CN104092188B - motor control method - Google Patents
motor control method Download PDFInfo
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- CN104092188B CN104092188B CN201410367568.7A CN201410367568A CN104092188B CN 104092188 B CN104092188 B CN 104092188B CN 201410367568 A CN201410367568 A CN 201410367568A CN 104092188 B CN104092188 B CN 104092188B
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Abstract
The invention discloses a kind of motor control method, this method includes：Measure the dash current during electric motor starting；The control of the motor associated with the dash current is set to stop electric current；Determine that the electric current of the motor reaches the control and stops electric current；And when reaching the control stopping electric current, the motor is controlled to stop.Pass through above-mentioned technical proposal, by setting the control stopping electric current of the motor associated with dash current to stop come controlled motor, it can be set with reference to operating mode for motor and suitably stop electric current, requirement can be met, and can effectively protects motor.
Description
Technical field
The present invention relates to motor vehicle parking brake control field, in particular it relates to a kind of motor control method.
Background technology
For electronic parking using brush direct current motor as driving, the control to motor mainly rises halt with control electric current
Method ensure power output size.At present, in the executing agency of electronic parking, without temperature sensor and revolution speed sensing
Device, 2 electric current lines of motor are only used as control.Thus it can only ensure that motor works by the control to current of electric
In occur without heavy overload.
Using such control mode, it is necessary to carry out voltage range and limiting condition setting to motor on automobile.Typically
For, from larger motor, in the case of range surplus foot, the processing of other voltages is not done, is advantageous to protect motor, and control
Program is simple.However, if with the motor on caliper actuator, just there is higher requirement to its volume etc..It is such
Motor, range should be selected to be moderate, just have cost advantage.But under selecting herein, motor status are difficult to control, and can not be realized
Effective electric motor protecting control.
In the prior art, it is contemplated that the ability to work of motor, without using low voltage operating, but by the work work of motor
Condition be limited in it is higher under conditions of protect motor.This method is feasible in electronic parking, but in the situation of some low-voltages
Under, it may appear that the situation that motor can not act, the danger of parking failure not only occurs, does not also use the ability of motor most
Bigization.
With reference to figure 1.Such as：Motor torque is controlled using 14.5A electric currents as work halt, and can just reach output torque will
Ask.During normal temperature (for example, 20 DEG C), motor coil resistance is 350m Ω, during high temperature (for example, 85 DEG C), the increase of motor coil resistance
For 460m Ω, the fixed resistance of ECU (electronic control unit) and wire harness is 110m Ω always, if now supply voltage is 9V.
Then, computing system can meet working condition by normal temperature, as follows：
9V/ (110+350) m Ω=19.6A
If control, which stops electric current, should be less than dash current 5A or so, you can reaches target 14.5A stoppings, setting herein
Under, maximum 14.5A motor output torque can be met.
It is as follows and computing system presses the working condition of high temperature：
9V/ (110+460) m Ω=15.8A
If control, which stops electric current, should be less than dash current 5A or so, you can is 10A, under setting herein, can only meet most
Big 10A motor output torque.But in ECU program, if setting a control point (work halt), do not having
Under the change of Rule of judgment, it is impossible to be changed into 10A this adaptability from 14.5A, also, do not reach 14.5A to work always
To guard time, such motor will stall for a long time, damage motor performance, be unfavorable for multi-pass operation.And voltage is lower, by temperature
Degree influences bigger.
For Motor Capability used into optimum state, and in view of various vehicle mounted electrical apparatus failure operating mode, electric motor protecting is just particularly
It is important, fail safe should be accomplished on the premise of function is met as far as possible.
In view of the above-mentioned problems, good solution is there is no in the prior art.
The content of the invention
It is an object of the invention to provide a kind of method, this method can be used for controlling the electricity of such as electronic parking actuator
Machine.
To achieve these goals, the present invention provides a kind of motor control method, and this method includes：The motor is measured to open
Dash current when dynamic；The control of the motor associated with the dash current is set to stop electric current；Determine the motor
Electric current reach it is described control stop electric current；And when reaching the control stopping electric current, the motor is controlled to stop.
Further, it is described measure the electric motor starting when dash current the step of include：From the electric motor starting when
Start, be spaced on schedule and current value is sampled；And the current value of multiple sampled points is averaged, what is obtained is flat
Average is the dash current.
Further, described the step of setting the control to stop electric current, includes：The control of the motor is set to stop electricity
Flow and subtract a predetermined value for the dash current.
Further, described the step of setting the control to stop electric current, includes：According to startup voltage and the impact
Electric motor resistance described in Current calculation during electric motor starting；Obtain temperature value corresponding with the electric motor resistance；And utilize lookup
Table determines that control corresponding with the temperature value stops electric current.
Further, this method also includes：Fault alarm is carried out when the temperature value exceedes temperature alarming threshold value.
Further, this method also includes：The integration of the motor is set to stop electric current；When the electric current of the motor does not reach
The electric current for stopping electric current and the motor to the control reaches after the integration stops electric current, and the electricity of the motor is flowed through in measurement
Lotus amount；And when the quantity of electric charge reaches a predetermined charge amount, the motor is controlled to stop.
Further, described the step of setting the integration of the motor to stop electric current, includes：The motor is measured in highest
The maximum of stalling current when permission running temperature is run；And it is the maximum to set the integration to stop electric current.
Further, the predetermined charge amount is associated with starting voltage, and the predetermined charge amount is assigned for normal temperature
The latter scheduled time for stopping electric current to the integration flows through the quantity of electric charge of the motor.
Further, when the quantity of electric charge is not up to a predetermined charge amount, if the current reduction of the motor, when
After the electric current of the motor reaches the integration stopping electric current, the quantity of electric charge for flowing through the motor is remeasured.
Further, this method also includes：Guard time is set；And the protection is run to after the electric motor starting
During the time, the motor is controlled to stop.
Pass through above-mentioned technical proposal, by setting the control of the motor associated with dash current to stop electric current to control electricity
Machine stops, and it is that motor setting suitably stops electric current that can combine operating mode, can meet requirement, and can effectively protects electricity
Machine.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is for providing a further understanding of the present invention, and a part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the exemplary circuit diagram by vehicle-mounted ECU motor；
Fig. 2 is the motor control method flow chart provided according to embodiment of the present invention；
Fig. 3 is the motor control method flow chart provided according to another embodiment of the present invention；
Fig. 4-Fig. 6 is current of electric and time relationship schematic diagram under condition of different temperatures；
Fig. 7-Fig. 9 be under condition of different temperatures current of electric to time integral schematic diagram；And
Figure 10-Figure 12 be under condition of different temperatures current of electric to time integral schematic diagram.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
Fig. 2 is the motor control method flow chart provided according to embodiment of the present invention.As shown in Fig. 2 the present invention is implemented
The motor control method that mode provides can include：S20, dash current when measurement motor starts；S22, set and impact electricity
The control of the associated motor of stream stops electric current；S24, determine that the electric current of the motor reaches the control and stops electric current；And
S26, when reaching control stopping electric current, controlled motor stops.
Pass through above-mentioned technical proposal, by setting the control of the motor associated with dash current to stop electric current to control electricity
Machine stops, and it is that motor setting suitably stops electric current that can combine operating mode, can meet requirement, and can effectively protects electricity
Machine.
In embodiments of the present invention, the step of dash current when measuring the electric motor starting, can include：From electricity
Start when machine starts (when electric on motor), be spaced (for example, 0.2ms) on schedule and current value is sampled, record is adopted
The current value of sampling point.Then, the current value of multiple sampled points (for example, 3-5 sampled point) is averaged.It will can obtain
Average value is dash current.Obtained dash current can be I as shown in Figure 4 and Figure 51And I2。
By taking general electronic parking motor characteristic as an example.Motor operating voltage 12V is constant, and normal temperature inrush current is, for example,
26A, may be, for example, 21A under high temperature.From control aspect, maximum operating currenbt can only be allowed to be less than inrush current 5A or so
It will not stall, otherwise, heating seriously easily makes motor damage.Such as in Fig. 4, I3For the control halt (example of normal temperature work drive motor
Such as, 26A).When motor temperature is very high, such as Fig. 5, the stalling current (I in Fig. 5 of motor4) I will be less than3If now still press I3
For halt, motor will be made not stall in time, cause to generate heat, more work may damage motor performance several times.Therefore, such as
Shown in Fig. 6, at high temperature, smaller current I should be used5As control halt.Not only motor can be enable to have available work
Power, it can also protect motor.
Therefore, set in a preferred embodiment and control stopping electric current that controlling for motor can be set to stop electric current as punching
Hit electric current and subtract a predetermined value, the predetermined value can be, for example, 5A.In various embodiments, because electric motor resistance and motor
Be present the relation of determination in temperature (or resistance temperature), therefore can be determined according to the operating temperature of motor for the operating temperature
Suitable control stops electric current.In such embodiment, set and control the step of stopping electric current including：According to startup
Voltage and dash current calculate the electric motor resistance (for example, utilizing circuit diagram as shown in Figure 1) during electric motor starting；Obtain and institute
Temperature value corresponding to electric motor resistance is stated, such as the relational expression of resistance and resistivity can be utilized to calculate electric motor resistance rate：
R=ρ L/S,
Wherein, L is conductor length, and S is the cross-sectional area of conductor,
Then the rule that the electricalresistivityρ of material varies with temperature is recycled to calculate temperature：
ρ=ρ0(1+ α t),
Wherein α is referred to as temperature-coefficient of electrical resistance, ρ0It is resistivity of the material at t=0 DEG C.The α within the scope of certain temperature
It is temperature independent constant.
After temperature value is obtained, look-up table can be utilized to determine that control corresponding with the temperature value stops electric current.In reality
Apply in mode, such look-up table can be pre-established by the above method, and store in memory.So, ECU can root
Select suitably to control halt that (control stops from look-up table according to the startup voltage and inrush current of motor under current working
Only electric current), protection control is carried out to motor.
By the above method provided by the invention, motor can be obtained by the startup voltage and inrush current of motor
Temperature data.Therefore, the excess temperature failure of motor can be alarmed accordingly.In embodiments, when temperature value exceedes temperature
Fault alarm can be carried out when spending alarm threshold value.
In embodiments, it is desirable to which a kind of protection is not only carried out to motor.Protection to motor can also be by setting
Guard time is put to realize.In one embodiment, motor control method provided by the invention can include：When protection is set
Between, and when running to guard time after electric motor starting, control the motor to stop.
The quantity of electric charge for the electric current for flowing through motor is derived from view of the energy of motor heating, therefore, in embodiments may be used
With using the quantity of electric charge (and integration of Current versus time) come controlled motor to realize protection control.Based on above-mentioned principle, in this hair
It can also include in the motor control method of bright offer：The integration of motor is set to stop electric current；When the electric current of motor reaches described
After integration stops electric current, the quantity of electric charge of motor is flowed through in measurement；And when the quantity of electric charge reaches a predetermined charge amount, controlled motor is stopped
Only.The protection process can be used in combination with the method shown in Fig. 1, and specific flow is as shown in Figure 3.When the electric current of motor does not reach
It can start to measure the quantity of electric charge for flowing through motor to controlling the electric current for stopping electric current and motor to reach after the integration stops electric current.
In embodiments, predetermined charge amount can be associated with starting voltage, and predetermined charge amount can be normal temperature
The latter scheduled time for being issued to the integration stopping electric current flowing through the quantity of electric charge of the motor.In embodiments, can be pre-
First current integration area is demarcated, for example, under can be to start voltage conditions in normal temperature, 0.3- after stalling current
Current integration area after 0.5s rundown time is the predetermined charge amount to that should start voltage.
In embodiments, it is preferable that can set suitable integration stop electric current with and meanwhile meet normally (normal temperature) and
The extremely requirement of (high temperature) working condition.Accordingly, the step of setting the integration of the motor to stop electric current can including：Measurement electricity
The maximum of stalling current of the machine when highest allows running temperature (for example, 85 DEG C) to run；And the integration is set to stop
Electric current is the maximum.Generally, uprised with temperature, stalling current reduces.For example, during to 85 DEG C of highest, stalling electricity
The maximum of stream can only achieve I10, so, select from I10Integration is proceeded by, can so ensure to be protected too late,
And software algorithm is simplified, also protects motor.Specific electric current with time relationship as shown in figs. 7 to 9, wherein, due to opening
Dynamic voltage is identical, and dash area (i.e. current integration) area is identical in Fig. 7-Fig. 9.
Figure 10-Figure 12 be under condition of different temperatures current of electric to time integral schematic diagram.In embodiments, electric charge is worked as
When amount is not up to a predetermined charge amount, if the current reduction of motor, stop electric current when the electric current of motor reaches the integration
Afterwards, the quantity of electric charge for flowing through the motor can be remeasured.The motor control method that above-mentioned embodiment provides take into account can
The applicability of method provided by the invention in the complex situations of energy.For example, the I shown in Figure 106Worked for unidentified electromotor high-temperature
The stalling operating current of situation；I shown in Figure 117Stop electric current to start the integration of energy integral under normal temperature working condition；With
And shown in Figure 12 and stop electric current I when current of electric reaches integration9After reach I8, then it is reduced to I again9, then motor can be worked as
Electric current again from I9Start to integrate electric current.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, still, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the present invention, a variety of letters can be carried out to technical scheme
Monotropic type, these simple variants belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should equally be considered as content disclosed in this invention.
Claims (9)
1. a kind of motor control method, it is characterised in that this method includes：
Measure the dash current during electric motor starting；
The control of the motor associated with the dash current is set to stop electric current；
Determine that the electric current of the motor reaches the control and stops electric current；And
When reaching the control stopping electric current, the motor is controlled to stop；And
This method also includes：
The integration of the motor is set to stop electric current；
The electric current that the control stopping electric current and the motor are not up to when the electric current of the motor reaches the integration stopping electricity
After stream, the quantity of electric charge of the motor is flowed through in measurement；And
When the quantity of electric charge reaches a predetermined charge amount, the motor is controlled to stop.
2. motor control method according to claim 1, it is characterised in that the impact during measurement electric motor starting
The step of electric current, includes：
When the electric motor starting, it is spaced on schedule and current value is sampled；And
The current value of multiple sampled points is averaged, obtained average value is the dash current.
3. motor control method according to claim 1, it is characterised in that the step for setting the control to stop electric current
Suddenly include：
The stopping electric current that controls for setting the motor is that the dash current subtracts a predetermined value.
4. motor control method according to claim 1, it is characterised in that the step for setting the control to stop electric current
Suddenly include：
According to electric motor resistance when starting voltage and the dash current calculating electric motor starting；
Obtain temperature value corresponding with the electric motor resistance；And
Determine that control corresponding with the temperature value stops electric current using look-up table.
5. motor control method according to claim 4, it is characterised in that this method also includes：
Fault alarm is carried out when the temperature value exceedes temperature alarming threshold value.
6. motor control method according to claim 1, it is characterised in that the integration for setting the motor stops electricity
The step of stream, includes：
Measure the maximum of stalling current of the motor when highest allows running temperature to run；And
It is the maximum to set the integration to stop electric current.
7. motor control method according to claim 1, it is characterised in that the predetermined charge amount is related to starting voltage
Connection, and the predetermined charge amount be normal temperature be issued to it is described integration stop electric current the latter scheduled time flow through the motor
The quantity of electric charge.
8. motor control method according to claim 1, it is characterised in that when the quantity of electric charge is not up to a predetermined charge
During amount, if the current reduction of the motor, after the electric current of the motor, which reaches the integration, stops electric current, remeasure
Flow through the quantity of electric charge of the motor.
9. motor control method according to claim 1, it is characterised in that this method also includes：
Guard time is set；And
When running to the guard time after the electric motor starting, the motor is controlled to stop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410367568.7A CN104092188B (en) | 2014-07-30 | 2014-07-30 | motor control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410367568.7A CN104092188B (en) | 2014-07-30 | 2014-07-30 | motor control method |
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| CN104092188B true CN104092188B (en) | 2018-01-02 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201789458U (en) * | 2010-07-06 | 2011-04-06 | 保定卓尔电气有限公司 | Smooth soft start device of direct-current motor |
| CN102810850A (en) * | 2011-05-31 | 2012-12-05 | 比亚迪股份有限公司 | Method for protecting overload running of electric motor |
| CN103532100A (en) * | 2013-10-18 | 2014-01-22 | 富盛科技股份有限公司 | Method for protecting continuous rotating cloud deck motor in case of ultra-high temperature |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006280193A (en) * | 2005-03-03 | 2006-10-12 | Toyota Motor Corp | Malfunction-determining device for drive circuit and drive unit equipped with the same, and method of determining malfunctions in the drive circuit |
| CN103840432B (en) * | 2014-03-24 | 2016-10-05 | 北京经纬恒润科技有限公司 | A kind of motor rotation blockage detection method and system |
-
2014
- 2014-07-30 CN CN201410367568.7A patent/CN104092188B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201789458U (en) * | 2010-07-06 | 2011-04-06 | 保定卓尔电气有限公司 | Smooth soft start device of direct-current motor |
| CN102810850A (en) * | 2011-05-31 | 2012-12-05 | 比亚迪股份有限公司 | Method for protecting overload running of electric motor |
| CN103532100A (en) * | 2013-10-18 | 2014-01-22 | 富盛科技股份有限公司 | Method for protecting continuous rotating cloud deck motor in case of ultra-high temperature |
Non-Patent Citations (1)
| Title |
|---|
| 电机综保热过载保护的整定探讨;谭军;《电工技术》;20130630(第06期);第4-5页 * |
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Effective date of registration: 20190129 Address after: No. 2266 Chaoyang South Street, Lianchi District, Baoding City, Hebei Province Patentee after: Jingcheng Engineering Automobile System Co., Ltd. Address before: No. 2266 Chaoyang South Street, Baoding City, Hebei Province, 071000 Patentee before: Changcheng Automobile Co., Ltd. |
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