CN106452266B - A kind of vehicle-mounted motor automatic calibration method and device - Google Patents
A kind of vehicle-mounted motor automatic calibration method and device Download PDFInfo
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- CN106452266B CN106452266B CN201610954652.8A CN201610954652A CN106452266B CN 106452266 B CN106452266 B CN 106452266B CN 201610954652 A CN201610954652 A CN 201610954652A CN 106452266 B CN106452266 B CN 106452266B
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- axis current
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
Abstract
The invention discloses a kind of vehicle-mounted motor automatic calibration method and device, method includes: the output torque value obtained under different calibration direct-axis currents and different calibration quadrature axis currents；According to output torque value, calculates corresponding calibration DC current and demarcate the torque coefficient under quadrature axis current；It is carried out curve fitting according to torque coefficient, obtains torque-direct-axis current best curve.The present invention is when the rack for carrying out new-energy automobile driving motor matches work, by giving different calibration direct-axis current and calibration quadrature axis current, increase sampling number and improves stated accuracy, automatically it reads corresponding output torque value and calculates corresponding torque coefficient, error in reading is eliminated to further increase stated accuracy, it is carried out curve fitting according to torque coefficient to obtain torque-direct-axis current best curve, greatly improves the working efficiency of motor calibration.
Description
Technical field
The present invention relates to automotive performance fields of measurement more particularly to a kind of vehicle-mounted motor automatic calibration methods and device.
Background technique
In new-energy automobile testing field, the driving motor control electric current of new-energy automobile needs to carry out Bench calibration,
The calibration that electric current is controlled in motor bench calibration at present manually carries out, and using the method manually demarcated, that is, exists
Different operating conditions (under different demands torque T and motor speed n), are matched to best torsion by changing the numerical value of Id or Iq by hand
Square, thus the method for the Id and Iq table needed.Such method can generate error in reading in manual procedure；And meeting
Because motor temperature variation range is big, and magnetic linkage size is influenced, and then influences stated accuracy；It also needs that longer time is spent to carry out
Fixed sum data processing is marked, to limit the raising of the precision and staking-out work efficiency of motor bench calibration.
To sum up, motor control electric current is demarcated manually, to the technical requirements height of matching engineer, great work intensity, calibration week
Phase is long, stated accuracy is also not ideal enough.
Summary of the invention
The present invention provides a kind of vehicle-mounted motor automatic calibration method and device, solves calibration motor control electric current manually
Technical requirements height, great work intensity, scalar period be long and the problem of stated accuracy difference.
According to one aspect of the present invention, a kind of vehicle-mounted motor automatic calibration method is provided, comprising:
Obtain the output torque value under different calibration direct-axis currents and different calibration quadrature axis currents；
According to output torque value, calculates corresponding calibration DC current and demarcate the torque coefficient under quadrature axis current；
It is carried out curve fitting according to torque coefficient, obtains torque-direct-axis current best curve.
In this way, increasing sampling number by giving different calibration direct-axis current and calibration quadrature axis current and improving calibration essence
Degree, reads corresponding output torque value automatically and calculates corresponding torque coefficient, eliminates error in reading to further increase calibration
Precision is carried out curve fitting according to torque coefficient to obtain torque-direct-axis current best curve, substantially increases motor calibration
Working efficiency.
Wherein, before the step of obtaining the output torque value under different calibration direct-axis currents and different calibration quadrature axis currents,
Further include:
Configure initial direct-axis current, direct-axis current step-length, initial quadrature axis current and quadrature axis current step-length；
Different calibration direct-axis currents is determined according to initial direct-axis current and direct-axis current step-length；
Different quadrature axis currents is determined according to initial quadrature axis current and quadrature axis current step-length.
Wherein, obtain it is different calibration direct-axis currents and it is different calibration quadrature axis current under output torque value the step of include:
The output torque under different calibration direct-axis current and different calibration quadrature axis currents is obtained by CAN communication bus
Value.
Wherein, torque coefficient is calculated especially by following formula:
Wherein, K indicates that torque coefficient, T indicate output torque value, and Id indicates calibration direct-axis current, and Iq indicates calibration quadrature axis
Electric current.
Wherein, the step of being carried out curve fitting according to torque coefficient, obtaining torque-direct-axis current best curve include:
Obtain the first torque coefficient in torque coefficient more than preset threshold；
According to the corresponding first calibration direct-axis current of the first torque coefficient and the first torque coefficient, it is quasi- to carry out N rank curve
It closes, obtains torque-direct-axis current best curve；Wherein, N is positive integer.
Another aspect according to the present invention additionally provides a kind of vehicle-mounted motor automatic calibration device, comprising:
Module is obtained, for obtaining the output torque value under different calibration direct-axis currents and different calibration quadrature axis currents；
Computing module, for calculating under corresponding calibration DC current and calibration quadrature axis current according to output torque value
Torque coefficient；
Processing module obtains torque-direct-axis current best curve for carrying out curve fitting according to torque coefficient.
In this way, increasing sampling number by giving different calibration direct-axis current and calibration quadrature axis current to improve calibration
Precision, obtains module and computing module reads corresponding output torque value automatically and calculates corresponding torque coefficient, to eliminate people
Error in reading in work calibration process, further increases stated accuracy, processing module according to torque coefficient carry out curve fitting with
Torque-direct-axis current best curve is obtained, the working efficiency of motor calibration is substantially increased.
Wherein, the vehicle-mounted motor automatic calibration device further include:
Configuration module, for configuring initial direct-axis current, direct-axis current step-length, initial quadrature axis current and quadrature axis current step
It is long；
First determining module, for determining different calibration d-axis electricity according to initial direct-axis current and direct-axis current step-length
Stream；
Second determining module, for determining different quadrature axis currents according to initial quadrature axis current and quadrature axis current step-length.
Wherein, obtaining module includes:
First acquisition unit, for obtaining different calibration direct-axis currents and different calibration friendships by CAN communication bus
Output torque value under shaft current.
Wherein, torque coefficient is calculated especially by following formula:
Wherein, K indicates that torque coefficient, T indicate output torque value, and Id indicates calibration direct-axis current, and Iq indicates calibration quadrature axis
Electric current.
Wherein, processing module includes:
Second acquisition unit, for obtaining the first torque coefficient in torque coefficient more than preset threshold；
Processing unit, for demarcating direct-axis current according to the first torque coefficient and the first torque coefficient corresponding first,
N rank curve matching is carried out, torque-direct-axis current best curve is obtained；Wherein, N is positive integer.
The beneficial effect of the embodiment of the present invention is: when the rack for carrying out new-energy automobile driving motor matches work,
By giving different calibration direct-axis current and calibration quadrature axis current, increases sampling number and improve stated accuracy, automatic reading pair
The output torque value answered simultaneously calculates corresponding torque coefficient, eliminates error in reading to further increase stated accuracy, according to torque
Constant carries out curve fitting to obtain torque-direct-axis current best curve, greatly improves the working efficiency of motor calibration.
Detailed description of the invention
Fig. 1 shows the flow diagrams of vehicle-mounted motor automatic calibration method of the invention；
Fig. 2 indicates the module diagram of vehicle-mounted motor automatic calibration device of the invention.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
Embodiment one
As shown in Figure 1, specifically including following step the embodiment provides a kind of vehicle-mounted motor automatic calibration method
It is rapid:
Step 101: obtaining the output torque value under different calibration direct-axis currents and different calibration quadrature axis currents.
In order to improve stated accuracy, calibration direct-axis current as much as possible and calibration quadrature axis current should be set, generally, no
The torque value exported under same direct-axis current and quadrature axis current is different.
Specifically, before step 101 further include: configure initial direct-axis current, direct-axis current step-length, initial quadrature axis current
And quadrature axis current step-length；Different calibration direct-axis currents is determined according to initial direct-axis current and direct-axis current step-length；According to first
Beginning quadrature axis current and quadrature axis current step-length determine different quadrature axis currents.Here mean, preset direct-axis current and
The initial value of quadrature axis current, such as: initial direct-axis current is set as Ia0, initial quadrature axis current is set as Ib0, direct-axis current step-length
For △ Ia, quadrature axis current step-length is △ Ib, then it is determined that Ia0、Ia0+△Ia、Ia0+2△Ia、…、Ia0+n△IaFor different calibration
Direct-axis current determines Ib0、Ib0+△Ib、Ib0+2△Ib、…、Ib0+n△IbFor different calibration direct-axis currents.Specifically, △ Ia
With △ IbIt can be set to identical step-length, also may be configured as different step-lengths, wherein step-length is smaller, and the sample points of acquisition are more,
Stated accuracy is also higher., can be by the small as far as possible of step-length setting in order to guarantee measurement accuracy, but step-length is smaller, it is required
Calculation amount it is bigger, therefore those skilled in the art can empirically set suitable step-length, with balancing a survey precision and calculate
Amount.As shown in the table, table 1 is the output torque read under different calibration direct-axis current and different calibration quadrature axis currents automatically
It is worth table generated:
Table 1
| Iq\Id(A) | 0 | -5 | -10 | -15 | -20 | -25 | -30 | -35 | -40 |
| 0 | -0.6 | 1 | -0.6 | -0.5 | -0.6 | -0.5 | -0.5 | -0.5 | -0.5 |
| 10 | 3.7 | 3.7 | 3.8 | 3.9 | 4 | 4.1 | 4.2 | 4.3 | 4.3 |
| 20 | 7.9 | 8.1 | 8.2 | 8.3 | 8.5 | 8.6 | 8.8 | 9 | 9.1 |
| 30 | 12.1 | 12.4 | 12.6 | 12.7 | 13 | 13.2 | 13.4 | 13.7 | 13.9 |
| 40 | 16.2 | 16.6 | 16.9 | 17.1 | 17.6 | 17.8 | 18.1 | 18.4 | 18.7 |
| 50 | 20.4 | 20.9 | 21.3 | 21.5 | 22.1 | 22.4 | 22.8 | 23.2 | 23.5 |
| 60 | 24.5 | 25.1 | 25.6 | 25.9 | 26.5 | 26.9 | 27.4 | 27.9 | 28.3 |
| 70 | 28.7 | 29.3 | 29.9 | 30.2 | 31 | 31.5 | 32 | 32.6 | 33.1 |
| 80 | 32.9 | 33.6 | 34.2 | 34.6 | 35.5 | 36 | 36.6 | 37.3 | 37.9 |
Wherein, the Id in table 1 indicates calibration direct-axis current, and Iq indicates calibration quadrature axis current, demarcates direct-axis current and calibration
The unit of quadrature axis current is ampere (A).As seen from the above table, direct-axis current step-length △ IaIt is 5, quadrature axis current step-length △ IbIt is 10.
Further, the step of obtaining the output torque value under different calibration direct-axis currents and different calibration quadrature axis currents has
Body are as follows: the output torque value under different calibration direct-axis current and different calibration quadrature axis currents is obtained by CAN communication bus.
Step 102: according to output torque value, the torque for calculating corresponding calibration DC current and demarcating under quadrature axis current is normal
Number.
Wherein, torque coefficient is calculated especially by following formula:
Wherein, K indicates that torque coefficient, T indicate output torque value, and Id indicates calibration direct-axis current, and Iq indicates calibration quadrature axis
Electric current.As shown in the table, table 2 is the torque coefficient table generated being calculated according to different output torque values:
Table 2
Wherein, the Id in table 1 indicates calibration direct-axis current, and Iq indicates calibration quadrature axis current, demarcates direct-axis current and calibration
The unit of quadrature axis current is ampere (A).As seen from the above table, institute under different calibration electric current on weekly duty and different calibration quadrature axis currents
The torque value of output is different, and the torque coefficient that the torque value difference of output is calculated is different.
Step 103: being carried out curve fitting according to torque coefficient, obtain torque-direct-axis current best curve.
After executing step 101 and step 102, calibration direct-axis current, calibration quadrature axis current, output torque value and torsion can be obtained
A series of related datas such as square constant, there are many matched curves that the curve of type can be used as these data, and such as: straight line refers to
Number, multinomial, logarithmic curve etc. need to carry out best-fitting of the curve in order to avoid only analyzing individual data.It turns round in order to obtain
Square-direct-axis current best curve, can record table 2 in the biggish torque value of K value (data of overstriking in table) and it is corresponding directly
Shaft current, to carry out curve fitting.Specifically, curve fitting process specifically includes: obtaining is more than preset threshold in torque coefficient
The first torque coefficient；According to the corresponding first calibration direct-axis current of the first torque coefficient and the first torque coefficient, N rank is carried out
Curve matching obtains torque-direct-axis current best curve；Wherein, N is positive integer, and the value of N is higher, torque-direct-axis current
Curve is more accurate.
In this way, the vehicle-mounted motor automatic calibration method in the embodiment of the present invention, by giving different calibration direct-axis currents
With calibration quadrature axis current, increases sampling number to improve stated accuracy, read corresponding output torque value automatically and calculate correspondence
Torque coefficient further increase stated accuracy to eliminate the error in reading in artificial calibration process, further according to torque coefficient into
Row curve matching substantially increases the working efficiency of motor calibration to obtain torque-direct-axis current best curve.
Embodiment two
Above embodiments one describe vehicle-mounted motor automatic calibration method of the invention, below the present embodiment will be in conjunction with attached drawing
Its corresponding device is described further.
Specifically, as shown in Fig. 2, the embodiment provides a kind of vehicle-mounted motor automatic calibration devices, comprising:
Module 21 is obtained, for obtaining the output torque value under different calibration direct-axis currents and different calibration quadrature axis currents；
Computing module 22, for calculating under corresponding calibration DC current and calibration quadrature axis current according to output torque value
Torque coefficient；
Processing module 23 obtains torque-direct-axis current best curve for carrying out curve fitting according to torque coefficient.
Wherein, the vehicle-mounted motor automatic calibration device further include:
Configuration module, for configuring initial direct-axis current, direct-axis current step-length, initial quadrature axis current and quadrature axis current step
It is long；
First determining module, for determining different calibration d-axis electricity according to initial direct-axis current and direct-axis current step-length
Stream；
Second determining module, for determining different quadrature axis currents according to initial quadrature axis current and quadrature axis current step-length.
Wherein, obtaining module 21 includes:
First acquisition unit, for obtaining different calibration direct-axis currents and different calibration friendships by CAN communication bus
Output torque value under shaft current.
Wherein, torque coefficient is calculated especially by following formula:
Wherein, K indicates that torque coefficient, T indicate output torque value, and Id indicates calibration direct-axis current, and Iq indicates calibration quadrature axis
Electric current.
Wherein, processing module 23 includes:
Second acquisition unit, for obtaining the first torque coefficient in torque coefficient more than preset threshold；
Processing unit, for demarcating direct-axis current according to the first torque coefficient and the first torque coefficient corresponding first,
N rank curve matching is carried out, torque-direct-axis current best curve is obtained；Wherein, N is positive integer.
It should be noted that the device is device corresponding with above-mentioned vehicle-mounted motor automatic calibration method, the above method is real
Identical technical effect can also be reached suitable for the embodiment of the device by applying all implementations in example.
Further, in this embodiment vehicle-mounted motor automatic calibration device can for vehicle-mounted microprocessing unit (MCU,
Microcontroller Unit).The microprocessing unit is also with the following functions: controlling revolving speed, the electric current setting, electric current of motor
Control and actual measurement torque etc..
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, can also make several improvements and retouch under the premise of not departing from principle of the present invention, these improvements and modifications also exist
In protection scope of the present invention.
Claims (8)
1. a kind of vehicle-mounted motor automatic calibration method characterized by comprising
Obtain the output torque value under different calibration direct-axis currents and different calibration quadrature axis currents；
According to the output torque value, calculates corresponding calibration DC current and demarcate the torque coefficient under quadrature axis current；
It is carried out curve fitting according to the torque coefficient, obtains torque-direct-axis current best curve；
Wherein, the step of being carried out curve fitting according to the torque coefficient, obtaining torque-direct-axis current best curve include:
Obtain the first torque coefficient in the torque coefficient more than preset threshold；
According to the corresponding first calibration direct-axis current of first torque coefficient and first torque coefficient, it is bent to carry out N rank
Line fitting, obtains torque-direct-axis current best curve；Wherein, N is positive integer.
2. vehicle-mounted motor automatic calibration method according to claim 1, which is characterized in that obtain different calibration direct-axis currents
Before the step of the different output torque values demarcated under quadrature axis currents, further includes:
Configure initial direct-axis current, direct-axis current step-length, initial quadrature axis current and quadrature axis current step-length；
Different calibration direct-axis currents is determined according to the initial direct-axis current and the direct-axis current step-length；
Different quadrature axis currents is determined according to the initial quadrature axis current and the quadrature axis current step-length.
3. vehicle-mounted motor automatic calibration method according to claim 1, which is characterized in that obtain different calibration direct-axis currents
Include: with the step of different output torque values demarcated under quadrature axis currents
The output torque value under different calibration direct-axis current and different calibration quadrature axis currents is obtained by CAN communication bus.
4. vehicle-mounted motor automatic calibration method according to claim 1, which is characterized in that the torque coefficient especially by
Following formula calculates:
Wherein, K indicates that torque coefficient, T indicate output torque value, and Id indicates calibration direct-axis current, and Iq indicates calibration quadrature axis current.
5. a kind of vehicle-mounted motor automatic calibration device characterized by comprising
Module is obtained, for obtaining the output torque value under different calibration direct-axis currents and different calibration quadrature axis currents；
Computing module, for calculating under corresponding calibration DC current and calibration quadrature axis current according to the output torque value
Torque coefficient；
Processing module obtains torque-direct-axis current best curve for carrying out curve fitting according to the torque coefficient；
Wherein, the processing module includes:
Second acquisition unit, for obtaining the first torque coefficient in the torque coefficient more than preset threshold；
Processing unit, for according to the corresponding first calibration d-axis electricity of first torque coefficient and first torque coefficient
Stream carries out N rank curve matching, obtains torque-direct-axis current best curve；Wherein, N is positive integer.
6. vehicle-mounted motor automatic calibration device according to claim 5, which is characterized in that further include:
Configuration module, for configuring initial direct-axis current, direct-axis current step-length, initial quadrature axis current and quadrature axis current step-length；
First determining module, for determining different calibration d-axis according to the initial direct-axis current and the direct-axis current step-length
Electric current；
Second determining module, for determining different quadrature axis electricity according to the initial quadrature axis current and the quadrature axis current step-length
Stream.
7. vehicle-mounted motor automatic calibration device according to claim 5, which is characterized in that the acquisition module includes:
First acquisition unit, for obtaining different calibration direct-axis currents and different calibration quadrature axis electricity by CAN communication bus
The output torque value flowed down.
8. vehicle-mounted motor automatic calibration device according to claim 5, which is characterized in that the torque coefficient especially by
Following formula calculates:
Wherein, K indicates that torque coefficient, T indicate output torque value, and Id indicates calibration direct-axis current, and Iq indicates calibration quadrature axis current.
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| WO2024056971A1 (en) * | 2022-09-16 | 2024-03-21 | Safran Helicopter Engines | Method for calibrating a model for estimating a torque supplied by an electric machine |
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| CN111049447A (en) * | 2019-12-31 | 2020-04-21 | 潍柴动力股份有限公司 | Automatic calibration method, system and storage medium for MTPV (maximum Transmission Voltage) algorithm of permanent magnet synchronous motor |
| CN112858984B (en) * | 2021-04-09 | 2024-03-29 | 浙江吉利控股集团有限公司 | Motor driving current calibration method, device, equipment and storage medium |
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