to facilitate by control module (1), and simultaneously control module (1) is made response limiting according to guard mode signal and carried out software protection.
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, detected every road IGBT temperature T4, T5, T6 of three-phase inverting circuit module (7) by described IGBT module temperature detecting module (10), prevent because local overheating cannot carry out in time protecting 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 negative busbar to the insulation resistance of controller housing; Described insulation monitoring module (14) is by measured value input control module (1), make the insulation resistance of control module (1) monitor controller, when insulation resistance is less than warning threshold values, control module (1) cuts off bus relay, and control three-phase inverting circuit module (7) and to consume in described controller electricity in electric capacity, report insulation fault simultaneously.
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 to control; can all dotted state of monitor controller and fault; the quantity of state of all parts of direct-detection ensures the correctness to controller protection and validity.
Accompanying drawing explanation
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 protecting control schematic diagram;
Fig. 3 is insulation detecting circuit schematic diagram of the present invention.
Embodiment
Illustrate below in conjunction with accompanying drawing and embodiment the present invention is further described.
The present invention designs the traction motor controller of a kind of closed-loop hardware-software protection; main increase positive bus-bar relay closed loop protecting control; overvoltage, overcurrent, excess temperature hardware logic protecting control; hardware protection STATE FEEDBACK CONTROL; three-phase inverting circuit every road IGBT temperature is measured, traction motor controller Insulation monitoring.Making traction motor controller can monitor self each several part running status by increasing above circuit module, various error protection can be realized by hardware or software, protect traction motor controller self not damage because of the parts damages be associated with traction motor controller simultaneously.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 protecting control, measure positive bus-bar relay inputoutput pair negative busbar voltage, calculate the pressure drop of positive bus-bar relay, thus can judge whether positive bus-bar relay has responded control module control command, whether operating state is normal.Overvoltage, overcurrent, excess temperature hardware logic protecting control; by hardware circuit mode; the quick closedown three-phase inverting circuit protection controller when overvoltage, overcurrent, excess temperature fault appear in controller, this mode is faster than software responses, forms available protecting to destructive malfunction.Concrete protection is fed back to control module by hardware protection STATE FEEDBACK CONTROL module, enable controller monitor each circuit protection and can record, fault and protection are become can review.Three-phase inverting circuit every road IGBT temperature is measured, and can monitor the temperature of each half-bridge, available protecting IGBT.Traction motor controller Insulation monitoring, detects in real time, prevents controller from becoming large and produce safety failure because of the insulation resistance leakage current that diminishes.
Concrete control method is as follows:
One, positive bus-bar relay (3) closed loop protecting control
Measure positive bus-bar relay (3) inputoutput pair negative busbar voltage, calculate positive bus-bar relay (3) pressure drop, thus can judge whether positive bus-bar relay (3) has responded 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, measurement bus current is I
dC.During electric machine controller precharge, control module (1) controls positive bus-bar relay (3) disconnection, preliminary filling relay (4) closes, and now control module (1) detects voltage V by measure voltage & current module (2)
n2-N3.Pass voltage V in time
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.When electric machine controller normally works, control module (1) controls positive bus-bar relay closes, preliminary filling relay (4) disconnects, and now control module (1) detects voltage V by measure voltage & current module (2)
n1-N3, V
n2-N3, electric current I
dC.Calculate now impedance on bus relay
if now 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) does not normally disconnect; 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) normally disconnects; If now Rb>=R>=Ra (Ra is positive bus-bar relay (3) contact resistance, Rb be positive bus-bar relay (3) closed time the contact resistance that allows); then control module (1) can judge positive bus-bar relay (3) normally closed, and preliminary filling relay (4) normally disconnects; If now R 3>=R>=Rb, then control module (1) can judge positive bus-bar relay (3) normally closed, preliminary filling relay (4) normally disconnects, but positive bus-bar relay (3) contact has been oxidized or has burnt, contact resistance exceedes allowed band, and positive bus-bar relay (3) needs to change.V
n1-N3, V
n2-N3method of measurement for adopt electric resistance partial pressure measure voltage signal through isolation amplify after send into controller module, I
dCmethod of measurement send into control module for adopting Hall current sensor measuring-signal.
Two, overvoltage, overcurrent, excess temperature hardware logic protecting control
Hardware logic protecting 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 exported by hardware logic protecting control module (6), and when INVERTER_ENABLE is high level, the IGBT of three-phase inverting circuit module (7) just allows open-minded.When control module (1) control three-phase inverting circuit module (7) is enable, when controller occur overvoltage, overcurrent or excess temperature time three-phase inverting circuit module (7) enable signal INVERTER_ENABLE step-down, the IGBT of three-phase inverting circuit module (7) is prohibited open-minded.Can not Sudden Changing Rate based on excess temperature, overcurrent, once there is excess temperature, overcurrent needs control module (1) controls to reply normal work, to ensure that controller does not damage.Therefore once go out excess temperature, overcurrent needs control module (1) control send CLEAR_FAULT_LATCHES signal to hardware logic protecting control module (6) rising edge level, gentle overcurrent protection could be removed.Can ensure that controller does not occur destructive malfunction by hardware logic protecting control like this.
Three, hardware protection STATE FEEDBACK CONTROL
Hardware protection state feedback module (8); guard modes all for controller is sent into control module (1) by this module; various guard mode record is reviewed to facilitate by control module (1), and simultaneously control module (1) is made response limiting according to guard mode signal and carried out software protection.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, three-phase inverting circuit every road IGBT temperature is measured
Controller in the past only detects any temperature of three-phase inverting circuit.Three-phase inverting circuit module (7) may carry out in time protecting because local overheating cannot detect and damage.This controller detects the every road IGBT temperature T4 of three-phase inverting circuit module (7), T5, T6, and temperature detection can be prevented not in place.
Five, traction motor controller Insulation monitoring
Traction motor controller insulation monitoring module (14) detects positive bus-bar to controller housing insulation resistance and negative busbar to controller housing insulation resistance.Control module (1) sent into by measured value by insulation monitoring module (14), make the insulation resistance of control module (1) monitor controller, when insulation resistance is less than warning threshold values, controller cuts off bus relay, and control three-phase inverting circuit module (7) and to consume in controller electricity in electric capacity, with Times insulation fault, ensure personal safety in controller insulation safety and car.Insulation detecting circuit structure is as figure, and RP, RN are respectively controller positive bus-bar to controller housing insulation resistance and negative busbar to controller housing insulation resistance.Connect between positive and negative busbar with ground much larger than the resistance of the minimum required value of insulation resistance.Then sampling positive bus-bar and negative busbar voltage to earth respectively.Positive and negative busbar insulation against ground resistance value can be obtained by calculating.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (8)
1. a traction motor controller for electric vehicle, 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 drive module (9), IGBT module temperature detecting module (10), three-phase current detection module (11), motor temperature detection module (12), motor rotor position/Rotating speed measring module (13), insulation monitoring module (14); Described electric machine controller can realize positive bus-bar relay closed loop protecting control, overvoltage, overcurrent, excess temperature hardware logic protecting control, the Insulation monitoring of the detection of hardware protection STATE FEEDBACK CONTROL, three-phase inverting circuit module every road IGBT temperature and traction motor controller; Wherein, described insulation monitoring module (14) detects positive bus-bar to the insulation resistance of electric machine controller shell and negative busbar to the insulation resistance of electric machine controller shell; Described insulation monitoring module (14) is by measured value input control module (1), control module (1) is made to monitor the insulation resistance of electric machine controller, when insulation resistance is less than warning threshold values, control module (1) cuts off bus relay, and control three-phase inverting circuit module (7) and to consume in described electric machine controller electricity in electric capacity, report insulation fault simultaneously.
2. traction motor controller according to claim 1, is characterized in that: described positive bus-bar relay closed loop protecting control is made up of positive bus-bar relay (3), preliminary filling relay (4), resistance R3 (5), current sensor (15), busbar voltage current detection module (2), control module (1).
3. traction motor controller according to claim 2; it is characterized in that: described positive bus-bar relay closed loop protecting control is specially: when described electric machine controller precharge; described control module (1) controls positive bus-bar relay (3) disconnection, preliminary filling relay (4) closes, and now control module detects the input of positive bus-bar relay (3) to the voltage V of negative busbar by described busbar voltage current detection module (2)
n2-N3, pass voltage V in time
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 normally works, described control module (1) control positive bus-bar relay (3) is closed, preliminary filling relay (4) disconnects, and now control module (1) detects the output of positive bus-bar relay (3) to the voltage V of negative busbar by busbar voltage current detection module (2)
n1-N3, positive bus-bar relay (3) input to the voltage V of negative busbar
n2-N3, 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) does not normally disconnect; 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) normally disconnects; If Rb>=R>=Ra, then control module (1) judges positive bus-bar relay (3) normally closed, preliminary filling relay (4) normally disconnects, wherein Ra be positive bus-bar relay (3) contact resistance, Rb be positive bus-bar relay (3) closed time the contact resistance that allows; If R3>=R>=Rb, then control module (1) judges positive bus-bar relay (3) normally closed, preliminary filling relay (4) normally disconnects, but positive bus-bar relay (3) contact has been oxidized or has burnt, contact resistance exceedes allowed band, and positive bus-bar relay (3) needs to change.
4. traction motor controller according to claim 3, is characterized in that: V
n1-N3, V
n2-N3measurement adopt electric resistance partial pressure method to measure, I
dCmeasurement adopt Hall current sensor measure.
5. traction motor controller according to claim 1, is characterized in that: described hardware logic protection module (6); As three-phase inverting circuit module (7) enable signal INVERTER_ENABLE, when this signal is exported as high level by hardware logic protection module (6), the IGBT of three-phase inverting circuit module (7) just allows conducting; When described control module (1) control three-phase inverting circuit module (7) is enable, if described electric machine controller occur overvoltage, overcurrent or excess temperature time three-phase inverting circuit module (7) enable signal INVERTER_ENABLE step-down, the IGBT of three-phase inverting circuit module is prohibited conducting.
6. traction motor controller according to claim 1; it is characterized in that: all guard modes of electric machine controller are inputted described control module (1) by described hardware protection block of state (8); various guard mode record is reviewed to facilitate by control module (1), and simultaneously control module is made response limiting according to guard mode signal and carried out software protection.
7. traction motor controller according to claim 6, 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 modules A phase IGBT T3 excess temperature, three-phase inverting circuit module B phase IGBT T4 excess temperature, three-phase inverting circuit module 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: every road IGBT temperature T4, T5, T6 of being detected three-phase inverting circuit module by described IGBT module temperature detecting module (10), prevent because local overheating cannot carry out in time protecting and damage described three-phase inverting circuit module.
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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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| CN103050944B true CN103050944B (en) | 2015-04-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020169780A1 (en) * | 2019-02-22 | 2020-08-27 | Future Systems Besitz Gmbh | An apparatus for protecting and controlling an electrical load |
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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 |
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Effective date of registration: 20190129 Address after: 430056 No. 5 Workshop, 339 Chaoyang Avenue, Wuhan Economic and Technological Development Zone, Wuhan City, Hubei Province Patentee after: Dongfeng Hangsheng (Wuhan) Automobile Control System Co., Ltd. Address before: 518000 Hangsheng Industrial Park, Fuyong Street, Baoan District, Shenzhen City, Guangdong Province Patentee before: Hangsheng Electronic Co., Ltd., Shenzhen City |
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Address after: 430056 No. 339 Chaoyang Avenue, Wuhan Economic and Technological Development Zone, Wuhan City, Hubei Province Patentee after: Zhixin Control System Co.,Ltd. Address before: 430056 No. 5 Workshop, 339 Chaoyang Avenue, Wuhan Economic and Technological Development Zone, Wuhan City, Hubei Province Patentee before: DONGFENG HANGSHENG (WUHAN) AUTOMOTIVE CONTROL SYSTEM Co.,Ltd. |
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Effective date of registration: 20220615 Address after: 518000 Room 201, building A1, Hangsheng Industrial Park, Fuyuan 1st Road, Zhancheng community, Fuhai street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN HANGSHENG ELECTRONICS Co.,Ltd. Address before: 430056 No.1 Workshop, No.339, zhuanyang Avenue, Wuhan Economic and Technological Development Zone, Wuhan City, Hubei Province Patentee before: Zhixin Control System Co.,Ltd. |
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