CN104290612B - A kind of active voltage control method and control system of electric motor system - Google Patents
A kind of active voltage control method and control system of electric motor system Download PDFInfo
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- CN104290612B CN104290612B CN201410608709.XA CN201410608709A CN104290612B CN 104290612 B CN104290612 B CN 104290612B CN 201410608709 A CN201410608709 A CN 201410608709A CN 104290612 B CN104290612 B CN 104290612B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000012546 transfer Methods 0.000 claims abstract description 17
- 238000004146 energy storage Methods 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 5
- 238000012795 verification Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000009347 mechanical transmission Effects 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The present invention relates to a kind of active voltage control method and control system of electric motor system, it comprises the following steps: 1) driver pedal signal, rotating speed and dtc signal, GES and SOC voltage signal transfer to entire car controller, by entire car controller calculation expectation operating point, obtain target torque; 2) according to expecting that operating point, motor efficiency and motor controller obtain the efficiency characteristic curve of electric motor system; 3) in the efficiency characteristic curve of electric motor system, find maximum point, its corresponding voltage is desired control voltage; 4) desired control voltage and torque are sent to respectively to initiatively DC/DC converter and motor controller; 5) initiatively the control voltage signal of DC/DC converter feedback sends in entire car controller, is realized the closed-loop control of electric motor system voltage by PID closed loop control module. The present invention can be widely used in various electric motor driven New-energy electric vehicle vehicles.
Description
Technical field
The present invention relates to a kind of active voltage control method and control system of electric motor system, particularly suitable about oneFor active voltage control method and the control system of electric drive automobile electric motor system.
Background technology
Now, traffic congestion has become many metropolitan common problems, and development comprises hybrid vehicle and pure electricityElectrical automobile is significant to energy-conservation and environmental protection at interior electric drive automobile. Formed by motor and motor controllerElectric motor system be the driver element of electric drive automobile, the effectiveness affects of electric motor system the overall efficiency of car load,It is one of energy-conservation key link of car load. But what loiter in city blocks up in operating mode, electric drive automobile is frequentAcceleration-deceleration frequently, makes electric motor system often in the slow-speed of revolution, and the duty in high torque (HT) district, causes electronicMachine system can not be operated between its high efficient area.
Voltage and electric motor system close relation, in the time that voltage changes, the external characteristics of motor and universal spyCan there is obvious change in property, and then also can change between the high efficient area of motor; Meanwhile, the variation of voltage alsoCan cause the efficiency curve of motor controller to change, the efficiency of motor controller also can be along with the variation of voltageAnd change. Therefore,, if can change by regulation voltage the efficiency curve of motor and motor controller, makeObtain its efficiency curve and follow operating point and change, likely improve the overall efficiency of electric motor system. At present, electricity drivesElectrical automobile uses lithium battery as energy storing device conventionally, and lithium battery voltage in the time of low electric weight and high electric weight can not occurSignificant change, that is to say that the electric motor system of current electric drive automobile is operated under constant voltage operating mode substantially,Voltage-regulation to motor is limited in one's ability. In addition, the method for at present conventional raising electric motor system operating efficiency isTwo grades of mechanical transmissions are installed between motor and wheel, are utilized mechanical transmission to change the operating point of motor. ButTo fix and gear only has two due to mechanical transmission speed ratio, limited for the lifting effect of efficiency. And increase by twoShelves mechanical transmission cost is higher, also can reduce the mechanical efficiency of whole dynamical system.
Summary of the invention
For the problems referred to above, the object of this invention is to provide one and control on one's own initiative in real time electric motor system voltage, realizeActive voltage control method and the control system of the electric motor system of electric motor system maximal efficiency.
For achieving the above object, the present invention takes following technical scheme: a kind of active Control of Voltage side of electric motor systemMethod, it comprises the following steps: 1) the active voltage control system of an electric motor system is set, and it comprises stored energy listUnit's management system, energy storage units, active DC/DC converter, motor controller, motor, wheel, wheelSpeed sensor, driver pedal and entire car controller, preset control chip in entire car controller, pre-in control chipBe equipped with PID closed loop control module; 2) SOC signal and the electricity of energy storage units management system collecting energy memory cellPress signal, and transfer to described entire car controller; Motor controller gathers motor speed, the dtc signal of motor,And transfer to entire car controller; The GES of wheel speed sensors collection reality also transfers to entire car controller; DriverAccelerator pedal signal and the brake pedal signal of pedal transfer to entire car controller; 3) control chip in entire car controllerAccording to the accelerator pedal signal, brake pedal signal and motor speed and the dtc signal that gather, with actual speed of a motor vehicle letterNumber carry out verification, obtain motor meet driver accelerate, cruise or deceleration intention under expectation operating point Wi(ni,Ti)，Wherein, niAnd TiBe respectively the expectation rotating speed of i moment motor and expect torque; Expect torque TiBe required targetControlling torque; In addition, control chip carries out the state of energy storage units in real time according to SOC signal and voltage signalMonitoring; 4) the motor controller efficiency Model based on preset in control chip in entire car controller and motor efficiency mouldType, obtains the efficiency eta of motor controller1Efficiency eta with motor2; 5) according to expecting operating point Wi(ni,Ti), electricityThe efficiency eta of motivation controller1Efficiency eta with motor2, calculate the efficiency characteristic curve of electric motor systemηi=h (V); 6), in the operating voltage range of motor, find electric motor system efficiency characteristic curve ηi=h's (V)Maximum point (Vi,o,ηi,o), maximum point (Vi,o,ηi,o) corresponding operating voltage Vi,oBe target control voltage; 7) car loadController passes through CAN communication bus by target control voltage Vi,oSend to initiatively DC/DC converter, target control is turnedSquare TiSend to motor controller; 8) initiatively the control voltage signal of DC/DC converter feedback is communicated by letter always by CANLine transfers in entire car controller, by the PID closed loop control module in entire car controller by feedback control voltage signalWith target control voltage Vi,oCompare, regulate in real time and send to the initiatively target control voltage of DC/DC converter, realThe now closed-loop control to electric motor system voltage.
An active voltage control system for electric motor system, is characterized in that: it comprises energy storage units management systemSystem, energy storage units, initiatively DC/DC converter, motor controller, motor, wheel, wheel speed sensors,Driver pedal and entire car controller; Described energy storage units management system connects described energy by sensor wire harnessMemory cell, described energy storage units connects described active DC/DC converter by two direct current supply lines, described inInitiatively DC/DC converter connects described motor controller by two direct current supply lines, and described motor controller is logicalCross three phase lines and connect motor, described motor connects wheel by power transmission shaft, differential mechanism and jack shaft, described inWheel speed sensors is installed on wheel; Described energy storage units management system, active DC/DC converter, motorController, wheel speed sensors, driver pedal all connect described entire car controller by CAN communication bus, described wholeIn vehicle controller, preset control chip, in described control chip, preset PID closed loop control module.
The present invention is owing to taking above technical scheme, and it has the following advantages: 1, the present invention is owing to having adopted initiatively voltageControl system regulates in real time to the voltage of electric motor system, has realized at any time of car load operation, motorIt is optimum that the overall efficiency of system can reach. 2, the present invention due to adopt initiatively DC/DC converter regulate efficient district withJoin operating point, compare traditional speed changer that utilizes and regulate motor operating point to mate the method in efficient district, flexibility moreBy force, adjustable extent is wider. 3, the active voltage control system structure letter taking entire car controller as core that the present invention adoptsSingle, directly driven by motor, mechanical efficiency is higher. Thereby the present invention can be widely used in hybrid-power bus,Plug-in hybrid bus, pure electric bus etc. contain in electric motor driven integral new-energy passenger vehicle.
Brief description of the drawings
Fig. 1 is active voltage control system structural representation of the present invention
Fig. 2 is active voltage control method control flow schematic diagram of the present invention
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Figure 1, the active voltage control system of electric motor system of the present invention comprises energy storage units management system1, energy storage units 2, active DC/DC converter 3, motor controller 4, motor 5, wheel 6, wheel speedSensor 7, driver pedal 8 and entire car controller 9. Energy storage units management system 1 connects by sensor wire harnessConnect energy storage units 2, energy storage units 2 connects initiatively DC/DC converter 3 by two direct current supply lines, mainMoving DC/DC converter 3 connects motor controller 4 by two direct current supply lines, and motor controller 4 is by threeRoot phase line connects motor 5, and motor 5 connects wheel 6, wheel 6 by power transmission shaft, differential mechanism and jack shaftOn wheel speed sensors 7 is installed; Energy storage units management system 1, active DC/DC converter 3, Motor ControlDevice 4, wheel speed sensors 7, driver pedal 8 all connect entire car controller 9, car load control by CAN communication busIn device 9, preset control chip, in control chip, preset PID closed loop control module.
SOC signal and the voltage signal of energy storage units management system 1 collecting energy memory cell 2, and transfer toEntire car controller 9; Motor controller 4 gathers motor speed, the dtc signal of motor 5, and transfers to car loadController 9; Wheel speed sensors 7 gathers actual GES and transfers to entire car controller 9; Driver pedal 8Accelerator pedal signal and brake pedal signal transfer to entire car controller 9. The interior control chip basis of entire car controller 9The calculated signals of all collections obtains target control voltage and target control that electric motor system tackles when most effective and turnsSquare, and target control voltage is sent to initiatively DC/DC converter 3, target control torque is sent to motor controlDevice 4 processed, controls motor 5 by motor controller 4 and moves. The initiatively FEEDBACK CONTROL voltage of DC/DC converter 3Signal passes through CAN transmission to entire car controller 9, by the PID closed loop control module in entire car controller 9Realize the closed-loop control of electric motor system voltage.
As shown in Figure 2, the active voltage control system based on electric motor system, the present invention also provides a kind of motor to beThe active voltage control method of system, it comprises the following steps:
1) SOC signal and the voltage signal of energy storage units management system 1 collecting energy memory cell 2, and transmissionTo entire car controller 9; Motor controller 4 gathers motor speed, the dtc signal of motor 5 and transfers to car loadController 9; Wheel speed sensors 7 gathers actual GES and transfers to entire car controller 9; Driver pedal 8Accelerator pedal signal and brake pedal signal transfer to entire car controller 9;
2) control chip in entire car controller 9 is according to the accelerator pedal signal, brake pedal signal and the motor that gatherRotating speed and dtc signal, carry out verification with actual GES, obtains motor 5 and accelerate, patrol meeting driverExpectation operating point W under boat or deceleration intentioni(ni,Ti), wherein, niAnd TiThe expectation that is respectively i moment motor 5 turnsSpeed and expectation torque; Expect torque TiBe required target control torque; In addition, control chip is according to SOC signalWith the voltage signal monitoring state to energy storage units 2 in real time;
3) motor controller 4 efficiency Model and the motor 5 based on preset in control chip in entire car controller 9Efficiency Model, obtains the efficiency eta of motor controller 41Efficiency eta with motor 52；
The efficiency eta of motor controller 41For:
η1＝g(n,T,V)(1)
Wherein, n is the rotating speed of motor 5, and T is the torque of motor 5, and V is voltage;
The efficiency eta of motor 52For:
η2＝f(n,T,V)
4) according to expecting operating point Wi(ni,Ti), the efficiency eta of motor controller 41Efficiency eta with motor 52, meterCalculation obtains the efficiency characteristic curve η of electric motor systemi＝h(V)；
The efficiency eta of electric motor system is:
η＝η1×η2＝f(n,T,V)×g(n,T,V)(3)
To expect operating point Wi(ni,Ti) substitution formula (3), obtain the efficiency characteristic curve of electric motor system:
ηi＝h(V)＝f(ni,Ti,V)×g(ni,Ti,V)(4)
5) at the operating voltage range V of motor 5 ∈ [VL,VH] in, find electric motor system efficiency characteristic curveηiMaximum point (the V of=h (V)i,o,ηi,o), maximum point (Vi,o,ηi,o) corresponding operating voltage Vi,oBe target control electricityPress the efficiency eta that maximum point is correspondingi,oBe the expectation operating point W of electric motor systemi(ni,Ti) in operating voltage rangeThe maximal efficiency that can realize; Wherein, [VL,VH] be respectively higher limit and the lower limit of motor 5 operating voltages;
6) entire car controller 9 passes through CAN communication bus by target control voltage Vi,oSend to initiatively DC/DC converter3, by target control torque TiSend to motor controller 4;
7) the control voltage signal that initiatively DC/DC converter 3 feeds back passes through CAN transmission to entire car controllerIn 9, by the PID closed loop control module in entire car controller 9 by feedback control voltage signal and target control voltageCompare, regulate in real time and send to the initiatively target control voltage of DC/DC converter 3, realize electric motor systemThe closed-loop control of voltage.
The various embodiments described above are only for illustrating the present invention, and wherein the structure of each parts, connected mode and manufacture craft etc. are allCan change to some extent, every equivalents of carrying out on the basis of technical solution of the present invention and improvement, all should notGet rid of outside protection scope of the present invention.
Claims (2)
1. an active voltage control method for electric motor system, is characterized in that, said method comprising the steps of:
1) the active voltage control system of an electric motor system is set, it comprises energy storage units management system, energyMemory cell, active DC/DC converter, motor controller, motor, wheel, wheel speed sensors, driverPedal and entire car controller, preset control chip in entire car controller, preset PID closed-loop control in control chipModule;
2) SOC signal and the voltage signal of energy storage units management system collecting energy memory cell, and transfer to instituteState entire car controller; Motor controller gathers motor speed, the dtc signal of motor, and transfers to car load controlDevice; The GES of wheel speed sensors collection reality also transfers to entire car controller; The accelerator pedal letter of driver pedalNumber and brake pedal signal transfer to entire car controller;
3) control chip in entire car controller turns according to the accelerator pedal signal, brake pedal signal and the motor that gatherSpeed and dtc signal, carry out verification with actual GES, obtain motor meet driver accelerate, cruise orExpectation operating point W under deceleration intentioni(ni,Ti), wherein, niAnd TiBe respectively expectation rotating speed and the phase of i moment motorHope torque; Expect torque TiBe required target control torque; In addition, control chip is according to SOC signal and voltageSignal is the monitoring state to energy storage units in real time;
4) the motor controller efficiency Model based on preset in control chip in entire car controller and motor efficiency model,Obtain the efficiency eta of motor controller1Efficiency eta with motor2；
5) according to expecting operating point Wi(ni,Ti), the efficiency eta of motor controller1Efficiency eta with motor2, calculateTo the efficiency characteristic curve η of electric motor systemi＝h(V)；
6), in the operating voltage range of motor, find electric motor system efficiency characteristic curve ηi=h's (V) is very bigValue point (Vi,o,ηi,o), maximum point (Vi,o,ηi,o) corresponding operating voltage Vi,oBe target control voltage;
7) entire car controller passes through CAN communication bus by target control voltage Vi,oSend to initiatively DC/DC converter,By target control torque TiSend to motor controller;
8) initiatively the control voltage signal of DC/DC converter feedback passes through CAN transmission to entire car controller,By the PID closed loop control module in entire car controller by feedback control voltage signal and target control voltage Vi,oCarry outRelatively, regulate in real time and send to the initiatively target control voltage of DC/DC converter, realize electric motor system voltageClosed-loop control.
2. realize a control system for the active voltage control method of electric motor system as claimed in claim 1, its spyLevy and be: it comprises energy storage units management system, energy storage units, active DC/DC converter, motorController, motor, wheel, wheel speed sensors, driver pedal and entire car controller; Described energy storage unitsManagement system connects described energy storage units by sensor wire harness, and described energy storage units is by two direct currentsSource line connects described active DC/DC converter, and described active DC/DC converter connects institute by two direct current supply linesState motor controller, described motor controller connects motor by three phase lines, and described motor is by transmissionAxle, differential mechanism and jack shaft connect wheel, on described wheel, wheel speed sensors are installed; Described energy storage unitsManagement system, active DC/DC converter, motor controller, wheel speed sensors, driver pedal all pass through CANCommunication bus connects described entire car controller, in described entire car controller, presets control chip, in described control chipPreset PID closed loop control module.
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| CN201410608709.XA CN104290612B (en) | 2014-11-03 | 2014-11-03 | A kind of active voltage control method and control system of electric motor system |
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| CN201410608709.XA CN104290612B (en) | 2014-11-03 | 2014-11-03 | A kind of active voltage control method and control system of electric motor system |
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| CN104290612B true CN104290612B (en) | 2016-05-18 |
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| CN105416095B (en) * | 2015-12-29 | 2018-08-17 | 罗公祥 | multi-motor electric vehicle |
| CN107444394B (en) * | 2017-07-27 | 2020-04-17 | 北京新能源汽车股份有限公司 | Motor torque control method and device and automobile |
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| US7679310B2 (en) * | 2007-10-24 | 2010-03-16 | Gm Global Technology Operations, Inc. | Method and system for controlling pulse width modulation in a power inverter in electric drives |
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| WO2007126038A1 (en) * | 2006-04-24 | 2007-11-08 | Toyota Jidosha Kabushiki Kaisha | Load drive device, vehicle using the same, and load drive device control method |
| CN101219664A (en) * | 2008-01-08 | 2008-07-16 | 清华大学 | Fuel cell hybrid power energy control method |
| DE102011076042A1 (en) * | 2010-06-01 | 2011-12-01 | GM Global Technology Operations LLC | Vehicle electronics system |
| WO2013051140A1 (en) * | 2011-10-06 | 2013-04-11 | トヨタ自動車株式会社 | Control device for hybrid vehicle |
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Address after: 100084, Haidian District, 100084 mailbox, 82 boxes, Tsinghua University patent office, Beijing Patentee after: TSINGHUA University Country or region after: China Patentee after: JING-JIN ELECTRIC TECHNOLOGIES Co.,Ltd. Address before: 100084, Haidian District, 100084 mailbox, 82 boxes, Tsinghua University patent office, Beijing Patentee before: TSINGHUA University Country or region before: China Patentee before: JING-JIN ELECTRIC TECHNOLOGIES (BEIJING) Co.,Ltd. |