CN104270052A - Permanent magnet synchronous motor controller for automobile - Google Patents
Permanent magnet synchronous motor controller for automobile Download PDFInfo
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- CN104270052A CN104270052A CN201410524417.8A CN201410524417A CN104270052A CN 104270052 A CN104270052 A CN 104270052A CN 201410524417 A CN201410524417 A CN 201410524417A CN 104270052 A CN104270052 A CN 104270052A
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Abstract
The invention relates to a permanent magnet synchronous motor controller for an electric automobile. The permanent magnet synchronous motor controller is mainly composed of a power main circuit, a control circuit, a drive circuit and a switch power source. The power main circuit is based on a three-phase full bridge inverter topological structure, and a control circuit board is based on the design of a DSP and a CPLD. A motor controller receives a control mode and a target torque instruction sent by an automobile control unit through a CAN bus, and a current instruction is obtained through analysis. Then, on-off of an IGBT is controlled based on a vector control algorithm and a pulse width modulation strategy, and therefore control over the current and the torque of the permanent magnet synchronous motor controller is achieved. Meanwhile, through signal detection and processing, self-protection and fault diagnosis to the motor controller and a motor are achieved. In addition, the operation state of the motor controller and the operation state of the motor are fed back to the automobile control unit through the CAN bus. The permanent magnet synchronous motor controller for the electric automobile is simple in design, reliable in performance, and capable of guaranteeing the safety of the entire automobile.
Description
Technical field
The present invention relates to Motor Control Field, be specifically related to a kind of Over Electric Motor with PMSM controller.
Background technology
Along with becoming increasingly conspicuous of energy problem and environmental problem, automobile power electrification has become a kind of inevitable development trend.Electric automobile has fuel-economizing, environmental protection, the advantage such as efficient, it is the strategic high ground that international automobile giant fights for future automobile industry, Ye Shi national governments are the important impetus solving Sustainable Socioeconomic Development, and therefore electric automobile will have boundless market prospects in future.
Electric automobile can be divided into pure electric vehicle, hybrid electric vehicle and fuel-cell vehicle three class by energy source configuration difference.No matter be which kind of type, motor and driving control system are all core drive parts wherein.At present, home and abroad motor and power electronics enterprise enter electric automobile field all one after another and seize market.Vehicle motor controller is one of key components and parts of electric automobile, and it is the power supply of another key components and parts drive motors, and its performance, reliability, fail safe directly affect the performance of car load, reliability and fail safe.
Summary of the invention
The object of this invention is to provide a kind of Over Electric Motor with PMSM controller being suitable for industrialization.
Technical scheme of the present invention is:
Electric machine controller circuit is formed primarily of power main circuit, control circuit, drive circuit, Switching Power Supply four part.Electric machine controller receives control model and the target torque instruction of entire car controller VCU transmission by CAN, and obtain current-order by parsing, then based on vector control algorithm and pulse-width modulation strategy, the turn-on and turn-off of control IGBT, thus the electric current realized permagnetic synchronous motor and direct torque; Simultaneously by input and process, realize the self-protection to electric system and failure diagnosis; In addition the running status of electric system is fed back to entire car controller VCU by CAN.
The hardware circuit of electric machine controller is formed primarily of power main circuit, control circuit, drive circuit, Switching Power Supply four part.Power main circuit based on three-phase full-bridge inverter topological structure, and containing pre-charge circuit and passive discharge resistance, contains 3 phase current transducers and 1 DC bus current transducer simultaneously; Drive circuit designs based on the IGBT driving chip of maturation; Control circuit designs based on DSP and CPLD, and containing PWM drive circuit, revolve become decoding circuit, AD sample circuit, CAN drive circuit, eeprom circuit, compare protective circuit, I/O circuit, DA change-over circuit, reset circuit, clock circuit and jtag circuit, wherein, revolve and become decoding circuit, CAN drive circuit and I/O circuit employing light-coupled isolation design, to improve hardware circuit antijamming capability; Switching Power Supply, based on inverse excitation type converter topological structure, is the low-voltage supply that control circuit and drive circuit provide multichannel to isolate.
The control program flow process of electric machine controller is:
(1), after system power-on reset, hardware configuration and initialization, initialization of variable is first carried out.
(2) then Motor control parameters is read from EEPROM.
(3) then carry out System self-test, if self-inspection success, then send self-inspection completion status to VCU, and enter standby mode; If self-inspection is unsuccessful, then first send self test failure mark to VCU, then send self-inspection completion status to VCU, and enter standby mode.
(4) in standby mode, the instruction that powers on that circular wait VCU sends.If receive the instruction that powers on, then start precharge operation, closed preliminary filling relay, and judge whether precharge completes.If precharge does not complete, then circular wait; If precharge completes, then closed main relay, disconnection preliminary filling relay, and send precharge completion status to VCU.
(5), after precharge completes, wait for that VCU sends enable command.If do not receive enable command, then circular wait; If receive enable command, then enable interruption, and enter main circulating program.
(6) in main circulating program, wait for and enter main interruption.If do not enter main interruption, then perform the subprograms such as CAN receives VCU instruction, CAN sends electric system running status, motor system fault diagnosis, EEPROM preservation fault message; If enter main interruption, then perform main interruption subroutine.
(7) in main interruption subroutine, first carry out AD sampling and calibration, rotor-position obtains and rotating speed calculates.
(8) then operational mode is carried out and torque instruction is resolved and obtains current-order.
(9) then judged whether that fault needs to shut down.If fault-free, then perform vector control algorithm and upgrade PWM output program, then exiting main interruption subroutine.
(10) if there is fault to need to shut down, then first current-order is reset, and judge that whether rotating speed is lower than secure threshold.If rotating speed is lower than secure threshold, then directly close PWM, then exit main interruption subroutine; Otherwise continue perform vector control algorithm and upgrade PWM output program, then exit main interruption subroutine.
The hardware circuit that the present invention determines electric machine controller is formed, theory diagram and control method, meets the control overflow of automobile permanent magnet synchronous motor.The present invention designs succinctly, and dependable performance ensure that the fail safe of car load.
Accompanying drawing explanation
Fig. 1 electric machine controller electrical principle block diagram;
Fig. 2 control circuit theory diagram;
Fig. 3 DSP main program flow chart.
Embodiment
1, hardware circuit is formed
In the present embodiment, electric machine controller theory diagram as shown in Figure 1, it is described that the hardware circuit of whole system forms the annexation between each several part.
See Fig. 1, the hardware circuit of electric machine controller is formed primarily of power main circuit 1, control circuit 2, drive circuit 3, Switching Power Supply 4 four part.Power main circuit 1 based on three-phase full-bridge inverter topological structure, and containing pre-charge circuit 8 and passive discharge resistance 9, contains 3 phase current transducers 6 and 1 DC bus current transducer 10 simultaneously.Wherein, IGBT5 adopts HybridPACK II power model of Infineon company, and DC bus capacitor 7 adopts the membrane capacitance of integrated busbar, and phase current transducer 6 and DC bus current transducer 10 adopt the automotive grade current sensor of LEM company.
Drive circuit 3 designs based on the IGBT driving chip ACPL-38JT of maturation, the pwm signal of reception control circuit 2, and is carried out power amplification, and the then turn-on and turn-off of control IGBT, feed back to control circuit 2 by the fault-signal of IGBT simultaneously.
In the present embodiment, control circuit 2 theory diagram as shown in Figure 2, it is described that the hardware circuit of control circuit 2 forms the relation between each several part.See Fig. 2, control circuit 2 designs based on DSP11 and CPLD12, the control command of entire car controller VCU is received by CAN drive circuit 16, gather the rotor-position signal of electric current, voltage, temperature sampling circuit 14 signal and magneto, and produce pwm signal by vector control algorithm, thus realize electric current to permagnetic synchronous motor and direct torque by PWM drive circuit 13, detect overcurrent, overvoltage, excess temperature fault by overcurrent, overvoltage, excess temperature comparison circuit 18, and fault message is saved in eeprom circuit 17 simultaneously.
Below control circuit in Fig. 22 is illustrated:
Control circuit 2 based on DSP11 and CPLD12 design, and contains PWM drive circuit 13, AD sample circuit (electric current, voltage, temperature sampling circuit) 14, revolves varying signal decoding circuit 15, CAN drive circuit 16, eeprom circuit 17, hardware protection comparison circuit (overcurrent, overvoltage, excess temperature comparison circuit) 18, I/O circuit 19, DA change-over circuit 20, clock circuit 21, reset circuit 22 and jtag circuit 23.Wherein, revolve varying signal decoding circuit 15, CAN drive circuit 16 and I/O circuit 19 and adopt light-coupled isolation to design, to improve hardware circuit antijamming capability.
DSP11 adopts the C28X series of digital signals processor (as TMS320F28335 or TMS320F2812) of TI company, and CPLD12 adopts the MAX7000A series of programmable logical device (as EPM7256) of altera corp.
AD sample circuit 14 designs based on operational amplifier LM2904, comprise 3 road phase current sampling passages, 1 tunnel busbar voltage sampled signal, 1 road bus current sampling channel, 3 road motor temperature sampling channels, 3 tunnel IGBT temperature sampling channels, the input of this circuit is connected with each electric current, voltage, temperature sensor, exports and is connected with the AD analog input pin of DSP11.
The 3.3V pwm signal that DSP11 exports, based on special level conversion chip design, is converted to 5V pwm signal by PWM drive circuit 13.The input of this circuit is connected with the PWM output pin of DSP11, exports and is connected with the PWM input pin of PWM drive circuit 13.
Revolve varying signal decoding circuit 15 based on the RDC decoding chip of ADI company and optocoupler design, on the one hand frequency is provided to be the excited signal of 10kHz to resolver, the sinusoidal signal exported by resolver on the other hand and feedback signal are decoded as rotor-position signal, and send to DSP11 by SPI interface.The input of this circuit is connected with resolver, exports and is connected with CPLD12, after CPLD12 logical process, then be connected with the SPI interface of DSP11.
CAN drive circuit 16 designs based on special CAN transceiver chip PCA82C250 and optocoupler, for improving antijamming capability, between CANH, CANL two differential signals, increase high-frequency filter capacitor, CAN electromagnetic interface filter and CAN TVS Surge Suppressors.
Eeprom circuit 17 designs based on X5163, realizes fault message storage store and reading with reading, controling parameters by SPI mode.This circuit is directly connected with CPLD12, after the time-sharing multiplex logical process of SPI module in CPLD12, then is connected with the McBSP interface of DSP11.
Hardware protection comparison circuit 18 based on the comparison device LM2903 designs, and realizes the hardware protection of overcurrent, overvoltage, excess temperature.The input of this circuit is connected with the output of AD sample circuit 14, exports and is connected with CPLD12, after CPLD12 logical process, be integrated into an interrupt signal on the one hand, be connected with the external interrupt input pin of DSP11 again, by DSP11 external interrupt subprogram, real-time guard carried out to fault; On the other hand, in order to distinguish each hardware protection fault, after the time-sharing multiplex logical process via SPI module in CPLD12, then be connected with the McBSP interface of DSP11, by SPI mode by fault Real-time Feedback to DSP11.
I/O circuit 19, based on special purpose relay driving chip and optocoupler design, comprises No. 4 relays and exports and 4 way switch amount input signals, can realize controlling pre-charge circuit.The input of this circuit is connected with exterior I O signal, exports and is connected with CPLD12, after CPLD12 logical process, then be connected with the IO pin of DSP11.
DA change-over circuit 20 realizes based on RC filter circuit, and input is connected with the timer PWM output pin of DSP11, first digital quantity is converted to pulse and exports, then convert analog quantity to by RC filtering.
Clock circuit 21 adopts the active crystal oscillator of 30MHz, exports and is connected with the external clock input pin of DSP11, during electrification reset, through the PLL unit frequency multiplication of DSP11 inside, 30MHz clock signal is converted to the 150MHz clock signal required for DSP11 work.
Reset circuit 22 designs, for resetting to DSP11 and IGBT driving chip based on special microprocessor reset chip.This circuit exports and is connected with CPLD12, and after CPLD12 logical process, be divided into 2 tunnel reset signals, 1 tunnel is connected with DSP11 reset pin, and another road is connected with the reset pin of PWM drive circuit 13.
Switching Power Supply 4, based on inverse excitation type converter topological structure, is the low-voltage supply that control circuit 2 and drive circuit 3 provide multichannel to isolate.
The change of revolving of control circuit 2 is connected with magneto with motor temperature signal, and phase current sampling signal, DC bus current sampled signal, busbar voltage sampled signal are connected with power main circuit 1, and pwm signal is connected with drive circuit 3; The PWM input signal of drive circuit 3 is connected with control circuit 2, and IGBT drive singal, IGBT temperature signal are connected with the IGBT5 of power main circuit 1; The DC side input of power main circuit 1 is connected with battery positive and negative electrode, and AC exports and is connected with the three-phase windings of magneto; The input of Switching Power Supply is connected with the positive and negative electrode of 12V power supply, exports and is connected with the power input of control circuit 2, drive circuit 3.
2, DSP main program flow
In the present embodiment, for meeting the control overflow of automobile permanent magnet synchronous motor, the main program flow chart of dsp software as shown in Figure 3.Specific procedure flow process is as follows:
(1), after system power-on reset, hardware configuration and initialization, initialization of variable is first carried out.
(2) then Motor control parameters is read from eeprom circuit.
(3) then carry out System self-test, if self-inspection success, then send self-inspection completion status to VCU, and enter standby mode; If self-inspection is unsuccessful, then first send self test failure mark to VCU, then send self-inspection completion status to VCU, and enter standby mode.
(4) in standby mode, the instruction that powers on that circular wait VCU sends.If receive the instruction that powers on, then start precharge operation, closed preliminary filling relay, and judge whether precharge completes.If precharge does not complete, then circular wait; If precharge completes, then closed main relay, disconnection preliminary filling relay, and send precharge completion status to VCU.
(5), after precharge completes, wait for that VCU sends enable command.If do not receive enable command, then circular wait; If receive enable command, then enable interruption, and enter main circulating program.
(6) in main circulating program, wait for and enter main interruption.If do not enter main interruption, then perform the subprograms such as CAN receives VCU instruction, CAN sends electric system running status, motor system fault diagnosis, EEPROM preservation fault message; If enter main interruption, then perform main interruption subroutine.
(7) in main interruption subroutine, first carry out AD sampling and calibration, rotor-position obtains and rotating speed calculates.
(8) then operational mode is carried out and torque instruction is resolved and obtains current-order.
(9) then judged whether that fault needs to shut down.If fault-free, then perform vector control algorithm and upgrade PWM output program, then exiting main interruption subroutine.
(10) if there is fault to need to shut down, then first current-order is reset, and judge that whether rotating speed is lower than secure threshold.If rotating speed is lower than secure threshold, then directly close PWM, then exit main interruption subroutine; Otherwise continue perform vector control algorithm and upgrade PWM output program, then exit main interruption subroutine.
The above, be only the better embodiment of the present invention, therefore can not limit scope of the invention process successively, and the equivalence namely done according to the scope of the claims of the present invention and description changes and modifies, and all should belong to the scope that the present invention is contained.
Claims (10)
1. a permanent magnet synchronous motor controller for vehicle, is characterized in that: electric machine controller circuit is formed primarily of power main circuit, control circuit, drive circuit, Switching Power Supply four part; Electric machine controller receives control model and the target torque instruction of entire car controller VCU transmission by CAN, and obtain current-order by parsing, then based on vector control algorithm and pulse-width modulation strategy, the turn-on and turn-off of control IGBT, thus the electric current realized permagnetic synchronous motor and direct torque; Simultaneously by input and process, realize the self-protection to electric system and failure diagnosis; In addition the running status of electric system is fed back to entire car controller VCU by CAN.
2. permanent magnet synchronous motor controller for vehicle as claimed in claim 1, it is characterized in that: power main circuit is based on three-phase full-bridge inverter topological structure, and containing pre-charge circuit and passive discharge resistance, simultaneously containing 3 phase current transducers and 1 DC bus current transducer.
3. permanent magnet synchronous motor controller for vehicle as claimed in claim 1, is characterized in that: drive circuit designs based on the IGBT driving chip ACPL-38JT of maturation.
4. permanent magnet synchronous motor controller for vehicle as claimed in claim 1, is characterized in that: Switching Power Supply, based on inverse excitation type converter topological structure, is the low-voltage supply that control circuit and drive circuit provide multichannel to isolate.
5. permanent magnet synchronous motor controller for vehicle as claimed in claim 1, it is characterized in that: control circuit based on DSP and CPLD design, and contains PWM drive circuit, revolves change decoding circuit, AD sample circuit, CAN drive circuit, eeprom circuit, I/O circuit, DA change-over circuit, reset circuit, clock circuit and jtag circuit; And overcurrent, overvoltage, excess temperature hardware protection comparison circuit; The output signal of protection comparison circuit, via CPLD logical process, then triggers DSP response external and interrupts to carry out electric system conservation treatment in time.
6. permanent magnet synchronous motor controller for vehicle as claimed in claim 5, is characterized in that: control circuit comprises 3 road phase current sampling passages, 1 tunnel busbar voltage sampled signal, 1 road bus current sampling channel, 3 road motor temperature sampling channels, 3 tunnel IGBT temperature sampling channels.
7. the permanent magnet synchronous motor controller for vehicle as described in claim 5 or 6, is characterized in that: in control circuit, the SPI interface of DSP is used for becoming decoding circuit communication with revolving, acquisition rotor position information; In control circuit, the McBSP interface of DSP is arranged to SPI pattern, and via CPLD time-sharing multiplex, carries out communication on the one hand with EEPROM, carries out fault message storage and stores with reading, controling parameters and read; Each fault that another aspect Real-time Obtaining and differentiation hardware protection comparison circuit detect; Reset signal in control circuit, external interrupt signal, two-way SPI communication signal, I/O signal all carry out logical process via CPLD, in control circuit, power-on reset signal is divided into two-way reset signal via CPLD process, one tunnel is for the DSP that resets, and another road is for the IGBT driving chip that resets.
8. the permanent magnet synchronous motor controller for vehicle as described in claim 5,6 or 7, is characterized in that: revolving in control circuit becomes decoding circuit, CAN drive circuit and I/O circuit and adopt light-coupled isolation design.
9. permanent magnet synchronous motor controller for vehicle as claimed in claim 8, is characterized in that: in control circuit, I/O circuit contains No. 4 relay output signal and 4 way switch amount input signals.
10. permanent magnet synchronous motor controller for vehicle as claimed in claim 1, the control program of its control circuit is:
(1), after system power-on reset, hardware configuration and initialization, initialization of variable is first carried out;
(2) then Motor control parameters is read from EEPROM;
(3) then carry out System self-test, if self-inspection success, then send self-inspection completion status to VCU, and enter standby mode; If self-inspection is unsuccessful, then first send self test failure mark to VCU, then send self-inspection completion status to VCU, and enter standby mode;
(4) in standby mode, the instruction that powers on that circular wait VCU sends; If receive the instruction that powers on, then start precharge operation, closed preliminary filling relay, and judge whether precharge completes; If precharge does not complete, then circular wait; If precharge completes, then closed main relay, disconnection preliminary filling relay, and send precharge completion status to VCU;
(5), after precharge completes, wait for that VCU sends enable command; If do not receive enable command, then circular wait; If receive enable command, then enable interruption, and enter main circulating program;
(6) in main circulating program, wait for and enter main interruption.If do not enter main interruption, then perform the subprograms such as CAN receives VCU instruction, CAN sends electric system running status, motor system fault diagnosis, EEPROM preservation fault message; If enter main interruption, then perform main interruption subroutine;
(7) in main interruption subroutine, first carry out AD sampling and calibration, rotor-position obtains and rotating speed calculates;
(8) then operational mode is carried out and torque instruction is resolved and obtains current-order;
(9) then judged whether that fault needs to shut down; If fault-free, then perform vector control algorithm and upgrade PWM output program, then exiting main interruption subroutine;
(10) if there is fault to need to shut down, then first current-order is reset, and judge that whether rotating speed is lower than secure threshold; If rotating speed is lower than secure threshold, then directly close PWM, then exit main interruption subroutine; Otherwise continue perform vector control algorithm and upgrade PWM output program, then exit main interruption subroutine.
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