CN103182954A - A correction method for the drive motor position error of a vehicle - Google Patents
A correction method for the drive motor position error of a vehicle Download PDFInfo
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- CN103182954A CN103182954A CN2013100015750A CN201310001575A CN103182954A CN 103182954 A CN103182954 A CN 103182954A CN 2013100015750 A CN2013100015750 A CN 2013100015750A CN 201310001575 A CN201310001575 A CN 201310001575A CN 103182954 A CN103182954 A CN 103182954A
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- magslip
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- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41F—GARMENT FASTENINGS; SUSPENDERS
- A41F17/00—Means for holding-down garments
- A41F17/04—Straps on the lower end of legs of trousers
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- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41F—GARMENT FASTENINGS; SUSPENDERS
- A41F17/00—Means for holding-down garments
- A41F17/02—Clips or the like for trousers or skirts, e.g. for cyclists
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention relates to a correction method for the drive motor position error of a vehicle, in particular, the method comprises: a stage of from external receiving first reference values of a vehicle speed, an engine speed, a motor torque command, and a braking status; a stage of by using said received first reference values, determining a first condition that whether the vehicle is stopped and the motor meets the an engine idling speed, a second condition that the motor torque command is '0', and a third condition that a braking force is a predetermined value or more; a stage of performing zero current control for enabling the output current to reach '0' when the first, second and third conditions are satisfied; and a stage of saving a correction value for correcting the error to be '0' as the correction value required for resolver position error correction, in the stage of performing zero current control, when a resolver has an error between the phase angle of the induction and the actual position of the drive motor. The method of the invention performs correction by a software, improving the control performance of the drive motor.
Description
Technical field
The present invention relates to a kind of control method of automobile drive electric motor, particularly, be intended to improve the positional error control method of automobile drive electric motor of the location sensitive method of motor.
Background technology
The control method of traditional automobile drive electric motor is, for the location information of measuring motor is utilized magslip.Magslip is the sensor that uses for the location information of measuring rotor (phase angle), is made up of stator and rotor, and the magslip stator is attached to the motor stator, and the magslip rotor set is contained in rotor.
But, owing to reasons such as assembling tolerance and parts deviations, as shown in Figure 1, between the rotor reference position of the reference position of rotor and magslip error can take place.
In the control method of traditional automobile drive electric motor, in order to correct such error, adopt software mode to correct when producing automobile.In other words, the control method of traditional automobile drive electric motor does not have, and corrects the method for these errors after Automobile manufacturing is intact in the operation phase.
But, the problem that the control method of traditional automobile drive electric motor exists is to be applied to the vibration of drive motor during automotive operation and to impact down magslip rotor and rotor generation mechanical error, and should value continue to change, so can't accurately control drive motor.
That is, the mechanical error of magslip rotor and rotor and motor PolePair (motor pole number/2) are proportional, with the error appearance at electronics angle.Such as, when the mechanical error of 1 degree took place 16 utmost point motors, the electronics angular error was 8 degree.
As mentioned above, the control method of traditional automobile drive electric motor, the moment of torsion error of initiation number % reduces the moment of torsion controller performance.
[look-ahead technique document]
[patent documentation]
KR 10-2011-0048979 A, 2011. 05. 12, accompanying drawing 2.
Summary of the invention
Technical task
The present invention is intended to provide, adopt software mode to correct in the operation phase of vehicle, the positional error of the drive motor magslip that the error between the rotor reference position of the reference position of rotor and magslip causes, the positional error antidote of the automobile drive electric motor of raising drive motor controller performance.
Technical scheme
In order to solve above-mentioned technical task, automobile drive electric motor positional error antidote of the present invention comprises, receives the stage of first a reference values such as the speed of a motor vehicle, engine speed, the instruction of motor torsion and braking mode from the outside; The first reference value that utilize to receive, judgements vehicle is halted state, motor speed whether satisfy the first condition of engine idling and the instruction of motor torsion for ' the second condition of 0' and the stage that brake weight reaches the 3rd condition more than the certain value; When satisfying above-mentioned first condition, second condition and the 3rd condition, for the outgoing current that makes conv is ' 0', the stage of implementing zero current control; In the stage of implementing zero current control, because when error takes place in magslip between the actual position of the phase angle of responding to and drive motor, the error amount of this generation is corrected correction value for ' 0', save as the stage that magslip positional error house of correction needs correction value.
The positional error antidote of this automobile drive electric motor also comprises, receives the stage of second a reference values such as operating range, running time and the number of starts of vehicle behind the preservation correction value; The stage of utilizing second a reference value to preserve correction value also comprises, judges whether to arrive the stage of the implementation cycle that sets in advance; The stage of above-mentioned enforcement zero current control can implement after arriving the above-mentioned implementation cycle.The stage of preserving correction value can also comprise, behind the preservation correction value, second a reference value is carried out initialized process.
The positional error antidote of this automobile drive electric motor can also comprise, in the stage of implementing zero current control, when magslip does not cause between the actual position of the phase angle responded to and drive motor error taking place, need correction value to save as the positional error house of correction of existing magslip, magslip positional error house of correction needs the stage of correction value.
The positional error antidote of this automobile drive electric motor can also comprise, the preservation that needs correction value according to the positional error house of correction of magslip whether, judge whether magslip positional error correcting function is normally finished, this judgment result displays, when magslip positional error correcting function is normally finished, second a reference value is carried out initialization.
Between the phase angle of above-mentioned induction and the actual position of drive motor error does not take place, when being as the criterion the phase angle of control induction with synchronous coordinate system on magslip, have only the q axle of synchronous coordinate system that voltage is arranged, the d shaft voltage is 0.
Beneficial effect
The present invention adopts software mode to correct in the operation phase of vehicle, the positional error of the drive motor magslip that the error between the rotor reference position of the reference position of rotor and magslip causes, the controller performance of raising drive motor.
Description of drawings
Fig. 1 is the key drawing of error between the rotor reference position of the reference position of rotor and magslip;
Fig. 2 is the positional error antidote control flow chart of the relevant automobile drive electric motor of one embodiment of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, describe the positional error antidote of the relevant automobile drive electric motor of embodiment of the present invention in detail.
Fig. 2 is the control flow chart of positional error antidote of the automobile drive electric motor of one embodiment of the present invention.Other controller interlocks of the controller of control automobile drive electric motor and vehicle can receive the information relevant with vehicle thus.
At first, when beginning the positional error correcting function of magslip, the controller of automobile drive electric motor receives first a reference values such as the speed of a motor vehicle, engine speed, the instruction of motor torsion and braking mode from other controllers of vehicle, and second a reference values (S202) such as running car distance, running time or the number of starts behind the correction value of the positional error antidote rectification of the relevant automobile drive electric motor of preservation present embodiment.
Next, the controller of automobile drive electric motor utilizes above-mentioned first reference value, judge whether vehicle is halted state, whether motor speed satisfies the first condition of engine idling and the instruction of motor torsion reaches the 3rd above condition of certain value for second condition and the brake weight of ' 0', utilize the second above-mentioned a reference value to judge then, whether reach in order to correct travel the cycle (S205) that present embodiment relevant position error is set in advance.
Whether at this, reaching more than the certain value as the brake weight of the 3rd condition is in order to prevent, when implementing magslip positional error correcting function, because positional error and vehicle that contingent some torsion causes moves.
The judged result in S205 stage, in the time of can not satisfying in first condition, second condition and the 3rd condition any one and maybe can't arrive the implementation cycle, the controller of automobile drive electric motor can finish the magslip positional error correcting function of present embodiment.
The judged result in S205 stage, above-mentioned first condition, second condition and the 3rd condition all satisfy, and when arriving the above-mentioned implementation cycle, the controller of automobile drive electric motor is ' 0' for the outgoing current that makes conv, implements zero current and controls (S208 stage).
That is, the controller of automobile drive electric motor is ' 0' for the outgoing current that makes conv, the voltage of the identical size of c.e.m.f. that takes place in output and the idling motor rotating.
Then, the controller of automobile drive electric motor judges in the S208 stage, implements the error (S212 stage) between the actual position that whether magslip in the process of zero current control cause the phase angle responded to and drive motor.That is, the controller of automobile drive electric motor judge the d shaft voltage of synchronous coordinate system whether be ' 0'.
Error does not take place in the judged result in S212 stage, and the d shaft voltage is judged as ' during 0', and the correction value that the positional error house of correction of existing drive motor magslip is needed saves as the correction value (S214 stage) that current location error house of correction needs.
The judged result generation error in S212 stage, d shaft voltage be not ' during 0', the error amount that takes place corrected be ' the required adjustment value of 0', save as the correction value (S216 stage) that current location error house of correction needs.
Namely, when the controller of automobile drive electric motor is as the criterion the phase angle that control responds on the magslip with synchronous coordinate axle (synchronous coordinate system), there is not error between the phase angle of setting and the actual position of motor, the controller of drive motor applies voltage only for the q axle (vertical axis) of synchronous coordinate system, and the voltage of d axle (horizontal shaft) is 0.
But when having error between the phase angle of induction and the actual position of motor, the d shaft voltage can have non-0 particular value.At this moment, the controller of drive motor is adjusted the correction value that (plus-minus) responds to phase angle at magslip, saves as new correction value with making the d shaft voltage become 0 correction value.This correction value is before the magslip positional error correcting function of next time starts, and the positional error that is used for magslip is corrected.
Next, whether the preservation of the positional error house of correction of the controller of automobile drive electric motor current magslip in the stage according to above-mentioned S214 stage or S216 need correction value, judges whether the positional error correcting function is normally finished (S222 stage).That is, the controller of automobile drive electric motor is when judging that correction value has been preserved, and judgement positional error correcting function is normally finished.When the judged result in S222 stage, positional error correcting function were not normally finished, the controller of automobile drive electric motor was got back to the S202 stage.
The judged result in S222 stage, when the correcting function of positional error was normally finished, the condition of the controller of automobile drive electric motor in order to judge that the S205 stage works carried out initialization (S224) to second a reference value.
As mentioned above, the positional error antidote of the automobile drive electric motor that present embodiment is relevant, can adopt software mode to correct in the vehicle operating stage, the positional error of the drive motor magslip that the error between the rotor reference position of the reference position of rotor and magslip causes, the controller performance of raising drive motor.
The above is preferred embodiment of the present invention only, is not for limiting protection scope of the present invention.
Claims (6)
1. the positional error antidote of an automobile drive electric motor is characterized in that, comprising:
Receive the stage of the first reference value of the speed of a motor vehicle, engine speed, the instruction of motor torsion and braking mode from the outside;
Utilize the first reference value of above-mentioned reception, judge that vehicle is the state that stops, whether motor speed satisfies the first condition of engine idling and the instruction of motor torsion is the stage of the 3rd above condition of certain value for second condition and the brake weight of ' 0';
When satisfying above-mentioned first condition, second condition and the 3rd condition, for the outgoing current that makes conv is ' 0', the stage of implementing zero current control;
The stage of above-mentioned enforcement zero current control, because when error takes place in magslip between the actual position of the phase angle of responding to and drive motor, the error amount of this generation is corrected correction value for ' 0', and the positional error house of correction that saves as magslip needs the stage of correction value.
2. the positional error antidote of automobile drive electric motor according to claim 1 is characterized in that, also comprises:
After preserving above-mentioned correction value, the stage of second a reference value of operating range, running time and the number of starts of reception vehicle;
Utilize above-mentioned second a reference value to preserve the stage of correction value, also possess, judge whether to arrive the process in the cycle of travelling of prior setting;
Arrive the stage of implementing zero current control after the above-mentioned cycle of travelling.
3. the positional error antidote of automobile drive electric motor according to claim 2 is characterized in that,
The stage of above-mentioned preservation correction value also comprises, behind the preservation correction value second a reference value is carried out initialized process.
4. the positional error antidote of automobile drive electric motor according to claim 2 is characterized in that, also comprise,
The stage of above-mentioned enforcement zero current control, when magslip did not produce error between the actual position of the phase angle of responding to and drive motor, the correction value that existing magslip positional error house of correction is needed saved as the stage that above-mentioned magslip positional error house of correction needs correction value.
5. the positional error antidote of automobile drive electric motor according to claim 4 is characterized in that, also comprise,
The preservation that needs correction value according to above-mentioned magslip positional error house of correction whether, judge whether magslip positional error correcting function is normally finished, this judged result is magslip positional error correcting function when normally finishing, and second a reference value is carried out the initialized stage.
6. the positional error antidote of automobile drive electric motor according to claim 4 is characterized in that,
When error not taking place between the phase angle of above-mentioned induction and the actual position of drive motor, when above-mentioned magslip is as the criterion the phase angle of control induction with synchronous coordinate system, have only synchronous coordinate system q axle that voltage is arranged, the d shaft voltage is 0.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2012-0000139 | 2012-01-02 | ||
| KR1020120000139A KR101829926B1 (en) | 2012-01-02 | 2012-01-02 | Position error compensation method of drive motor for vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103182954A true CN103182954A (en) | 2013-07-03 |
| CN103182954B CN103182954B (en) | 2016-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310001575.0A Active CN103182954B (en) | 2012-01-02 | 2013-01-04 | The site error antidote of automobile drive electric motor |
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| KR (1) | KR101829926B1 (en) |
| CN (1) | CN103182954B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106533277A (en) * | 2016-12-28 | 2017-03-22 | 北京新能源汽车股份有限公司 | Calibration method and device for rotation zero-point position of motor |
| CN108173465A (en) * | 2018-02-06 | 2018-06-15 | 无锡华宸控制技术有限公司 | Misalignment angle detection method, device and electronic equipment |
| CN109546909A (en) * | 2018-10-19 | 2019-03-29 | 苏州伟创电气设备技术有限公司 | A kind of AC permanent magnet synchronous motor revolving speed tracking starting method |
| CN110289799A (en) * | 2018-03-19 | 2019-09-27 | 奥特润株式会社 | Rotary transformer managing device and its method of operating, Rotary transformer system |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101597440B1 (en) * | 2014-06-19 | 2016-02-24 | 강원대학교산학협력단 | Method for calibrating resolver offset |
| KR101755922B1 (en) | 2015-12-09 | 2017-07-10 | 현대자동차주식회사 | Method for determining offset of resolver |
| KR101876064B1 (en) * | 2016-10-05 | 2018-07-06 | 현대자동차주식회사 | Magnetization fault diagnosis method of permanent magnet motor |
| KR102360166B1 (en) * | 2017-10-16 | 2022-02-09 | 현대자동차주식회사 | Apparatus for correcting resolver offset in friendly vehicle, system having the same and method thereof |
| KR102370944B1 (en) * | 2017-12-12 | 2022-03-07 | 현대자동차주식회사 | Method for preventing takeoff of motor velocity for hybrid electric vehicle |
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| CN106533277A (en) * | 2016-12-28 | 2017-03-22 | 北京新能源汽车股份有限公司 | Calibration method and device for rotation zero-point position of motor |
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| CN110289799A (en) * | 2018-03-19 | 2019-09-27 | 奥特润株式会社 | Rotary transformer managing device and its method of operating, Rotary transformer system |
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| CN109546909A (en) * | 2018-10-19 | 2019-03-29 | 苏州伟创电气设备技术有限公司 | A kind of AC permanent magnet synchronous motor revolving speed tracking starting method |
| CN109546909B (en) * | 2018-10-19 | 2022-04-05 | 苏州伟创电气科技股份有限公司 | Method for tracking and starting rotating speed of alternating current permanent magnet synchronous motor |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20130078955A (en) | 2013-07-10 |
| CN103182954B (en) | 2016-09-21 |
| KR101829926B1 (en) | 2018-02-19 |
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