CN106364330B - A kind of motor vector control method, device and electric vehicle for energy back - Google Patents
A kind of motor vector control method, device and electric vehicle for energy back Download PDFInfo
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- CN106364330B CN106364330B CN201610867984.2A CN201610867984A CN106364330B CN 106364330 B CN106364330 B CN 106364330B CN 201610867984 A CN201610867984 A CN 201610867984A CN 106364330 B CN106364330 B CN 106364330B
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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
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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
- 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
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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
- 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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- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention is suitable for electro-mechanical arts, provides a kind of motor vector control method, device and electric vehicle for energy back, this method comprises: after entering energy back braking mode, I is arranged in motorqFor a negative value；Judge whether battery is in charging saturation state；If it is not, then controlling Id=0；If so, control IdFor a negative value；According to Iq、IdVector controlled is carried out, control motor realizes energy back.The present invention controls I in motor brakingqFor a negative value, and I is controlled when battery charges unsaturatedd=0, I is controlled when battery charges and is saturateddFor a certain negative value, further according to Iq、IdVector controlled is carried out, realizes energy back, under conditions of not increasing electric machine controller element, battery will not be made to generate overpressure problems in braking, after overvoltage protection or overcurrent protection will not be caused, brake force can not be led to the problem of.
Description
Technical field
The invention belongs to electronic field more particularly to it is a kind of for the motor vector control method of energy back, device and
Electric vehicle.
Background technique
Electric vehicle with its cleanliness without any pollution, high conversion efficiency and it is easy to maintenance the advantages that, it has also become at present people trip
One of main walking-replacing tool, due to electric energy to be saved, electric vehicle generallys use the control mode energy conservation of energy back braking at present.
But electric vehicle can make over-charging of battery, lead to electricity for a long time when energy back being used to brake (such as long-time descending)
Cell voltage increase, damage battery, therefore the extra electric energy that energy regenerative braking is generated consumed by discharge resistance or
Person is stored in super capacitor, to increase the volume of electric machine controller, weight, cost；And the energy back system of use
When dynamic, cell voltage charges after over-voltage or overcurrent protection, cannot generate brake force again.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of motor vector control method for energy back, it is intended to solve
The battery over-voltage and since overvoltage protection causes motor that can not generate asking for brake force when energy back is braked of existing electric vehicle
Topic.
The embodiments of the present invention are implemented as follows, a kind of motor vector control method for energy back, the method
Include:
I is arranged after entering energy back braking mode in motorqFor a negative value；
Judge whether battery is in charging saturation state；
If it is not, then controlling Id=0；
If so, control IdFor a negative value；
According to Iq、IdVector controlled is carried out, control 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
Stating device includes:
IqI is arranged for motor after entering energy back braking mode in control unitqFor a negative value；
Battery is saturated judging unit, for judging whether battery is in charging saturation state；
IdControl unit, for controlling I when battery is not in charging saturation stated=0, charging saturation is in battery
I is controlled when statedFor a negative value；
Vector control unit, for according to Iq、IdVector controlled is carried out, control motor realizes energy back.
The another object of the embodiment of the present invention is, provides a kind of including the above-mentioned motor vector controlled for energy back
The electric vehicle of device.
The embodiment of the present invention controls I in motor brakingqFor a negative value, and I is controlled when battery charges unsaturatedd=0,
I is controlled when battery charges and is saturateddFor a certain negative value, further according to Iq、IdVector controlled is carried out, energy back is realized, is not increasing
Under conditions of electric machine controller element, battery will not be made to generate overpressure problems in braking, overvoltage protection or mistake will not be caused
After stream protection, brake force can not be led to the problem of.
Detailed description of the invention
Fig. 1 is the flowage structure for the motor vector control method for energy back that first embodiment of the invention provides
Figure；
Fig. 2 is the flowage structure for the motor vector control method for energy back that second embodiment of the invention provides
Figure；
Fig. 3 is the structure chart of the motor vector control apparatus provided in an embodiment of the present invention for energy back；
Fig. 4 a is conventional brake diagnostic test result figure；
Fig. 4 b is the test result figure braked using rear braking of the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
The embodiment of the present invention controls I in motor brakingqFor a negative value, and I is controlled when battery charges unsaturatedd=0,
I is controlled when battery charges and is saturateddFor a certain negative value, further according to Iq、IdVector controlled is carried out, energy back is realized, solves electricity
Pond can not lead to the problem of brake force because of overvoltage protection or overcurrent protection.
Fig. 1 shows the process knot of the motor vector control method for energy back of first embodiment of the invention offer
Structure, for ease of description, only the parts related to the present invention are shown.
As an embodiment of the present invention, should include: for the motor vector control method of energy back
In step s101, I is arranged after entering energy back braking mode in motorq(quadrature axis current) is a negative value；
In embodiments of the present invention, for DC brushless motor (BLDC), magnetic steel structure if it is surface-mount type, then
When motor enters normal driving before energy back braking mode, using IqIt is given as a certain positive value, Id=0 control mode, often
The electromagnetic torque that the electric current of unit generates is maximum.
After motor enters energy back braking mode, brake force I at this timeqIt is set as a certain negative value, which can be by journey
Fixation is preset inside sequence, is also possible to be determined according to the aperture of external brake handle to calculate, IqSize determine brake power
Degree.
In step s 102, judge whether battery is in charging saturation state；
If it is not, thening follow the steps S103, I is controlledd(direct-axis current)=0；
If so, thening follow the steps S104, I is controlleddFor a negative value；
In embodiments of the present invention, step S102 can judge whether battery is in by cell voltage or battery current
Charge saturation state, is judged by charging voltage specifically:
Detect the charging voltage of battery；
Judge whether the charging voltage of battery is lower than overvoltage protection value；
If so, battery is not in charging saturation state；
If it is not, then battery is in charging saturation state.
Judged by charging current specifically:
Detect the charging current of battery；
Judge whether the charging current of battery is lower than overcurrent protection value；
If so, battery is not in charging saturation state；
If it is not, then battery is in charging saturation state.
In embodiments of the present invention, if the charging voltage of battery is relatively high, when reaching overvoltage protection value, or electricity
It, be to charging voltage and charging after motor enters energy back braking mode when the charging current in pond reaches overcurrent protection value
Electric current is controlled, and is control target with overvoltage protection value or overcurrent protection value, is adjusted I in real timedSize, with guarantee braking when
Will not over-voltage or overcurrent, in order to avoid damage battery.
For I is arrangeddNegative value size, can be according to the over-voltage protection point of different model battery after experiment determines
Out.
In step s105, according to Iq、IdVector controlled is carried out, control motor realizes energy back.
In embodiments of the present invention, by IqAnd IdThe electric current pi regulator and magnetic flux pi regulator for being sent respectively to FOC carry out
V is calculatedq、Vd, then motor is controlled by anti-PARK transformation, SVPWM (space vector pulse width modulation) and inversion unit and is carried out
Energy back.So far this circulation terminates, if next time, circulation was still braking mode, resets IqFor a negative value,
Judge whether battery is in charging saturation state, is recycled into next time.
By taking surface-mount type DC brushless motor (BLDC) as an example, in normal driving, Id=0, what such unitary current generated
Electromagnetic torque is maximum, and the current component of d, q axis 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 torque 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 ° when available surface-mount type BLDC peak torque.At this moment unit
The torque that electric current generates is the largest.
In energy back braking, the traffic direction of electromagnetic torque direction and motor is on the contrary, make IqFor a certain negative value, and electricity
Pond is not in saturation state, enables Id=0, it is derived by above formula, available reversed electromagnetic torque at this time is the largest, therefore
It can charge the battery at this time, carry out energy regenerating, improve course continuation mileage.
In energy back braking, and when battery is in a saturated state, make Iq、IdIt is respectively set to a negative value, according to vector
The principle of control, when forward driving, flux linkage vector (the i.e. I of the current phasor Advancing Rotor of motorqIt is positive), work as IqIt is negative
When, the current phasor of motor becomes to lag behind the flux linkage vector of rotor, and motor just generates reversed driving force, i.e. brake force.This
When DC current be negative, battery is in charged state, and DC voltage can rise.I is set at this timedIt is negative, electric current falls behind magnetic linkage meeting
More, it is depleted to portion of energy on motor, reduces DC charging current, it is suppressed that the rising of DC voltage.
The embodiment of the present invention controls I in motor brakingqFor a negative value, and I is controlled when battery charges unsaturatedd=0,
I is controlled when battery charges and is saturateddFor a certain negative value, further according to Iq、IdVector controlled is carried out, energy back is realized, is not increasing
Under conditions of electric machine controller element, battery will not be made to generate overpressure problems in braking, overvoltage protection or mistake will not be caused
After stream protection, brake force can not be led to the problem of.
Fig. 2 shows the process knots for the motor vector control method for energy back that second embodiment of the invention provides
Structure, for ease of description, only the parts related to the present invention are shown.
As an embodiment of the present invention, should include: for the motor vector control method of energy back
In step s 201, I is arranged after entering energy back braking mode in motorqFor a negative value；
In step S202, judge whether battery is in charging saturation state；
If it is not, S203 is thened follow the steps, by IdIn addition fixed stepping-in amount, then directly executes step S207；
If so, S204 is thened follow the steps, by IdSubtract fixed stepping-in amount；
After step s 204, step S205 is executed, judges IdWhether minimum value is less than, which is to transport according to system
One negative value of row state setting, such as it is set as the output boundary of pi regulator；
If so, thening follow the steps S206, I is enableddEqual to minimum value；
If it is not, then directly executing step S207；
In step S207, I is judgeddWhether 0 is greater than；
If so, thening follow the steps S208, I is enabledd=0；
If it is not, then enabling IdIt remains unchanged, directly execution step S209.
In step S209, according to Iq、IdVector controlled is carried out, control 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 IdA fixed stepping-in amount is subtracted, then judges the I of negative valuedWhether can be less than most
Small value, if it is less than minimum value, then by the I of negative valuedIt is set as minimum value, it is otherwise just constant.
Then by the I of negative valueqAnd IdIt is sent respectively to be counted into electric current pi regulator, the magnetic flux pi regulator of FOC
It calculates, to carry out vector controlled.So far this circulation terminates, and recycles subsequently into next time.
If next time, circulation was still braking mode, and if charging voltage does not reach overvoltage protection value or charging current
When not reaching overcurrent protection value, just by IdIn addition a fixed stepping-in amount, finally judges IdWhether can be greater than 0, just will if more than 0
IdIt is limited in 0, otherwise enters next step, by IqAnd IdInput to the electric current pi regulator of FOC, magnetic flux pi regulator is counted
It calculates, carries out vector controlled.
In embodiments of the present invention, and stepping-in amount and the stepping-in amount that subtracts may be the same or different.Optimal
Setting is debugged repeatedly according to the response time of control system to be obtained.
Preferably, I can also be adjusted using the method for the adjusting of PIdSize.
Fig. 4 a shows conventional brake diagnostic test as a result, wherein A1 curve is the change curve of cell voltage when braking, and A2 is bent
Line is electric machine phase current change curve, the change curve of charging voltage when A3 curve is braking；As can be seen that using conventional method
Implement braking, charging current is bigger, and cell voltage can obviously rise.
Fig. 4 b shows the test result braked using rear braking of the embodiment of the present invention, battery when wherein B1 curve is braking
The change curve of voltage, B2 curve are the change curve of electric machine phase current, the change curve of charging voltage when B3 curve is braking；
As can be seen that realizing energy back braking using the embodiment of the present invention, charging current is smaller, and cell voltage is without on obvious
It rises, therefore battery charging the phenomenon that being well controlled, being not in over-voltage or overcurrent, so as to avoid due to overvoltage protection
Or brake force can not be led to the problem of caused by overcurrent protection.
It is worth noting that the method in the embodiment of the present invention is not limited solely to durface mounted permanent magnet synchronous motor, other are forever
Magnetic-synchro motor or asynchronous machine are applicable in, and are particularly useful for surface-mount type DC brushless motor (BLDC).
The embodiment of the present invention controls I in motor brakingqFor a negative value, and I is controlled when battery charges unsaturatedd=0,
I is controlled when battery charges and is saturateddFor a certain negative value, further according to Iq、IdVector controlled is carried out, energy back is realized, is not increasing
Under conditions of electric machine controller element, battery will not be made to generate overpressure problems in braking, overvoltage protection or mistake will not be caused
After stream protection, brake force can not be led to the problem of.
Fig. 3 shows the structure of the motor vector control apparatus provided in an embodiment of the present invention for energy back, in order to
Convenient for explanation, only the parts related to the present invention are shown.
As an embodiment of the present invention, should for energy back motor vector control apparatus can be applied to electric vehicle,
In Portable electric bicycle and electrodynamic balance vehicle, should include: for the motor vector control apparatus of energy back
IqI is arranged for motor after entering energy back braking mode in (quadrature axis current) control unit 11qIt is negative for one
Value；
Battery is saturated judging unit 12, for judging whether battery is in charging saturation state；
Id(direct-axis current) control unit 13, for controlling I when battery is not in charging saturation stated=0, in battery
I is controlled when in charging saturation statedFor a negative value；
Vector control unit 14, for according to Iq、IdVector controlled is carried out, control motor realizes energy back.
As a preferred embodiment of the present invention, IqControl unit is calculated aperture by I by presetting or by brakeqSetting
For a negative value.
As a preferred embodiment of the present invention, battery saturation judging unit includes:
Battery detection module, for detecting cell voltage or battery current；
Judgment module is overcharged, for judging whether cell voltage is lower than overvoltage protection value or whether battery current is lower than overcurrent
Protection value, if so, battery is not in charging saturation state；If it is not, then battery is in charging saturation state.
As a preferred embodiment of the present invention, IdControl unit further includes an IdJudgment module, for judging IdWhether it is greater than
0 and judge IdWhether minimum value is less than；
IdControl unit is when battery is not in charging saturation state, by IdIn addition fixed stepping-in amount, and in IdWhen greater than 0
Control Id=0；
IdControl unit is when battery is in charging saturation state, by IdFixed stepping-in amount is subtracted, and in IdLess than minimum value
When control IdEqual to minimum value, in IdI is controlled not less than minimum value and when being greater than 0d=0.
In embodiments of the present invention, for DC brushless motor (BLDC), magnetic steel structure if it is surface-mount type, then
When motor enters normal driving before energy back braking mode, using IqIt is given as a certain positive value, Id=0 control mode, often
The electromagnetic torque that the electric current of unit generates is maximum.
After motor enters energy back braking mode, brake force I at this timeqIt is set as a certain negative value, which can be by journey
Fixation is preset inside sequence, is also possible to be determined according to the aperture of external brake handle to calculate, IqSize determine brake power
Degree.
If the charging voltage of battery is relatively high, when reaching overvoltage protection value or the charging current of battery reaches
When overcurrent protection value, after motor enters energy back braking mode, charging voltage and charging current are controlled, with mistake
It presses protection value or overcurrent protection value is control target, adjust I in real timedSize, with guarantee braking when will not over-voltage or overcurrent, with
Exempt to damage battery.
For I is arrangeddNegative value size, can be according to the over-voltage protection point of different model battery after experiment determines
Out.
Finally, by IqAnd IdThe electric current pi regulator and magnetic flux pi regulator for being sent respectively to FOC carry out that V is calculatedq、
Vd, then motor is controlled by anti-PARK transformation, SVPWM and inversion unit and carries out energy back.So far this circulation terminates, such as
Fruit next time, circulation was still braking mode, then resetting IqFor a negative value, judge whether battery is in charging saturation state,
It is recycled into 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 IdA fixed stepping-in amount is subtracted, then judges the I of negative valuedWhether can be less than most
Small value, if it is less than minimum value, then by the I of negative valuedIt is set as minimum value, it is otherwise just constant.
Then by the I of negative valueqAnd IdIt is sent respectively to be counted into electric current pi regulator, the magnetic flux pi regulator of FOC
It calculates, to carry out vector controlled.So far this circulation terminates, and recycles subsequently into next time.
If next time, circulation was still braking mode, and if charging voltage does not reach overvoltage protection value or charging current
When not reaching overcurrent protection value, just by IdIn addition a fixed stepping-in amount, finally judges IdWhether can be greater than 0, just will if more than 0
IdIt is limited in 0, otherwise enters next step, by IqAnd IdInput to the electric current pi regulator of FOC, magnetic flux pi regulator is counted
It calculates, carries out vector controlled.
In embodiments of the present invention, and stepping-in amount and the stepping-in amount that subtracts may be the same or different.Optimal
Setting is debugged repeatedly according to the response time of control system to be obtained.
Preferably, I can also be adjusted using the method for the adjusting of PIdSize.
The another object of the embodiment of the present invention is, provides a kind of including the above-mentioned motor vector controlled for energy back
The electric vehicle of device.
The embodiment of the present invention controls I in motor brakingqFor a negative value, and I is controlled when battery charges unsaturatedd=0,
I is controlled when battery charges and is saturateddFor a certain negative value, further according to Iq、IdVector controlled is carried out, energy back is realized, is not increasing
Under conditions of electric machine controller element, battery will not be made to generate overpressure problems in braking, overvoltage protection or mistake will not be caused
After stream protection, brake force can not be led to the problem of.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of motor vector control method for energy back, which is characterized in that the described method includes:
I is arranged after entering energy back braking mode in motorqFor a negative value, the IqFor quadrature axis current；
Judge whether battery is in charging saturation state；
If it is not, then controlling Id=0, the IdFor direct-axis current；
If so, controlling the IdFor a negative value；
According to the Iq, the IdVector controlled is carried out, control motor realizes energy back；
It is described according to the Iq, the IdVector controlled is carried out, control motor realizes that energy back includes:
By the IqWith the IdThe electric current pi regulator and magnetic flux pi regulator for being sent respectively to FOC carry out that V is calculatedq、Vd,
Motor is controlled by anti-PARK transformation, SVPWM and inversion unit again and carries out energy back, the SVPWM is space vector arteries and veins
Width modulation.
2. the method as described in claim 1, which is characterized in that the IqBy being preset as a negative value or the IqPass through brake
Aperture is calculated and is set as a negative value.
3. the method as described in claim 1, which is characterized in that described that the step of whether battery is in charging saturation state judged
Specifically:
Detect cell voltage or battery current；
Judge whether cell voltage is lower than overvoltage protection value or whether battery current is lower than overcurrent protection value；
If so, battery is not in charging saturation state；
If it is not, then battery is in charging saturation state.
4. the method as described in claim 1, which is characterized in that when battery is not in charging saturation state, control Id=0 step
Suddenly specifically:
By the IdIn addition fixed stepping-in amount；
Judge the IdWhether 0 is greater than；
If so, enabling the Id=0；
If it is not, then directly executing described according to the Iq, the IdVector controlled is carried out, control motor realizes the step of energy back
Suddenly.
5. the method as described in claim 1, which is characterized in that when battery is in charging saturation state, control IdFor a negative value
Step specifically:
By the IdSubtract fixed stepping-in amount；
Judge the IdWhether minimum value is less than, the minimum value is the negative value set according to system running state；
If so, enabling the IdEqual to minimum value；
If it is not, then judging the IdWhether 0 is greater than；
If so, enabling the Id=0；
If it is not, then directly executing described according to the Iq, the IdVector controlled is carried out, control motor realizes the step of energy back
Suddenly.
6. a kind of motor vector control apparatus for energy back, which is characterized in that described device includes:
IqI is arranged for motor after entering energy back braking mode in control unitqFor a negative value, the IqFor quadrature axis electricity
Stream；
Battery is saturated judging unit, for judging whether battery is in charging saturation state；
IdControl unit, for controlling I when battery is not in charging saturation stated=0, charging saturation state is in battery
When control the IdFor a negative value, the IdFor direct-axis current；
Vector control unit, for according to the Iq, the IdVector controlled is carried out, control motor realizes energy back；
It is described according to the Iq, the IdVector controlled is carried out, control motor realizes that energy back includes:
By the IqWith the IdThe electric current pi regulator and magnetic flux pi regulator for being sent respectively to FOC carry out that V is calculatedq、Vd,
Motor is controlled by anti-PARK transformation, SVPWM and inversion unit again and carries out energy back, the SVPWM is space vector arteries and veins
Width modulation.
7. device as claimed in claim 6, which is characterized in that the IqControl unit is by presetting or by brake aperture
It calculates the IqIt is set as a negative value.
8. device as claimed in claim 6, which is characterized in that the battery is saturated judging unit and includes:
Battery detection module, for detecting cell voltage or battery current；
Judgment module is overcharged, for judging whether cell voltage is lower than overvoltage protection value or whether battery current is lower than overcurrent protection
Value, if so, battery is not in charging saturation state；If it is not, then battery is in charging saturation state.
9. device as claimed in claim 6, which is characterized in that the IdControl unit further includes an IdJudgment module, for sentencing
Break the IdWhether it is greater than 0 and judges the IdWhether minimum value is less than；
The IdControl unit is when battery is not in charging saturation state, by the IdIn addition fixed stepping-in amount, and in the Id
The I is controlled when greater than 0d=0；
The IdControl unit is when battery is in charging saturation state, by the IdFixed stepping-in amount is subtracted, and in the IdIt is small
The I is controlled when minimum valuedEqual to minimum value, in the IdThe I is controlled not less than minimum value and when being greater than 0d=0.
10. a kind of electric vehicle, which is characterized in that the electric vehicle includes as claim in any one of claims 6-9 for energy
The motor vector control apparatus of feedback.
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| CN109291913B (en) * | 2017-07-25 | 2022-06-07 | 宇通客车股份有限公司 | Voltage protection method for hybrid electric vehicle in overspeed state |
| CN110011574B (en) * | 2019-04-12 | 2021-02-09 | 无锡同方聚能控制科技有限公司 | Motor speed reduction method for dust collector |
| 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 |
| 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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