CN106364330A - Motor vector control method and device aiming at energy feedback and electrombile - Google Patents
Motor vector control method and device aiming at energy feedback and electrombile Download PDFInfo
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- CN106364330A CN106364330A CN201610867984.2A CN201610867984A CN106364330A CN 106364330 A CN106364330 A CN 106364330A CN 201610867984 A CN201610867984 A CN 201610867984A CN 106364330 A CN106364330 A CN 106364330A
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Classifications
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/12—Dynamic electric regenerative braking for vehicles propelled by dc motors
-
- 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
- B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
-
- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/13—Maintaining the SoC within a determined range
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/10—Electrical machine types
- B60L2220/16—DC brushless machines
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/429—Current
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/547—Voltage
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/549—Current
-
- 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
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/42—Control modes by adaptive correction
-
- 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
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention is suitable for the electromechanical field and provides a motor vector control method and device aiming at energy feedback, and an electrombile. The motor vector control method comprises the steps that after a motor enters an energy feedback brake mode, Iq is set to be a negative value; whether a battery is in a charging saturation state is judged; if not, Id is controlled to be equal to zero; if yes, the Id is controlled to be a negative value; and according to the Iq and the Id, vector control is conducted, and the motor is controlled to achieve energy feedback. According to the motor vector control method and device aiming at energy feedback, and the electrombile, during braking of the motor, the Iq is controlled to be the negative value, the Id is controlled to be equal to zero when the battery is in the charging unsaturation state, and the Id is controlled to be a certain negative value when the battery is in the charging saturation state; and then according to the Iq and the Id, vector control is conducted, energy feedback is achieved, under the condition that no motor controller element is added, the overvoltage problem does not occur to the battery, and the problem that after overvoltage protection or overcurrent protection, braking force cannot be generated is also avoided.
Description
Technical field
The invention belongs to electronic applications, more particularly, to a kind of motor vector control method for energy back, device and
Electric motor car.
Background technology
Electric motor car with its cleanliness without any pollution, high conversion efficiency and easy to maintenance the advantages of, it has also become at present people's trip
One of main walking-replacing tool, due to electric energy to be saved, the control mode energy-conservation of the commonly used energy back braking of current electric motor car.
But, when electric motor car adopts energy back to brake for a long time (as long-time descending), over-charging of battery can be made, lead to electricity
Cell voltage raise, damage battery, therefore by energy back braking produce unnecessary electric energy consumed by discharge resistance or
Person is stored in the middle of super capacitor, thus increased the volume of electric machine controller, weight, cost；And the energy back system of adopting
When dynamic, cell voltage charges after overvoltage or overcurrent protection, cannot produce brake force again.
Content of the invention
The purpose of the embodiment of the present invention is to provide a kind of motor vector control method for energy back it is intended to solve
Existing electric motor car when energy back is braked battery overvoltage and because overvoltage protection leads to motor cannot produce asking of brake force
Topic.
The embodiment of the present invention is achieved in that a kind of motor vector control method for energy back, methods described
Including:
Motor, after entering energy back braking mode, arranges iqFor a negative value；
Judge whether battery is in charging saturation；
If it is not, then controlling id=0；
If so, then control idFor a negative value；
According to iq、idCarry out vector controlled, controlled motor realizes energy back.
The another object of the embodiment of the present invention is, provides a kind of motor vector control apparatus for energy back, institute
State device to include:
iqControl unit, for motor after entering energy back braking mode, arranges iqFor a negative value；
Battery saturation judging unit, for judging whether battery is in charging saturation；
idControl unit, for controlling i when battery is not in charging saturationd=0, it is in charging saturation in battery
Control i during statedFor a negative value；
Vector control unit, for according to iq、idCarry out vector controlled, controlled motor realizes energy back.
The another object of the embodiment of the present invention is, provides a kind of inclusion the above-mentioned motor vector controlled for energy back
The electric motor car of device.
The embodiment of the present invention, in motor braking, controls iqFor a negative value, and control i in battery charging unsaturationd=0,
Control i in battery charging saturationdFor a certain negative value, further according to iq、idCarry out vector controlled, realize energy back, do not increasing
Under conditions of electric machine controller element, battery will not be made to produce overpressure problems in braking, also be not result in overvoltage protection or mistake
It is impossible to produce the problem of brake force after stream protection.
Brief description
The flowage structure of the motor vector control method for energy back that Fig. 1 provides for first embodiment of the invention
Figure；
The flowage structure of the motor vector control method for energy back that Fig. 2 provides for second embodiment of the invention
Figure；
Fig. 3 is the structure chart of the motor vector control apparatus for energy back provided in an embodiment of the present invention；
Fig. 4 a is conventional brake diagnostic test result figure；
Fig. 4 b is the test result figure using the braking of embodiment of the present invention rear braking.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and
It is not used in the restriction present invention.As long as additionally, involved technical characteristic in each embodiment of invention described below
The conflict of not constituting each other just can be mutually combined.
The embodiment of the present invention, in motor braking, controls iqFor a negative value, and control i in battery charging unsaturationd=0,
Control i in battery charging saturationdFor a certain negative value, further according to iq、idCarry out vector controlled, realize energy back, solve electricity
Pond cannot produce the problem of brake force because of overvoltage protection or overcurrent protection.
Fig. 1 shows the flow process knot of the motor vector control method for energy back that first embodiment of the invention provides
Structure, for convenience of description, illustrate only part related to the present invention.
As one embodiment of the invention, should include for the motor vector control method of energy back:
In step s101, motor, after entering energy back braking mode, arranges iq(quadrature axis current) is a negative value；
In embodiments of the present invention, for DC brushless motor (bldc), magnetic steel structure is if surface-mount type, then
Before motor entrance energy back braking mode during driven, using iqBe given as a certain on the occasion of, id=0 control mode, often
The electromagnetic torque that the electric current of unit produces is maximum.
After motor enters energy back braking mode, now brake force iqIt is set to a certain negative value, this value can be by journey
Inside sequence, fixation is default or calculates decision, i according to the aperture of outside brake handleqSize determine brake power
Degree.
In step s102, judge whether battery is in charging saturation；
If it is not, then execution step s103, control id(direct-axis current)=0；
If so, then execution step s104, controls idFor a negative value；
In embodiments of the present invention, by cell voltage or battery current, step s102 can judge whether battery is in
Charging saturation, judged by charging voltage particularly as follows:
The charging voltage of detection battery；
Judge whether the charging voltage of battery is less than overvoltage protection value；
If so, then battery is not in charging saturation；
If it is not, then battery is in charging saturation.
Judged by charging current particularly as follows:
The charging current of detection battery；
Judge whether the charging current of battery is less than overcurrent protection value；
If so, then battery is not in charging saturation；
If it is not, then battery is in charging saturation.
In embodiments of the present invention, if the charging voltage of battery is higher, when reaching overvoltage protection value, or electricity
When the charging current in pond reaches overcurrent protection value, after motor enters energy back braking mode, be to charging voltage and charging
Electric current is controlled, with overvoltage protection value or overcurrent protection value as control targe, real-time adjustment idSize, with ensure braking when
Will not overvoltage or excessively stream, in order to avoid damage battery.
For setting idNegative value size, can according to the over-voltage protection point of different model battery through experiment determine after
Go out.
In step s105, according to iq、idCarry out vector controlled, controlled motor realizes energy back.
In embodiments of the present invention, by iqAnd idIt is sent respectively to the electric current pi actuator of foc and magnetic flux pi actuator is carried out
It is calculated vq、vd, then carried out by anti-park conversion, svpwm (space vector pulse width modulation) and inversion unit controlled motor
Energy back.So far this loop ends, if next time, circulation remained braking mode, then reset iqFor a negative value,
Judge whether battery is in charging saturation, enter circulation next time.
, in driven taking surface-mount type DC brushless motor (bldc) as a example, id=0, such unitary current produces
Electromagnetic torque is maximum, and the current component of d, q axle of bldc can be expressed as follows:
id=iscosβ
iq=issinβ (1)
Wherein, idFor direct-axis current, iqFor quadrature axis current.isFor phase current, β is angle of torsion.
The moment of torsion equation of bldc is expressed as follows:
Wherein, temIt is electromagnetic torque, pnIt is motor number of pole-pairs, ψfIt is permanent magnet flux linkage, ld、lqFor d, q axle inductance.
By (1) (2) formula, by temSeek extreme value, β=90 ° during surface-mount type bldc peak torque can be obtained.At this moment unit
The moment of torsion that electric current produces is maximum.
When energy back is braked, electromagnetic torque direction is contrary with the traffic direction of motor, makes iqFor a certain negative value, and electricity
Pond is not in saturation, makes id=0, derived by above formula, the reverse electromagnetic torque that can obtain now is maximum, therefore
Now battery can be charged, carry out energy regenerating, improve course continuation mileage.
When energy back is braked, and when battery is in saturation, make iq、idIt is respectively set to a negative value, according to vector
The principle controlling, when forward drive, flux linkage vector (the i.e. i of the current phasor Advancing Rotor of motorqFor just), work as iqIt is negative
When, the current phasor of motor becomes the flux linkage vector lagging behind rotor, and motor just produces reverse driving force, i.e. brake force.This
When DC current be negative, battery is in charged state, and DC voltage can rise.I is now setdIt is negative, electric current falls behind magnetic linkage meeting
More, so that portion of energy is depleted on motor, reduce DC charging current it is suppressed that the rising of DC voltage.
The embodiment of the present invention, in motor braking, controls iqFor a negative value, and control i in battery charging unsaturationd=0,
Control i in battery charging saturationdFor a certain negative value, further according to iq、idCarry out vector controlled, realize energy back, do not increasing
Under conditions of electric machine controller element, battery will not be made to produce overpressure problems in braking, also be not result in overvoltage protection or mistake
It is impossible to produce the problem of brake force after stream protection.
Fig. 2 shows the flow process knot of the motor vector control method for energy back that second embodiment of the invention provides
Structure, for convenience of description, illustrate only part related to the present invention.
As one embodiment of the invention, should include for the motor vector control method of energy back:
In step s201, motor, after entering energy back braking mode, arranges iqFor a negative value；
In step s202, judge whether battery is in charging saturation；
If it is not, then execution step s203, by idPlus fixing stepping-in amount, then direct execution step s207；
If so, then execution step s204, by idDeduct fixing stepping-in amount；
After step s204, execution step s205, judge idWhether it is less than minima, this minima is to transport according to system
The negative value that row state sets, for example, be set to the output boundary of pi actuator；
If so, then execution step s206, makes idEqual to minima；
If it is not, then direct execution step s207；
In step s207, judge idWhether it is more than 0；
If so, then execution step s208, makes id=0；
If it is not, then making idKeep constant, direct execution step s209.
In step s209, according to iq、idCarry out vector controlled, controlled motor realizes energy back.
In embodiments of the present invention, after entering energy back braking mode, if charging voltage reaches overvoltage protection value
Or charging current is when reaching overcurrent protection value, just by idDeduct a fixing stepping-in amount, then judge the i of negative valuedWhether can be less than
Little value, if less than minima, then by the i of negative valuedIt is set to minima, otherwise just constant.
Then by the i of negative valueqAnd idIt is sent respectively to the electric current pi actuator of entrance foc, magnetic flux pi actuator is counted
Calculate, thus carrying out vector controlled.So far this loop ends, subsequently into circulation next time.
If next time, circulation remained braking mode, and if charging voltage is not reaching to overvoltage protection value or charging current
When being not reaching to overcurrent protection value, just by idPlus a fixing stepping-in amount, finally judge idWhether 0 can be more than, if just will more than 0
idIt is limited in 0, otherwise enter next step, by iqAnd idInput to the electric current pi actuator of foc, magnetic flux pi actuator is counted
Calculate, carry out vector controlled.
In embodiments of the present invention, the stepping-in amount adding and the stepping-in amount deducting can identical it is also possible to different.Optimum
Set repeatedly to be debugged according to the response time of control system and obtain.
Preferably, the method adjustment i of the regulation of pi can also be adopteddSize.
Fig. 4 a shows conventional brake diagnostic test result, and wherein a1 curve is the change curve of cell voltage during braking, and a2 is bent
Line is electric machine phase current change curve, and a3 curve is the change curve of charging voltage during braking；As can be seen that adopting conventional method
Implement braking, charging current ratio is larger, and cell voltage can substantially rise.
Fig. 4 b shows the test result using the braking of embodiment of the present invention rear braking, and wherein b1 curve is battery during braking
The change curve of voltage, b2 curve is the change curve of electric machine phase current, and b3 curve is the change curve of charging voltage during braking；
As can be seen that realizing energy back braking using the embodiment of the present invention, charging current is smaller, cell voltage substantially on
Rise, therefore battery charges and is well controlled, and is not in the phenomenon of overvoltage or excessively stream, thus avoiding due to overvoltage protection
Or the problem that cannot produce brake force that overcurrent protection leads to.
What deserves to be explained is, the method in the embodiment of the present invention is not limited solely to durface mounted permanent magnet synchronous motor, and other are forever
Magnetic-synchro motor or asynchronous machine are all applicable, are particularly useful for surface-mount type DC brushless motor (bldc).
The embodiment of the present invention, in motor braking, controls iqFor a negative value, and control i in battery charging unsaturationd=0,
Control i in battery charging saturationdFor a certain negative value, further according to iq、idCarry out vector controlled, realize energy back, do not increasing
Under conditions of electric machine controller element, battery will not be made to produce overpressure problems in braking, also be not result in overvoltage protection or mistake
It is impossible to produce the problem of brake force after stream protection.
Fig. 3 shows the structure of the motor vector control apparatus for energy back provided in an embodiment of the present invention, in order to
It is easy to illustrate, illustrate only part related to the present invention.
As one embodiment of the invention, should for the motor vector control apparatus of energy back can apply to electric motor car,
In Portable electric bicycle and electrodynamic balance car, should include for the motor vector control apparatus of energy back:
iq(quadrature axis current) control unit 11, for motor after entering energy back braking mode, arranges iqNegative for one
Value；
Battery saturation judging unit 12, for judging whether battery is in charging saturation；
id(direct-axis current) control unit 13, for controlling i when battery is not in charging saturationd=0, in battery
It is in control i during charging saturationdFor a negative value；
Vector control unit 14, for according to iq、idCarry out vector controlled, controlled motor realizes energy back.
As one embodiment of the present invention, iqControl unit is passed through default or by brake, aperture is calculated iqSetting
For a negative value.
As one embodiment of the present invention, battery saturation judging unit includes:
Battery detecting module, for detecting cell voltage or battery current；
Overcharge judge module, for judging whether whether cell voltage be less than excessively stream less than overvoltage protection value or battery current
Protection value, if so, then battery is not in charging saturation；If it is not, then battery is in charging saturation.
As one embodiment of the present invention, idControl unit also includes an idJudge module, for judging idWhether it is more than
0 and judge idWhether it is less than minima；
idControl unit when battery is not in charging saturation, by idPlus fixing stepping-in amount, and in idDuring more than 0
Control id=0；
idControl unit when battery is in charging saturation, by idDeduct fixing stepping-in amount, and in idLess than minima
When control idEqual to minima, in idNot less than minima and more than 0 when control id=0.
In embodiments of the present invention, for DC brushless motor (bldc), magnetic steel structure is if surface-mount type, then
Before motor entrance energy back braking mode during driven, using iqBe given as a certain on the occasion of, id=0 control mode, often
The electromagnetic torque that the electric current of unit produces is maximum.
After motor enters energy back braking mode, now brake force iqIt is set to a certain negative value, this value can be by journey
Inside sequence, fixation is default or calculates decision, i according to the aperture of outside brake handleqSize determine brake power
Degree.
If the charging voltage of battery is higher, when reaching overvoltage protection value, or the charging current of battery reaches
During overcurrent protection value, after motor enters energy back braking mode, charging voltage and charging current are controlled, with mistake
Pressure protection value or overcurrent protection value are control targe, real-time adjustment idSize, with ensure braking when will not overvoltage or excessively stream, with
Exempt to damage battery.
For setting idNegative value size, can according to the over-voltage protection point of different model battery through experiment determine after
Go out.
Finally, by iqAnd idIt is sent respectively to the electric current pi actuator of foc and magnetic flux pi actuator carries out being calculated vq、
vd, then energy back is carried out by anti-park conversion, svpwm and inversion unit controlled motor.So far this loop ends, such as
Fruit circulation next time remains braking mode, then reset iqFor a negative value, judge whether battery is in charging saturation,
Enter circulation next time.
In embodiments of the present invention, after entering energy back braking mode, if charging voltage reaches overvoltage protection value
Or charging current is when reaching overcurrent protection value, just by idDeduct a fixing stepping-in amount, then judge the i of negative valuedWhether can be less than
Little value, if less than minima, then by the i of negative valuedIt is set to minima, otherwise just constant.
Then by the i of negative valueqAnd idIt is sent respectively to the electric current pi actuator of entrance foc, magnetic flux pi actuator is counted
Calculate, thus carrying out vector controlled.So far this loop ends, subsequently into circulation next time.
If next time, circulation remained braking mode, and if charging voltage is not reaching to overvoltage protection value or charging current
When being not reaching to overcurrent protection value, just by idPlus a fixing stepping-in amount, finally judge idWhether 0 can be more than, if just will more than 0
idIt is limited in 0, otherwise enter next step, by iqAnd idInput to the electric current pi actuator of foc, magnetic flux pi actuator is counted
Calculate, carry out vector controlled.
In embodiments of the present invention, the stepping-in amount adding and the stepping-in amount deducting can identical it is also possible to different.Optimum
Set repeatedly to be debugged according to the response time of control system and obtain.
Preferably, the method adjustment i of the regulation of pi can also be adopteddSize.
The another object of the embodiment of the present invention is, provides a kind of inclusion the above-mentioned motor vector controlled for energy back
The electric motor car of device.
The embodiment of the present invention, in motor braking, controls iqFor a negative value, and control i in battery charging unsaturationd=0,
Control i in battery charging saturationdFor a certain negative value, further according to iq、idCarry out vector controlled, realize energy back, do not increasing
Under conditions of electric machine controller element, battery will not be made to produce overpressure problems in braking, also be not result in overvoltage protection or mistake
It is impossible to produce the problem of brake force after stream protection.
These are only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Any modification, equivalent and improvement of being made within principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of motor vector control method for energy back is it is characterised in that methods described includes:
Motor, after entering energy back braking mode, arranges iqFor a negative value；
Judge whether battery is in charging saturation；
If it is not, then controlling id=0；
If so, then control idFor a negative value；
According to iq、idCarry out vector controlled, controlled motor realizes energy back.
2. the method for claim 1 is it is characterised in that described iqBy being preset as a negative value, or described iqBy brake
Aperture is calculated and is set to a negative value.
3. the method for claim 1 is it is characterised in that the described step judging whether battery is in charging saturation
Particularly as follows:
Detection cell voltage or battery current；
Judge whether whether cell voltage be less than overcurrent protection value less than overvoltage protection value or battery current；
If so, then battery is not in charging saturation；
If it is not, then battery is in charging saturation.
4. the method for claim 1 is it is characterised in that when battery is not in charging saturation, control id=0 step
Rapid particularly as follows:
By idPlus fixing stepping-in amount；
Judge idWhether it is more than 0；
If so, then make id=0；
If it is not, then directly execution described according to iq、idCarry out vector controlled, the step that controlled motor realizes energy back.
5. the method for claim 1 is it is characterised in that when battery is in charging saturation, control idFor a negative value
Step particularly as follows:
By idDeduct fixing stepping-in amount；
Judge idWhether it is less than minima, described minima is the negative value setting according to system running state；
If so, then make idEqual to minima；
If it is not, then judging idWhether it is more than 0；
If so, then make id=0；
If it is not, then directly execution described according to iq、idCarry out vector controlled, the step that controlled motor realizes energy back.
6. a kind of motor vector control apparatus for energy back are it is characterised in that described device includes:
iqControl unit, for motor after entering energy back braking mode, arranges iqFor a negative value；
Battery saturation judging unit, for judging whether battery is in charging saturation；
idControl unit, for controlling i when battery is not in charging saturationd=0, it is in charging saturation in battery
When control idFor a negative value；
Vector control unit, for according to iq、idCarry out vector controlled, controlled motor realizes energy back.
7. device as claimed in claim 6 is it is characterised in that described iqControl unit is passed through default or is passed through brake aperture
Calculate described iqIt is set to a negative value.
8. device as claimed in claim 6 is it is characterised in that described battery saturation judging unit includes:
Battery detecting module, for detecting cell voltage or battery current；
Overcharge judge module, for judging whether whether cell voltage be less than overcurrent protection less than overvoltage protection value or battery current
Value, if so, then battery is not in charging saturation；If it is not, then battery is in charging saturation.
9. device as claimed in claim 6 is it is characterised in that described idControl unit also includes an idJudge module, is used for sentencing
Disconnected idWhether it is more than 0 and judge idWhether it is less than minima；
Described idControl unit when battery is not in charging saturation, by idPlus fixing stepping-in amount, and in idDuring more than 0
Control id=0；
Described idControl unit when battery is in charging saturation, by idDeduct fixing stepping-in amount, and in idLess than minima
When control idEqual to minima, in idNot less than minima and more than 0 when control id=0.
10. a kind of electric motor car it is characterised in that described electric motor car include as described in any one of claim 6-9 for energy
The motor vector control apparatus of feedback.
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| CN110011574A (en) * | 2019-04-12 | 2019-07-12 | 无锡同方聚能控制科技有限公司 | A kind of motor of dust collector retarding method |
| CN110789398A (en) * | 2019-09-29 | 2020-02-14 | 浙江合众新能源汽车有限公司 | Method for preventing overcharging during regenerative braking of electric automobile |
| CN112918325A (en) * | 2021-03-25 | 2021-06-08 | 苏州联胜新能源科技有限公司 | Method for realizing kinetic energy recovery completely depending on lithium battery |
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| CN112918325B (en) * | 2021-03-25 | 2024-05-03 | 苏州联胜新能源科技有限公司 | Method for realizing kinetic energy recovery by completely relying on lithium battery |
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