CN103684133B - 电机位置信号同步操作 - Google Patents
电机位置信号同步操作 Download PDFInfo
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
- H02P2209/13—Different type of waveforms depending on the mode of operation
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Abstract
本发明提供了一种电机位置信号同步操作。一种车辆电子子系统中的嵌入式控制器包括用于与电机通信的信号处理电路。信号处理电路可被配置成从电机接收输入信号并向所述嵌入式控制器提供数字输出信号。所述数字输出信号可包括霍尔位置信号和转子位置信号。一旦嵌入在所述嵌入式控制器内的处理器处理所述数字输出信号,处理器便可向电机发布控制命令。处理器可具有存储器,所述存储器包含软件,以使处理器根据扭矩命令执行电机控制命令的计算。
Description
技术领域
本公开涉及电机的控制。
背景技术
因为永磁同步电动机(PMSM)相对于其他类型的电动机而言通常具有良好的效率特性,所以PMSM被用于各种应用。通常,PMSM具有位于定子内的三个独立的电绕组,这三个电绕组由交流(AC)电压源供电。电动机的轴扭矩和功率转换效率取决于AC电压的幅度和相位角两者。
在诸如电动车辆和混合动力电动车辆的某些应用中,可从诸如电池的直流(DC)电压源获得电能。因此,利用逆变器将DC电压转换成三相AC电压。逆变器包含离散数量的开关装置,因此在三个电动机端子的每个端子处仅能够供应离散数量的电压电平。对于两电平逆变器来说,开关装置在任何时候都被设定成将三个AC端子中的每个AC端子电连接到正DC端子或负DC端子。因此,可获得八个开关状态。这些开关状态中的两个开关状态被称为零状态,在这两个零开关状态下,三个AC端子均连接到同一DC端子。在其余的六个状态下,一个AC端子连接到其中一个DC总线端子,其余的两个AC端子连接到相反的DC总线端子。
在一种被称为六步法的基本的控制方法中,每经历一个转子电周期,逆变器就循环通过六个非零状态,从而在绕组中产生AC电压和电流。转子电周期是相对于电动机的极而被限定的,其不一定对应于周转。AC电压的幅值由DC电压控制。扭矩由DC电压、转子速度以及这些准正弦AC电压信号与转子位置之间的相位差控制。控制器将指示何时切换到序列中的下一个状态的命令(被称为门控制命令)发布到逆变器。精确的扭矩控制需要对逆变器的这些门控制命令准确地定时。
发明内容
一种车辆包括电机和向逆变器输出门控制信号的至少一个控制器。所述至少一个控制器可基于来自电机的霍尔位置信息和转子位置信息命令门控制信号。基于霍尔位置和转子位置,逆变器向电机输出电压,所述电压的相位与扭矩命令一致。
一种车辆电子子系统中的嵌入式控制器包括用于与电机通信的信号处理电路。信号处理电路可从电机接收分解器-数字输入信号并向所述嵌入式控制器提供数字输出信号。所述数字输出信号可包括霍尔位置信号和转子位置信号。一旦所述嵌入式控制器内的处理器处理所述数字输出信号,处理器便可向电机发布控制命令。处理器可具有存储器,所述存储器包含软件,以使处理器根据扭矩命令执行电机控制命令的计算。
一种方法用于通过响应于被传送至处理器的分解器-数字模块输入信号来控制电机。处理器可基于由分解器-数字模块传送的霍尔位置信息和转子位置信息来发布门控制命令。一旦处理器发布门控制命令,逆变器便向电机输出电压,所述电压的相位与扭矩命令一致。
一种用于控制电机的方法包括:响应于被传送至处理器的分解器-数字输入信号,基于电机的霍尔位置信息和转子位置信息发布门控制命令,使得逆变器向电机输出电压,所述电压的相位与针对于电机的扭矩命令一致。
在转子的每个电循环内,所述命令同步六次。
霍尔位置信息源自U、V和W信号。
转子位置信息源自A、B和Z信号。
附图说明
图1是示例性混合动力电动车辆的动力传动系的示意性图表;
图2是示例性混合动力电动车辆的动力传动系中的示意性控制器;
图3是用于永磁同步电动机的控制算法的流程图;
图4是用于确定转子位置的霍尔效应信号与转子位置信号结合的图形表示;
图5是用于计算电压角的算法的示例;
图6示出了电压向量部分,所述电压向量部分示出了六个同步位置,以识别转子位置。
具体实施方式
在此描述本公开的实施例。然而,应该理解,公开的实施例仅仅是示例,其他实施例可采用各种和可选的形式。附图不一定按照比例绘制;可夸大或最小化一些特征以示出特定部件的细节。因此,在此公开的具体结构和功能性细节不应该被解释为限制,而仅仅作为用于教导本领域的技术人员以各种方式使用本发明的代表性基础。如本领域的普通技术人员将理解的,参照任一幅图示出和描述的各个特征可与在一幅或多幅其他附图中示出的特征相结合,以产生未明确示出或描述的实施例。示出的特征的组合为典型应用提供代表性实施例。然而,可期望与本公开的教导一致的特征的各种组合和变型用于特定应用或实施方式。
在图1中示出了示例性混合动力电动车辆的动力传动系的示意图。然而,要求保护的发明不限于该动力传动系拓扑结构。内燃发动机120驱动行星齿轮组124的行星架122。通过行星齿轮组124在太阳齿轮126和齿圈齿轮128之间分配发动机扭矩。齿圈齿轮128的扭矩机械地传递到输出轴130。太阳齿轮126的扭矩被发电机132吸收。电动机134可驱动地连接到输出轴130。通过该描述,术语“发电机”和“电动机”仅用作识别这些部件的标签。发电机132和电动机134均是可逆电机,能够将机械轴动力转换成电动力以及将电动力转换成机械轴动力。为了方便起见,将针对电动机134描述控制方法,但是该控制方法也应用于发电机132。
驱动轴可驱动地连接到差速器,差速器在左车轮140和右车轮140之间分配动力,同时允许车轮速度稍微不同。电功率连接由具有长划线的虚线示出。发电机132通过三相功率电路由逆变器142电驱动,电动机134通过三相功率电路由逆变器144电驱动。逆变器142和144从DC电总线148获取电能或者将电能供应到DC电总线148。电能储存在电池146中。DC至DC转换器147将电池146的电压电平转换成DC电总线148的电压电平。DC电总线148的电压可以高于或低于电池的电压。控制信号连接由具有短划线的虚线示出。控制器150将指定DC电总线148的期望电压的控制信号发布到DC至DC转换器147。控制器150还将控制命令发布到发动机120、逆变器142和144,以分别调节由发动机120、发电机132和电动机134产生的扭矩。分解器152和154分别感测发电机的轴位置和电动机的轴位置,并将模拟信号发送至控制器150。如果由电动机134实际传递的扭矩明显不同于请求的扭矩,则车辆的加速度将与驾驶员的期望不匹配。如果由发电机132实际传递的扭矩明显不同于请求的扭矩,则发动机速度将偏离期望的行为。
在图2中更加详细地示意性地示出了控制器150。车辆系统控制器202接收指示车辆速度、加速踏板位置、制动踏板位置、电机转子位置和各种其他车辆数据的信号。基于该数据,车辆系统控制器202确定目标DC总线电压和目标输出轴扭矩,并将扭矩请求Treq_eng发布到发动机控制器204,将扭矩请求Treq_gen发布到发电机控制器206,以及将扭矩请求Treq_mot发布到电动机控制器208。发电机控制器206的输出是被输入至逆变器142的门控制命令,电动机控制器208的输出是被输入至逆变器144的门控制命令。分解器152可通过传送模拟信号与分解器-数字转换器212就发电机转子位置(ΘRgen)进行通信,分解器154可通过传送模拟信号与分解器-数字转换器214就电动机转子位置(ΘRmot)进行通信。分解器-数字转换器212将这些模拟信号转换成数字输出信号A、B、Z、U、V和W,并将所述数字输出信号A、B、Z、U、V和W输入至控制器206,分解器-数字转换器214将这些模拟信号转换成数字输出信号A、B、Z、U、V和W,并将所述数字输出信号A、B、Z、U、V和W输入至控制器208。控制器206和208接收指示DC电总线148的电压(标记为Vdc)和每个绕组中的电流(标记为Ia、Ib和Ic)的其他输入信号。可变电压控制器210将命令发布到DC至DC转换器147,以实现目标总线电压。控制器202、204、206、208和210可被实施为单个微控制器或者彼此通信的多个控制器。分解器-数字转换器模块可嵌入在任何电机控制器上,这些电机控制器包括但不限于用于混合动力车辆的车辆电子嵌入式控制器。
发电机132和电动机134中的一者或者两者可以是永磁同步电动机(PMSM)。对于PMSM,绕组电压Va、Vb和Vc均以与转子速度成比例的频率振荡并且在相位上彼此相隔120度。类似地,所产生的绕组电流Ia、Ib和Ic均以与转子速度成比例的频率振荡并且在相位上彼此相隔120度。这些绕组电流在电动机中感应出可能与转子不同相的旋转磁场。所产生的轴扭矩取决于磁场的强度和相对于转子的相位角两者。
图3示出了可由控制器206和208以规则的时间间隔执行的计算。在302处,控制器通过将转子速度除以总线电压来计算归一化的速度ωNorm。在304处,控制器在必要时调节来自车辆系统控制器的扭矩请求Treq,以确保对于当前的转子速度和总线电压来说,请求的扭矩在电动机操作区域内。在306处,控制器基于调节后的扭矩请求和归一化的速度在PWM控制法和六步控制法之间进行选择。如果选择六步模式,则在308处控制器基于六步法计算逆变器命令。如果选择PWM模式,则在310处控制器基于PWM法计算逆变器命令。
在六步控制下,通过调节在发布门控制命令时的转子位置来调节扭矩。因此,必须使控制器与转子同步,使得在期望的时间执行用于改变逆变器门控制命令的代码。这可通过使用中断来完成,这些中断使得具体程序响应于具体事件(诸如数字信号状态的改变)而被执行。这些中断可由来自分解器-数字转换器的数字信号来触发。
图4是由分解器-数字转换器提供的作为转子位置的函数的数字信号的图形表示。每当转子经过零度位置时,信号Z便提供一个短的脉冲。A信号和B信号基于转子位置而在0和1之间交替。通过在Z信号的脉冲之后对A信号和B信号改变的次数进行计数,控制器可在小的范围内确定转子位置。A信号和B信号彼此偏移,从而控制器可确定转子旋转的方向。在每一个周期的半个周期内,霍尔位置信号U、V和W被设定成0,而在每一个周期的另外半个周期内,霍尔位置信号U、V和W被设定成1。霍尔位置信号彼此偏移,从而这三个信号中的一个信号在转子每旋转60度时便会改变。霍尔位置信号可通过霍尔效应传感器而产生。霍尔位置信号与转子位置信号的结合使用可在转子的每个电循环内产生六个同步信号,而不是基于转子位置信号Z仅产生一个同步信号。利用这六个信号,当确定转子位置以计算用于传递请求的扭矩的扭矩角时,PMSM的控制出现错误的时间更少。
图5示出了使用六步控制法利用A、B、Z和U、V、W信号来调节PMSM扭矩的控制算法。PMSM扭矩由电压角ΘV确定。控制器通过调节控制器将逆变器切换至下一个非零逆变器状态的时间来调节电压角ΘV。目标电压角Θ* V基于包含两个参数(被调节的扭矩请求和归一化的速度ωNorm)的表。在校准期间基于测试来填写该表,以表征电动机。
对于正转子速度,在510处通过单次表查找确定目标电压角。对于负转子速度,控制器依赖于电动机行为的对称性,在512处查找针对于对应的正速度操作点的目标电压角并在514处针对于负速度操作点调节目标电压角。归因于状态切换的临界时间,通过响应于中断的函数来执行切换。每当U、V或W信号改变状态时,便在516处发生第一次中断。在518处,中断处理程序基于电压角Θ* V和转子速度ω计算应该发生状态改变的时间,并设置计时器。当该计时器计时到期时,在520处发生第二次中断。在522处,中断处理程序向逆变器发布命令,以切换到下一个非零状态。
图6示出了在PMSM的六步控制操作期间当转子旋转时,确定针对于六个部分中的角度的处理的电压向量部分。霍尔效应信号与转子位置信号的结合使用可产生用于识别转子位置的六个同步位置。使得转子位置信号与霍尔效应信号结合的正时方法提供了所测量到的六个同步位置,以改善用于计算应该发生状态改变的时间的中断处理程序516的启动。如果在六步控制操作期间仅使用转子位置Z信号,则仅能在电压向量部分中的一个电压向量部分中读取转子位置。例如,每当转子转过1002(零度位置)时转子位置Z信号可脉动。一旦Z信号脉动,则基于电压角的中断516便设置中断计时器518,因此中断计时器518在应该发生状态改变时启动。利用转子位置信号与霍尔效应信号的结合实施,可在六个电压向量602、604、606、608、610和612中读取转子位置。在六个电压向量中读取转子位置,使得中断处理程序516设定应该发生状态改变的正确时间。转子位置与六个时间同步,可允许进行更加精确的时间计算,而这将提高PMSM效率,并传递精确的请求扭矩。
转子位置ABZ信号或霍尔效应UVW信号可用于同步目的。与单独使用转子位置信号和霍尔效应信号相比,转子位置信号和霍尔效应信号这两者的结合使用可产生更好的控制性能。在六步操作期间这两个信号的结合使用可有利于精确地启动中断计时器,从而对逆变器状态切换进行精确定时。利用转子位置信号和霍尔效应信号而进行的六步操作可提高PMSM效率,并传递精确的请求扭矩值。
在此公开的过程、方法或算法可被传送至处理装置、控制器或计算机/通过处理装置、控制器或计算机实施在此公开的过程、方法或者算法,所述处理装置、控制器或计算机可包括任何现存的可编程电子控制单元或专用电子控制单元,例如,控制器150。类似地,所述过程、方法或算法可以以多种形式存储为可由控制器或计算机执行的数据和指令,所述多种形式包括但不限于,永久地存储在不可写入存储介质(例如,ROM装置)上的信息,可变地存储在可写入存储介质(例如,软盘、磁带、CD、RAM装置、其他磁介质和光学介质)上的信息。所述过程、方法或算法还可以以软件可执行对象实现。可选地,可完全或部分地使用合适的硬件组件(例如,特定用途集成电路(ASIC)、现场可编程门阵列(FPGA)、状态机或者其他硬件组件或装置、或者硬件、软件及固件组件的组合)来实施所述过程、方法或算法。
虽然在上面描述了示例性实施例,但是这些实施例并不意在描述了权利要求所包含的所有可能的形式。在说明书中使用的词语是描述性词语而非限制性词语,应该理解的是,在不脱离本公开的精神和范围的情况下,可进行各种改变。如前所述,各个实施例的特征可被结合,以形成可能未被明确描述或示出的本发明的进一步的实施例。虽然各个实施例可能已被描述为提供优点或者在一个或多个期望的特性方面优于其他实施例或现有技术的实施方式,但是本领域的普通技术人员应该认识到,一个或多个特点或特性可被折衷,以实现期望的整体系统属性,所述期望的整体系统属性取决于具体的应用和实施方式。这些属性可包括但不限于成本、强度、耐久性、生命周期成本、可销售性、外观、包装、尺寸、维护保养方便性、重量、可制造性、装配容易性等。因此,被描述为在一个或多个特性方面不如其他实施例或现有技术的实施方式的实施例并不在本公开的范围之外,并且可被期望用于特定的应用。
Claims (8)
1.一种车辆,包括:
逆变器;
电机;
至少一个控制器,被配置成在电机的六步控制期间,基于电机的霍尔位置信息和转子位置信息向逆变器输出门控制信号以调节中断时间,使得逆变器切换至下一个非零逆变器状态的时间被调节,从而调节电机的电压角,并因此调节电机的扭矩。
2.根据权利要求1所述的车辆,其中,在电机的每个电循环内,门控制信号同步六次。
3.根据权利要求1所述的车辆,其中,霍尔位置信息源自U、V和W信号。
4.根据权利要求1所述的车辆,其中,转子位置信息源自A、B和Z信号。
5.一种车辆电子嵌入式控制器,包括:
信号处理电路,被配置成从电机接收输入信号,并响应于所述输入信号提供数字输出信号,其中,所述数字输出信号包括指示电机的霍尔位置信息的霍尔位置信号和指示电机的转子位置信息的转子位置信号;
处理器,被配置成处理所述数字输出信号,并向逆变器发布控制命令,以调节中断时间,使得逆变器切换至下一个非零逆变器状态的时间被调节,从而调节电机的电压角,并因此调节电机的扭矩;
存储器,编码有软件,当执行所述软件时,使得处理器计算控制命令。
6.根据权利要求5所述的嵌入式控制器,其中,信号处理电路是分解器-数字转换器。
7.根据权利要求5所述的嵌入式控制器,其中,电机是永磁同步电动机。
8.根据权利要求5所述的嵌入式控制器,其中,控制命令是逆变器门控制命令。
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CN101016025A (zh) * | 2006-02-09 | 2007-08-15 | 丰田自动车株式会社 | 车辆稳定器系统 |
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CN103684133A (zh) | 2014-03-26 |
US20140077739A1 (en) | 2014-03-20 |
DE102013218569A1 (de) | 2014-05-28 |
US10020761B2 (en) | 2018-07-10 |
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