CN105799541B - Self-healing method for overcurrent fault of driving motor of electric automobile - Google Patents
Self-healing method for overcurrent fault of driving motor of electric automobile Download PDFInfo
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- CN105799541B CN105799541B CN201410829880.3A CN201410829880A CN105799541B CN 105799541 B CN105799541 B CN 105799541B CN 201410829880 A CN201410829880 A CN 201410829880A CN 105799541 B CN105799541 B CN 105799541B
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Abstract
The invention discloses a self-healing method for overcurrent faults of a driving motor of an electric automobile, which comprises the steps of collecting three-phase current of the driving motor, comparing the three-phase current with a set current protection value, normally driving the automobile when the three-phase current is smaller than the current protection value, and setting collection times N and a current early warning value when any phase current is larger than the current protection value; when any phase current acquired for N times is larger than the current early warning value, judging that the overcurrent fault of the driving motor occurs, giving a fault flag bit by the controller, and stopping the driving motor control system; otherwise, the vehicle normally runs and the acquisition cycle of the three-phase current is repeated; when the rotating speed of the driving motor is less than or equal to the allowed self-recovery rotating speed of the driving motor system and the given torque and rotating speed instruction is zero, the controller clears the fault flag bit and normally responds to the vehicle control instruction, and the driving motor control system recovers to work. The method ensures that the vehicle driving motor can automatically recover and continuously run when overcurrent faults occur, avoids the vehicle losing power and ensures the running safety of the vehicle.
Description
Technical Field
The invention relates to a self-healing method for overcurrent faults of a driving motor of an electric automobile.
Background
In the running process of the electric automobile, the output current of the motor system changes according to the change of the running condition of the whole automobile. When a driver steps on an accelerator to accelerate or start on a slope, particularly under the condition that a vehicle is fully loaded or overloaded, a driving motor needs to output larger torque, and at the moment, a motor system can generate larger three-phase current which possibly exceeds a current protection value of a controller, so that the condition that the vehicle loses power and stops due to overcurrent faults is reported. During the process of vehicle uphill or high-speed driving, once the fault occurs, a great safety hazard exists. In addition, the overcurrent fault of the driving motor is caused by that besides that the accelerator is re-stepped on under the conditions of uphill, full load, overload and the like, when the running environment of the vehicle is deteriorated and the hardware of the controller is subjected to electromagnetic interference, a false current signal overshoot can also occur, so that the overcurrent fault is misjudged.
Disclosure of Invention
The invention aims to solve the technical problem of providing a self-healing method for overcurrent faults of a driving motor of an electric automobile, which can ensure that the driving motor of the automobile can automatically recover and continuously run when overcurrent faults occur under the condition of not adding any device, avoid the loss of power of the automobile and ensure the running safety of the automobile.
In order to solve the technical problem, the self-healing method for the overcurrent fault of the driving motor of the electric automobile comprises the following steps:
the method comprises the steps that firstly, three-phase current of a driving motor is collected through a controller, the collected three-phase current is compared with a hardware current protection value I _ Ipm of the controller, when the three-phase current is smaller than the I _ Ipm, a vehicle normally runs, and the number N of the collected three-phase current and a current early warning value I _ Protect are set; when any phase current is larger than I _ Ipm, the controller hardware automatically triggers a fault signal to drive the motor control system to stop running;
step two, if any phase current acquired for N times continuously is larger than I _ Protect, judging that overcurrent fault of the driving motor occurs, giving a fault flag bit by the controller, stopping the driving motor control system, and enabling the vehicle to be in an inertial motion state; if any phase current is smaller than I _ Protect in the N acquisition periods, the vehicle normally runs and the acquisition periods of the three-phase current are repeated;
and step three, after the overcurrent fault of the driving motor is judged, the controller detects the rotating Speed of the driving motor, when the rotating Speed of the driving motor is less than or equal to the self-recovery rotating Speed _ recovery allowed by a system of the driving motor and the given torque and rotating Speed instruction of the vehicle is zero, the controller clears the fault zone bit and normally responds to the vehicle control instruction, the driving motor control system recovers to work, and the vehicle recovers to a normal running state.
Further, the current early warning value I _ Protect is drawn up according to the performance index of the driving motor system, and an unsaturated margin which is not less than the current protection value I _ Ipm10% is reserved.
Furthermore, the three-phase current acquisition times N of the driving motor are drawn up according to the frequency spectrum of the interference signal and the time that the power module of the driving motor can bear the continuous fault current, and the calculation formula is
，
Wherein:
is the time of the N samples,
in order to be the sampling period of time,
the maximum frequency time for which the disturbance signal causes continuous overcurrent failure of the drive motor,
the minimum time that the drive motor power module can withstand the continuous fault current.
Further, the driving motor system allows the self-recovery rotating Speed _ Recover to be drawn up according to the back electromotive force of the driving motor and the voltage which can be borne by the power module, and the calculation formula is as follows:
in the formula:
for the voltage peaks that the power module is subjected to,
for the maximum voltage utilization of the power module,
in order to drive the back emf coefficient of the motor,
the number of pole pairs of the driving motor is.
The self-healing method for the overcurrent fault of the driving motor of the electric automobile adopts the technical scheme, namely the method collects the three-phase current of the driving motor and compares the three-phase current with the set current protection value, when the three-phase current is smaller than the current protection value, the automobile normally runs, and when any phase current is larger than the current protection value, the number N of the collection of the three-phase current and the current early warning value are set; when any phase current acquired for N times is larger than the current early warning value, judging that the overcurrent fault of the driving motor occurs, giving a fault flag bit by the controller, stopping the driving motor control system, and enabling the vehicle to be in an inertial motion state; otherwise, the vehicle normally runs and the acquisition cycle of the three-phase current is repeated; after the overcurrent fault of the driving motor is judged, when the rotating speed of the driving motor is less than or equal to the allowed self-recovery rotating speed of the driving motor system and the given torque and rotating speed instruction of the driving motor is zero, the controller clears the fault flag bit and normally responds to the vehicle control instruction, the driving motor control system recovers to work, and the vehicle recovers to a normal running state. The method ensures that the vehicle driving motor can automatically recover and continuously run when overcurrent faults occur under the condition of not adding any device, avoids the vehicle losing power and ensures the running safety of the vehicle.
Drawings
The invention is described in further detail below with reference to the following figures and embodiments:
fig. 1 is a logic block diagram of a self-healing method for overcurrent faults of a driving motor of an electric vehicle.
Detailed Description
The embodiment is shown in fig. 1, and the self-healing method for overcurrent faults of the driving motor of the electric automobile comprises the following steps:
the method comprises the steps that firstly, three-phase current of a driving motor is collected through a controller, the collected three-phase current is compared with a hardware current protection value I _ Ipm of the controller, when the three-phase current is smaller than the I _ Ipm, a vehicle normally runs, and the number N of the collected three-phase current and a current early warning value I _ Protect are set; when any phase current is larger than I _ Ipm, the controller hardware automatically triggers a fault signal to drive the motor control system to stop running; the current protection value I _ Ipm is a fixed value when the controller hardware is designed according to various parameters of the vehicle, and is related to components adopted by the controller hardware;
step two, if any phase current acquired for N times continuously is larger than I _ Protect, judging that overcurrent fault of the driving motor occurs, giving a fault flag bit by the controller, stopping the driving motor control system, and enabling the vehicle to be in an inertial motion state; if any phase current is smaller than I _ Protect in the N acquisition periods, the vehicle normally runs and the acquisition periods of the three-phase current are repeated;
and step three, after the overcurrent fault of the driving motor is judged, the controller detects the rotating Speed of the driving motor, when the rotating Speed of the driving motor is less than or equal to the self-recovery rotating Speed _ recovery allowed by a system of the driving motor and the given torque and rotating Speed instruction of the vehicle is zero, the controller clears the fault zone bit and normally responds to the vehicle control instruction, the driving motor control system recovers to work, and the vehicle recovers to a normal running state.
Preferably, the current early warning value I _ Protect is drawn according to the system performance index of the driving motor, and an unsaturated margin not less than the current protection value I _ Ipm10% is reserved.
Preferably, the three-phase current acquisition times N of the driving motor are drawn up according to the frequency spectrum of the interference signal and the time that the power module of the driving motor can bear the continuous fault current, and the calculation formula is
，
Wherein:
is the time of the N samples,
in order to be the sampling period of time,
the maximum frequency time for which the disturbance signal causes continuous overcurrent failure of the drive motor,
the minimum time that the drive motor power module can withstand the continuous fault current.
Preferably, the driving motor system allows the self-recovery Speed _ recovery to be set according to the back electromotive force of the driving motor and the voltage which can be borne by the power module, and the calculation formula is as follows:
in the formula:
for the voltage peaks that the power module is subjected to,
for the maximum voltage utilization of the power module,
in order to drive the back emf coefficient of the motor,
the number of pole pairs of the driving motor is.
The method is formulated aiming at the phenomenon that the vehicle stops due to the fact that the vehicle loses power caused by overcurrent faults of a driving motor system under the working conditions of high-speed running or long-slope running and the like, and under the condition that no permanent faults occur, if transient overcurrent faults are detected, the vehicle can automatically recover to normally run under the condition that the vehicle is not stopped and is electrically restarted. And the driver can not have obvious feeling of vehicle pause and vehicle out of control, thereby effectively avoiding the risk of vehicle out of control under the condition of overcurrent fault of the driving motor and improving the control performance of the vehicle.
Claims (4)
1. A self-healing method for overcurrent faults of a driving motor of an electric automobile is characterized by comprising the following steps:
the method comprises the steps that firstly, three-phase current of a driving motor is collected through a controller, the collected three-phase current is compared with a hardware current protection value I _ Ipm of the controller, when the three-phase current is smaller than the I _ Ipm, a vehicle normally runs, and the number N of the collected three-phase current and a current early warning value I _ Protect are set; when any phase current is larger than I _ Ipm, the controller hardware automatically triggers a fault signal to drive the motor control system to stop running;
step two, if any phase current acquired for N times continuously is larger than I _ Protect, judging that overcurrent fault of the driving motor occurs, giving a fault flag bit by the controller, stopping the driving motor control system, and enabling the vehicle to be in an inertial motion state; if any phase current is smaller than I _ Protect in the N acquisition periods, the vehicle normally runs and the acquisition periods of the three-phase current are repeated;
and step three, after the overcurrent fault of the driving motor is judged, the controller detects the rotating Speed of the driving motor, when the rotating Speed of the driving motor is less than or equal to the self-recovery rotating Speed Speed _ Recover allowed by a driving motor control system and the given torque and rotating Speed instruction of the vehicle is zero, the controller clears the fault zone and normally responds to the vehicle control instruction, the driving motor control system recovers to work, and the vehicle recovers to a normal running state.
2. A self-healing method for overcurrent faults of a driving motor of an electric automobile according to claim 1, characterized in that: the current early warning value I _ Protect is drawn up according to the performance index of a drive motor control system, and an unsaturated margin which is not less than the current protection value I _ Ipm10% is reserved.
3. A self-healing method for overcurrent faults of a driving motor of an electric automobile according to claim 1, characterized in that: the three-phase current acquisition times N of the driving motor are drawn up according to the frequency spectrum of the interference signal and the time of the driving motor power module capable of bearing the continuous fault current, and the calculation formula is
，
Wherein:
is the time of the N samples,
in order to be the sampling period of time,
the maximum frequency time for which the disturbance signal causes continuous overcurrent failure of the drive motor,
the minimum time that the drive motor power module can withstand the continuous fault current.
4. A self-healing method for overcurrent faults of a driving motor of an electric automobile according to claim 1, characterized in that: the driving motor control system allows the self-recovery rotating Speed _ Recover to be drawn up according to the back electromotive force of the driving motor and the voltage which can be born by the power module, and the calculation formula is as follows:
in the formula:
for the voltage peaks that the power module is subjected to,
for the maximum voltage utilization of the power module,
in order to drive the back emf coefficient of the motor,
the number of pole pairs of the driving motor is.
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| CN106487290B (en) * | 2016-11-02 | 2019-04-30 | 美的集团股份有限公司 | Stop control apparatus, electric machine control system and its halt control method of motor |
| JP6457583B2 (en) | 2017-05-02 | 2019-01-23 | ファナック株式会社 | Abnormality diagnosis apparatus and abnormality diagnosis method |
| CN108099692B (en) * | 2017-11-20 | 2021-08-06 | 重庆长安汽车股份有限公司 | Vehicle and fault processing method and system of motor driving system of vehicle |
| CN108762118B (en) * | 2018-05-24 | 2021-09-03 | 合肥哈工力训智能科技有限公司 | Fault processing method and device between communication devices |
| CN112238755B (en) * | 2019-07-17 | 2022-04-01 | 北京新能源汽车股份有限公司 | Electric vehicle driving motor software overcurrent processing method and device and electric vehicle |
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