CN103490681A - Method and system for controlling brushless direct current motor of electric vehicle - Google Patents
Method and system for controlling brushless direct current motor of electric vehicle Download PDFInfo
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- CN103490681A CN103490681A CN201210193184.9A CN201210193184A CN103490681A CN 103490681 A CN103490681 A CN 103490681A CN 201210193184 A CN201210193184 A CN 201210193184A CN 103490681 A CN103490681 A CN 103490681A
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Abstract
The invention provides a method and system for controlling a brushless direct current motor of an electric vehicle. The method includes the following steps: determining the PWM pulse duty ratio based on an obtained output current of the brushless direct current motor of the electric vehicle and the accelerator angle of the electric vehicle, controlling switches included in an inverter connected with the brushless direct current motor of the electric vehicle to be turned on and turned off based on the determined duty ratio, carrying out filtering on obtained Hall signals based on predetermined Hall signal filtering time, determining the rotation speed of the brushless direct current motor of the electric vehicle based on the Hall signals filtered for multiple times, adjusting the Hall signal filtering time according to the rotation speed, and controlling the switches included in the inverter to be turned on and turned off based on the current filtered Hall signals to achieve phase changing of the brushless direct current motor of the electric vehicle. The method and the system have the advantages that the efficiency of the motor is high, the requirement of the motor within the whole rotation speed range from the zero speed to the highest rotation speed can be met, and the hill starting and climbing performance of the electric vehicle can be guaranteed.
Description
Technical field
The present invention relates to the attached brushless DC motor of electric vehicle field, particularly relate to a kind of method and system of controlling attached brushless DC motor of electric vehicle.
Background technology
Electric automobile is usingd vehicle power as power, therefore the relative orthodox car of its impact on environment is little, prospect is extensively had an optimistic view of.The composition of electric automobile comprises: the mechanical systems such as driven by power and control system, actuating force transmission, complete the equipment of set task etc.Wherein, driven by power and control system are the cores of electric automobile, are also the maximum differences that is different from internal-combustion engines vehicle.Driven by power and control system are comprised of drive motors and the controller etc. of controlling drive motors.Drive motors as the electric automobile core technology should possess following characteristics: specific power density is high, specific torque density is high, efficiency is high, good reliability, be easy to safeguard, have good speed adjusting performance and can normally move under adverse circumstances etc., and brshless DC motor just in time meets those requirements, it is simple in structure, control convenience not only, and cost is lower, so become gradually the first-selected motor of driving motor of electric vehicle.
Early stage, motor vehicle was mainly used in specific place car, operating mode is simple, and environmental interference is less, or disturbance type is single, performance requirement to motor and electric machine controller is lower, therefore control the controller of the brshless DC motor of motor vehicle, normally by regulating busbar voltage, controls the operation of motor.Along with the reinforcement of people's environmental consciousness, the cry of motor vehicle universalness is more and more higher, and the motor vehicle of low-power machine has been difficult to satisfy the demands; In addition, existing hardware circuit or the fixing hall signal filtering mode of filtering time of adopting, the heavy-duty motor that also can't meet motor vehicle by low speed to the requirement of speed stage entirely at a high speed.
Therefore, how effectively to control the high-power brushless direct current machine of motor vehicle, become those skilled in the art's technical task urgently to be resolved hurrily.
Summary of the invention
The shortcoming of prior art, the object of the present invention is to provide a kind of method and system of controlling attached brushless DC motor of electric vehicle in view of the above, to improve the brushless dc engine efficiency, guarantees vehicle uphill starting and grade climbing performance preferably.
Reach for achieving the above object other relevant purposes, the invention provides a kind of method of controlling attached brushless DC motor of electric vehicle, it at least comprises step:
The output current of-attached brushless DC motor of electric vehicle based on obtained and the gasoline throttle angle of electric motor car are determined the pwm pulse duty ratio, and recently control the switching of each switch that the inverter that is connected with described attached brushless DC motor of electric vehicle comprises based on determined duty;
-hall signal filtering time based on predetermined is carried out filtering to obtained hall signal, and determines the rotating speed of described attached brushless DC motor of electric vehicle based on filtered hall signal repeatedly, and adjusts the hall signal filtering time according to described rotating speed; And
-current obtained hall signal is carried out to filtering based on the hall signal filtering time, and control the switching of each switch that described inverter comprises based on filtered hall signal, to realize the commutation of described attached brushless DC motor of electric vehicle.
The invention provides a kind of control system of controlling attached brushless DC motor of electric vehicle, it at least comprises:
The duty ratio determination module, determine the pwm pulse duty ratio for the output current of attached brushless DC motor of electric vehicle based on obtained and the gasoline throttle angle of electric motor car, and recently control the switching of each switch that the inverter that is connected with described attached brushless DC motor of electric vehicle comprises based on determined duty;
Filtering time determination module, the hall signal filtering time be used for based on predetermined is carried out filtering to obtained hall signal, and determine the rotating speed of described attached brushless DC motor of electric vehicle based on filtered hall signal repeatedly, and adjust the hall signal filtering time according to described rotating speed; And
The commutation module, for based on the hall signal filtering time, current obtained hall signal being carried out to filtering, and control the switching of each switch that described inverter comprises, to realize the commutation of described attached brushless DC motor of electric vehicle based on filtered hall signal.
As mentioned above, the method and system of control attached brushless DC motor of electric vehicle of the present invention have following beneficial effect: the brushless dc engine efficiency is high; Can realize the requirement of brshless DC motor from zero rotating speed to the full speed stage of maximum speed.The starting of motor heavy load be can guarantee, vehicle uphill starting and grade climbing performance preferably guaranteed.
The accompanying drawing explanation
Fig. 1 is shown as the method flow diagram of control attached brushless DC motor of electric vehicle of the present invention.
Fig. 2 is shown as the control system schematic diagram of control attached brushless DC motor of electric vehicle of the present invention.
The element numbers explanation
1 control system
11 duty ratio determination modules
12 filtering time determination modules
13 commutation modules
2 inverters
Embodiment
Below, by specific instantiation explanation embodiments of the present invention, those skilled in the art can understand other advantages of the present invention and effect easily by the disclosed content of this specification.The present invention can also be implemented or be applied by other different embodiment, and the every details in this specification also can be based on different viewpoints and application, carries out various modifications or change not deviating under spirit of the present invention.
Refer to Fig. 1 to Fig. 2.It should be noted that, the diagram provided in the present embodiment only illustrates basic conception of the present invention in a schematic way, satisfy in graphic and only show with assembly relevant in the present invention but not component count, shape and size drafting while implementing according to reality, during its actual enforcement, kenel, quantity and the ratio of each assembly can be a kind of random change, and its assembly layout kenel also may be more complicated.
As shown in Figure 1, the invention provides a kind of method of controlling attached brushless DC motor of electric vehicle.Wherein, the method according to this invention mainly completes by control system, and this control system includes but not limited to realize the present invention program's such as application module, operating system, processing controller etc.
In step S1, the output current of the attached brushless DC motor of electric vehicle of described control system based on obtained and the gasoline throttle angle of electric motor car are determined the pwm pulse duty ratio, and recently control the switching of each switch that the inverter that is connected with described attached brushless DC motor of electric vehicle comprises based on determined duty.
Wherein, the obtain manner that described control system is obtained the output current of described attached brushless DC motor of electric vehicle includes but not limited to: the sampling resistor in the output loop that is arranged on described attached brushless DC motor of electric vehicle provides; Perhaps by with described attached brushless DC motor of electric vehicle, being connected current sensor, provide etc.
Wherein, the obtain manner that described control system is obtained the gasoline throttle angle of electric motor car includes but not limited to: the angular transducer by the gasoline throttle angle of the described electric motor car of sensing provides etc.
Particularly, described control system is according to output current, the employing Te=K of obtained attached brushless DC motor of electric vehicle
ti determines the torque T e of the current output of described attached brushless DC motor of electric vehicle, and determine the current torque T e'=Temax* α that should export of described attached brushless DC motor of electric vehicle according to obtained gasoline throttle angle, described control system is calculated the duty ratio of pwm pulse again according to the difference of the moment of torsion of the current moment of torsion that should export of described attached brushless DC motor of electric vehicle and current output subsequently, and recently control the switching of each switch of described inverter according to calculated duty, in order to regulate the average voltage of the described attached brushless DC motor of electric vehicle of input, thereby realize the adjusting to described attached brushless DC motor of electric vehicle output torque.Wherein, K
tfor the motor torque coefficient, the phase current of the output of attached brushless DC motor of electric vehicle when i is stable state; The breakdown torque that Temax is motor, α is gasoline throttle angle, its span is [0,1].
Preferably, described control system adopts pi regulator to calculate the duty ratio of pwm pulse according to the difference of the moment of torsion of the current moment of torsion that should export of described attached brushless DC motor of electric vehicle and current output.
In step S2, the hall signal filtering time of described control system based on predetermined is carried out filtering to obtained hall signal, and determine the rotating speed of described attached brushless DC motor of electric vehicle based on filtered hall signal repeatedly, and adjust the hall signal filtering time according to described rotating speed.
Wherein, the obtain manner that described control system is obtained hall signal includes but not limited to: by the Hall element of the rotor-position of the described attached brushless DC motor of electric vehicle of induction, provided etc.
Particularly, because electrical cycle of the every rotation of motor has 6 hall signals, occur, when the motor number of pole-pairs is N, motor often rotates a circle and has N electrical cycle, and the hall signal event of 6N time can occur.The characteristic that can not suddenly change according to the rotating speed of motor, especially big variation can not occur in the time of hall signal in short-term, as the new hall signal cycle can not sport 1/10 of the last hall signal cycle, therefore, if it is too short that described control system detects the new hall signal cycle, think invalid interference signal and by its filtering, and then, the 6N of described control system based on adjacent filtered hall signal determined an electrical cycle required time of motor rotation, and then the rotating speed of definite motor.
In step S3, described control system is carried out filtering based on the hall signal filtering time to current obtained hall signal, and control the switching of each switch that described inverter comprises based on filtered hall signal, to realize the commutation of described attached brushless DC motor of electric vehicle.
For example, if being U, V, the output state of current inverter is conducted, when control system is carried out filtering based on the hall signal filtering time to current obtained hall signal, determine that filtered hall signal is the signal that U, W two are conducted, described control system is controlled each switch that described inverter comprises so that U, W two are conducted.
It should be noted that, it should be appreciated by those skilled in the art that the order of above-mentioned steps S1, S2 and S3 not is limited shown in diagram, in fact, step S1, S2 and S3 can carry out simultaneously, or step S2 carried out etc. before step S1.
As a kind of optimal way, the method according to this invention also comprises that step S4(does not give diagram).
In step S4; when the output current of the attached brushless DC motor of electric vehicle that described control system judgement is obtained surpasses predetermined current threshold; adjust the duty ratio of described pwm pulse; for example; the duty ratio of pwm pulse is adjusted into to 0; so that the duty based on after adjusting is recently controlled each switch of described inverter, with protection inverter and attached brushless DC motor of electric vehicle, avoid damaging.
Wherein, the obtain manner that described control system is obtained the output current of attached brushless DC motor of electric vehicle is described in detail in step S1, at this, is no longer repeated.
As another kind of optimal way, the method according to this invention also comprises that step S5(does not give diagram).
In step S5; when the busbar voltage of the attached brushless DC motor of electric vehicle that described control system judgement is obtained exceeds predetermined voltage range; adjust the duty ratio of described pwm pulse; so that the duty based on after adjusting is recently controlled each switch of described inverter; and then adjust the average voltage of described attached brushless DC motor of electric vehicle, the protection when realizing electric voltage exception.
Wherein, the obtain manner that described control system is obtained the busbar voltage of attached brushless DC motor of electric vehicle includes but not limited to: the sampling resistor in the circuit loop that is arranged on described attached brushless DC motor of electric vehicle provides etc.
As another kind of optimal way, the method according to this invention also comprises that step S6(does not give diagram).
In step S6; when the temperature of the described control system judgement inverter that obtains surpasses predetermined temperature threshold, adjust the duty ratio of described pwm pulse, so that the duty based on after adjusting is recently controlled each switch of described inverter; to reduce the power output of inverter, thereby realize overheat protector.
Wherein, the obtain manner that described control system is obtained the temperature of inverter includes but not limited to: the temperature sensor by the temperature of sensing inverter provides etc.
As shown in Figure 2, the invention provides a kind of control system of controlling attached brushless DC motor of electric vehicle.Wherein, this control system comprises: duty ratio determination module 11, filtering time determination module 12 and commutation module 13.
The output current of the attached brushless DC motor of electric vehicle of described duty ratio determination module 11 based on obtained and the gasoline throttle angle of electric motor car are determined the pwm pulse duty ratio, and recently control the switching of each switch that the inverter 2 that is connected with described attached brushless DC motor of electric vehicle comprises based on determined duty.
Wherein, the obtain manner that described duty ratio determination module 11 obtains the output current of described attached brushless DC motor of electric vehicle includes but not limited to: the sampling resistor in the output loop that is arranged on described attached brushless DC motor of electric vehicle provides; Perhaps by with described attached brushless DC motor of electric vehicle, being connected current sensor, provide etc.
Wherein, the obtain manner that described duty ratio determination module 11 obtains the gasoline throttle angle of electric motor car includes but not limited to: the angular transducer by the gasoline throttle angle of the described electric motor car of sensing provides etc.
Particularly, described duty ratio determination module 11 is according to output current, the employing Te=K of obtained attached brushless DC motor of electric vehicle
ti determines the torque T e of the current output of described attached brushless DC motor of electric vehicle, and determine the current torque T e'=Temax* α that should export of described attached brushless DC motor of electric vehicle according to obtained gasoline throttle angle, described control system is calculated the duty ratio of pwm pulse again according to the difference of the moment of torsion of the current moment of torsion that should export of described attached brushless DC motor of electric vehicle and current output subsequently, and recently control the switching of each switch of described inverter according to calculated duty, in order to regulate the average voltage of the described attached brushless DC motor of electric vehicle of input, thereby realize the adjusting to described attached brushless DC motor of electric vehicle output torque.Wherein, K
tfor the motor torque coefficient, the phase current of the output of attached brushless DC motor of electric vehicle when i is stable state; The breakdown torque that Temax is motor, α is gasoline throttle angle, its span is [0,1].
Preferably, described duty ratio determination module 11 adopts pi regulator to calculate the duty ratio of pwm pulse according to the difference of the moment of torsion of the current moment of torsion that should export of described attached brushless DC motor of electric vehicle and current output.
The described hall signal filtering time of filtering time determination module 12 based on predetermined is carried out filtering to obtained hall signal, and determine the rotating speed of described attached brushless DC motor of electric vehicle based on filtered hall signal repeatedly, and adjust the hall signal filtering time according to described rotating speed.
Wherein, the obtain manner that described filtering time determination module 12 obtains hall signal includes but not limited to: by the Hall element of rotor-position of the described attached brushless DC motor of electric vehicle of induction, provided etc.
Particularly, because electrical cycle of the every rotation of motor has 6 hall signals, occur, when the motor number of pole-pairs is N, motor often rotates a circle and has N electrical cycle, and the hall signal event of 6N time can occur.The characteristic that can not suddenly change according to the rotating speed of motor, especially big variation can not occur in the time of hall signal in short-term, as the new hall signal cycle can not sport 1/10 of the last hall signal cycle, therefore, if it is too short that described filtering time determination module 12 detects the new hall signal cycle, think invalid interference signal and by its filtering, and then, the 6N of described filtering time determination module 12 based on adjacent filtered hall signal determined an electrical cycle required time of motor rotation, and then the rotating speed of definite motor.
Described commutation module 13 is carried out filtering based on the hall signal filtering time to current obtained hall signal, and controls the switching of each switch that described inverter 2 comprises based on filtered hall signal, to realize the commutation of described attached brushless DC motor of electric vehicle.
For example, if being U, V, the output state of current inverter is conducted, when described commutation module 13 is carried out filtering based on the hall signal filtering time to current obtained hall signal, determine that filtered hall signal is the signal that U, W two are conducted, described commutation module 13 is controlled each switch that described inverter comprises so that U, W two are conducted.
It should be noted that, it should be appreciated by those skilled in the art that the performed operation separately of above-mentioned duty ratio determination module 11, filtering time determination module 12 and commutation module 13 there is no sequencing.
As a kind of optimal way, described control system also comprises the first adjusting module (not giving diagram).
When the output current of the attached brushless DC motor of electric vehicle that described the first adjusting module judgement is obtained surpasses predetermined current threshold; adjust the duty ratio of described pwm pulse; for example; the duty ratio of pwm pulse is adjusted into to 0; so that the duty based on after adjusting is recently controlled each switch of described inverter 2; with protection inverter and attached brushless DC motor of electric vehicle, avoid damaging.
Wherein, the obtain manner that described the first adjusting module obtains the output current of attached brushless DC motor of electric vehicle is described in detail in the duty ratio determination module, at this, is no longer repeated.
As another kind of optimal way, described control system also comprises the second adjusting module (not giving diagram).
When the busbar voltage of the attached brushless DC motor of electric vehicle that described the second adjusting module judgement is obtained exceeds predetermined voltage range; adjust the duty ratio of described pwm pulse; so that the duty based on after adjusting is recently controlled each switch of described inverter 2; and then adjust the average voltage of described attached brushless DC motor of electric vehicle, the protection when realizing electric voltage exception.
Wherein, the obtain manner that described the second adjusting module obtains the busbar voltage of attached brushless DC motor of electric vehicle includes but not limited to: the sampling resistor in the circuit loop that is arranged on described attached brushless DC motor of electric vehicle provides etc.
As another kind of optimal way, described control system also comprises the 3rd adjusting module (not giving diagram).
When the temperature of described the 3rd adjusting module judgement inverter that obtains surpasses predetermined temperature threshold; adjust the duty ratio of described pwm pulse; so that the duty based on after adjusting is recently controlled each switch of described inverter, to reduce inverter 2 power outputs, thereby realize overheat protector.
Wherein, the obtain manner that described the 3rd adjusting module obtains the temperature of inverter includes but not limited to: the temperature sensor by the temperature of sensing inverter provides etc.
In sum, the method and system of control attached brushless DC motor of electric vehicle of the present invention, by regulating the duty ratio of pwm pulse signal, are controlled the operation of attached brushless DC motor of electric vehicle, have effectively improved the efficiency of brshless DC motor; In addition, also adopt the filtering mode of filtering hall signal fixed angle, can realize the full speed stage requirement of brshless DC motor from zero rotating speed to maximum speed.The starting of brshless DC motor heavy load be can guarantee, vehicle uphill starting and grade climbing performance preferably guaranteed; Have again, carry out the closed-loop control of brshless DC motor output torque according to the angle of gas pedal, be convenient to be accepted by the user; Also have; real-time sampling by quantity of states such as the busbar voltage to brshless DC motor, output current, temperature; can be as rapid reaction when load changes suddenly; with the safe operation of protection brshless DC motor, also realize the functions such as busbar voltage abnormal protection, overcurrent protection, overheat protector simultaneously.So the present invention has effectively overcome various shortcoming of the prior art and the tool high industrial utilization.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all can, under spirit of the present invention and category, be modified or be changed above-described embodiment.Therefore, such as in affiliated technical field, have and usually know that the knowledgeable, not breaking away from all equivalence modifications that complete under disclosed spirit and technological thought or changing, must be contained by claim of the present invention.
Claims (8)
1. a method of controlling attached brushless DC motor of electric vehicle, is characterized in that, the method for described control attached brushless DC motor of electric vehicle at least comprises step:
The output current of-attached brushless DC motor of electric vehicle based on obtained and the gasoline throttle angle of electric motor car are determined the pwm pulse duty ratio, and recently control the switching of each switch that the inverter that is connected with described attached brushless DC motor of electric vehicle comprises based on determined duty;
-hall signal filtering time based on predetermined is carried out filtering to obtained hall signal, and determines the rotating speed of described attached brushless DC motor of electric vehicle based on filtered hall signal repeatedly, and adjusts the hall signal filtering time according to described rotating speed;
-current obtained hall signal is carried out to filtering based on the hall signal filtering time, and control the switching of each switch that described inverter comprises based on filtered hall signal, to realize the commutation of described attached brushless DC motor of electric vehicle.
2. the method for control attached brushless DC motor of electric vehicle according to claim 1 characterized by further comprising step:
-when the output current of obtained attached brushless DC motor of electric vehicle surpasses predetermined current threshold, adjust the duty ratio of described pwm pulse.
3. the method for control attached brushless DC motor of electric vehicle according to claim 1 characterized by further comprising step:
-when the busbar voltage of obtained attached brushless DC motor of electric vehicle exceeds predetermined voltage range, adjust the duty ratio of described pwm pulse.
4. the method for control attached brushless DC motor of electric vehicle according to claim 1 characterized by further comprising step:
-when the temperature of obtained inverter surpasses predetermined temperature threshold, adjust the duty ratio of described pwm pulse.
5. a control system of controlling attached brushless DC motor of electric vehicle, is characterized in that, the control system of described control attached brushless DC motor of electric vehicle at least comprises:
The duty ratio determination module, determine the pwm pulse duty ratio for the output current of attached brushless DC motor of electric vehicle based on obtained and the gasoline throttle angle of electric motor car, and recently control the switching of each switch that the inverter that is connected with described attached brushless DC motor of electric vehicle comprises based on determined duty;
Filtering time determination module, the hall signal filtering time be used for based on predetermined is carried out filtering to obtained hall signal, and determine the rotating speed of described attached brushless DC motor of electric vehicle based on filtered hall signal repeatedly, and adjust the hall signal filtering time according to described rotating speed;
The commutation module, for based on the hall signal filtering time, current obtained hall signal being carried out to filtering, and control the switching of each switch that described inverter comprises, to realize the commutation of described attached brushless DC motor of electric vehicle based on filtered hall signal.
6. the control system of control attached brushless DC motor of electric vehicle according to claim 5 characterized by further comprising:
The first adjusting module, while for the output current of working as obtained attached brushless DC motor of electric vehicle, surpassing predetermined current threshold, adjust the duty ratio of described pwm pulse.
7. the control system of control attached brushless DC motor of electric vehicle according to claim 5 characterized by further comprising:
The second adjusting module, while for the busbar voltage of working as obtained attached brushless DC motor of electric vehicle, exceeding predetermined voltage range, adjust the duty ratio of described pwm pulse.
8. the control system of control attached brushless DC motor of electric vehicle according to claim 5 characterized by further comprising:
The 3rd adjusting module, while for the temperature of working as obtained inverter, surpassing predetermined temperature threshold, adjust the duty ratio of described pwm pulse.
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| CN201210193184.9A CN103490681B (en) | 2012-06-12 | 2012-06-12 | Control the method and system of attached brushless DC motor of electric vehicle |
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| CN201210193184.9A CN103490681B (en) | 2012-06-12 | 2012-06-12 | Control the method and system of attached brushless DC motor of electric vehicle |
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| CN110959255A (en) * | 2017-08-22 | 2020-04-03 | 罗伯特·博世有限公司 | Method for operating an electronically commutated electric motor |
| CN111446903A (en) * | 2020-03-31 | 2020-07-24 | 邯郸美的制冷设备有限公司 | Power supply method and device for power module, power module and electronic equipment |
| CN112549986A (en) * | 2020-11-23 | 2021-03-26 | 江苏科技大学 | Electric vehicle starting control method |
| CN114251024A (en) * | 2021-12-21 | 2022-03-29 | 恩坦华汽车零部件（镇江）有限公司 | PWM control-introduced self-closing automobile back door lock |
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| Publication number | Publication date |
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| CN103490681B (en) | 2016-08-03 |
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