CN106100482B - Motor control method and system and vehicle - Google Patents
Motor control method and system and vehicle Download PDFInfo
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- CN106100482B CN106100482B CN201610589059.8A CN201610589059A CN106100482B CN 106100482 B CN106100482 B CN 106100482B CN 201610589059 A CN201610589059 A CN 201610589059A CN 106100482 B CN106100482 B CN 106100482B
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Classifications
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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
- H02P27/08—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 with pulse width modulation
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Abstract
The invention provides a motor control method, a motor control system and a vehicle, wherein the motor control method comprises the following steps: acquiring corresponding relation information between quadrature axis inductance and quadrature axis current; obtaining a lookup table according to the corresponding relation information, wherein the lookup table comprises motor torque, motor rotating speed, direct-axis current and quadrature-axis current which correspond to each other; acquiring a target direct axis current and a target quadrature axis current from the lookup table according to the motor torque and the motor rotating speed of the current period; and controlling the motor according to the target direct axis current and the target quadrature axis current. According to the scheme provided by the invention, the corresponding relation information between the quadrature axis inductance and the quadrature axis current is obtained, the query table is obtained according to the corresponding relation information, the influence of the magnetic circuit saturation effect is considered, and a solid foundation is laid for improving the control performance of the motor on the premise of ensuring the real-time control requirement; the problem of motor control accuracy is low among the prior art is solved.
Description
Technical field
The present invention relates to technical field of vehicle, a kind of motor control method, system and vehicle are particularly related to.
Background technology
In face of increasingly severe energy and environment problem, the energy saving heat for just becoming the research of current various countries with new-energy automobile
Point develops energy saving and new-energy automobile, the especially pure electric automobile with no pollution, zero-emission, not only pacifies to China's energy
Entirely, environmental protection is of great significance, at the same be also China's automotive field realize transition and upgrade, technological break-through important directions,
It is the trend of automotive field Future Development.
Pure electric automobile drives vehicle wheel rotation to realize that vehicle travels by motor, and motor driving and control are used as pure electric vehicle
The core of automobile influences vehicle performance great；With permanent-magnet material, power electronic technique, control theory, motor manufacturing and
The development of signal processing hardware, permanent magnet synchronous motor (PMSM) have obtained commonly used, and permasyn morot is due to having height
The advantages that efficiency, height output torque, high power density and good dynamic property, it is increasingly becoming pure electric automobile drive system
Mainstream.
But in pure electric automobile field PMSM controls, since the requirement of real-time to control is higher, controlling cycle one
As in Microsecond grade, it is therefore desirable to control algolithm ensure feasibility with reliability under the premise of operand as far as possible it is small, with guarantor
Demonstrate,prove real-time demand；In addition complexity and the operation of algorithm can generally be increased to improve control accuracy for PMSM motors
Amount, impacts real-time；So can not preferably improve the precision of PMSM controls at present.
Invention content
The purpose of the present invention is to provide a kind of motor control method, system and vehicles, solve motor control in the prior art
The low problem of precision processed.
In order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of motor control method, including：
Obtain the correspondence relationship information between quadrature axis inductance and quadrature axis current；
Inquiry table is obtained according to the correspondence relationship information, includes mutual corresponding Motor torque, electricity in the inquiry table
Machine rotating speed, direct-axis current and quadrature axis current；
Target direct-axis current and target are obtained from the inquiry table according to the Motor torque of current period and motor speed
Quadrature axis current；
Motor is controlled according to the target direct-axis current and target quadrature axis current.
Above-mentioned motor control method is by obtaining the correspondence relationship information between quadrature axis inductance and quadrature axis current, according to described right
Relation information is answered to obtain inquiry table, it is contemplated that the influence of magnetic circuit saturation effect, under the premise of ensureing realtime control demand,
Solid foundation has been established to improve motor control performance；Solve the problems, such as that motor control accuracy is low in the prior art.
Optionally, described the step of obtaining inquiry table according to the correspondence relationship information, includes：
According to the correspondence relationship information obtain motor etc. torque informations, current limitation circle information and voltage limit circle letter
Breath；
It obtains mutual corresponding motor using the torque informations such as described, current limitation circle information and voltage limit circle information and turns round
Square, motor speed, direct-axis current and quadrature axis current；
The inquiry table is obtained according to mutual corresponding Motor torque, motor speed, direct-axis current and quadrature axis current.
Optionally, it is described according to the correspondence relationship information obtain motor etc. torque informations, current limitation circle information and
Voltage limit justify information the step of include：
Section processing is carried out to the correspondence relationship information；
According to each section of correspondence relationship information obtain corresponding motor etc. torque informations, current limitation circle information and
Voltage limit justifies information.
Optionally, described the step of carrying out section processing to the correspondence relationship information, includes：
The replacement frequency of the inquiry table and the Motor torque, motor speed, d-axis during being controlled according to motor
The precision of correspondence between electric current and quadrature axis current carries out section processing to the correspondence relationship information.
Optionally, it is described obtained according to mutual corresponding Motor torque, motor speed, direct-axis current and quadrature axis current it is described
The step of inquiry table includes：
According to the corresponding Motor torque of each section of correspondence relationship information, motor speed, direct-axis current and quadrature axis current,
One inquiry table is set.
Optionally, described that target d-axis is obtained from the inquiry table according to the Motor torque and motor speed of current period
The step of electric current and target quadrature axis current includes：
Target query table was determined according to the quadrature axis current in a upper period；
Obtained from the target query table according to the Motor torque of current period and motor speed target direct-axis current and
Target quadrature axis current.
Optionally, the step of quadrature axis current according to a upper period determines target query table include：
Corresponding quadrature axis inductance was determined according to the quadrature axis current in a upper period；
Corresponding target query table is obtained according to the quadrature axis inductance.
Optionally, the step of quadrature axis current according to a upper period determines target query table include：
Target query table was determined according to the quadrature axis current in a upper period and default hysteresis strategy.
The present invention also provides a kind of electric machine control systems, including：
First controller, for obtaining the correspondence relationship information between quadrature axis inductance and quadrature axis current；According to the corresponding pass
It is that information obtains inquiry table, includes mutual corresponding Motor torque, motor speed, direct-axis current and quadrature axis electricity in the inquiry table
Stream；
Second controller, for obtaining target from the inquiry table according to the Motor torque and motor speed of current period
Direct-axis current and target quadrature axis current；Motor is controlled according to the target direct-axis current and target quadrature axis current.
Above-mentioned electric machine control system is by obtaining the correspondence relationship information between quadrature axis inductance and quadrature axis current, according to described right
Relation information is answered to obtain inquiry table, it is contemplated that the influence of magnetic circuit saturation effect, under the premise of ensureing realtime control demand,
Solid foundation has been established to improve motor control performance；Solve the problems, such as that motor control accuracy is low in the prior art.
The present invention also provides a kind of vehicles, including motor, further include：Above-mentioned electric machine control system；
Second controller in the electric machine control system is connected with the motor.
Above-mentioned vehicle can by electric machine control system by obtaining the correspondence relationship information between quadrature axis inductance and quadrature axis current,
Inquiry table is obtained according to the correspondence relationship information, it is contemplated that the influence of magnetic circuit saturation effect is ensureing that realtime control need to
Under the premise of asking, solid foundation has been established to improve motor control performance；It is low to solve motor control accuracy in the prior art
The problem of.
Description of the drawings
Fig. 1 is the motor control method flow diagram of the embodiment of the present invention one；
Fig. 2 is the motor control method block schematic illustration of the embodiment of the present invention one；
Fig. 3 is the voltage and current limitation ring schematic diagram of the embodiment of the present invention one；
The weak magnetic control flow schematic diagram of the considerations of Fig. 4 is the embodiment of the present invention one magnetic circuit saturation effect；
Fig. 5 is torque, the rotating speed table query strategy schematic diagram of the embodiment of the present invention one；
Fig. 6 is the electric machine control system structural schematic diagram of the embodiment of the present invention two.
[reference sign]
The first controllers of 61-, 62- second controllers.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
The present invention in view of the prior art in the low problem of motor control accuracy, provide a variety of solutions, specifically such as
Under：
Embodiment one
As shown in Figure 1, the motor control method that the embodiment of the present invention one provides, including：
Step 11：Obtain the correspondence relationship information between quadrature axis inductance and quadrature axis current；
Step 12：Inquiry table is obtained according to the correspondence relationship information, includes mutual corresponding motor in the inquiry table
Torque, motor speed, direct-axis current and quadrature axis current；
Step 13：Target direct-axis current is obtained from the inquiry table according to the Motor torque of current period and motor speed
With target quadrature axis current；
Step 14：Motor is controlled according to the target direct-axis current and target quadrature axis current.
The motor control method that the embodiment of the present invention one provides is by obtaining pair between quadrature axis inductance and quadrature axis current
Relation information is answered, inquiry table is obtained according to the correspondence relationship information, it is contemplated that the influence of magnetic circuit saturation effect is ensureing to control
Under the premise of real-time demand processed, solid foundation has been established to improve motor control performance；Solves motor in the prior art
The low problem of control accuracy.
The scheme that the embodiment of the present invention one provides is suitable for equipment internal permanent magnet synchronous motor.
Wherein, described the step of obtaining inquiry table according to the correspondence relationship information, includes：Believed according to the correspondence
Breath obtain motor etc. torque informations, current limitation circle information and voltage limit justify information；Utilize the torque informations such as described, electric current
Horicycle information and voltage limit circle information obtain mutual corresponding Motor torque, motor speed, direct-axis current and quadrature axis current；
The inquiry table is obtained according to mutual corresponding Motor torque, motor speed, direct-axis current and quadrature axis current.
It is described that motor is obtained according to the correspondence relationship information in view of quadrature axis inductance and quadrature axis current are non-linear relation
Etc. torque informations, current limitation circle information and voltage limit circle information the step of include：The correspondence relationship information is carried out
Section processing；According to each section of correspondence relationship information obtain corresponding motor etc. torque informations, current limitation circle letter
Breath and voltage limit justify information.
Preferably, described the step of carrying out section processing to the correspondence relationship information, includes：It was controlled according to motor
Pair between the replacement frequency of inquiry table described in journey and the Motor torque, motor speed, direct-axis current and quadrature axis current
The precision that should be related to carries out section processing to the correspondence relationship information.
Specifically, it is described obtained according to mutual corresponding Motor torque, motor speed, direct-axis current and quadrature axis current it is described
The step of inquiry table includes：According to the corresponding Motor torque of each section of correspondence relationship information, motor speed, direct-axis current and
An inquiry table is arranged in quadrature axis current.
Wherein, the Motor torque and motor speed according to current period obtains target d-axis electricity from the inquiry table
It flows and includes with the step of target quadrature axis current：Target query table was determined according to the quadrature axis current in a upper period；According to current period
Motor torque and motor speed target direct-axis current and target quadrature axis current are obtained from the target query table.
Specifically, the quadrature axis current according to a upper period includes the step of determining target query table：According to upper one week
The quadrature axis current of phase determines corresponding quadrature axis inductance；Corresponding target query table is obtained according to the quadrature axis inductance.
In order to ensure the ride comfort of motor final output torque, inquiry table frequent switching is prevented, it is described according to a upper period
Quadrature axis current the step of determining target query table include：Mesh was determined according to the quadrature axis current in a upper period and default hysteresis strategy
Mark inquiry table.
The motor control method provided below the embodiment of the present invention one is further described.
In short, the field weakening control method that the present invention provides a kind of suitable for equipping internal permanent magnet synchronous motor,
This method determines motor output torque, motor based on look-up table by the modes such as the derivation of equation and rack, real train test
Rotating speed and D (straight), the relationship of Q (friendship) shaft current, consider the influence of inductor saturation effect on this basis, when Q shaft currents increase
Be added to a certain degree magnetic circuit saturation when, Q axle inductances are compensated, obtain on this basis new torque command, motor speed with
D, the relationship of Q shaft currents, and table is made, for the real-time query during motor control.The weak magnetic control that the present invention provides
Method is under the premise of ensureing realtime control demand, it is contemplated that influence of the inductor saturation effect to control, to improve motor control
Performance processed has established solid foundation.It is specific as follows：
1, internal permanent magnet synchronous motor controls
In permanent magnet synchronous motor, since the permanent magnet of interior permanent magnet machines is embedded in inside rotor core, transported in weak magnetic
The protective action of demagnetization is made it have when row, so interior permanent magnet machines are not easy to demagnetize than surface-mounted permanent magnet machine.Due to interior
It sets formula magneto D axle inductances and is more than surface-mounted permanent magnet machine, and D axle inductances are less than Q axle inductances, have reluctance torque, so
It is widely used in pure electric automobile driving system with broader invariable power range and excellent weak magnetism speed expansion ability
System.The control of pure electric automobile internal permanent magnet synchronous motor weak magnetic is shown in Fig. 2 the location of in the control of motor core.
As shown in Fig. 2, the control of motor core includes three parts, respectively current management control, current loop control and space
Vector Pulse Width Modulation SVPWM controls.The function that wherein current management control is realized is to export D axis according to the torque command T of input
And Q shaft current order Id and Iq, current management control includes weak magnetic control and maximum torque per ampere control, when motor speed exists
Base speed uses maximum torque per ampere control when following, needs to carry out weak magnetic control when motor operation is in the fast above rotating speed section of base
System；The function that current loop control is realized is command current Id, the Iq inputted according to current management block and motor actual feedback
D, Q shaft currents Id*, Iq* obtain D axis and Q shaft voltages after current loop control (generally using proportional integration PI controls) and decoupling
Order Ud and Uq；The function that SVPWM controls are realized is to convert D, Q shaft voltage order Ud, Uq to motor U, V, W three-phase windings
Driving voltage duty ratio, to which two-phase voltage bid value is converted to the accurate output to motor three-phase windings voltage value, finally
Driving motor Motor.
From figure 2 it can be seen that current management is controlled as first link in the control of motor core, the D calculated,
The order of Q shaft currents has an impact the performance controlled motor, precision, and weak magnetic control is the important composition of current management control
Part, therefore the quality of its control will generate tremendous influence to entire electric system.
2, weak magnetic controls
Permanent magnet synchronous motor is when base speed operates above progress weak-magnetic speed-regulating, due to the difference of control law, in order to obtain
Optimal control effect, it will usually different electric currents, voltage vector track or torque vector track be selected therefore to will produce one
A little basic electromagnetic relationship curves, it is specific as follows：
(1) voltage limit is oval
When permanent magnet synchronous motor stable operation, limited by inverter output voltage.
ψ in formula (1)fFor permanent magnet flux linkage, LdFor D axle inductances, LqFor Q axle inductances, idFor D shaft currents, iqFor Q shaft currents,
UDCFor DC side voltage of converter, ωeFor motor speed.After current regulator is saturated, machine phase voltages are equal toWhen, turn
Fast ωeA center of circle under corresponding dq coordinate systems isEllipse, it is oval which is known as voltage limit, to certain
One given rotating speed, when motor stable operation, stator current can only at most be fallen ellipse no more than the elliptical orbit under the rotating speed
On circle.With rotational speed omegaeIncrease, voltage limit ellipse can reduce, and form one group of elliptic curve.
(2) current limitation is justified
It is limited by inverter output current and motor itself rated current, when permanent magnet synchronous motor stable operation, electric current
Vector magnitude is
is 2=id 2+iq 2 (2)
I in formula (2)sFor current phasor, it can be seen that current phasor track is using origin as the center of circle under by coordinate system
Circle, the circle are referred to as current limitation circle.When motor stabilizing is run, stator current vector can neither be more than that voltage limit is oval,
Current limitation cannot be exceeded to justify, had in voltage limit ellipse and current limitation circle.
(3) torque equation
T in formula (3)eMotor torque, npFor number of pole-pairs.
(map parameter meaning is as above) as shown in Figure 3, permanent magnet synchronous motor is limited by electric current and voltage in the process of running,
Formula (2) is 2=id 2+iq 2Indicate current limitation circle, isMaximum value imaxIt is limited by；Formula (1) expression formula is voltage limit
Circle, with motor speed ωeRaising, the radius of horicycle can become smaller, and final voltage limit circle can be retracted to DQ coordinate systemsPoint.After motor speed reaches base speed point, if wanting to further increase rotating speed, needs to carry out weak magnetic control, pass through
D shaft currents are reduced, motor speed is improved under the premise of meeting voltage limit circle and being limited with current limitation circle.At this time with rotating speed
Rising, the exportable peak torque of motor will reduce.
The control of internal permanent magnet synchronous motor weak magnetic is related to complicated operation, therefore Project Realization mostly uses greatly look-up table.
As shown in figure 3, the i of voltage limit circle and current limitation circle point of intersection can be acquired according to formula (1), (2)dWith iq, later according to formula
(3) the torque formula described, can be obtained corresponding torque.Early period by off-line calculation and bench test can determine largely
id、iq、ωeWith TeBetween relationship, by screening, data above is stored in table, during actual control when need into
When row weak magnetic controls, according to given torque command and current motor rotating speed, D, Q shaft current order can be directly obtained by tabling look-up
And it is used for subsequent control.
Look-up table has the advantages that fireballing, the further influence of consideration magnetic circuit saturation：Internal permanent magnet synchronous motor
Parameter can change with the difference of operating condition, and when magnetic circuit is saturated, the inductance of motor can change, in turn
Influence the control performance of motor；The present invention provides following scheme on the basis of Rational Simplification.
3, consider the weak magnetic control of magnetic circuit saturation
In internal permanent magnet synchronous motor, the corresponding effective air gap of Q axis (quadrature axis) is shorter, is easy to happen saturation, and D axis
(d-axis) corresponding effective air gap is longer, it is not easy to be saturated.Numerous studies statistics indicate that, D axle inductances with Q shaft currents increasing
Add variation smaller, therefore it is believed that L in formula (1), (3)dIt is constant；And Q axle inductances become with the increase of Q shaft currents when magnetic circuit saturation
Change larger, and therefore only considers Q shaft currents to L on the basis of the above reasonable assumption in non-linear relationqInfluence, significantly
Simplify issue handling difficulty.Consider that the weak magnetic control concrete methods of realizing of magnetic circuit saturation is as follows：
Consider that Q axle inductances are changed greatly with the increase of Q shaft currents when magnetic circuit saturation, therefore is determined first by laboratory facilities
Lq(quadrature axis inductance) and iqThe change curve of (quadrature axis current).Due to LqWith iqBetween be non-linear relation, next to the curve
Carry out piece-wise linearization processing, division number N.It is directed to this N sections of curve negotiating bench test, off-line calculation later【Root first
Equal torque curves are obtained (by a large amount of i according to formula (3)d、iqCombination), later according to the current limitation of formula (2) circle and formula (1)
The reciprocity torque curve of voltage limit circle is limited, to obtain torque command, motor speed and id、iqCorrespondence】Deng side
Method determines torque command Te, motor speed ωeWith D, Q shaft current id、iqBetween relationship, and store in the table, total N open tables
(during practical weak magnetic controls, electric machine controller obtains corresponding i according to torque command with motor speed directly inquiryd、iq
Order).According to i during weak magnetic controlsqThe variation range query table of electric current, obtains D, Q shaft current order, final to realize
The weak magnetic control for considering magnetic circuit saturation, is specifically shown in Fig. 4.
As shown in figure 4, first determine whether the Q shaft current orders in a period, and it is true according to the Q shaft current orders in a upper period
Determine torque, rotating speed enquiry form, Q axle inductances as previously described are changed greatly with the increase of Q shaft currents, therefore by iqValue is divided
Section, think L in each sectionqValue is certain value, therefore can determine L according to the Q shaft currents in a upper periodqValue utilizes the L laterd
The corresponding table of value obtains D, Q shaft current order by the directly inquiry of command torque, motor current rotating speed.Torsion in this method
Square enquiry form is to complete in advance, therefore only needed the Q shaft current value energy of command torque, motor speed and a upper period
One group of D, Q shaft current order of enough quick uniquely determinations (during computation sheet, LdWith LqIt is taken as definite value to handle,
Different LdCorresponding different table, i.e. data in the table are in corresponding LqOn the basis of obtain), to protecting
The real-time requirement of card system.During actually controlling, inquiry table can be switched over according to the variation of Q shaft currents, in order to ensure
The ride comfort of motor final output torque, inquiry table should not frequent switching, thus the solution of the present invention be additionally added hysteresis strategy,
It is specific as shown in Figure 5.
According to Fig. 5, input quantity is torque command, motor speed and upper period Q shaft current order, is exported as D, Q axis electricity
Stream order.During actually controlling, it is assumed that the starting stage carries out weak magnetic control using torque, rotating speed inquiry table 1, when Q axis is ordered
When electric current being enabled to increase to threshold values K1, then torque, rotating speed inquiry table 2 is used to carry out maximum torque per ampere control, if Q axis is ordered later
It enables electric current reduce, then torque, rotating speed inquiry table 1 is used to carry out weak magnetic control again when less than threshold values K1*, wherein K1 is more than
K1*.From torque, weak magnetic inquiry table 1 to torque, weak magnetic inquiry table N, and so on.Method shown in fig. 5 introduces hysteresis plan
Slightly, it prevents from leading to torque, rotating speed inquiry table frequent switching since Q shaft currents fluctuate in critical range, and then influences control
Effect.
As can be seen that the quantity and L of torque command tableq、iqThe division number N of piece-wise linearization is consistent, in general N values
More big then piece-wise linearization effect is better, and inquiry table is finer, this is beneficial to improve control effect；But this in practical application will
The memory space of entire car controller can be increased, largely occupy limited RAM (random access memory (RAM)) resource, and then increase vehicle
The computational load of controller, therefore the value of N does not answer excessive, i.e. Lq、iqThe number of piece-wise linearization, which is subject to, meets demand for control
(being limited with the accuracy of the replacement frequency of table and result data).
From the foregoing, it will be observed that the present invention provides a kind of field weakening control method being suitable for equipping internal permanent magnet synchronous motor,
This method is based on look-up table, it is contemplated that influence of the inductor saturation effect to control performance.In the present invention according to motor work
D, Q axle inductance and the variation relation of Q shaft currents carry out reasonable assumption during work, ignore shadow of the Q shaft currents increase to D axle inductances
It rings, only considers influence of the Q shaft currents to Q axle inductances, the intractability of magnetic circuit saturation problem is simplified, on this basis to being in non-
The Q shaft currents of linear relationship carry out piece-wise linearization processing with Q axle inductances, and establish torque life for every section of linearisation section
It enables, the mapping table of motor speed and D, Q shaft current order.During motor weak magnetic controls, using current torque order,
The Q shaft currents in current motor rotating speed and a upper period rapidly obtain D, Q shaft current life as input by way of tabling look-up
It enables, and is used for subsequent control.This method considers influence of the inductor saturation effect to control performance, to improve motor control performance
Solid foundation is established, while calculation amount is low, disclosure satisfy that the real-time demand of motor control.
In addition, the field weakening control method provided by the invention for being suitable for equipping internal permanent magnet synchronous motor is in the process of tabling look-up
Middle novelty introduces hysteresis strategy, prevents from leading to inquiry table frequent switching since Q shaft current small ranges fluctuate, Jin Erying
Ring control effect.Meanwhile the present invention gives the selection gist of inquiry table quantity, for this method Project Realization provide according to
According to.
Embodiment two
As shown in fig. 6, electric machine control system provided by Embodiment 2 of the present invention includes：
First controller 61, for obtaining the correspondence relationship information between quadrature axis inductance and quadrature axis current；According to the correspondence
Relation information obtains inquiry table, includes mutual corresponding Motor torque, motor speed, direct-axis current and quadrature axis in the inquiry table
Electric current；
Second controller 62, for obtaining mesh from the inquiry table according to the Motor torque and motor speed of current period
Mark direct-axis current and target quadrature axis current；Motor is controlled according to the target direct-axis current and target quadrature axis current.
The electric machine control system provided by Embodiment 2 of the present invention is by obtaining pair between quadrature axis inductance and quadrature axis current
Relation information is answered, inquiry table is obtained according to the correspondence relationship information, it is contemplated that the influence of magnetic circuit saturation effect is ensureing to control
Under the premise of real-time demand processed, solid foundation has been established to improve motor control performance；Solves motor in the prior art
The low problem of control accuracy.
Wherein, first controller is specifically used for：According to the correspondence relationship information obtain motor etc. torque informations,
Current limitation justifies information and voltage limit justifies information；Justified using the torque informations such as described, current limitation circle information and voltage limit
Information obtains mutual corresponding Motor torque, motor speed, direct-axis current and quadrature axis current；It is turned round according to mutual corresponding motor
Square, motor speed, direct-axis current and quadrature axis current obtain the inquiry table.
In view of quadrature axis inductance and quadrature axis current are non-linear relation, first controller also particularly useful for：To described
Correspondence relationship information carries out section processing；The equal torques letter of corresponding motor is obtained according to each section of correspondence relationship information
Breath, current limitation circle information and voltage limit justify information.
Preferably, first controller is specifically used for：The replacement frequency of the inquiry table during being controlled according to motor
And the precision of the correspondence between the Motor torque, motor speed, direct-axis current and quadrature axis current, to the corresponding pass
It is that information carries out section processing.
Specifically, first controller is specifically used for：It is turned round according to the corresponding motor of each section of correspondence relationship information
An inquiry table is arranged in square, motor speed, direct-axis current and quadrature axis current.
Wherein, the second controller is specifically used for：Target query table was determined according to the quadrature axis current in a upper period；According to
The Motor torque and motor speed of current period obtain target direct-axis current and target quadrature axis current from the target query table.
Specifically, the second controller is specifically used for：Corresponding quadrature axis electricity was determined according to the quadrature axis current in a upper period
Sense；Corresponding target query table is obtained according to the quadrature axis inductance.
In order to ensure the ride comfort of motor final output torque, inquiry table frequent switching, the second controller tool are prevented
Body is used for：Target query table was determined according to the quadrature axis current in a upper period and default hysteresis strategy.
Further, the electric machine control system further includes：Memory, for storing the inquiry table.
Wherein, the realization embodiment of above-mentioned motor control method is suitable for the embodiment of the electric machine control system
In, it can also reach identical technique effect.
In order to solve the above-mentioned technical problem, the embodiment of the present invention additionally provides a kind of vehicle, including motor, further includes：On
The electric machine control system stated；Second controller in the electric machine control system is connected with the motor.
Wherein, the realization embodiment of above-mentioned electric machine control system can also reach suitable for the embodiment of the vehicle
To identical technique effect.
Above-described is the preferred embodiment of the present invention, it should be pointed out that the ordinary person of the art is come
It says, under the premise of not departing from principle of the present invention, can also make several improvements and retouch, these improvements and modifications should also regard
For protection scope of the present invention.
Claims (9)
1. a kind of motor control method, which is characterized in that including：
Obtain the correspondence relationship information between quadrature axis inductance and quadrature axis current；
Inquiry table is obtained according to the correspondence relationship information, is turned comprising mutual corresponding Motor torque, motor in the inquiry table
Speed, direct-axis current and quadrature axis current；
Target direct-axis current and target quadrature axis are obtained from the inquiry table according to the Motor torque of current period and motor speed
Electric current；
Motor is controlled according to the target direct-axis current and target quadrature axis current；
Wherein, the Motor torque and motor speed according to current period obtained from the inquiry table target direct-axis current and
The step of target quadrature axis current includes：
Target query table was determined according to the quadrature axis current in a upper period；
Target direct-axis current and target are obtained from the target query table according to the Motor torque of current period and motor speed
Quadrature axis current.
2. motor control method according to claim 1, which is characterized in that described to be obtained according to the correspondence relationship information
The step of inquiry table includes：
According to the correspondence relationship information obtain motor etc. torque informations, current limitation circle information and voltage limit justify information；
Using the torque informations such as described, current limitation circle information and voltage limit circle information obtain mutual corresponding Motor torque,
Motor speed, direct-axis current and quadrature axis current；
The inquiry table is obtained according to mutual corresponding Motor torque, motor speed, direct-axis current and quadrature axis current.
3. motor control method according to claim 2, which is characterized in that described to be obtained according to the correspondence relationship information
Motor etc. torque informations, current limitation circle information and voltage limit circle information the step of include：
Section processing is carried out to the correspondence relationship information；
According to each section of correspondence relationship information obtain corresponding motor etc. torque informations, current limitation circle information and voltage
Horicycle information.
4. motor control method according to claim 3, which is characterized in that described to divide the correspondence relationship information
Sectionization processing the step of include：
The replacement frequency of the inquiry table and the Motor torque, motor speed, direct-axis current during being controlled according to motor
The precision of correspondence between quadrature axis current carries out section processing to the correspondence relationship information.
5. motor control method according to claim 3, which is characterized in that it is described according to mutual corresponding Motor torque,
The step of motor speed, direct-axis current and quadrature axis current obtain the inquiry table include：
According to the corresponding Motor torque of each section of correspondence relationship information, motor speed, direct-axis current and quadrature axis current, setting
One inquiry table.
6. motor control method according to claim 1, which is characterized in that the quadrature axis current according to a upper period is true
The step of inquiry table that sets the goal includes：
Corresponding quadrature axis inductance was determined according to the quadrature axis current in a upper period；
Corresponding target query table is obtained according to the quadrature axis inductance.
7. motor control method according to claim 1, which is characterized in that the quadrature axis current according to a upper period is true
The step of inquiry table that sets the goal includes：
Target query table was determined according to the quadrature axis current in a upper period and default hysteresis strategy.
8. a kind of electric machine control system, which is characterized in that including：
First controller, for obtaining the correspondence relationship information between quadrature axis inductance and quadrature axis current；Believed according to the correspondence
Breath obtains inquiry table, includes mutual corresponding Motor torque, motor speed, direct-axis current and quadrature axis current in the inquiry table；
Second controller, for obtaining target d-axis from the inquiry table according to the Motor torque and motor speed of current period
Electric current and target quadrature axis current；Motor is controlled according to the target direct-axis current and target quadrature axis current；
Wherein, the second controller is specifically used for：
Target query table was determined according to the quadrature axis current in a upper period；
Target direct-axis current and target are obtained from the target query table according to the Motor torque of current period and motor speed
Quadrature axis current.
9. a kind of vehicle, including motor, which is characterized in that further include：Electric machine control system as claimed in claim 8；
Second controller in the electric machine control system is connected with the motor.
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| CN106932208B (en) * | 2017-03-29 | 2020-03-06 | 北京新能源汽车股份有限公司 | Output torque monitoring method and device of electric vehicle driving system and electric vehicle |
| CN107482985B (en) * | 2017-07-20 | 2019-11-22 | 宝沃汽车（中国）有限公司 | Modification method, update the system and the vehicle of motor control torque |
| CN108988719B (en) * | 2018-08-16 | 2021-10-15 | 上海航天控制技术研究所 | Online weak magnetic control management strategy for electric servo system of aircraft |
| CN109305050B (en) * | 2018-09-28 | 2022-06-24 | 上汽通用五菱汽车股份有限公司 | Control method, motor controller, electric vehicle, and computer-readable storage medium |
| CN110971164B (en) * | 2018-09-30 | 2022-07-15 | 比亚迪股份有限公司 | Rail vehicle and motor control method and device |
| CN110995099B (en) * | 2019-12-25 | 2021-04-27 | 浙江吉智新能源汽车科技有限公司 | Motor heating control method, controller and system based on look-up table and closed-loop control |
| CN112060923B (en) * | 2020-08-24 | 2021-11-05 | 奇瑞新能源汽车股份有限公司 | Efficiency improving method and device of electric drive system, medium and motor controller |
| CN112003508B (en) * | 2020-09-18 | 2022-06-10 | 蔚然（南京）动力科技有限公司 | Motor position sensorless control method and device |
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