CN104993743A - Stalling time-delay method used for new energy automobile permanent magnet synchronous drive motor - Google Patents
Stalling time-delay method used for new energy automobile permanent magnet synchronous drive motor Download PDFInfo
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Abstract
The invention provides a stalling time-delay method used for a new energy automobile permanent magnet synchronous drive motor, comprising the steps of: determining whether a permanent magnet synchronous motor (PMSM) is in a stalling state; dividing position signals in a period into twelve areas; calculating an MTPA control angle; the adjustment amount of the control angle being 40% of the difference between a current position angle and a smallest position angle in an area, and multiplying a ratio parameter based on a current frequency; obtaining a stalling control angle under a stalling state; and determining whether the motor is still in the stalling state at the moment, continuing a stalling time-delay strategy if the motor is still in the stalling state and stopping stalling control if the motor is not still in the stalling state. the method can avoid the overheating of one phase in a stalling process under the condition of essentially not reducing the size of a stalling torque, thereby prolonging stalling time.
Description
Technical field
The present invention relates to a kind of time-delay method, particularly, relate to a kind of stall time-delay method for new-energy automobile permanent-magnet synchronous driving motor.
Background technology
In the course of work of new-energy automobile permanent-magnet synchronous driving motor, the often operating mode and cause the stall operating mode of permanent-magnet synchronous driving motor because the heavy grade of vehicle is climbed etc. continuously.Motor rotation blockage and motor are when rotating speed is zero, and still Driving Torque, because motor power factor is extremely low, electric current during stall can reach seven times of rated current.Stall operating mode is for permagnetic synchronous motor, because motor cannot rotate, now three-phase current effective value deviation is larger, a certain phase current may be in maximum, there is certain probability to cause this phase winding to generate heat very serious, very easily therefore cause motor winding excess temperature, cause motor to damage.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of stall time-delay method for new-energy automobile permanent-magnet synchronous driving motor, it is not when substantially reducing locked-rotor torque size, to avoid situation a certain mutually overheated in stall process to occur, thus reach the object extending stall time.
According to an aspect of the present invention, a kind of stall time-delay method for new-energy automobile permanent-magnet synchronous driving motor is provided, it is characterized in that, comprise the following steps:
Step one, judges whether permagnetic synchronous motor is in stall operating mode, thus judges to need to adopt stall delay algorithm, be specially judge permagnetic synchronous motor rotor rotation frequency whether≤0.1Hz, if be less than or equal to 0.1Hz enforcement stall delay algorithm; If be greater than 0.1Hz, do not implement stall delay algorithm;
Step 2, is divided into ten Two Areas by the position signalling in one-period, in order to judge that the effective value of which phase phase current in permanent-magnetic synchronous motor stator three-phase windings is maximum and pilot angle adjustment direction;
Step 3, by breakdown torque/current ratio control algolithm, calculates MTPA pilot angle;
Step 4, under stall time-delay method, pilot angle adjustment amount is difference × 40% of the minimum position angle in position angle now and this region, and is multiplied by a ratio parameter again according to frequency now;
Step 5, the stall pilot angle drawn under stall operating mode by step 3 and step 4;
Step 6, judges now whether motor is still in stall operating mode, if continue to perform stall delaying policy, if otherwise terminate stall control.
Preferably, the maximum adjustment amount of the pilot angle of described step 4 is (30*40%* [(6-P*speed)/6]) °, and minimum is 0 °, and speed is rotating speed.
Compared with prior art, the present invention has following beneficial effect: under permagnetic synchronous motor operates in stall operating mode, when keeping motor output torque change little and close to peak-peak torque, make the current effective value deviation on three-phase windings less, the copper loss effectively reduced on three-phase windings is too concentrated, avoid that a certain phase winding is overheated to be burnt out, thus greatly extend the maximum stall time of motor, improve the continuous climbing capacity of vehicle heavy grade admirably.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the flow chart of the present invention for the stall time-delay method of new-energy automobile permanent-magnet synchronous driving motor.
Fig. 2 is the schematic diagram of Over Electric Motor with PMSM A, B, C three-phase electricity flow valuve, and dotted line is the maximum amplitude of three-phase current in one-period.
Fig. 3 is that stall delay algorithm illustrates block diagram.
Fig. 4 is that the permagnetic synchronous motor three-phase windings electric current emulated by MATLAB is implementing the comparison diagram before and after stall time-delay method, wherein IA, IB, IC permagnetic synchronous motor is under stall operating mode, A, B, C three-phase current when A phase current locked rotor current is the maximum of amplitude, IAA, IBB, ICC are the current value after implementing stall time-delay method.The A phase current IA implemented before A phase current IAA after time-delay method is less than can be found out.
Fig. 5 is that the permagnetic synchronous motor three-phase windings caloric value emulated by MATLAB is implementing the comparison diagram before and after stall time-delay method, wherein QA, QB, QC implements the changing value of the three-phase windings caloric value before time-delay method with stall time, QAA, QBB, QCC are the heating in winding value after implementing.
Fig. 6 is under different pilot angle, the schematic diagram that A phase current (maximum in three-phase current) compares with the reduction percentage of torque.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, the present invention comprises the following steps for the stall time-delay method (hereinafter referred to as " stall delay algorithm ") of new-energy automobile permanent-magnet synchronous driving motor:
Step one, judges whether permagnetic synchronous motor is in stall operating mode, thus judges to need to adopt stall delay algorithm, be specially judge permagnetic synchronous motor rotor rotation frequency whether≤0.1Hz, if be less than or equal to 0.1Hz enforcement stall delay algorithm; If be greater than 0.1Hz, do not implement stall delay algorithm.Relation by between rotating speed speed and frequency f: speed=60f/p, can whether speed≤(6/p) (wherein P is motor number of pole-pairs) determines whether stall operating mode by detection rotor rotating speed.Frequency f=speed*p/60 can be derived by formula speed=60f/p, stall operating mode f≤0.1Hz be substituted into and can obtain speed≤(6/p).
Step 2, position signalling in one-period is divided into ten Two Areas, as shown in Figure 2, in order to judge permanent-magnetic synchronous motor stator three-phase windings A, B, in C, the effective value of which phase phase current is maximum and pilot angle adjustment direction, concrete steps are as follows: (n is the value arranged first to make n=0, in order to judge which region is the phase place of now position signalling be in), through type | Position-n*30|≤30 are known, now A can be learnt according to tabling look-up shown in Fig. 2 when meeting above formula condition, B, in C, the effective value of which phase phase current is maximum and pilot angle adjustment direction, if | Position-n*30|>30, make n=n+2, until be met formula | n value during Position-n*30|≤30.
Step 3, by breakdown torque/current ratio (MTPA) control algolithm, calculates MTPA pilot angle Theta '.
Step 4, under stall time-delay method, pilot angle adjustment amount Theta " is difference × 40% of the minimum position angle in position angle Positon now and this region, and is multiplied by a ratio parameter again according to frequency now; Now the maximum adjustment amount of pilot angle is (30*40%* [(6-P*speed)/6]) °, and minimum is 0 °.
Step 5, the stall pilot angle Theta=Theta '-Theta that can be drawn under stall operating mode by step 3 and step 4 ".By changing stall pilot angle, motor stator current amplitude can be changed, change motor output torque simultaneously, motor output torque can be kept to change little, and close to peak-peak torque.Motor three-phase windings carries out stall control under this strategy, can not cause a certain serious phenomenon of generating heat mutually, but the fever phenomenon of three-phase is relatively average, and this will extend the maximum stall time of motor greatly.
Step 6, judges now whether motor is still in stall operating mode, namely judge whether meet " motor speed Speed==0? ", if continue to perform stall delaying policy, if otherwise terminate stall control.
The amplitude of the stator current of permagnetic synchronous motor and angle can change in real time according to the method shown in Fig. 1.While the stator current amplitude and angle change of permagnetic synchronous motor, motor output torque can be kept to change little, and close to peak-peak torque.Motor three-phase windings carries out stall control under this strategy, can not cause a certain serious phenomenon of generating heat mutually, but the fever phenomenon of three-phase is relatively average, and this will extend the maximum stall time of motor greatly.
By MATLAB emulation mode known change Electric Machine Control angle as shown in Fig. 4, Fig. 5, Fig. 6, change motor stator current amplitude, effectively can balance the current effective value of permanent-magnetic synchronous motor stator three-phase windings, avoid motor stator caloric value to concentrate in a phase.While motor stator current amplitude and angle change, motor output torque can be kept to change little, and close to peak-peak torque.
Under the operating mode of rotor stall, electric machine controller, by changing motor stator electric current and Current Control angle in real time, can make the current effective value deviation on three-phase windings less.The copper loss that electric machine controller adopts this strategy to effectively reduce and three-phase windings produces is too concentrated, avoids the appearance of a certain phase superheating phenomenon.First in stall process a certain mutually overheated this situation be because this to obtain phase current mutually excessive, this situation is avoided just to need to reduce the phase current of this phase, adjust pilot angle as seen from Figure 2 and can make motor winding three-phase current amplitude relative equilibrium (do not have which phase amplitude large especially), this assures and a certain mutually overheated situation can not be made to occur, but the heating of three-phase is balanced, extends the time of stall to greatest extent.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (2)
1., for a stall time-delay method for new-energy automobile permanent-magnet synchronous driving motor, it is characterized in that, comprise the following steps:
Step one, judges whether permagnetic synchronous motor is in stall operating mode, thus judges to need to adopt stall delay algorithm, be specially judge permagnetic synchronous motor rotor rotation frequency whether≤0.1Hz, if be less than or equal to 0.1Hz enforcement stall delay algorithm; If be greater than 0.1Hz, do not implement stall delay algorithm;
Step 2, is divided into ten Two Areas by the position signalling in one-period, in order to judge that the effective value of which phase phase current in permanent-magnetic synchronous motor stator three-phase windings is maximum and pilot angle adjustment direction;
Step 3, by breakdown torque/current ratio control algolithm, calculates MTPA pilot angle;
Step 4, under stall time-delay method, pilot angle adjustment amount is difference × 40% of the minimum position angle in position angle now and this region, and is multiplied by a ratio parameter again according to frequency now;
Step 5, the stall pilot angle drawn under stall operating mode by step 3 and step 4;
Step 6, judges now whether motor is still in stall operating mode, if continue to perform stall delaying policy, if otherwise terminate stall control.
2. the stall time-delay method for new-energy automobile permanent-magnet synchronous driving motor according to claim 1, it is characterized in that, the maximum adjustment amount of the pilot angle of described step 4 is (30*40%* [(6-P*speed)/6]) °, minimum is 0 °, and speed is rotating speed.
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Cited By (7)
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| CN108242908A (en) * | 2016-12-23 | 2018-07-03 | 宝沃汽车（中国）有限公司 | Motor rotation blockage protection control method, device and the electric vehicle of electric vehicle |
| CN110492811A (en) * | 2019-07-18 | 2019-11-22 | 华为技术有限公司 | The method and apparatus of capability improving in slope |
| CN111130428A (en) * | 2018-10-15 | 2020-05-08 | 株洲中车时代电气股份有限公司 | Locked rotor diagnosis and protection method of electric drive system |
| CN112208351A (en) * | 2020-09-14 | 2021-01-12 | 恒大新能源汽车投资控股集团有限公司 | Electric drive control method and device in locked-rotor state and electronic equipment |
| CN112904199A (en) * | 2021-01-18 | 2021-06-04 | 潍柴动力股份有限公司 | Method and device for processing motor stalling fault |
| CN114094912A (en) * | 2021-11-22 | 2022-02-25 | 苏州热工研究院有限公司 | Time delay optimization method for motor locked-rotor protection and control system thereof |
| CN114499332A (en) * | 2022-01-25 | 2022-05-13 | 华侨大学 | Torque lifting method, device and equipment of motor and readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110492811A (en) * | 2019-07-18 | 2019-11-22 | 华为技术有限公司 | The method and apparatus of capability improving in slope |
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| CN112208351B (en) * | 2020-09-14 | 2022-07-08 | 恒大新能源汽车投资控股集团有限公司 | Electric drive control method and device in locked-rotor state and electronic equipment |
| CN112904199A (en) * | 2021-01-18 | 2021-06-04 | 潍柴动力股份有限公司 | Method and device for processing motor stalling fault |
| CN112904199B (en) * | 2021-01-18 | 2022-08-23 | 潍柴动力股份有限公司 | Method and device for processing motor locked-rotor fault |
| CN114094912A (en) * | 2021-11-22 | 2022-02-25 | 苏州热工研究院有限公司 | Time delay optimization method for motor locked-rotor protection and control system thereof |
| CN114094912B (en) * | 2021-11-22 | 2023-06-16 | 苏州热工研究院有限公司 | Delay optimization method for motor locked rotor protection and control system thereof |
| CN114499332A (en) * | 2022-01-25 | 2022-05-13 | 华侨大学 | Torque lifting method, device and equipment of motor and readable storage medium |
| WO2023142175A1 (en) * | 2022-01-25 | 2023-08-03 | 华侨大学 | Torque elevation method, apparatus and device for electric motor, and readable storage medium |
| CN114499332B (en) * | 2022-01-25 | 2024-09-06 | 华侨大学 | Method, device and equipment for improving torque of motor and readable storage medium |
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