CN106696753B - Motor control assembly and motor control method - Google Patents
Motor control assembly and motor control method Download PDFInfo
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- CN106696753B CN106696753B CN201510443250.7A CN201510443250A CN106696753B CN 106696753 B CN106696753 B CN 106696753B CN 201510443250 A CN201510443250 A CN 201510443250A CN 106696753 B CN106696753 B CN 106696753B
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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
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention provides a kind of motor control assembly and motor control methods, are related to technical field of automobile electronic control, can be improved the accuracy and timeliness of fault detection.Wherein the motor control assembly includes: preparatory unit；Control model selecting unit, if motor is in driving condition, makes motor control assembly enter torque mode for judging motor state in which, if motor is in gearshift condition, motor control assembly is made to enter revolving speed mode；First revolving speed judging unit, for after motor control assembly enters torque mode, judging whether the revolving speed of motor is greater than revolving speed calibration value, if it is, motor control assembly is made to enter safe pulse-off state；Second revolving speed judging unit, for after motor control assembly enters revolving speed mode, judging whether the revolving speed of motor is more than peak speed, if it is, motor control assembly is made to enter safe pulse-off state.Above-mentioned motor control assembly is for controlling motor operating.
Description
Technical field
The present invention relates to technical field of automobile electronic control, in particular to a kind of motor control assembly and motor control side
Method.
Background technique
As country advocates energy-saving and environment-friendly call energetically, many new energy and new energy use the development technique of product
It is increasingly mature.In automotive field, pure electric automobile and hybrid vehicle are also gradually applied.In pure electric automobile and mix
Close power vehicle application in need to solve main problem first is that: how to ensure the functional safety of Full Vehicle System.Vehicle system
System includes entire car controller, driving motor system, automatic gear-box system and body electronics systems stabilisation.
Influence the principal element of the functional safety of Full Vehicle System first is that the functional safety of driving motor system, current pure electricity
Permanent magnet synchronous motor system, permanent magnet synchronous motor system master is widely used in the driving motor system of electrical automobile and hybrid vehicle
It include: power battery pack, motor control assembly, inverter and permanent magnet synchronous motor, wherein motor control assembly and vehicle control
Communication, inverter packet are realized by CAN (Controller Area Network, controller local area network) bus between device processed
Main relay, DC bus capacitor and main driving circuit are included, which is the three phase full bridge being made of six power devices
Circuit.
Using above-mentioned driving motor system, the method for realizing the functional safety of Full Vehicle System is usual are as follows: entire car controller connects
Fault message is received, and CAN message is sent to motor control assembly according to fault message, so that motor control assembly controls inverter
The power device of middle main driving circuit turns off, and so that driving motor system is entered the functional safety state of safe pulse-off, at this time
Motor does not provide driving torque, to ensure the functional safety of Full Vehicle System.
But this method only passes through the CAN message that motor control assembly sends entire car controller and monitors, and lacks
Energy is handled to the comprehensive descision of other systems fault message as transmitted by automatic gear-box system, body electronics systems stabilisation
Power, once entire car controller send CAN message there is mistake, will lead to failure detection inaccuracy, not in time, in turn
Can not effective guarantee Full Vehicle System functional safety.
Summary of the invention
In view of this, the present invention is directed to propose a kind of motor control assembly, to solve existing method to the detection of failure not
Accurately, not in time the problem of.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of motor control assembly, is connected with inverter, and inverter is connected to the motor, and the motor control assembly includes:
Successively inverter is initialized, the preparatory unit of the operation of Insulation monitoring and precharge；
The control model selecting unit being connected with preparatory unit, control model selecting unit inverter complete initialization,
After meeting insulating requirements and being pre-charged, judges motor state in which, if motor is in driving condition, make motor control
Device enters torque mode, if motor is in gearshift condition, motor control assembly is made to enter revolving speed mode；
The first revolving speed judging unit being connected with control model selecting unit, the first revolving speed judging unit are filled in motor control
It sets after entering torque mode, judges whether the revolving speed of motor is greater than revolving speed calibration value, if it is, entering motor control assembly
Safe pulse-off state；Wherein the revolving speed calibration value is that motor is in the maximum value that revolving speed allows to reach under driving condition；
The second revolving speed judging unit being connected with control model selecting unit, the second revolving speed judging unit are filled in motor control
It sets after entering revolving speed mode, judges whether the revolving speed of motor is more than peak speed, if it is, motor control assembly is made to enter peace
Overall pulse off state；Wherein the peak speed is that motor is in the maximum value that revolving speed allows to reach under gearshift condition.
Further, the motor control assembly further include: the torque deviation judgement being connected with control model selecting unit
Unit, torque deviation judging unit judge whether the torque deviation of motor is greater than after motor control assembly enters torque mode
Torque deviation calibration value, if it is, motor control assembly is made to enter safe pulse-off state；The wherein torque deviation mark
Definite value is that motor is in the maximum value that torque deviation allows to reach under driving condition.
Further, the motor control assembly further include: the power device excess temperature being connected with control model selecting unit
Judging unit, power device excess temperature judging unit judge the power in inverter after motor control assembly enters torque mode
Whether the temperature of device is more than temperature threshold, if it is, motor control assembly is made to enter safe pulse-off state；Wherein institute
Stating temperature threshold is that motor is in the maximum value that the temperature of power device under driving condition allows to reach.
Further, the first revolving speed judging unit includes:
The firing key judgment sub-unit being connected with control model selecting unit, firing key judgment sub-unit is in motor control
After device processed enters torque mode, judge whether firing key turns off；
The revolving speed calibration value judgment sub-unit being connected with firing key judgment sub-unit, revolving speed calibration value judgment sub-unit exist
When firing key turns off, judge whether the revolving speed of motor is greater than revolving speed calibration value, if it is, motor control assembly is made to enter peace
Overall pulse off state, if it is not, then motor control assembly is made to enter active short-circuit condition.
Further, the motor control assembly is connected with entire car controller, the preparatory unit of the motor control assembly
Include:
The initialization subelement that inverter is initialized；
The active discharge judgment sub-unit being connected with initialization subelement, active discharge judgment sub-unit are initial in inverter
After the completion of change, judge whether motor control assembly receives the active discharge request of entire car controller transmission, if it is, making electricity
Machine control device enters active discharge state；
The Insulation monitoring subelement being connected with active discharge judgment sub-unit, Insulation monitoring subelement is in motor control assembly
When being not received by the active discharge request of entire car controller transmission, whether detection inverter meets insulating requirements；
The preliminary filling electronic unit being connected with Insulation monitoring subelement, preliminary filling electronic unit meet insulating requirements in inverter
Afterwards, inverter is pre-charged.
Compared with the existing technology, motor control assembly of the present invention has the advantage that
Motor control assembly provided by the present invention includes preparatory unit, control model selecting unit, the judgement of the first revolving speed
Unit and the second revolving speed judging unit.When motor is in driving condition, motor control assembly is made to enter torque mode, utilizes
One revolving speed judging unit judges whether the revolving speed of motor is greater than revolving speed calibration value, if it is, motor control assembly is made to enter peace
Overall pulse off state；It is in gearshift condition in motor, motor control assembly is made to enter revolving speed mode, is judged using the second revolving speed
Whether the revolving speed of unit judges motor is more than peak speed, if it is, motor control assembly is made to enter safe pulse-off shape
State.In above process, the torque mode of motor control assembly routine is not only allowed for, and certainly by the cooperation of driving motor system
Revolving speed mode during dynamic transmission system takes into account, to realize to driving motor system and automatic gear-box system
The detection of system exposes the incipient fault in driving motor system and automatic gear-box system, avoid in the prior art only from
Entire car controller obtains problem timely to fault detection inaccuracy caused by CAN message, improves the accurate of fault detection
Property and timeliness, and then can effectively ensure the functional safety of driving motor system or even entire Full Vehicle System.
Another object of the present invention is to propose a kind of motor control method, to solve existing method to the detection of failure not
Accurately, not in time the problem of.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of motor control method, motor are connected with inverter, and inverter is connected with motor control assembly, the motor control
Method processed includes:
Step S1: successively initializing inverter, Insulation monitoring and precharge, completes initialization, symbol in inverter
After closing insulating requirements and being pre-charged, S2 is entered step；
Step S2: judging motor state in which, if motor is in driving condition, S3 is entered step, if motor is in
Gearshift condition then enters step S4；
Step S3: judging whether the revolving speed of motor is greater than revolving speed calibration value, if it is, motor control assembly is made to enter peace
Overall pulse off state, wherein the revolving speed calibration value is that motor is in the maximum value that revolving speed allows to reach under driving condition；
Step S4: whether the revolving speed for judging motor is more than peak speed, if it is, motor control assembly is made to enter safety
Pulse-off state, wherein the peak speed is that motor is in the maximum value that revolving speed allows to reach under gearshift condition.
Further, the step S3 further include: judge whether the torque deviation of motor is greater than torque deviation calibration value, such as
Fruit is that motor control assembly is then made to enter safe pulse-off state；Wherein the torque deviation calibration value is that motor is in drive
The maximum value that torque deviation allows to reach under dynamic state.
Further, the step S3 further include: whether the temperature for judging the power device in inverter is more than temperature threshold
Value, if it is, control motor enters safe pulse-off state；Wherein the temperature threshold is that motor is under driving condition
The maximum value that the temperature of power device allows to reach.
Further, in the step S3, whether the revolving speed for judging motor is greater than revolving speed calibration value, if so,
It then controls motor and enters safe pulse-off state, specifically include:
Step S31: judging whether firing key turns off, if it is, entering step S32；
Step S32: judging whether the revolving speed of motor is greater than revolving speed calibration value, if it is, entering motor control assembly
Safe pulse-off state, if it is not, then motor control assembly is made to enter active short-circuit condition.
Further, the step S1 is specifically included:
Step S11: initializing inverter, until inverter initialization is completed, enters step S12；
Step S12: judge whether to receive the active discharge request of entire car controller transmission, if it is, making motor control
Device processed enters active discharge state, if it is not, then entering step S13；
Step S13: whether detection inverter meets insulating requirements, if it is, S14 is entered step, if it is not, then returning
Step S11；
Step S14: inverter is pre-charged.
Compared with the existing technology, motor control method of the present invention has the advantage that
Possessed advantage is identical compared with the existing technology with the motor control assembly for the motor control method, herein
It repeats no more.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural block diagram of driving motor system provided by the embodiment of the present invention three；
Fig. 2 is the structural block diagram of motor control assembly provided by the embodiment of the present invention one；
Fig. 3 is the circuit diagram of inverter provided by the embodiment of the present invention one；
Fig. 4 is the flow chart of motor control method provided by the embodiment of the present invention two.
Description of symbols:
1- driving motor system；11- motor control assembly；
111- preparatory unit；101- initializes subelement；
102- active discharge subelement；103- Insulation monitoring subelement；
104- preliminary filling electronic unit；112- control model selecting unit；
113- the first revolving speed judging unit；105- firing key judgment sub-unit；
106- revolving speed calibration value judgment sub-unit；114- the second revolving speed judging unit；
115- torque deviation judgment sub-unit；116- power device excess temperature judging unit；
12- inverter；S- main relay；
C- DC bus capacitor；The main driving circuit of 121-；
T1~T6- power device； udcDirect current；
13- motor；14- power battery pack.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Embodiment one
A kind of motor control assembly is present embodiments provided, as shown in Figure 1, the motor control assembly 11 and 12 phase of inverter
Even, inverter 12 is connected with motor 13.As shown in Fig. 2, the motor control assembly 11 includes: preparatory unit 111, control model choosing
Select unit 112, the first revolving speed judging unit 113 and the second revolving speed judging unit 114.
Wherein, preparatory unit 111 for successively inverter 12 is initialized, the operation of Insulation monitoring and precharge.
Control model selecting unit 112 is connected with preparatory unit 111, which is used in inversion
After device 12 completes initialization, meets insulating requirements and be pre-charged, 13 state in which of motor is judged.It is driven if motor 13 is in
Dynamic state, then make motor control assembly 11 enter torque mode；If motor 13 is in gearshift condition, make motor control assembly 11
Into revolving speed mode.
First revolving speed judging unit 113 is connected with control model selecting unit 112, which uses
In after motor control assembly 11 enters torque mode, judge whether the revolving speed of motor 13 is greater than revolving speed calibration value, if it is,
Motor control assembly 11 is set to enter safe pulse-off state.
Second revolving speed judging unit 114 is connected with control model selecting unit 112, which uses
In after motor control assembly 11 enters revolving speed mode, judge whether the revolving speed of motor 13 is more than peak speed, if it is, making
Motor control assembly 11 enters safe pulse-off state.
It should be noted that the revolving speed calibration value is that motor is in the maximum value that revolving speed allows to reach under driving condition；
The peak speed is that motor is in the maximum value that revolving speed allows to reach under gearshift condition.Under normal conditions, peak speed is remote
Greater than revolving speed calibration value.
In addition, as shown in figure 3, the structure of inverter 12 specifically includes that main relay S, DC bus capacitor C in the present embodiment
With main driving circuit 121, which is the three phase full bridge circuit being made of six power devices of T1~T6, is used for
Under the control of PWM (Pulse Width Modulation, pulse width modulation) signal that motor control assembly 11 is exported,
The direct current u that power battery pack 14 is inputteddcBe converted to three-phase alternating current.
For the inverter of above structure, the safe pulse-off state refers to: will be electric by motor control assembly 11
The torque of machine 13 is set as 0N.M, and the main driving circuit 121 of inverter 12 is made to stop SVPWM (Space Vector Pulse
Width Modulation, space vector pulse width modulation) control strategy, switch-off power device T1~T6, realization driving motor system
System 1 stops power output, entered function safe condition.
Above-mentioned motor control assembly provided by the present embodiment by motor be in driving or gearshift condition judgement,
Determine that motor control assembly enters torque mode or revolving speed mode.If motor is in driving condition, motor control assembly into
Enter torque mode, and judge whether the revolving speed of motor is greater than revolving speed calibration value, if it is, motor control assembly is made to enter safety
Pulse-off state.If motor is in gearshift condition, motor control assembly enters revolving speed mode, judge motor revolving speed whether
More than peak speed, if it is, motor control assembly is made to enter safe pulse-off state.As it can be seen that the present embodiment is provided
Technical solution not only allow for the torque mode of motor control assembly routine, and driving motor system is cooperated into fluid drive
Revolving speed mode in case systematic procedure takes into account, and realizes the detection to driving motor system and automatic gear-box system,
The incipient fault in driving motor system and automatic gear-box system is exposed, is avoided in the prior art only from entire car controller
Problem timely to fault detection inaccuracy caused by CAN message is obtained, the accuracy and timeliness of fault detection are improved,
And then it can effectively ensure the functional safety of driving motor system or even Full Vehicle System.
Also, in technical solution provided by the present embodiment, automatic gear-box system be may not need through entire car controller,
Directly fault message is communicated to motor control assembly, makes driving motor system entered function safe condition, is conducive to shorten event
Hinder detection time.
It should be added that after motor control assembly 11 enters revolving speed mode, if the revolving speed of motor 13 does not have
More than peak speed, then can carry out revolving speed next time whether be more than peak speed judgement.
For the accuracy and timeliness for further increasing motor control assembly fault detection, as shown in Fig. 2, the present embodiment institute
The motor control assembly of offer preferably may also include torque deviation judging unit 115, torque deviation judging unit 115 and control
Mode selecting unit 112 is connected, for judging that the torque deviation of motor 13 is after motor control assembly 11 enters torque mode
It is no to be greater than torque deviation calibration value, if it is, motor control assembly 11 is made to enter safe pulse-off state.It needs to illustrate
It is that the torque deviation refers to the deviation of motor 13 actual torque and desired torque；The torque deviation calibration value is motor 13
The maximum value that torque deviation allows to reach under driving condition.
It should be added that if after motor control assembly 11 enters torque mode, the torque deviation of motor 13
No more than torque deviation calibration value, then the judgement whether torque deviation next time is greater than torque deviation calibration value can be carried out.
Determine whether that entered function is pacified according to the information of torque deviation by adding torque deviation judging unit 115 and realizing
Total state, since the information of torque deviation can be obtained from body electronics systems stabilisation, which is realized pair
The fault detection of body electronics systems stabilisation exposes the incipient fault in body electronics systems stabilisation, further improves event
The accuracy and timeliness for hindering detection, ensure that driving motor system timely enters functional safety state when failure occurs, and avoids
Motor is damaged.In addition, body electronics systems stabilisation also may not need through entire car controller, directly by fault message communicate to
Motor control assembly makes driving motor system entered function safe condition, is conducive to shorten failure detection time.
For the accuracy and timeliness for further increasing motor control assembly fault detection, as shown in Fig. 2, the present embodiment institute
The motor control assembly of offer preferably may also include power device excess temperature judging unit 116, power device excess temperature judging unit
116 are connected with control model selecting unit 112, for judging inverter 12 after motor control assembly 11 enters torque mode
In the temperature of power device whether be more than temperature threshold, if it is, motor control assembly 11 is made to enter safe pulse-off
State.It should be noted that the temperature threshold allowed to reach for the temperature that motor 13 is in power device under driving condition
Maximum value.
It should be added that if after motor control assembly 11 enters torque mode, power in inverter 12
The temperature of device is not above temperature threshold, then whether the temperature that can carry out power device next time is more than sentencing for temperature threshold
It is disconnected.
By adding power device excess temperature judging unit 116 realize according to the temperature information of power device determine whether into
Enter functional safety state, to realize the fault detection to inverter 12 in driving motor system 1, exposes driving motor system
Incipient fault in system 1, further improves the accuracy and timeliness of fault detection, ensure that driving motor when failure occurs
System 1 timely enters functional safety state, and motor is avoided to be damaged.In addition, driving motor system 1 may not need through vehicle control
Device processed directly communicates fault message to motor control, makes 1 entered function safe condition of driving motor system, is conducive to shorten
Failure detection time.
In the prior art, Full Vehicle System in the event of a failure, only can enter unique safe pulse-off state, function peace
Total state is very single, this will lead in special operation condition, such as: in the state that motor runs at high speed, executing unique functional safety
When state-safe pulse-off, motor 13 generates excessively high back-emf, which can pass through the main drive of inverter 12
Dynamic circuit 121 damages motor control assembly 11 and power battery pack 14.
To solve this problem, technical solution provided by the present embodiment uses multiple functions safe condition, such as: safe arteries and veins
Off state, active short-circuit condition, active discharge state are rushed, is used in combination.
Specifically, the first revolving speed judging unit 113 of motor control assembly 11 provided by the present embodiment may include igniting
Key judgment sub-unit 105 and revolving speed calibration value judgment sub-unit 106.Wherein, firing key judgment sub-unit 105 and control mould
Formula selecting unit 112 is connected, which is used for after motor control assembly 11 enters torque mode,
Judge whether firing key turns off.Revolving speed calibration value judgment sub-unit 106 is connected with firing key judging unit 105, the revolving speed
Calibration value judgment sub-unit 106 is used to judge whether the revolving speed of motor 13 is greater than revolving speed calibration value in firing key shutdown.Such as
Fruit is that motor control assembly 11 is then made to enter safe pulse-off state；If it is not, then entering motor control assembly 11 actively
Short-circuit condition.
It should be noted that the active short-circuit condition refers to: motor control assembly 11 is sent to inverter by control
12 pwm pulse signal, makes in the main driving circuit 121 of inverter 12 that the power device of half-bridge or lower half-bridge is all led on three-phase
It is logical, and be held on, so that motor 13 generates huge braking moment, it is equivalent to 13 locking of motor, driving motor system 1 is realized
Functional safety, vehicle reach stationary state.
By the way that firing key judgment sub-unit 105 and the judgement of revolving speed calibration value are arranged in the first revolving speed judging unit 113
Subelement 106, before carrying out revolving speed and whether being greater than the judgement of revolving speed calibration value, what whether progress firing key turned off first sentences
It is disconnected, and only in the case where firing key turns off, just carry out the judgement whether revolving speed is greater than revolving speed calibration value: if revolving speed
Greater than revolving speed calibration value, then motor control assembly 11 is made to enter safe pulse-off state, if revolving speed is demarcated no more than revolving speed
Value then makes motor control assembly 11 make to drive to realize the difference according to fault severity level into active short-circuit condition
Electric system 1 enters the functional safety state of different safety class, avoids and executes electricity brought by simple function safe condition
Machine 13 leads to the problem of excessively high back-emf, has effectively ensured the safety of motor control assembly 11 and power battery pack 14.
It is above-mentioned that firing key judgment sub-unit 105 and the judgement of revolving speed calibration value are set in the first revolving speed judging unit 113
The technical solution of subelement 106 realizes safe pulse-off state and active short-circuit condition is used in combination, and the present embodiment may be used also
Active discharge state is added in functional safety state achieved by driving motor system 1.
Specifically, motor control assembly 11 is connected with entire car controller in Full Vehicle System.In the present embodiment, motor control
The preparatory unit 111 of device 11 processed is preferred can include: initialization subelement 101, active discharge judgment sub-unit 102, insulation
Detection sub-unit 103 and preliminary filling electronic unit 104.Wherein, initialization subelement 101 is for initializing inverter 12.
Active discharge judgment sub-unit 102 is connected with initialization subelement 101, which is used in inversion
After the completion of device 12 initializes, judge whether motor control assembly 11 receives the active discharge request of entire car controller transmission, such as
Fruit is that motor control assembly 11 is then made to enter active discharge state.Insulation monitoring subelement 103 and active discharge judgment sub-unit
102 are connected, which is used to be not received by the active of entire car controller transmission in motor control assembly 11
When electric discharge request, whether detection inverter 12 meets insulating requirements.Preliminary filling electronic unit 104 and 103 phase of Insulation monitoring subelement
Even, which is used for after inverter 12 meets insulating requirements, is pre-charged to inverter 12.
It should be noted that the active discharge refers to: the active discharge ability quilt of main driving circuit 121 in inverter 12
Triggering, voltage is down to harmless voltage level from maximum working voltage, and in the case where motor 13 does not connect, voltage is logical
Often 60V can be dropped in 5s hereinafter, driving motor system 1 or even Full Vehicle System reach function to guarantee after breaking down
Safe condition.
In above-mentioned preparatory unit 111, when the CAN that the main driving circuit 121 in inverter 111 is sent by entire car controller believes
Number wake up after, the initialization subelement 101 of preparatory unit 111 makes inverter 111 initially enter initialization program, usually initialize
Time is preferably smaller than 300ms.
It should be noted that the main driving circuit 121 in inverter 111 is before being waken up by CAN signal, in Full Vehicle System
Only remote key remote control system, car networking host and warning system are active, remaining system is in suspend mode shape
State, the component of these systems in a dormant state are in safe mode (i.e. high-voltage electricity is in an off state), demand
Voltage can only be provided by 12V power supply.
After the completion of initialization, motor control assembly 11 sends initialization completion signal to entire car controller by CAN line,
Usual motor control assembly 11 can send initialization completion signal in 50ms, and driving motor system 1 enters standby mode.
After driving motor system 1 enters standby mode, if the active discharge judgment sub-unit 102 of preparatory unit 111
Learn that entire car controller has sent active discharge request signal to motor control assembly 11, then motor control assembly 11 enters master
Dynamic discharge condition.
After driving motor system 1 enters standby mode, if entire car controller is not sent to motor control assembly 11
Active discharge request signal, then the Insulation monitoring subelement 103 of preparatory unit 111 can carry out Insulation monitoring (tool to inverter 12
Body is AC AC phase conductors Insulation monitoring), the process of Insulation monitoring can are as follows: entire car controller sends Insulation monitoring life by CAN line
It enables, a U phase high side power device is triggered in the main driving circuit 121 of inverter 12, and keeps 50ms, the U phase flash function
The shutdown of rate device, the low side power device of a W phase is triggered, and keeps 50ms, the low side power device shutdown of the W phase.
After inverter 12 meets insulating requirements, the preliminary filling electronic unit 104 of preparatory unit 111 can be into inverter 12
DC bus capacitor C carries out precharging procedure, to guarantee after main relay S is attracted, reduces the high voltage direct current of power battery pack 14
Impact of the electricity to motor control assembly 11.After the completion of precharge, motor control assembly 11 starts to carry out the selection of control model.
By the way that initialization subelement 101, active discharge judgment sub-unit 102, Insulation monitoring are arranged in preparatory unit 111
Subelement 103 and preliminary filling electronic unit 104, realize the use of this functional safety state of active discharge, so as to avoid only
Excessively high back-emf is led to the problem of using motor 13 brought by safe pulse-off state, has effectively ensured motor control dress
Set the safety of 11 and power battery pack 14.
It is preferred that in the present embodiment, it can be by torque deviation judging unit 115, power device excess temperature judging unit
116, the second revolving speed judging unit 114 and including firing key judgment sub-unit 105 and revolving speed calibration value judgment sub-unit 106
The comprehensive setting of the first revolving speed judging unit 113, with further increase motor control assembly 11 to the accuracy of fault detection and
Timeliness more effectively guarantees that driving motor system timely enters functional safety state.
In addition, the present embodiment can also tie safe pulse-off state, active short-circuit condition and active discharge state three
It closes and uses, more effectively to avoid the problem that generating excessively high back-emf using motor 13 brought by simple function safe condition.
In summary each technical solution, the present embodiment can be realized in carrying out process fault detection, integrated treatment vehicle
The failure letter that entire car controller, driving motor system in system, automatic gear-box system, body electronics systems stabilisation report
Breath, realize multiple spot detection, expose the incipient fault of each system comprehensively, thus effectively improve fault detection accuracy and and
Shi Xing ensure that Full Vehicle System can timely enter functional safety state when failure occurs.
Also, each system can be it is not necessary that by entire car controller, the fault message that directly will test is communicated to motor
Control device makes driving motor system enter safe condition, saves and communicates fault message to the time of entire car controller, contracting
Short failure detection time.
In addition, the present embodiment is by making active short-circuit condition, active discharge state and safe pulse-off combinations of states
With, avoid generating excessively high back-emf only with motor 13 brought by safe pulse-off state, and then destroy motor control dress
It sets and the problem of power battery pack.
Fault message is only transmitted by way of CAN communication in the prior art, once mistake occurs for CAN communication, will be led
Cause Full Vehicle System that can not timely enter functional safety state.For this problem, in the present embodiment, motor control assembly 11 and each
CAN communication preferably can be used between system and rigid line communicates the mode combined and carries out information transmitting, to be produced in CAN communication
When raw failure or excessive erroneous frame, the fault message from hard signal is received, so that motor control assembly 11 is carrying out event
Driving motor system 1 is set to reach functional safety state after barrier judgement.
Rigid line pwm signal preferably can be used for the mode of rigid line communication, the rigid line pwm signal is using 10K~1M frequency
Rate range, 10%~90% duty ratio, effectively to guarantee the speed and precision of signal transmission.
Embodiment two
Present embodiments provide a kind of motor control method, as shown in figure 4, the motor control method the following steps are included:
Step S1: successively initializing inverter, Insulation monitoring and precharge, completes initialization, symbol in inverter
After closing insulating requirements and being pre-charged, S2 is entered step.It is specifically complete using the preparatory unit 111 in motor control assembly 11
At the step.
Step S2: judging motor state in which, if motor is in driving condition, S3 is entered step, if motor is in
Gearshift condition then enters step S4.Specifically the step is completed using the control model selecting unit 112 in motor control assembly 11
Suddenly.
Step S3: judging whether the revolving speed of motor is greater than revolving speed calibration value, if it is, motor control assembly is made to enter peace
Overall pulse off state.Specifically the step is completed using the first revolving speed judging unit 113 in motor control assembly 11.
Step S4: whether the revolving speed for judging motor is more than peak speed, if it is, motor control assembly is made to enter safety
Pulse-off state.Specifically the step is completed using the second revolving speed judging unit 114 in motor control assembly 11.
Above-mentioned motor control method not only allows for the torque mode of motor control assembly routine, and by driving motor system
The revolving speed mode under unified central planning closed in automatic gear-box systematic procedure takes into account, and realizes to driving motor system and fluid drive
The detection of case system avoids only to obtain from entire car controller in the prior art and fault detection is not allowed caused by CAN message
Really timely problem, improves the accuracy and timeliness of fault detection, and then can effectively ensure that driving motor system is
To the functional safety of Full Vehicle System.
As shown in figure 4, step S3 preferably may also include that judgement motor in motor control method provided by the present embodiment
Torque deviation whether be greater than torque deviation calibration value, if it is, motor control assembly is made to enter safe pulse-off state.
Specifically the deterministic process is completed using the torque deviation judging unit 115 in motor control assembly 11.It is noted that
When the torque deviation of motor is not more than torque deviation calibration value, whether the torque deviation that can enter next time is greater than torque deviation mark
The judgement of definite value.
The judgment step for whether being greater than torque deviation calibration value by increasing torque deviation is realized according to torque deviation
Information determines whether entered function safe condition, since the information of torque deviation can be obtained from body electronics systems stabilisation,
Therefore the technical solution realizes the fault detection to body electronics systems stabilisation, further improves the accuracy of fault detection
And timeliness, it ensure that driving motor system timely enters functional safety state when failure occurs.
As shown in figure 4, step S3 preferably may also include that judgement inversion in motor control method provided by the present embodiment
Whether the temperature of the power device in device is more than temperature threshold (judge power device whether excess temperature), if it is, making motor
Control device enters safe pulse-off state.Specifically using the power device excess temperature judging unit in motor control assembly 11
116 complete the deterministic process.It is noted that when the temperature of the power device in inverter is not above temperature threshold,
Can enter power device next time whether the judgement of excess temperature.
By increase power device whether the judgment step of excess temperature, realize is according to the determination of the temperature information of power device
No entered function safe condition exposes driving motor to realize the fault detection to inverter in driving motor system
Incipient fault in system further improves the accuracy and timeliness of fault detection, ensure that and drives electricity when failure occurs
Machine system timely enters functional safety state.
As shown in figure 4, in the step S3 of the motor control method provided by the present embodiment, judge motor revolving speed whether
Greater than revolving speed calibration value, if it is, motor control assembly is made to enter safe pulse-off state, this process may include following
Step:
Step S31: judging whether firing key turns off, if it is, entering step S32.Specific available first revolving speed
Firing key judgment sub-unit 105 in judging unit 113 completes the step.It is noted that in step S31, if point
Fiery key is not switched off, then can carry out the judgement whether firing key next time turns off.
Step S32: judging whether the revolving speed of motor is greater than revolving speed calibration value, if it is, entering motor control assembly
Safe pulse-off state, if it is not, then motor control assembly is made to enter active short-circuit condition.It is specific to sentence using the first revolving speed
Revolving speed calibration value judgment sub-unit 106 in disconnected unit 113 completes the step.
By the way that before carrying out revolving speed and whether being greater than the judgement of revolving speed calibration value, whether progress firing key is turned off first
Judgement, realizes the difference according to fault severity level, driving motor system is made to enter the functional safety shape of different safety class
State avoids motor brought by execution simple function safe condition and leads to the problem of excessively high back-emf, effectively ensured electricity
The safety of machine control device and power battery pack.
As shown in figure 4, in the motor control method provided by the present embodiment, step S1 can include:
Step S11: initializing inverter, until inverter initialization is completed, enters step S12.It specifically can benefit
The step is completed with the initialization subelement 101 in preparatory unit 111.
Step S12: judge whether to receive the active discharge request of entire car controller transmission, if it is, control motor
Into active discharge state, if it is not, then entering step S13.Specifically son is judged using the active discharge in preparatory unit 111
Unit 102 completes the step.
Step S13: whether detection inverter meets insulating requirements, if it is, S14 is entered step, if it is not, then returning
Step S11.Specifically the step is completed using the Insulation monitoring subelement 103 in preparatory unit 111.
Step S14: inverter is pre-charged.It is specifically complete using the preliminary filling electronic unit 104 in preparatory unit 111
At the step.
Using the above process, the use of this functional safety state of active discharge is realized, so as to avoid only with peace
Motor 13 brought by overall pulse off state leads to the problem of excessively high back-emf, has effectively ensured 11 He of motor control assembly
The safety of power battery pack 14.
It is preferred that in the present embodiment, whether judgement that whether firing key turns off, revolving speed can be greater than revolving speed mark
The judgement (under driving condition) of definite value, torque deviation whether be greater than the judgement of torque deviation calibration value, power device whether excess temperature
Judgement and revolving speed whether be more than peak speed (under gearshift condition) judgement it is comprehensive carry out, to further increase to fault detection
Accuracy and timeliness, more effectively guarantee driving motor system timely enter functional safety state.
In addition, the present embodiment can also tie safe pulse-off state, active short-circuit condition and active discharge state three
It closes and uses, more effectively to avoid the problem that generating excessively high back-emf using motor brought by simple function safe condition.
Embodiment three
A kind of driving motor system is present embodiments provided, as shown in Figure 1, the driving motor system includes: motor control
Device 11, inverter 12 and motor 13.The driving motor system may also include that power battery pack 14.
Wherein, motor control assembly 11 be embodiment one provided by motor control assembly, the motor control assembly 11 with
It is realized and is communicated by CAN bus between entire car controller in Full Vehicle System, the motor control assembly 11 is for exporting PWM control
Signal.
Power battery pack 14 is for providing direct current.
Inverter 12 is connected with motor control assembly 11 and power battery pack 14 respectively, which is used in motor control
Under the action of the pwm control signal that device 11 processed is exported, direct current provided by power battery pack 14 is changed into three intersections
Galvanic electricity.
Motor 13 is connected with inverter 12, operates under the driving for the three-phase alternating current that inverter 12 is exported.Motor 13
Permanent magnet synchronous motor preferably can be used.
The motor control assembly as provided by embodiment one have the advantages that it is more acurrate to fault detection, more timely, because
This includes that the driving motor system 1 of the motor control assembly more acurrate, more in time can also detect failure, is guaranteed
Driving motor system 1 or even Full Vehicle System timely enter functional safety state when breaking down.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of motor control assembly is connected with inverter (12), the inverter (12) is connected with motor (13), and feature exists
In the motor control assembly (11) includes:
Successively the inverter (12) is initialized, the preparatory unit (111) of the operation of Insulation monitoring and precharge；
The control model selecting unit (112) being connected with the preparatory unit (111), the control model selecting unit (112)
After completing initialization in the inverter (12), meet insulating requirements and be pre-charged, judge locating for the motor (13)
State makes the motor control assembly (11) to enter torque mode, if the electricity if the motor (13) is in driving condition
Machine (13) is in gearshift condition, then the motor control assembly (11) is made to enter revolving speed mode；
The first revolving speed judging unit (113) being connected with the control model selecting unit (112), the first revolving speed judgement are single
After first (113) enter the torque mode in the motor control assembly (11), judge whether the revolving speed of the motor (13) is big
In revolving speed calibration value, if it is, the motor control assembly (11) is made to enter safe pulse-off state；The wherein revolving speed
Calibration value is that the motor (13) are in the maximum value that revolving speed allows to reach under the driving condition；
The second revolving speed judging unit (114) being connected with the control model selecting unit (112), the second revolving speed judgement are single
After first (114) enter the revolving speed mode in the motor control assembly (11), judge whether the revolving speed of the motor (13) surpasses
Peak speed is crossed, if it is, the motor control assembly (11) is made to enter the safe pulse-off state；The wherein peak
Value revolving speed is that the motor (13) are in the maximum value that revolving speed allows to reach under the gearshift condition.
2. motor control assembly according to claim 1, which is characterized in that the motor control assembly (11) further include:
The torque deviation judging unit (115) being connected with the control model selecting unit (112), the torque deviation judging unit
(115) the motor control assembly (11) enter the torque mode after, judge the motor (13) torque deviation whether
Greater than torque deviation calibration value, if it is, the motor control assembly (11) is made to enter the safe pulse-off state；Its
Described in torque deviation calibration value be the motor (13) be in the maximum value that torque deviation allows to reach under the driving condition.
3. motor control assembly according to claim 1, which is characterized in that the motor control assembly (11) further include:
The power device excess temperature judging unit (116) being connected with the control model selecting unit (112), the power device excess temperature are sentenced
After disconnected unit enters the torque mode in the motor control assembly (11), the power device in the inverter (12) is judged
Temperature whether be more than temperature threshold, if it is, make the motor control assembly (11) enter the safe pulse-off shape
State；Wherein the temperature threshold is that the motor (13) are in the maximum that the temperature of power device under driving condition allows to reach
Value.
4. motor control assembly according to claim 1, which is characterized in that the first revolving speed judging unit (113) packet
It includes:
The firing key judgment sub-unit (105) being connected with the control model selecting unit (112), the firing key judgement
After subelement (105) enters the torque mode in the motor control assembly (11), judge whether firing key turns off；
The revolving speed calibration value judgment sub-unit (106) being connected with the firing key judgment sub-unit (105), the revolving speed calibration
It is worth judgment sub-unit (106) when the firing key turns off, judges whether the revolving speed of the motor (13) is greater than the revolving speed
Calibration value, if it is, making the motor control assembly (11) to enter the safe pulse-off state, if it is not, then making institute
Motor control assembly (11) are stated into active short-circuit condition.
5. motor control assembly according to claim 1, which is characterized in that the motor control assembly (11) and vehicle control
Device processed is connected, and the preparatory unit (111) of the motor control assembly (11) includes:
The initialization subelement (101) that the inverter (12) is initialized；
The active discharge judgment sub-unit (102) being connected with initialization subelement (101), active discharge judgement are single
First (102) it is described whole to judge whether the motor control assembly (11) receives after the completion of the inverter (12) initialize
The active discharge request that vehicle controller is sent, if it is, the motor control assembly (11) is made to enter active discharge state；
The Insulation monitoring subelement (103) being connected with the active discharge judgment sub-unit (102), the Insulation monitoring subelement
(103) when the motor control assembly (11) is not received by the active discharge request that the entire car controller is sent, detection
Whether the inverter (12) meets insulating requirements；
The preliminary filling electronic unit (104) being connected with the Insulation monitoring subelement (103), the preliminary filling electronic unit (104) exist
After the inverter (12) meets insulating requirements, the inverter (12) is pre-charged.
6. a kind of motor control method, motor (13) is connected with inverter (12), the inverter (12) and motor control assembly
(11) it is connected, which is characterized in that the motor control method includes:
Step S1: successively initializing the inverter (12), Insulation monitoring and precharge, complete in the inverter (12)
After initializing, meeting insulating requirements and be pre-charged, S2 is entered step；
Step S2: judge that the motor (13) state in which enters step if the motor (13) is in driving condition
S3 enters step S4 if the motor (13) is in gearshift condition；
Step S3: judging whether the revolving speed of the motor (13) is greater than revolving speed calibration value, if it is, filling the motor control
It sets (11) and enters safe pulse-off state；Wherein the revolving speed calibration value is that the motor (13) are under the driving condition
The maximum value that revolving speed allows to reach；
Step S4: whether the revolving speed for judging the motor (13) is more than peak speed, if it is, making the motor control assembly
(11) enter the safe pulse-off state；Wherein the peak speed is that the motor (13) are under the gearshift condition
The maximum value that revolving speed allows to reach.
7. motor control method according to claim 6, which is characterized in that the step S3 further include: judge the electricity
Whether the torque deviation of machine (13) is greater than torque deviation calibration value, if it is, the motor control assembly (11) is made to enter institute
State safe pulse-off state；Wherein the torque deviation calibration value is that the motor (13) are in torque under the driving condition
The maximum value that deviation allows to reach.
8. motor control method according to claim 6, which is characterized in that the step S3 further include: judge described inverse
Whether the temperature of the power device become in device (12) is more than temperature threshold, if it is, the motor (13) enters the safety
Pulse-off state；The temperature that wherein temperature threshold is in power device under the driving condition for the motor (13) permits
Permitted the maximum value reached.
9. motor control method according to claim 6, which is characterized in that in the step S3, described in the judgement
Whether the revolving speed of motor (13) is greater than revolving speed calibration value, closes if it is, controlling the motor (13) and entering the safe pulse
Disconnected state, specifically includes:
Step S31: judging whether firing key turns off, if it is, entering step S32；
Step S32: judging whether the revolving speed of the motor (13) is greater than the revolving speed calibration value, if it is, making the motor
Control device (11) enters the safe pulse-off state, if it is not, then entering the motor control assembly (11) actively
Short-circuit condition.
10. motor control method according to claim 6, which is characterized in that the step S1 is specifically included:
Step S11: initializing the inverter (12), until the inverter (12) initialization is completed, enters step
S12；
Step S12: judge whether to receive the active discharge request of entire car controller transmission, if it is, making the motor control
Device (11) processed enters active discharge state, if it is not, then entering step S13；
Step S13: detecting whether the inverter (12) meets insulating requirements, if it is, S14 is entered step, if it is not, then
Return step S11；
Step S14: the inverter (12) is pre-charged.
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| CN107472023A (en) * | 2017-08-21 | 2017-12-15 | 合肥翔望智能科技有限公司 | A kind of electric car power supply management system |
| CN108944571B (en) * | 2018-07-04 | 2020-07-24 | 北京新能源汽车股份有限公司 | Safety control method and system for vehicle-mounted motor and vehicle |
| CN113708344B (en) * | 2021-08-17 | 2024-03-26 | 精进电动科技股份有限公司 | Overvoltage protection method and circuit for DC bus of inverter and motor controller |
| CN114421427B (en) * | 2021-12-17 | 2024-03-26 | 广东美的白色家电技术创新中心有限公司 | Control method, motor controller, storage medium and equipment |
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