CN103490681B - Control the method and system of attached brushless DC motor of electric vehicle - Google Patents
Control the method and system of attached brushless DC motor of electric vehicle Download PDFInfo
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- CN103490681B CN103490681B CN201210193184.9A CN201210193184A CN103490681B CN 103490681 B CN103490681 B CN 103490681B CN 201210193184 A CN201210193184 A CN 201210193184A CN 103490681 B CN103490681 B CN 103490681B
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Abstract
The present invention provides a kind of method and system controlling attached brushless DC motor of electric vehicle.The method according to the invention, comprise the following steps: output electric current based on acquired attached brushless DC motor of electric vehicle and the gasoline throttle angle of electric motor car determine pwm pulse dutycycle, and based on determined by the opening and closing respectively switched that comprises of the dutycycle inverter that controls to be connected with attached brushless DC motor of electric vehicle；Based on predetermined hall signal filtering time, acquired hall signal is filtered, and determines the rotating speed of attached brushless DC motor of electric vehicle based on the most filtered hall signal, and adjust hall signal filtering time according to rotating speed；The opening and closing of each switch that inverter comprises is controlled, to realize the commutation of attached brushless DC motor of electric vehicle based on the hall signal after current filter.The invention have the advantages that electric efficiency is high, motor can be realized from zero-turn speed to the requirement of the full speed stage of maximum speed, can guarantee that the preferable uphill starting of vehicle and grade climbing performance.
Description
Technical field
The present invention relates to attached brushless DC motor of electric vehicle field, particularly relate to a kind of method and system controlling attached brushless DC motor of electric vehicle.
Background technology
Electric automobile is using vehicle power as power, therefore it is little on the relatively conventional automobile of impact of environment, and prospect is extensively had an optimistic view of.The composition of electric automobile includes: driven by power and the mechanical system such as control system, driving force transmission, complete the equipment etc. of assigned tasks.Wherein, driven by power and control system are the cores of electric automobile, are also the maximum differences being different from internal-combustion engines vehicle.Driven by power and control system are by driving motor and controlling to drive the controller etc. of motor to form.Following feature should be possessed: specific power density height, specific torque density height, efficiency height, good reliability, be easily maintained, there is good speed adjusting performance and in the presence of a harsh environment can be properly functioning etc. as the driving motor of electric automobile core technology, and brshless DC motor just meets those requirements, it is not only simple in structure, easy to control, and cost is relatively low, so being increasingly becoming the first-selected motor of driving motor of electric vehicle.
Early stage electric vehicle is mainly used in specific place car, operating mode is simple, and environmental disturbances is less, or disturbance type is single, relatively low to the performance requirement of motor and electric machine controller, therefore the controller controlling the brshless DC motor of electric vehicle controls the operation of motor typically by regulation busbar voltage.Along with the reinforcement of people's environmental consciousness, the cry of electric vehicle universalness is more and more higher, and the electric vehicle of low-power machine has been difficult to meet demand；Additionally, existing employing hardware circuit or the hall signal filtering mode of fixing filtering time, the heavy-duty motor requirement by low speed to the most full speed stage of electric vehicle also cannot be met.
Therefore, the high-power brushless direct current generator of electric vehicle is the most effectively controlled, it has also become the technical task that those skilled in the art are urgently to be resolved hurrily.
Summary of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of method and system controlling attached brushless DC motor of electric vehicle, to improve brushless dc engine efficiency, it is ensured that the preferable uphill starting of vehicle and grade climbing performance.
For achieving the above object and other relevant purposes, the present invention provides a kind of method controlling attached brushless DC motor of electric vehicle, and it at least includes step:
-output electric current based on acquired attached brushless DC motor of electric vehicle and the gasoline throttle angle of electric motor car determine pwm pulse dutycycle, and based on determined by the opening and closing of each switch that comprises of the dutycycle inverter that controls to be connected with described attached brushless DC motor of electric vehicle；
-based on predetermined hall signal filtering time, acquired hall signal is filtered, and the rotating speed of described attached brushless DC motor of electric vehicle is determined based on the most filtered hall signal, and adjust hall signal filtering time according to described rotating speed；And
-based on hall signal filtering time, current acquired hall signal is filtered, and control the opening and closing 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 present invention provides a kind of control system controlling attached brushless DC motor of electric vehicle, and it at least includes:
Duty cycle determination module, determine pwm pulse dutycycle for output electric current based on acquired attached brushless DC motor of electric vehicle and the gasoline throttle angle of electric motor car, and based on determined by the opening and closing of each switch that comprises of the dutycycle inverter that controls to be connected with described attached brushless DC motor of electric vehicle；
Filtering time determines module, for acquired hall signal being filtered based on predetermined hall signal filtering time, and determine the rotating speed of described attached brushless DC motor of electric vehicle based on the most filtered hall signal, and adjust hall signal filtering time according to described rotating speed；And
Commutation module, for being filtered current acquired hall signal based on hall signal filtering time, and controls, based on filtered hall signal, each opening and closing switched that described inverter comprises, to realize the commutation of described attached brushless DC motor of electric vehicle.
As it has been described above, the method and system controlling attached brushless DC motor of electric vehicle of the present invention, have the advantages that brushless dc engine efficiency is high；The brshless DC motor requirement from zero-turn speed to the full speed stage of maximum speed can be realized.Can ensure that motor heavy load starts to walk, it is ensured that the preferable uphill starting of vehicle and grade climbing performance.
Accompanying drawing explanation
Fig. 1 is shown as the method flow diagram controlling attached brushless DC motor of electric vehicle of the present invention.
Fig. 2 is shown as the control system schematic diagram controlling attached brushless DC motor of electric vehicle of the present invention.
Element numbers explanation
1 control system
11 duty cycle determination module
12 filtering time determine module
13 commutation modules
2 inverters
Detailed description of the invention
Below by way of specific instantiation, embodiments of the present invention being described, those skilled in the art can be understood other advantages and effect of the present invention easily by the content disclosed by this specification.The present invention can also be carried out by the most different detailed description of the invention or apply, and the every details in this specification can also carry out various modification or change based on different viewpoints and application under the spirit without departing from the present invention.
Refer to Fig. 1 to Fig. 2.It should be noted that, diagram provided in the present embodiment illustrates the basic conception of the present invention the most in a schematic way, component count, shape and size when only showing the assembly relevant with the present invention rather than implement according to reality in the most graphic are drawn, during its actual enforcement, the kenel of each assembly, quantity and ratio can be a kind of random change, and its assembly layout kenel is likely to increasingly complex.
As it is shown in figure 1, the present invention provides a kind of method controlling attached brushless DC motor of electric vehicle.Wherein, the method according to the invention is mainly completed by control system, and this control system includes but not limited to be capable of the such as application module, operating system, processing controller etc. of the present invention program.
In step sl, described control system output based on acquired attached brushless DC motor of electric vehicle electric current and the gasoline throttle angle of electric motor car determine pwm pulse dutycycle, and based on determined by the opening and closing of each switch that comprises of the dutycycle inverter that controls to be connected with described attached brushless DC motor of electric vehicle.
Wherein, the acquisition mode of the output electric current that described control system obtains described attached brushless DC motor of electric vehicle includes but not limited to: provided by the sampling resistor in the output loop being arranged on described attached brushless DC motor of electric vehicle；Or it is connected current sensor offer etc. by with described attached brushless DC motor of electric vehicle.
Wherein, the acquisition mode of the gasoline throttle angle that described control system obtains electric motor car includes but not limited to: by the angular transducer offer etc. of the gasoline throttle angle sensing described electric motor car.
Specifically, described control system according to the output electric current of acquired attached brushless DC motor of electric vehicle, use Te=KTI determines torque T e that described attached brushless DC motor of electric vehicle currently exports, and determine, according to acquired gasoline throttle angle, the torque T e'=Temax* α that described attached brushless DC motor of electric vehicle currently should export, the difference of the moment of torsion of the moment of torsion that the most described control system currently should export further according to described attached brushless DC motor of electric vehicle and current output is to calculate the dutycycle of pwm pulse, and the opening and closing of each switch of described inverter is controlled according to the dutycycle calculated, so that regulation inputs the average voltage of described attached brushless DC motor of electric vehicle, thus realize the regulation to described attached brushless DC motor of electric vehicle output moment of torsion.Wherein, KTFor motor torque coefficient, the phase current of the output of attached brushless DC motor of electric vehicle when i is stable state；Temax is the torque capacity of motor, and α is gasoline throttle angle, and its span is [0,1].
Preferably, described control system uses the difference of the moment of torsion that currently should export according to described attached brushless DC motor of electric vehicle of pi regulator and the moment of torsion of current output to calculate the dutycycle of pwm pulse.
In step s 2, acquired hall signal is filtered by described control system based on predetermined hall signal filtering time, and determine the rotating speed of described attached brushless DC motor of electric vehicle based on the most filtered hall signal, and adjust hall signal filtering time according to described rotating speed.
Wherein, the acquisition mode of described control system acquisition hall signal includes but not limited to: provided by the Hall element of the rotor-position sensing described attached brushless DC motor of electric vehicle.
Specifically, often rotating an electrical cycle due to motor and have 6 hall signals generations, when motor number of pole-pairs is N, then motor often rotates a circle and has N number of electrical cycle, it may occur that the hall signal event of 6N time.The characteristic that rotating speed according to motor can not suddenly change, then the time of hall signal will not occur especially big change in short-term, as the new hall signal cycle can not sport the 1/10 of previous hall signal cycle, therefore, if described control system detects that the new hall signal cycle is too short, then it is assumed that be invalid interference signal and filtered, and then, based on adjacent 6N filtered hall signal, described control system determines that motor rotates an electrical cycle required time, and then determine the rotating speed of motor.
In step s3, current acquired hall signal is filtered by described control system based on hall signal filtering time, and control, based on filtered hall signal, each opening and closing switched that described inverter comprises, to realize the commutation of described attached brushless DC motor of electric vehicle.
Such as, if the output state of current inverter is that U, V are conducted, when current acquired hall signal is filtered by control system based on hall signal filtering time, determining that filtered hall signal is the signal making U, W two be conducted, what the most described control system described inverter of control comprised respectively switchs so that U, W two is conducted.
It should be noted that it should be appreciated by those skilled in the art that above-mentioned steps S1, the order of S2 and S3 is not limited with diagrammatically shown, it is true that step S1, S2 and S3 can be carried out simultaneously, or step S2 was carried out etc. before step S1.
As a kind of optimal way, the method according to the invention also includes that step S4(is unillustrated).
In step s 4; when the output electric current of the attached brushless DC motor of electric vehicle acquired in the judgement of described control system exceedes predetermined current threshold; then adjust the dutycycle of described pwm pulse; such as; the dutycycle of pwm pulse is adjusted to 0; to control each switch of described inverter based on the dutycycle after adjusting, to protect inverter and attached brushless DC motor of electric vehicle, it is to avoid damage.
Wherein, the acquisition mode of the output electric current that described control system obtains attached brushless DC motor of electric vehicle is described in detail the most in step sl, is no longer repeated at this.
As another kind of optimal way, the method according to the invention also includes that step S5(is unillustrated).
In step s 5; when the busbar voltage of the attached brushless DC motor of electric vehicle acquired in the judgement of described control system is beyond predetermined voltage range; adjust the dutycycle of described pwm pulse; to control each switch of described inverter based on the dutycycle after adjusting; and then adjust the average voltage of described attached brushless DC motor of electric vehicle, to realize protection during electric voltage exception.
Wherein, the acquisition mode of the busbar voltage that described control system obtains attached brushless DC motor of electric vehicle includes but not limited to: provided etc. by the sampling resistor in the circuit loop being arranged on described attached brushless DC motor of electric vehicle.
As another kind of optimal way, the method according to the invention also includes that step S6(is unillustrated).
In step s 6; described control system judges, when the temperature of acquired inverter exceedes predetermined temperature threshold, to adjust the dutycycle of described pwm pulse, in order to control each switch of described inverter based on the dutycycle after adjusting; to reduce the output of inverter, thus realize overheat protector.
Wherein, the acquisition mode of the temperature that described control system obtains inverter includes but not limited to: by temperature sensor offer of temperature of sensing inverter etc..
As in figure 2 it is shown, the present invention provides a kind of control system controlling attached brushless DC motor of electric vehicle.Wherein, this control system includes: duty cycle determination module 11, filtering time determine module 12 and commutation module 13.
Described duty cycle determination module 11 output based on acquired attached brushless DC motor of electric vehicle electric current and the gasoline throttle angle of electric motor car determine pwm pulse dutycycle, and based on determined by the opening and closing of each switch that comprises of the dutycycle inverter 2 that controls to be connected with described attached brushless DC motor of electric vehicle.
Wherein, the acquisition mode of the output electric current that described duty cycle determination module 11 obtains described attached brushless DC motor of electric vehicle includes but not limited to: provided by the sampling resistor in the output loop being arranged on described attached brushless DC motor of electric vehicle；Or it is connected current sensor offer etc. by with described attached brushless DC motor of electric vehicle.
Wherein, the acquisition mode of the gasoline throttle angle that described duty cycle determination module 11 obtains electric motor car includes but not limited to: by the angular transducer offer etc. of the gasoline throttle angle sensing described electric motor car.
Specifically, described duty cycle determination module 11 according to the output electric current of acquired attached brushless DC motor of electric vehicle, use Te=KTI determines torque T e that described attached brushless DC motor of electric vehicle currently exports, and determine, according to acquired gasoline throttle angle, the torque T e'=Temax* α that described attached brushless DC motor of electric vehicle currently should export, the difference of the moment of torsion of the moment of torsion that the most described control system currently should export further according to described attached brushless DC motor of electric vehicle and current output is to calculate the dutycycle of pwm pulse, and the opening and closing of each switch of described inverter is controlled according to the dutycycle calculated, so that regulation inputs the average voltage of described attached brushless DC motor of electric vehicle, thus realize the regulation to described attached brushless DC motor of electric vehicle output moment of torsion.Wherein, KTFor motor torque coefficient, the phase current of the output of attached brushless DC motor of electric vehicle when i is stable state；Temax is the torque capacity of motor, and α is gasoline throttle angle, and its span is [0,1].
Preferably, described duty cycle determination module 11 uses the difference of moment of torsion that pi regulator currently should export according to described attached brushless DC motor of electric vehicle and the moment of torsion of current output to calculate the dutycycle of pwm pulse.
Described filtering time determines that acquired hall signal is filtered by module 12 based on predetermined hall signal filtering time, and determine the rotating speed of described attached brushless DC motor of electric vehicle based on the most filtered hall signal, and adjust hall signal filtering time according to described rotating speed.
Wherein, described filtering time determines that module 12 obtains the acquisition mode of hall signal and includes but not limited to: provided by the Hall element of the rotor-position sensing described attached brushless DC motor of electric vehicle.
Specifically, often rotating an electrical cycle due to motor and have 6 hall signals generations, when motor number of pole-pairs is N, then motor often rotates a circle and has N number of electrical cycle, it may occur that the hall signal event of 6N time.The characteristic that rotating speed according to motor can not suddenly change, then the time of hall signal will not occur especially big change in short-term, as the new hall signal cycle can not sport the 1/10 of previous hall signal cycle, therefore, if described filtering time determines that module 12 detects that the new hall signal cycle is too short, then it is considered invalid interference signal and is filtered, and then, described filtering time determines based on adjacent 6N filtered hall signal, module 12 determines that motor rotates an electrical cycle required time, and then determines the rotating speed of motor.
Current acquired hall signal is filtered by described commutation module 13 based on hall signal filtering time, and controls the opening and closing 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.
Such as, if the output state of current inverter is that U, V are conducted, when current acquired hall signal is filtered by described commutation module 13 based on hall signal filtering time, determining that filtered hall signal is the signal making U, W two be conducted, what the most described commutation module 13 controlled that described inverter comprises respectively switchs so that U, W two is conducted.
It should be noted that it should be appreciated by those skilled in the art that above-mentioned duty cycle determination module 11, filtering time determine that the most performed operation of module 12 and commutation module 13 there is no sequencing.
As a kind of optimal way, described control system also includes the first adjusting module (being unillustrated).
When the output electric current of the attached brushless DC motor of electric vehicle acquired in described first adjusting module judgement exceedes predetermined current threshold; then adjust the dutycycle of described pwm pulse; such as; the dutycycle of pwm pulse is adjusted to 0; to control each switch of described inverter 2 based on the dutycycle after adjusting; with protection inverter and attached brushless DC motor of electric vehicle, it is to avoid damage.
Wherein, the acquisition mode of the output electric current that described first adjusting module obtains attached brushless DC motor of electric vehicle is described in detail in duty cycle determination module, is no longer repeated at this.
As another kind of optimal way, described control system also includes the second adjusting module (being unillustrated).
When the busbar voltage of the attached brushless DC motor of electric vehicle acquired in described second adjusting module judgement is beyond predetermined voltage range; adjust the dutycycle of described pwm pulse; to control each switch of described inverter 2 based on the dutycycle after adjusting; and then adjust the average voltage of described attached brushless DC motor of electric vehicle, to realize protection during electric voltage exception.
Wherein, the acquisition mode of the busbar voltage that described second adjusting module obtains attached brushless DC motor of electric vehicle includes but not limited to: provided etc. by the sampling resistor in the circuit loop being arranged on described attached brushless DC motor of electric vehicle.
As another kind of optimal way, described control system also includes the 3rd adjusting module (being unillustrated).
Described 3rd adjusting module judges when the temperature of acquired inverter exceedes predetermined temperature threshold; adjust the dutycycle of described pwm pulse; to control each switch of described inverter based on the dutycycle after adjusting, to reduce inverter 2 output, thus realize overheat protector.
Wherein, the acquisition mode of the temperature that described 3rd adjusting module obtains inverter includes but not limited to: by temperature sensor offer of temperature of sensing inverter etc..
In sum, the method and system controlling attached brushless DC motor of electric vehicle of the present invention, by regulating the dutycycle of pwm pulse signal, control the operation of attached brushless DC motor of electric vehicle, are effectively increased the efficiency of brshless DC motor；Additionally, additionally use the filtering mode filtering hall signal fixed angle, the brshless DC motor full speed stage requirement from zero-turn speed to maximum speed can be realized.Can ensure that brshless DC motor heavy load starts to walk, it is ensured that the preferable uphill starting of vehicle and grade climbing performance；Further, carry out the closed loop control of brshless DC motor output moment of torsion according to the angle of gas pedal, it is simple to accepted by user；Also have; by to the busbar voltage of brshless DC motor, the real-time sampling of the output quantity of state such as electric current, temperature; can be when load change suddenly as reaction rapidly; to protect the safe operation of brshless DC motor, also realize the functions such as busbar voltage abnormal protection, overcurrent protection, overheat protector simultaneously.So, the present invention effectively overcomes various shortcoming of the prior art and has high industrial utilization.
The principle of above-described embodiment only illustrative present invention and effect thereof, not for limiting the present invention.Above-described embodiment all can be modified under the spirit and the scope of the present invention or change by any person skilled in the art.Therefore, art has all equivalence modification or changes that usually intellectual is completed under without departing from disclosed spirit and technological thought such as, must be contained by the claim of the present invention.
Claims (8)
1. the method controlling attached brushless DC motor of electric vehicle, it is characterised in that the method for described control attached brushless DC motor of electric vehicle at least includes step:
-output electric current based on acquired attached brushless DC motor of electric vehicle and the gasoline throttle angle of electric motor car determine pwm pulse dutycycle, and based on determined by the opening and closing of each switch that comprises of the dutycycle inverter that controls to be connected with described attached brushless DC motor of electric vehicle；
-based on predetermined hall signal filtering time, acquired hall signal is filtered, and the rotating speed of described attached brushless DC motor of electric vehicle is determined based on the most filtered hall signal, and adjust hall signal filtering time according to described rotating speed；
-based on hall signal filtering time, current acquired hall signal is filtered, and control the opening and closing 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 method of control attached brushless DC motor of electric vehicle the most according to claim 1, it is characterised in that further comprise the steps of:
-when the output electric current of acquired attached brushless DC motor of electric vehicle exceedes predetermined current threshold, adjust the dutycycle of described pwm pulse.
The method of control attached brushless DC motor of electric vehicle the most according to claim 1, it is characterised in that further comprise the steps of:
-when the busbar voltage of acquired attached brushless DC motor of electric vehicle is beyond predetermined voltage range, adjust the dutycycle of described pwm pulse.
The method of control attached brushless DC motor of electric vehicle the most according to claim 1, it is characterised in that further comprise the steps of:
-when the temperature of acquired inverter exceedes predetermined temperature threshold, adjust the dutycycle of described pwm pulse.
5. the control system controlling attached brushless DC motor of electric vehicle, it is characterised in that the control system of described control attached brushless DC motor of electric vehicle at least includes:
Duty cycle determination module, determine pwm pulse dutycycle for output electric current based on acquired attached brushless DC motor of electric vehicle and the gasoline throttle angle of electric motor car, and based on determined by the opening and closing of each switch that comprises of the dutycycle inverter that controls to be connected with described attached brushless DC motor of electric vehicle；
Filtering time determines module, for acquired hall signal being filtered based on predetermined hall signal filtering time, and determine the rotating speed of described attached brushless DC motor of electric vehicle based on the most filtered hall signal, and adjust hall signal filtering time according to described rotating speed；
Commutation module, for being filtered current acquired hall signal based on hall signal filtering time, and controls, based on filtered hall signal, each opening and closing switched that described inverter comprises, to realize the commutation of described attached brushless DC motor of electric vehicle.
The control system of control attached brushless DC motor of electric vehicle the most according to claim 5, it is characterised in that also include:
First adjusting module, for when the output electric current of acquired attached brushless DC motor of electric vehicle exceedes predetermined current threshold, adjusts the dutycycle of described pwm pulse.
The control system of control attached brushless DC motor of electric vehicle the most according to claim 5, it is characterised in that also include:
Second adjusting module, for when the busbar voltage of acquired attached brushless DC motor of electric vehicle is beyond predetermined voltage range, adjusting the dutycycle of described pwm pulse.
The control system of control attached brushless DC motor of electric vehicle the most according to claim 5, it is characterised in that also include:
3rd adjusting module, for when the temperature of acquired inverter exceedes predetermined temperature threshold, adjusts the dutycycle of described pwm pulse.
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| DE102017214637A1 (en) * | 2017-08-22 | 2019-02-28 | Robert Bosch Gmbh | Method for operating an electronically commutated electric motor |
| CN107508515B (en) * | 2017-09-11 | 2023-10-20 | 珠海格力节能环保制冷技术研究中心有限公司 | Security control method and device for permanent magnet synchronous motor |
| CN111446903B (en) * | 2020-03-31 | 2022-04-12 | 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 |
| CN112549986B (en) * | 2020-11-23 | 2022-10-28 | 湖南小黄鸭科技有限公司 | Electric vehicle starting control method |
| CN114251024B (en) * | 2021-12-21 | 2023-03-03 | 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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| CN1298985C (en) * | 2004-03-19 | 2007-02-07 | 湖南大学 | Smart controller of electronic air throttle |
| JP4648054B2 (en) * | 2005-03-31 | 2011-03-09 | 日立オートモティブシステムズ株式会社 | Hybrid vehicle, control device for electric drive device and electric drive device |
| CN101729009B (en) * | 2008-10-21 | 2013-01-16 | 深圳万讯自控股份有限公司 | Control system of direct current motor |
| CN101767542B (en) * | 2008-12-26 | 2013-01-02 | 常州黄海麦科卡电动汽车有限公司 | Intelligent drive platform for four wheels of electric automobile |
| JP2011130611A (en) * | 2009-12-18 | 2011-06-30 | Univ Of Tsukuba | Drive control apparatus for brushless dc motor |
| CN201956950U (en) * | 2010-10-20 | 2011-08-31 | 夷中机科技（北京）有限公司 | Controller for dual-DC brushless motor of banknote counting instrument |
| CN102054379B (en) * | 2010-12-31 | 2013-07-03 | 福建交通职业技术学院 | Environment-friendly motor-driven coach car for driving schools |
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