CN104135204A - Motor controller for vehicle and controlling method thereof - Google Patents
Motor controller for vehicle and controlling method thereof Download PDFInfo
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Abstract
The invention relates to a motor controller for a vehicle and a controlling method thereof. The motor controller comprises a single DSP chip, a bi-directional DC-DC control module, a motor control module and a voltage, current and temperature signal processing circuit. The bi-directional DC-DC control module is in communicating connection to a vehicle controller and can receive signals from the controller. The motor control module is in communicating connection with the vehicle controller and can receive signals from the controller. The voltage, current and temperature signal processing circuit is in communicating connection with the DSP chip and used for sampling signals of a half-bridge module and sending the signals to the DSP chip and further to the bi-directional DC-DC control module for controlling. The voltage, current and temperature signal processing circuit is connected to a motor, and used for sampling information of the motor and sending the sampled information to the vehicle controller by a CAN through a communication interface. The voltage, current and temperature signal processing circuit is connected to the motor control module and sends the signals to the motor control module. The single DSP chip is used for controlling a bi-directional DC-DC circuit and an inverter circuit, uniformity of control over the two circuits and sharing property of a power source circuit and a communication circuit can be achieved, and the drive property of an electric vehicle is improved.
Description
Technical field
The present invention relates to belong to Motor Control Field in electric automobile, be specifically related to a kind of electric machine controller circuit for electric automobile based on DSP.
Background technology
Traditional fuel energy reduces day by day, and problem of environmental pollution also becomes increasingly conspicuous.For problem of environmental pollution, electric automobile, the electric bus etc. of existing production and application at present, motor is as the critical component of electric motor car, and its control performance has very important impact to whole motor driven systems.The feature that permagnetic synchronous motor is little with its volume, loss is few, efficiency is high is widely used on electric automobile.
The most frequently used power supply of electric automobile is storage battery at present, comprises lead-acid battery and lithium battery.Because the motor speed scope in electric automobile is very wide, acceleration, deceleration frequently in driving process, cause the excursion of battery tension also very large, and the voltage of battery can decline along with the consumption of electric energy, if with the running of batteries direct drive motor, can cause the deterioration of motor driven performance under such condition.Between storage battery and drive circuit, use bidirectional DC-DC converter, on the one hand, the voltage of batteries can be stabilized within the scope of certain load change to a relatively high magnitude of voltage, thereby can improve more significantly the driveability of motor.On the other hand, again can be by motor skidding time, change by mechanical energy the electric energy feedback accumulators group of coming, battery charged, this concerning electric automobile highly significant.
The control method of at present existing bidirectional DC-DC converter circuit is suggested, but turn to work substantially not relate to about circuit, also there is the vector control method of comparatively ripe permagnetic synchronous motor, but due to the own resource deficiency such as flash and PWM ripple passage in early stage dsp chip sheet, mostly they are to control respectively, some power supplys, communication etc. can be shared circuit separately around separately, cause the repetition of circuit, be unfavorable for effective utilization of chip, and want communication between the two, different control chip clock signal synchronizations also have impact, to be improved aspect the consistency of communication and clock.
Summary of the invention
The object of the present invention is to provide a kind of based on DSP, for a kind of electric machine controller circuit of electric automobile, it is large and permagnetic synchronous motor vector control feature mainly for accumulator voltage excursion, realize the convenience of controlling, improve the driveability of electric automobile.
Entire car controller by communication interface to bi-directional DC-DC control module and motor control module sending mode, the command information such as enable.Obtain the temperature signal of voltage, current signal and the power tube of half-bridge module input, outlet side by voltage, electric current, temperature signal regulation circuit sampling, these signal values are transported in DSP by ADC mouth, carry out data processing and the data message of handling is sent to communication interface and bi-directional DC-DC control according to preset program, bi-directional DC-DC control module is carried out the adjusting of PWM ripple duty ratio according to the information receiving, and then realizes effective control of bi-directional DC-DC.Meanwhile, obtain current value, motor stator winding temperature, motor position angle θ and the motor speed ω of permagnetic synchronous motor by voltage, electric current, temperature signal regulation circuit sampling, the information that sends motor by communication interface by CAN is to entire car controller, send to permagnetic synchronous motor vector control simultaneously, motor control module, according to the information receiving, is realized the vector control to motor.
Concrete technical scheme is as follows:
Based on a vehicle motor controller of DSP, comprise single dsp chip, bi-directional DC-DC control module, motor control module, and voltage, electric current, temperature signal regulation circuit, wherein,
The communication of bi-directional DC-DC control module is connected to entire car controller, and can receive signal from it;
Motor control module communication is connected to entire car controller, and can receive signal from it;
Voltage, electric current, the communication of temperature signal regulation circuit are connected to dsp chip, for the signal of half-bridge module is sampled and signal is sent to dsp chip, and are further sent to bi-directional DC-DC control module for controlling;
Voltage, electric current, temperature signal regulation circuit are connected to motor can sampling to its information, and the information exchange that sampling is obtained is crossed CAN and sent to entire car controller by communication interface;
Voltage, electric current, the communication of temperature signal regulation circuit are connected to motor control module, and above-mentioned signal can be sent to motor control module.
Further, bi-directional DC-DC control module and motor control module are connected to entire car controller by communication interface and can receive sending mode from it, the command information such as enable.
Further, bi-directional DC-DC control module comprises bi-directional DC-DC control, pulse-width modulation PWM, analog-to-digital conversion ADC module and data processing module; Motor control module comprises permagnetic synchronous motor vector control module, Using dSPACE of SVPWM SVPWM, analog-to-digital conversion ADC module and data processing module.
Further, described signal comprises the temperature signal of voltage, current signal and the power tube of half-bridge module input, outlet side, and described signal is transported to dsp chip by ADC mouth.
Further, also comprise communication interface, it is for entire car controller, bi-directional DC-DC control module, and the communication between data processing module connects.
Further, also comprise data processing module, it is connected to voltage, electric current, temperature signal regulation circuit can be from its acknowledge(ment) signal by the communication of ADC mouth, and communication is connected to communication interface, for the signal of reception being carried out to data processing and the data message of handling being sent to communication interface and bi-directional DC-DC control module.
Further, motor control module is permagnetic synchronous motor vector control module, the information that it receives for basis, requirement to operational mode judges, and judge according to the characteristic of motor itself and the motor feeding back to and speed and the torque command of inverter temperature value to motor, and then carry out the vector control of motor.
Further, the described sample information to permagnetic synchronous motor comprises any biphase current signal ia and ib, motor stator winding temperature T 1, inverter temperature T 2, motor position angle θ and the motor speed ω of permagnetic synchronous motor.
Further, bi-directional DC-DC control module is carried out the adjusting of PWM ripple duty ratio according to the information receiving, and then realizes effective control of bi-directional DC-DC, and is to use single dsp chip control bi-directional DC-DC circuit and inverter circuit; The output of data processing module is connected with communication interface, bi-directional DC-DC control and permagnetic synchronous motor vector control respectively, the output of permagnetic synchronous motor vector control is connected with SVPWM, the output of SVPWM is connected with the input of inverter, control signal is exported to permagnetic synchronous motor by inverter, the output of bi-directional DC-DC control is connected with the input of PWM, and PWM controls half-bridge module; The input of protective circuit is connected with voltage, electric current, temperature signal regulation circuit; the output of protective circuit is connected with an input of inverter and SVPWM respectively; the input of protective circuit is connected with voltage, electric current, temperature signal regulation circuit, and the output of protective circuit is connected with an input of half-bridge module and PWM respectively.
The control method of above-mentioned electric machine controller, comprises the steps:
(1) entire car controller sends command information by communication interface to bi-directional DC-DC control module and motor control module;
(2) voltage, electric current, temperature signal regulation circuit sampling obtain the signal of half-bridge module and permagnetic synchronous motor;
(3) described in step (2), signal is transported in DSP;
(4) carry out data processing and the data message of handling is sent to communication interface and bi-directional DC-DC control according to preset program;
(5) bi-directional DC-DC control module is carried out the adjusting of PWM ripple duty ratio according to the information receiving, and then realizes effective control of bi-directional DC-DC;
(6) simultaneously, the information that voltage, electric current, temperature signal regulation circuit sampling obtain permagnetic synchronous motor, to entire car controller, sends to permagnetic synchronous motor vector control simultaneously;
(7) motor control module, according to the information receiving, is realized the vector control to motor.
Compared with currently available technology, the present invention controls bi-directional DC-DC circuit and inverter circuit with single dsp chip, realizes the commonality of consistency, power circuit and communicating circuit in the control of two parts circuit, improves the driveability of electric automobile.Specifically: the large and permagnetic synchronous motor vector control feature for accumulator voltage excursion, the resource that can make full use of single dsp chip is carried out unified control, effectively strengthens the reliability of bi-directional DC-DC control module and the communication between the two of permagnetic synchronous motor module and has improved the driveability of electric automobile.That is to say, by using single DSP, share a communication interface, effectively strengthen bi-directional DC-DC control and the consistency on the permagnetic synchronous motor control time, and bi-directional DC-DC control module can also be alleviated the problem that accumulator voltage excursion is large, thereby reliability and the driveability of electric-vehicle part are improved.
Brief description of the drawings
Fig. 1 motor driven systems block diagram
The electric machine controller circuit block diagram of Fig. 2 based on DSP
The concrete implementing circuit that Fig. 3 bidirectional DC-DC converter drives signal to produce
Embodiment
Describe the present invention with reference to the accompanying drawings below, it is a kind of preferred embodiment in numerous embodiments of the present invention.
Bi-directional DC-DC control module comprises bi-directional DC-DC control, pulse-width modulation (PWM), analog-to-digital conversion (ADC) module and data processing module; Motor control module comprises permagnetic synchronous motor vector control module, Using dSPACE of SVPWM (SVPWM), analog-to-digital conversion (ADC) module and data processing module.
For achieving the above object, technical scheme of the present invention is, entire car controller by communication interface to bi-directional DC-DC control module and motor control module sending mode, the command information such as enable.Obtain the temperature signal of voltage, current signal and the power tube of half-bridge module input, outlet side by voltage, electric current, temperature signal regulation circuit sampling, these signal values are transported in DSP by ADC mouth, carry out data processing and the data message of handling is sent to communication interface and bi-directional DC-DC control according to preset program, bi-directional DC-DC control module is carried out the adjusting of PWM ripple duty ratio according to the information receiving, and then realizes effective control of bi-directional DC-DC.Meanwhile, pass through voltage, electric current, temperature signal regulation circuit sampling obtains any biphase current signal ia and the ib of permagnetic synchronous motor, motor stator winding temperature T 1, inverter temperature T 2, motor position angle θ and motor speed ω, the information that sends motor by communication interface by CAN is to entire car controller, send to permagnetic synchronous motor vector control simultaneously, motor control module is according to the information receiving, can judge the requirement of operational mode, and judge according to the characteristic of motor itself and the motor feeding back to and speed and the torque command of inverter temperature value to motor, and then carry out the vector control of motor.
In the present invention, related motor driven systems block diagram as shown in Figure 1, mainly formed by storage battery, bi-directional DC-DC half-bridge module, capacitor C 1 and C2, inverter and motor, and bi-directional DC-DC half-bridge module comprises inductance L, switching tube Q1 and Q2 and antiparallel diode D1 and D2 with it, inverter by switching tube Q3～Q8 and with it antiparallel diode D3～D8 form.
Now its main course of work is done to following description: when starting, travel at electric automobile, the voltage V1 at storage battery two ends turn-offs through switching tube Q1 in bi-directional DC-DC half-bridge module circuit, Q2 opens, turn-offs the less higher voltage value V2 of formation fluctuation, convert direct current the running of to three-phase alternating current electric drive permagnetic synchronous motor by inverter circuit, realize the operation of vehicle.In the time that electric automobile is in braking state, carry the energy of coming to arrive V2 end by rectified action with the form of direct current by motor, by bi-directional DC-DC half-bridge module circuit, by closing switch pipe Q2, open, turn-off Q1 and realize step-down and be stored in storage battery, realize the braking of energy and reclaim.
Shown in Fig. 2 is the electric machine controller circuit block diagram based on DSP, and its concrete working method is: entire car controller 10 is given bi-directional DC-DC control module and motor control module sending mode, the command information such as enabled by communication interface 201.Bi-directional DC-DC control module comprises bi-directional DC-DC control 204, pulse-width modulation 205 (PWM), analog-to-digital conversion 207 (ADC) and data processing 206; Motor control module comprises permagnetic synchronous motor vector control 202, Using dSPACE of SVPWM 203 (SVPWM), analog-to-digital conversion 207 (ADC) module and data processing 206.
The output of data processing module 206 is connected with communication interface 201, bi-directional DC-DC control 204 and permagnetic synchronous motor vector control 202 respectively, the output of permagnetic synchronous motor vector control 202 is connected with SVPWM203, the output of SVPWM203 is connected with the input of inverter 30, and control signal is exported to permagnetic synchronous motor 40 by inverter 30.The output of bi-directional DC-DC control 204 is connected with the input of PWM205, and PWM205 removes to control half-bridge module 60; The input of protective circuit 1 is connected with voltage, electric current, temperature signal regulation circuit 80; the output of protective circuit 1 is connected with an input of inverter 30 and SVPWM203 respectively; the input of protective circuit 2 is connected with voltage, electric current, temperature signal regulation circuit 80, and the output of protective circuit 2 is connected with an input of half-bridge module 60 and PWM205 respectively.
In Fig. 2 shown in dotted line frame 20 is DSP control section, for the control core of permagnetic synchronous motor 40 and half-bridge module 60, it mainly comprises 1. by CAN and entire car controller 10 communications, 2. permagnetic synchronous motor vector control algorithm realizes, 3. Using dSPACE of SVPWM SVPWM203,4. bi-directional DC-DC control algolithm realizes, 5. pulse-width modulation PWM 205,6. analog-to-digital conversion ADC207,7. data processing unit 206.
Specific works process is: the temperature signal that obtains voltage, current signal and the power tube of half-bridge module input, outlet side by voltage, electric current, temperature signal regulation circuit 80, these signal values are transported in DSP by ADC mouth 207, carry out data processing and the data message of handling is sent to communication interface 201 and bi-directional DC-DC control 204 according to preset program, bi-directional DC-DC control module is carried out the adjusting of PWM ripple duty ratio according to the information receiving, and then realizes effective control of bi-directional DC-DC.
Meanwhile, pass through voltage, electric current, 80 samplings of temperature signal regulation circuit obtain any biphase current signal ia and the ib of permagnetic synchronous motor 40, motor stator winding temperature T 1, inverter temperature T 2, motor position angle θ and motor speed ω, the information that is sent motor by communication interface 201 by CAN is to entire car controller 10, send to permagnetic synchronous motor vector control 202 simultaneously, motor control module is according to the information receiving, can judge the requirement of operational mode, and judge according to the characteristic of motor itself and the motor feeding back to and speed and the torque command of inverter temperature value to motor, and then carry out the vector control of motor.
Shown in Fig. 3 is the concrete implementing circuit that bidirectional DC-DC converter drives signal to produce, the course of work while turning to is: in electric automobile, the boost mode of bi-directional DC-DC default conditions forward of lower time, when receiving brake signal by communication interface 201 and the electric current of inductance L being carried out, after zero passage detection, could may being transferred to reverse energy brake take-back model.In the time that brake signal arrives and detect that inductive current zero passage satisfies condition, enable signal state could be reversed, and pwm signal DSP-PWM-B and the DSP-PWM-T of this signal and DSP generation are interlocked to control, enter energy brake take-back model, and conducting while ensureing that two power switch pipes are different, improve reliability.
By reference to the accompanying drawings the present invention is exemplarily described above; obviously specific implementation of the present invention is not subject to the restrictions described above; as long as the various improvement that adopted method design of the present invention and technical scheme to carry out; or directly apply to other occasion without improvement, all within protection scope of the present invention.
Claims (10)
1. the vehicle motor controller based on DSP, is characterized in that, comprises single dsp chip, bi-directional DC-DC control module,
Motor control module, and voltage, electric current, temperature signal regulation circuit, wherein,
The communication of bi-directional DC-DC control module is connected to entire car controller, and can receive signal from it;
Motor control module communication is connected to entire car controller, and can receive signal from it;
Voltage, electric current, the communication of temperature signal regulation circuit are connected to dsp chip, for the signal of half-bridge module is sampled and signal is sent to dsp chip, and are further sent to bi-directional DC-DC control module for controlling;
Voltage, electric current, temperature signal regulation circuit are connected to motor can sampling to its information, and the information exchange that sampling is obtained is crossed CAN and sent to entire car controller by communication interface;
Voltage, electric current, the communication of temperature signal regulation circuit are connected to motor control module, and above-mentioned signal can be sent to motor control module.
2. the vehicle motor controller based on DSP as claimed in claim 1, is characterized in that, bi-directional DC-DC control module and motor control module are connected to entire car controller by communication interface and can receive sending mode from it, the command information such as enable.
3. the vehicle motor controller based on DSP as claimed in claim 1 or 2, is characterized in that, bi-directional DC-DC control module comprises bi-directional DC-DC control, pulse-width modulation PWM, analog-to-digital conversion ADC module and data processing module; Motor control module comprises permagnetic synchronous motor vector control module, Using dSPACE of SVPWM SVPWM, analog-to-digital conversion ADC module and data processing module.
4. the vehicle motor controller based on DSP as described in any one in claim 1-3, it is characterized in that, described signal comprises the temperature signal of voltage, current signal and the power tube of half-bridge module input, outlet side, and described signal is transported to dsp chip by ADC mouth.
5. the vehicle motor controller based on DSP as described in any one in claim 1-4, is characterized in that, also comprises communication interface, and it is for entire car controller, bi-directional DC-DC control module, and the communication between data processing module connects.
6. the vehicle motor controller based on DSP as described in any one in claim 1-5, it is characterized in that, also comprise data processing module, it is connected to voltage, electric current, temperature signal regulation circuit can be from its acknowledge(ment) signal by the communication of ADC mouth, and communication is connected to communication interface, for the signal of reception being carried out to data processing and the data message of handling being sent to communication interface, motor control module and bi-directional DC-DC control module.
7. the vehicle motor controller based on DSP as described in any one in claim 1-6, it is characterized in that, motor control module is permagnetic synchronous motor vector control module, the information that it receives for basis, requirement to operational mode judges, and judge according to the characteristic of motor itself and the motor feeding back to and speed and the torque command of inverter temperature value to motor, and then carry out the vector control of motor.
8. the vehicle motor controller based on DSP as described in any one in claim 1-7, it is characterized in that, the described sample information to permagnetic synchronous motor comprises any biphase current signal ia and ib, motor stator winding temperature T 1, inverter temperature T 2, motor position angle θ and the motor speed ω of permagnetic synchronous motor.
9. the vehicle motor controller based on DSP as described in any one in claim 1-8, it is characterized in that, bi-directional DC-DC control module is carried out the adjusting of PWM ripple duty ratio according to the information receiving, and then realize effective control of bi-directional DC-DC, and be to use single dsp chip control bi-directional DC-DC circuit and inverter circuit; The output of data processing module is connected with communication interface, bi-directional DC-DC control and permagnetic synchronous motor vector control respectively, the output of permagnetic synchronous motor vector control is connected with SVPWM, the output of SVPWM is connected with the input of inverter, control signal is exported to permagnetic synchronous motor by inverter, the output of bi-directional DC-DC control is connected with the input of PWM, and PWM controls half-bridge module; The input of protective circuit is connected with voltage, electric current, temperature signal regulation circuit; the output of protective circuit is connected with an input of inverter and SVPWM respectively; the input of protective circuit is connected with voltage, electric current, temperature signal regulation circuit, and the output of protective circuit is connected with an input of half-bridge module and PWM respectively.
10. the control method of electric machine controller as described in claim 1-9, is characterized in that, comprises the steps:
(1) entire car controller sends command information by communication interface to bi-directional DC-DC control module and motor control module;
(2) voltage, electric current, temperature signal regulation circuit sampling obtain half-bridge module signal;
(3) described in step (2), signal is transported in DSP;
(4) carry out data processing and the data message of handling is sent to communication interface and bi-directional DC-DC control according to preset program;
(5) bi-directional DC-DC control module is carried out the adjusting of PWM ripple duty ratio according to the information receiving, and then realizes effective control of bi-directional DC-DC;
(6) simultaneously, the information that voltage, electric current, temperature signal regulation circuit sampling obtain permagnetic synchronous motor, to entire car controller, sends to permagnetic synchronous motor vector control simultaneously;
(7) motor control module, according to the information receiving, is realized the vector control to motor.
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| CN201410412005.5A CN104135204A (en) | 2014-08-20 | 2014-08-20 | Motor controller for vehicle and controlling method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104943562A (en) * | 2015-06-30 | 2015-09-30 | 郑州日产汽车有限公司 | Automobile grade permanent magnet synchronous motor controller suitable for electric automobile |
| CN105490610A (en) * | 2016-01-13 | 2016-04-13 | 河南理工大学 | Power assembly system of intelligent electric vehicle |
| CN109217773A (en) * | 2018-10-16 | 2019-01-15 | 株洲易力达机电有限公司 | A kind of electric machine control system applied to 48V vehicle power supply |
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| CN102427262A (en) * | 2011-12-13 | 2012-04-25 | 南京理工大学 | Elevator braking energy feedback and control system based on super capacitor |
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| CN109217773B (en) * | 2018-10-16 | 2022-08-16 | 株洲易力达机电有限公司 | Motor control system applied to 48V vehicle-mounted power supply |
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