CN104333291A - Motor driving control device and motor driving control method - Google Patents
Motor driving control device and motor driving control method Download PDFInfo
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- CN104333291A CN104333291A CN201310309245.8A CN201310309245A CN104333291A CN 104333291 A CN104333291 A CN 104333291A CN 201310309245 A CN201310309245 A CN 201310309245A CN 104333291 A CN104333291 A CN 104333291A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Power Engineering (AREA)
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- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to a motor driving control device and a motor driving control method. The motor driving control device comprises the components of a transformer (14) which can boost DC power supply voltage (Vdc) to bus voltage (Vbus) in a boosting mode and can transmit DC power supply voltage to a bus in a non-boosting mode; inverters (11,11') which are used for driving a motor; and a control unit (300) which can control the transformer (14) for entering the boosting mode. Through the motor driving control device and the motor driving control method, motor driving can be efficiently realized in a simpler manner.
Description
Technical field
The present invention relates to a kind of control device and method, more specifically, the present invention relates to a kind of for motor-driven control device and control method.
Background technology
Fig. 1 show schematically show the power stage in hybrid power/pure electric vehicle.As shown in Figure 1, power stage mainly comprises: motor 1; Inverter 2, its at side output AC voltage with drive motors 1; Transformer 4, for output bus voltage Vbus to inverter 2, wherein, the DC power supply 5 that transformer 4 is Vdc by output voltage is powered, and normally promotes Vdc voltage.Particularly, the opposite side of inverter 2 is then DC bus 3, and DC bus 3 provides DC bus voltage Vbus for inverter 2.This DC bus voltage Vbus is controlled by transformer 4, and wherein Vdc voltage can be promoted to Vbus by transformer 4 under boost mode.If necessary, many group inverters and motor share same DC bus 3, and to perform more complicated task, such as, when two motors 1,1 ', a motor 1 runs under electric model, and another motor 1 ' then runs in generate mode.
Transformer 4 has important function in above-mentioned power stage:
1) DC bus voltage Vbus has material impact to system loss and efficiency, and bus voltage is high, and for motor, its electric current needed in weak magnetic area can be little, and the loss therefore on wire can be little, but magnetic field can be large, and the loss therefore in iron core can be many.For the power switch component in transformer and inverter, because current of electric is little, so conduction loss can be little, but because bus voltage is high, so switching loss can be large.When bus voltage is low, situation is just in time contrary.Therefore, for motor speed and the moment of torsion of particular combination, there is the DC bus voltage Vbus making system optimal.When the rotating speed of motor or torque change, DC bus voltage also will follow change, Here it is system optimal path.Here " system optimal ", can be most effective (equivalent loss is minimum) of system, or certain element (such as motor) is most effective, or be that the temperature rise of system is minimum, or be that the temperature rise of certain element is minimum, or be that the temperature rise of system under certain operating mode is minimum, or be that the temperature rise of certain element under certain operating mode is minimum.Transformer 4 control bus voltage Vbus, to guarantee that inverter 2,2 ' and motor 1,1 ' have enough voltage to export the moment of torsion needed, preferably controls Vbus make the Best Point of system optimal simultaneously.
2) simultaneously, above-mentioned control also needs to consider direct current power source voltage Vdc.In real system, Vdc is changing always, but not remains constant.Such as, when using battery as DC power supply, it has internal resistance, and this makes direct current power source voltage Vdc in high load situations decline, and under charge mode, direct current power source voltage Vdc then rises.Further, direct current power source voltage Vdc can change with the charged state of battery.The control of direct current power source voltage Vdc appreciable impact transformer 4 couples of bus voltage Vbus again of change.When supply voltage Vdc is enough high, then need not promote supply voltage Vdc.That is, transformer 4 is with non-boost mode work, allows supply voltage Vdc directly by converter 4.But when supply voltage Vdc is not high enough, transformer 4 needs to work in a boost mode, to promote supply voltage Vdc, certainly when transformer 4 works in a boost mode, certain power loss can be produced.
Another problem is that bus voltage Vbus controls the relation between Electric Machine Control.Electric machine controller needs the bus voltage Vbus according to reality, selects suitable control electric current I d and Iq, realizes the torque that motor exports needs under current rotating speed.Incorrect selection Id and Iq, can make the voltage that motor required voltage can provide higher than bus, finally cause motor out of control.When with power stage system optimal path alternatively control Vbus time, Electric Machine Control also according to Vbus control correspondingly change.Therefore how coordinating above-mentioned control is problem place.
US7164253B2 discloses a kind of control device of electric motor, recognizes that bus voltage Vbus controls the material impact for system effectiveness, and regulates bus voltage Vbus according to motor speed and torque output.By comparing supply voltage Vdc and bus voltage Vbus considers supply voltage Vdc, and select the greater as bus voltage instruction.But power stage is not integrally considered by said method, reckon without the optimum operation (optimum operation such as: temperature rise is minimum, loss is minimum) of motor, therefore can not guarantee that power stage is run with Best Point.
Although US7852029B2 recognizes the importance that bus voltage Vbus controls, and utilize reservation chart to regulate and realize best bus voltage Vbus and control, it does not consider the impact of direct current power source voltage Vdc.
US8324856B2 utilizes reservation chart to determine that best Vbus is arranged.This table is divided into boosting region and non-boosting region, and above-mentioned zone selects line to divide by boosting.But and undeclared Vdc changes the impact worked out above table.On the other hand, by checking that whether crossing boosting based on the breakdown torque curve of voltage after boosting selects line, considers supply voltage Vdc change in real time.If cross boosting to select line, then represent that the supply voltage Vdc of decline can stop motor to export the torque of needs, therefore need to perform from non-boosting region to boosting region.But such scheme is too complicated.
Summary of the invention
The object of the present invention is to provide a kind of simple motor drive control device and control method efficiently, namely provide a kind of 1) according to motor speed and torque by transformer by bus voltage regulation to Best Point, thus system is run with optimum state; 2) compare the direct voltage of change and the bus voltage of needs in real time, to determine whether perform boosting or do not boost, can reduce or eliminate the impact of the direct voltage of change; 3) smooth transition between boosting and non-boosting is guaranteed by simple step; 4) Electric Machine Control and bus voltage control motor drive control device and the control method of coordinating these objects completely.
Above-mentioned purpose can be realized by following control device and method.
Send out motor drive control device a kind of according to this, this motor drive control device comprises: transformer, direct current power source voltage can be boosted into bus voltage by described transformer in boost mode, also in non-boost mode, direct current power source voltage can be transferred to bus; Inverter, described inverter is used for drive motors; Control unit, described control unit can control described transformer and whether enter described boost mode.
Preferably, in motor drive control device of the present invention, described control unit comprises further: transformer control unit, and described transformer control unit can control described transformer and whether enter described boost mode; And inverter control unit, described inverter control unit can control described inverter.
Further preferably, in motor drive control device of the present invention, described transformer control unit comprises further: bus voltage instruction generator and control signal maker, wherein, described bus voltage instruction generator according to input torque instruction and motor information output bus voltage instruction to described control signal maker, whether described control signal maker enters boost mode according to the bus voltage instruction control transformer received.
In addition preferably, in motor drive control device of the present invention, described inverter control unit comprises further: current-order maker, power pack, d shaft current controller, q shaft current controller and control signal maker, wherein, described current-order maker receives torque instruction and the motor speed signal of input, and export the instruction of d shaft current respectively, the instruction of q shaft current is to described d shaft current controller, q shaft current controller, described d shaft current controller, q shaft current controller outputs to described control signal maker respectively, described control signal maker carrys out control inverter according to the output of d shaft current controller and q shaft current controller.
Preferably, in motor drive control device of the present invention, whether described transformer control unit enters boost mode according to the optimization table control transformer being used for system optimization standard.
Preferably, in motor drive control device of the present invention, described system optimization standard is that system power dissipation is minimum.
Preferably, in motor drive control device of the present invention, described optimization table comprises bus voltage command list, d spindle motor current-order table, and q spindle motor current-order table.
Preferably, in motor drive control device of the present invention, described transformer control unit carrys out control transformer by Hysteresis control and switches between boost mode and non-boost mode.
The invention still further relates to a kind of motor drive control method, this control method comprises the following steps:
Step S1: system optimization standard is set, and collection realizes the necessary data message of described system optimization standard;
Step S2: utilize data message collected in step S1, works out three the optimization tables being used for system optimization standard: bus voltage command list, d spindle motor current-order table, and q spindle motor current-order table;
Step S3: search for optimum bus voltage instruction based on torque instruction and motor speed in optimization table, and combine the direct current power source voltage determination actual bus voltage instruction detected; According to actual bus voltage instruction, and the bus voltage that actual measurement is arrived, by comparing this two magnitudes of voltage, generating control signal, realizing FEEDBACK CONTROL, perform the bus voltage determined and control;
Step S4: the torque instruction inputted according to outside and motor speed search for optimum d shaft current and optimum q shaft current in optimization table, implements the control to inverter according to optimum d shaft current and q shaft current.
Preferably, in motor drive control method of the present invention, step S2 is further comprising the steps:
Step S201, carries out initialization: setting direct current power source voltage is less than the minimum value of battery voltage range in this step; Setting Current bus voltage is the minimum value of battery voltage range; Setting current motor rotating speed is range of speeds minimum value; The torque of setting current motor is torque range minimum value; Set stagnant circular rector;
Step S202, setting bus voltage;
Step S203, setting motor speed;
Step S204, setting motor torque;
Step S205, calculates under specific bus voltage, motor speed and torque, may combining of d shaft current and q shaft current;
Step S206, calculates the power loss of each power cell under may the combining of above-mentioned d shaft current and q shaft current;
Step S207, determines optimum d shaft current and q shaft current by the power loss sum of more each power cell;
Step S208, judges whether motor torque reaches maximum, if not, then progressively increases torque, and be back to step S204; If so, next step S209 is then entered;
Step S209, judges whether motor speed reaches maximum, if not, then progressively increases speed, and be back to step S203; If so, next step S211 is then entered;
Step S210, judges whether bus voltage reaches maximum, if not, then progressively increases bus voltage, and be back to step S202; If so, next step S211 is then entered;
Step S211, compares the power loss of each power cell when different bus voltage arranges lower optimum d shaft current, q shaft current, and determines the global optimum table of d shaft current, q shaft current and bus voltage.
Preferably, in motor drive control method of the present invention, step S3 is further comprising the steps:
Step S301: retrieve bus voltage and detect direct current power source voltage in preferably showing;
Step S302: judge whether in first pattern be non-boost mode, if so, then enters step S303; If not, then step S306 is entered;
Step S303: judge whether bus voltage is less than direct voltage and stagnant circular rector sum; If bus voltage is less than direct current power source voltage and stagnant circular rector sum, then enter step S304; If not, then step S305 is entered;
Step S304, performs non-boosting rectifier control, and sends instruction and make bus voltage instruction equal direct voltage to transformer control unit, enters step S311;
Step S305, transformer control unit control transformer enters boost mode, issues instructions to transformer control unit, enters step S311;
Step S306, control program judges whether bus voltage instruction is less than direct current power source voltage, if so, then enters step S307 further; If not, then step S308 is entered;
Step S307, enters non-boosting rectifier control, and enters step S311;
Step S308, control program judges whether bus voltage is greater than direct current power source voltage and the second stagnant circular rector sum, if so, then enters step S39, if not, then enters step S310 further;
Step S309, enters boosting rectifier control, and bus voltage instruction equals bus voltage, and enters step S311;
Step S310, enters boosting rectifier control, and bus voltage instruction equals direct voltage and the second stagnant circular rector sum, and enters step S311;
Step S311, control program judges whether difference that bus voltage instruction deducts last bus voltage instruction is greater than the voltage control change step-length of the maximum permission of setting, if so, then enters step S312, if not, then enters step S313;
Step S312, control program arranges the voltage control that bus voltage instruction equals the maximum permission of last bus voltage instruction and setting and changes step-length sum, and allows transformer control unit control bus voltage become bus voltage instruction;
Step S313, control program arranges bus voltage instruction and equals general line voltage, and allows transformer control unit control bus voltage become bus voltage instruction.
Preferably, in motor drive control method of the present invention, the described data message in described step S1 comprises the loss model of each power component in system.
Preferably, in motor drive control method of the present invention, described stagnant circular rector is determined based on bus voltage fluctuation, bus voltage certainty of measurement and/or transformer dead zone.
Preferably, in motor drive control method of the present invention, described step-length can be constant or variable.
Utilize motor drive control device of the present invention and control method, following technique effect can be realized: 1) system runs 2 at optimum state all the time) bus voltage controls and Electric Machine Control no-float 3) considers that direct current voltage change carries out bus voltage control, simultaneously simply implementation procedure guarantees the smooth conversion between boosting and non-boost mode.
Accompanying drawing explanation
In order to describe the present invention in more detail, be also described further with reference to specific embodiment below with reference to accompanying drawing, wherein:
Fig. 1 is the power stage structural representation of prior art;
Fig. 2 is the schematic diagram according to motor drive control device of the present invention;
Fig. 3 is the flow chart according to motor drive control method of the present invention;
Fig. 4 is the detail flowchart of the step 2 according to motor drive control method of the present invention;
Fig. 5 is the detail flowchart of the Hysteresis control according to motor drive control method of the present invention;
Fig. 6 is the schematic diagram of the instruction of d shaft current, Torque and speed;
Fig. 7 is the schematic diagram of the instruction of q shaft current, Torque and speed; With
Fig. 8 is the schematic diagram of bus voltage instruction, Torque and speed.
Embodiment
In further detail embodiments of the invention are described hereinafter with reference to accompanying drawing.
First comprise with reference to power stage shown in Fig. 2, figure: output dc voltage V
dcdC power supply 15; Transformer 14, it can by direct voltage V in boost mode
dcboosting is bus direct voltage V
bus; Inverter 12,12 ', its side input direct voltage V
bus, and at opposite side output AC voltage; With motor 11,11 ', driven by inverter 12,12 ' respectively, motor 11,11 ' can be connected to driving-chain further, and driving-chain can be the driving-chain of hybrid power/pure electric automobile.Particularly, in the present embodiment, DC power supply 15 is the battery/storage batterys with internal resistance, and transformer 14 is Bidirectional up-down pressure type circuit, and inverter 12,12 ' is three-phase inverter, and motor 11,11 ' is permagnetic synchronous motor.It should be noted that in other embodiments, the quantity of inverter and motor can be more than 1 respectively, is described in the present embodiment for 2 inverters and 2 motors.
Further, as shown in Figure 2, motor drive control device according to the present invention mainly comprises: DC power supply 15; Transformer 14; Inverter 12,12 '; Motor 11,11 '; With control unit 300, can enter non-boost mode or boost mode by control transformer 14, described control unit 300 also may be used for control inverter 12,12 '.
More specifically, control unit 300 may further include: transformer control unit 200, for control transformer 14.Preferably, control unit 300 also comprises inverter control unit 100, for control inverter 12,12 '.Particularly, transformer control unit 200 mainly comprises: bus voltage instruction generator 201 and control signal maker 202.Wherein, bus voltage instruction generator 201 receives the signal of self-control device outside, comprising: motor information, the real-time torque of such as motor, rotating speed, temperature, torque instruction T from external torque instruction generator
cmd, and bus voltage instruction generator 201 detects direct current voltage V in real time
dc, and determine whether to need boosting.According to above-mentioned parameter, and optimize table (hereinafter will describe in detail), bus voltage instruction generator 201 generates bus voltage instruction V
bus_localto control signal maker 202.Control signal maker 202 also receives bus voltage feedback V
bus_fbk, the real-time bus voltage that this signal indication transformer 14 reality exports, control signal maker 202 is according to bus voltage instruction V
bus_localwith real-time bus voltage V
bus_fbkgenerate control signal (being pwm signal in this example) to control transformer 14.
Below in further detail inverter control unit 100 is described.Inverter control unit 100 according to the present invention comprises current-order maker 101, power pack 102, d shaft current controller 103, q shaft current controller 104 and control signal maker 105.
Particularly, inverter control unit 100 controls inverter 12,12 ' in the following manner.External torque command generator input information of vehicles, such as the throttle degree of depth or the torque instruction from vehicle control device.It is input power level system information, such as motor speed, inverter temperature etc. also, and Driving Torque instruction T
cmd.Current-order maker 101 then receives above-mentioned torque instruction T
cmdwith associated motor information.Current-order maker 101 is according to torque instruction T
cmdwith the input of motor speed, and optimize table (hereinafter can describe in detail), generate current-order I
d_cmdand I
q_cmddivide and be clipped to d shaft current controller 103 and q shaft current controller 104.Power pack 102 is from external reception current of electric feedback signal I
fbkwith motor position feedback signal P
fbk, according to the above-mentioned signal received, power pack 102 generates d shaft current feedback signal I
d_fbk, and be sent to d shaft current controller 103.Meanwhile, according to from external reception current of electric feedback signal I
fbkwith motor position feedback signal P
fbk, power pack 102 generates q shaft current feedback signal I
q_fbk, and be sent to q shaft current controller 104.D shaft current controller 103 and q shaft current controller 105 carry out processing rear transmission motor control signal to control signal maker 105 to the received signal, described control signal maker 105 generates corresponding control signal according to the signal received, to control inverter 12,12 '.
Current-order maker 101 includes two tables: d spindle motor electric current (I
d) command list, and q spindle motor electric current (I
q) command list, be respectively used to current-order I
d_cmdand I
q_cmd.The output of current controller 103,104 enters control signal maker 105, with control inverter 12,12 '.
The torque instruction T that current-order maker 101 and bus voltage instruction generator 201 receive
cmdcan from the torque instruction maker of outside, its received power level system information and such as information of vehicles.
Be more than the detailed description for motor drive control device according to the present invention, next further describe according to motor drive control method of the present invention, as shown in Figure 3, the method mainly comprises the following steps:
Step S1: system optimization standard is set, and collection realizes the necessary data message of said system optimisation criteria.
Particularly, said system optimisation criteria can be that system effectiveness is the highest, and loss is minimum.Transformer 14, inverter 12,12 ' and motor 11,11 ' three groups of power cells are mainly comprised in system.When transformer 14 is in boost mode, it can produce power loss.And as bus voltage V
bustime too high, inverter 12,12 ' also can be caused to produce unnecessary power loss.But as bus voltage V
bustime too low, then motor 11,11 ' can be made not work in the best condition, therefore need to select suitable bus voltage V
bus is to realize system effectiveness this system optimization standard the highest.
But except selective system efficiency is as except system optimization standard, other conditions also can be selected as system optimization standard.Such as, select the average temperature rising of power component (inverter 12,12 ', transformer 14 and motor 11,11 ') minimum, or the temperature rise of certain power component is minimum as system optimization standard.
The present embodiment is further detailed so that system effectiveness is the highest as system optimization standard.When selecting system effectiveness to be up to system optimization standard, the data message that must collect comprises: the loss model of each power component.By collecting above-mentioned information, predetermined bus voltage V can be rested in
bus, d shaft current I
d, q shaft current I
qunder, transformer 14, inverter 12,12 ' and motor 11,11 ' point of other power loss, thus select corresponding preferred parameter.The collection approach of above-mentioned data message can be authentic testing or theory calculate.
Step S2: utilize data message collected in step S1, works out three the optimization tables being used for system optimization standard: bus voltage instruction V
bus_cmdtable, d spindle motor current-order I
d_cmdtable, and q spindle motor current-order I
q_cmdtable.
Table 1 bus voltage command list V
bus_cmd
Table 2d spindle motor current-order I
d_cmdtable
Table 3q spindle motor current-order I
q_cmdtable
Above three table 1-3 are only the formulations for example optimization table.
The objects of working out above-mentioned three tables are, under the particular combination of motor speed and torque, system is run to show interior specified point, to realize optimal objective.In the formulation process of table (table can off-line formulate), the direct current power source voltage V changed need not be considered
dc.Because above-mentioned 3 tables are coordinated to formulate (as described in following step S201-S211), the bus voltage V therefore changed
busfloor level can be reduced to the impact of Electric Machine Control.
Preferably, step S2 may further include following steps, comes intactly scan module torque range and velocity interval by two circulations.A circulation is from step S203 to S208, and another circulation is from step S204 to S209.Be ready to correspond to specific V in step S202
busthe preferred I of group
d, I
q.Step S202 to S210 forms outermost loop, is found corresponding to different V by it
busthe optimum I arranged
d, I
qtable.In the end in step S211, by comparing the loss of every bit, different V
busthe optimum I arranged
d, I
qbe converted into whole I
d, I
qtable and V
bustable.
Table prepares in the following manner: I
dtable and I
qtable is coordinated mutually, therefore V
buscontrol to coordinate mutually with Electric Machine Control.Electric Machine Control need not consider current V
bus, because if according to above-mentioned table control V
bu, then there is enough voltage all the time for Electric Machine Control in s.
Specifically as shown in Figure 4:
Step S201, carries out initialization: setting direct current power source voltage V in this step
dcbe less than the minimum value of battery voltage range; Set current V
busfor the minimum value of battery voltage range; Setting current motor rotating speed is range of speeds minimum value; The torque of setting current motor is torque range minimum value; Set stagnant circular rector;
Step S202, setting bus voltage V
bus;
Step S203, setting motor speed;
Step S204, setting motor torque;
Step S205, calculates at specific bus voltage V
bus, under motor speed and torque, d shaft current I
dwith q shaft current I
qmay combine;
Step S206, calculates at above-mentioned d shaft current I
dwith q shaft current I
qmay combine under the power loss of each power cell;
Step S207, determines optimum d shaft current I by the power loss sum of more each power cell
dwith q shaft current I
q;
Step S208, judges whether motor torque reaches maximum, if not, then progressively increases torque, and be back to step S204; If so, next step S209 is then entered;
Step S209, judges whether motor speed reaches maximum, if not, then progressively increases speed, and be back to step S203; If so, next step S211 is then entered;
Step S210, judges bus voltage V
buswhether reach maximum, if not, then progressively increase bus voltage V
bus, and be back to step S202; If so, next step S211 is then entered;
Step S211, compares different bus voltage V
buslower optimum d shaft current I is set
d, q shaft current I
qtime the power loss of each power cell, and determine d shaft current I
d, q shaft current I
qwith bus voltage V
busglobal optimum table.
Step S3: based on torque instruction T
cmdin optimization table, optimum bus voltage instruction V is searched for motor speed
bus_cmd, and combine the direct current power source voltage V detected
dcdetermine bus voltage V
bus; Bus voltage according to demand, and the bus voltage that actual measurement is arrived, by comparing this two magnitudes of voltage, generating control signal, realizing FEEDBACK CONTROL, perform the bus voltage V determined
buscontrol.
Particularly, in step s3, such as, by input power level system information and information of vehicles input torque instruction T
cmd.Then, the torque instruction T of input is utilized
cmd, the parameter such as motor speed is at V
busbus voltage instruction V is searched in optimization table
bus_cmd.When searching bus voltage instruction V
bus_cmdafter, detect real-time direct current power source voltage V
dc.Whether first transformer control unit 140 determines whether to make transformer 14 enter boost mode, namely by direct current power source voltage V
dcboosting becomes bus voltage V
bus_cmd; Or carry out non-boost mode, namely do not boost but allow V
dcbus voltage is become by step-up/step-down circuit.That is, if bus voltage instruction V
bus_cmdhigher than direct current power source voltage V
dc, then by direct current power source voltage V
dcboost into bus voltage V
bus; If bus voltage instruction V
bus_cmdlower than direct current power source voltage V
dc, do not boost and allow direct current power source voltage V
dcdirectly by this transforming circuit.Preferably in one embodiment, for reducing the frequent transitions between boosting and non-boost mode, and at transition period control bus voltage V better
busneed to carry out Hysteresis control in step s3 and can perform Hysteresis control (as following step S303 to S310) and/or voltage control (as following step S311 and S312) that is fixing or change step, that is, eliminate frequent transitions and there is better control quality of voltage.Transform mode control between boosting model and non-boost mode continually, or the changing voltage controlling value of large step-length, bus voltage can be made to occur unnecessary control fluctuation, be unfavorable for the stability of Electric Machine Control, be also unfavorable for the life-span of power switch in transformer and inverter.Fig. 5 shows example processing steps.
Particularly, above-mentioned steps is as shown in Figure 5:
S301: retrieve bus voltage V in preferably showing
bus_cmdand detect direct current power source voltage V
dc;
S302: judge whether in first pattern be non-boost mode, if so, then enters step S303; If not, then step S306 is entered;
S303: judge bus voltage V
bus_cmdwhether be less than V
dc+ dV1, wherein dV1 is stagnant circular rector.This stagnant circular rector needs to consider bus voltage fluctuation, bus voltage certainty of measurement, and the impact of transformer dead zone etc., determines with experience; If bus voltage V
bus_cmdbe less than direct current power source voltage V
dcwith stagnant circular rector dV1 sum, then enter step S304; If not, then step S305 is entered;
In step s 304, non-boosting rectifier control, and send instruction V
bus_local=V
dcto transformer controller, enter step S311;
In step S305, transformer control unit 200 control transformer 14 enters boost mode, sends instruction V
bus_local=V
bus_cmdto transformer controller, enter step S311;
In S306, control program judges bus voltage instruction V further
bus_cmdwhether be less than direct current power source voltage V
dc, if so, then enter step S307; If not, then step S308 is entered;
In step S307, because direct current power source voltage Vdc is greater than the bus voltage instruction of needs, unnecessaryly to boost, therefore enter non-boosting rectifier control, V
bus_local=V
dc, and enter step S311;
In step S308, control program judges bus voltage V further
bus_cmdwhether be greater than direct current power source voltage V
dcwith dV2 sum, if so, then enter step S39, if not, then enter step S310;
In step S309, enter boosting rectifier control, V
bus_local=V
bus_cmd, and enter step S311;
In step S310, enter boosting rectifier control, V
bus_local=V
dc+ dV2, wherein dV2 is the second stagnant circular rector, and enters step S311;
In step S311, control program judges V
bus_localdeduct last V
bus_localdifference whether be greater than the maximum permission of setting voltage control change step-length Step, if so, then enter step S312, if not, then enter step S313; Wherein step-length step can be constant or variable.
In step S312, control program arranges V
bus_local=last V
bus_localthe voltage control change step-length step of the maximum permission of+setting, and allow transformer control unit control bus 202 voltage to Vbus_local;
In step S313, control program arranges V
bus_local=V
bus_local, and allow transformer control unit 202 control bus voltage to V
bus_local.
Transformer control unit 202, receives the bus voltage instruction V of bus voltage instruction generator 201
bus_local, and testbus voltage in real time.According to these two magnitudes of voltage, produce the control signal needed, carry out control transformer, make bus voltage be the V expected
bus_local.If V
bus_localand V
dcequal, then unnecessaryly boosting, is non-pressure-increasning state.
Following execution step S4: search for optimum d shaft current I according to torque instruction and motor speed in optimization table
dwith optimum q shaft current I
q, according to optimum d shaft current I
dwith q shaft current I
qimplement the control to inverter 12,12 '.In step 4, current-order maker 101 only needs Searching I in the optimization table of correspondence
dand I
q, and do not consider bus voltage V
bus, because selected larger V
bus, then sufficient bus voltage V is ensured
busbe provided to inverter 12,12 '.That is, due to bus voltage V controlled in step s3
busall the time the bus voltage V of needs is equal to or higher than
bus_cmd, Electric Machine Control need not pay close attention to bus voltage V
bus, and only need for specific torque voltage I corresponding to speed search
dand I
qoptimize the preferred current-order in table.Therefore, Electric Machine Control and bus voltage control to coordinate mutually.
The above is only preferred embodiment of the present invention, not does any pro forma restriction to the present invention.Although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned disclosure can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be the content not departing from technical solution of the present invention, the any simple modification done above embodiment according to technical spirit of the present invention, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (14)
1. a motor drive control device, is characterized in that, this motor drive control device comprises:
Transformer (14), described transformer (14) can by direct current power source voltage (V in boost mode
dc) boost into bus voltage (V
bus), also can by direct current power source voltage (V in non-boost mode
dc) be transferred to bus;
Inverter (11,11 '), described inverter (11,11 ') is for drive motors;
Control unit (300), described control unit (300) can control described transformer (14) and whether enter described boost mode.
2. motor drive control device as claimed in claim 1, it is characterized in that, described control unit (300) comprises further:
Transformer control unit (200), described transformer control unit (200) can control described transformer (14) and whether enter described boost mode; With
Inverter control unit (100), described inverter control unit (100) can control described inverter (11,11 ').
3. motor drive control device as claimed in claim 2, it is characterized in that, described transformer control unit (200) comprises further:
Bus voltage instruction generator (201) and control signal maker (202), wherein,
Described bus voltage instruction generator (201) is according to the torque instruction (T of input
cmd) and motor information output bus voltage instruction (V
bus_local) to described control signal maker (202), described control signal maker (202) is according to the bus voltage instruction (V received
bus_local) whether control transformer (14) enter boost mode.
4. motor drive control device as claimed in claim 2 or claim 3, it is characterized in that, described inverter control unit (100) comprises further:
Current-order maker (101), power pack (102), d shaft current controller (103), q shaft current controller (104) and control signal maker (105), wherein
Described current-order maker (101) receives the torque instruction (T of input
cmd) and export d shaft current instruction (I respectively
d_cmd), q shaft current instruction (I
q_cmd) to described d shaft current controller (103), q shaft current controller (104), described d shaft current controller (103), q shaft current controller (104) output a control signal to described control signal maker (105) respectively, and described control signal maker (105) carrys out control inverter (11,11 ') according to the output of d shaft current controller (103) and q shaft current controller (104).
5. motor drive control device as claimed in claim 2, is characterized in that, whether described transformer control unit (200) enters boost mode according to the optimization table control transformer (14) being used for system optimization standard.
6. motor drive control device as claimed in claim 5, it is characterized in that, described system optimization standard can be that system power dissipation is minimum, or is that the temperature rise of system is minimum, or is that the temperature rise of system under specific operation is minimum.
7. motor drive control device as claimed in claim 5, it is characterized in that, described optimization table comprises bus voltage instruction (V
bus_cmd) table, d spindle motor current-order (I
d_cmd) table, and q spindle motor current-order (I
q_cmd) table.
8. the motor drive control device as described in claim 1-7, is characterized in that, described transformer control unit (200) carrys out control transformer (14) by Hysteresis control and switches between boost mode and non-boost mode.
9. a motor drive control method, is characterized in that, this control method comprises the following steps:
Step S1: system optimization standard is set, and collection realizes the necessary data message of described system optimization standard;
Step S2: utilize data message collected in step S1, works out three the optimization tables being used for system optimization standard: bus voltage instruction (V
bus_cmd) table, d spindle motor current-order (I
d_cmd) table, and q spindle motor current-order (I
q_cmd) table;
Step S3: based on torque instruction (T
cmd) and motor speed in optimization table, search for optimum bus voltage instruction (V
bus_cmd), and combine the direct current power source voltage (V detected
dc) determine actual bus voltage instruction (V
bus_local); According to actual bus voltage instruction, and the bus voltage that actual measurement is arrived, by comparing this two magnitudes of voltage, generating control signal, realizing FEEDBACK CONTROL, perform actual bus voltage instruction (V
bus_local) control;
Step S4: the torque instruction inputted according to outside and motor speed search for optimum d shaft current (I in optimization table
d) and optimum q shaft current (I
q), according to optimum d shaft current (I
d) and q shaft current (I
q) control of enforcement to inverter (12,12 ').
10. motor drive control method as claimed in claim 9, it is characterized in that, step S2 is further comprising the steps:
Step S201, carries out initialization: setting direct current power source voltage (V in this step
dc) be less than the minimum value of battery voltage range; Setting Current bus voltage (V
bus) be the minimum value of battery voltage range; Setting current motor rotating speed is range of speeds minimum value; The torque of setting current motor is torque range minimum value; Set stagnant circular rector;
Step S202, setting bus voltage (V
bus);
Step S203, setting motor speed;
Step S204, setting motor torque;
Step S205, calculates at specific bus voltage (V
bus), under motor speed and torque, d shaft current (I
d) and q shaft current (I
q) may combine;
Step S206, calculates at above-mentioned d shaft current (I
d) and q shaft current (I
q) may combine under the power loss of each power cell;
Step S207, determines optimum d shaft current (I by the power loss sum of more each power cell
d) and q shaft current (I
q);
Step S208, judges whether motor torque reaches maximum, if not, then progressively increases torque, and be back to step S204; If so, next step S209 is then entered;
Step S209, judges whether motor speed reaches maximum, if not, then progressively increases speed, and be back to step S203; If so, next step S211 is then entered;
Step S210, judges bus voltage (V
bus) whether reach maximum, if not, then progressively increase bus voltage (V
bus), and be back to step S202; If so, next step S211 is then entered;
Step S211, compares different bus voltage (V
bus) lower optimum d shaft current (I is set
d), q shaft current (I
q) time the power loss of each power cell, and determine d shaft current (I
d), q shaft current (I
q) and bus voltage (V
bus) global optimum table.
11. motor drive control methods as described in claim 9 or 10, it is characterized in that, step S3 is further comprising the steps:
Step S301: retrieve bus voltage (V in preferably showing
bus_cmd) and detect direct current power source voltage (V
dc);
Step S302: judge whether in first pattern be non-boost mode, if so, then enters step S303; If not, then step S306 is entered;
Step S303: judge bus voltage (V
bus_cmd) whether be less than direct voltage (V
dc) and stagnant circular rector (dV1) sum; If bus voltage (V
bus) be less than direct current power source voltage (V
dc) and stagnant circular rector (dV1) sum, then enter step S304; If not, then step S305 is entered;
Step S304, performs non-boosting rectifier control, and sends instruction and make bus voltage instruction equal direct voltage (V
bus_local=V
dc) to transformer control unit (200), enter step S311;
Step S305, transformer control unit (200) control transformer (14) enters boost mode, sends instruction (V
bus_local=V
bus_cmd) to transformer control unit (200), enter step S311;
Step S306, control program judges bus voltage instruction (V further
bus_cmd) whether be less than direct current power source voltage (V
dc), if so, then enter step S307; If not, then step S308 is entered;
Step S307, enters non-boosting rectifier control, and enters step S311;
Step S308, control program judges bus voltage (V further
bus) whether be greater than direct current power source voltage (V
dc) and the second stagnant circular rector (dV2) sum, if so, then enter step S39, if not, then enter step S310;
Step S309, enters boosting rectifier control, and bus voltage instruction equals bus voltage (V
bus_local=V
bus_cmd), and enter step S311;
Step S310, enters boosting rectifier control, and bus voltage instruction equals direct voltage and the second stagnant circular rector sum (V
bus_local=V
dc+ dV2), and enter step S311;
Step S311, control program judges bus voltage instruction (V
bus_local) deduct last bus voltage instruction (V
bus_local) difference whether be greater than the maximum permission of setting voltage control change step-length (Step), if so, then enter step S312, if not, then enter step S313;
Step S312, control program arranges bus voltage instruction (V
bus_local) equal last bus voltage instruction (V
bus_local) change step-length (step) sum with the voltage control of the maximum permission arranged, and allow transformer control unit (200) control bus voltage become bus voltage instruction (V
bus_local);
Step S313, control program arranges bus voltage instruction and equals general line voltage (V
bus_local=V
bus_cmd), and allow transformer control unit (202) control bus voltage become bus voltage instruction (V
bus_local).
12. motor drive control methods as claimed in claim 8, it is characterized in that, the described data message in described step S1 comprises the loss model of each power component in system.
13. motor drive control methods as claimed in claim 11, is characterized in that, described stagnant circular rector is determined based on bus voltage fluctuation, bus voltage certainty of measurement and/or transformer dead zone.
14. motor drive control methods as claimed in claim 11, it is characterized in that, described step-length (step) can be constant or variable.
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| CN111490673A (en) * | 2020-05-21 | 2020-08-04 | 四川虹美智能科技有限公司 | Output voltage control method and device |
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| CN104333291B (en) | 2017-08-04 |
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