CN107104623B - Automobile drive motor control method and device - Google Patents
Automobile drive motor control method and device Download PDFInfo
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- CN107104623B CN107104623B CN201710218704.XA CN201710218704A CN107104623B CN 107104623 B CN107104623 B CN 107104623B CN 201710218704 A CN201710218704 A CN 201710218704A CN 107104623 B CN107104623 B CN 107104623B
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
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Abstract
The embodiment of the present invention provides a kind of automobile drive motor control method and device.This method comprises: obtaining the temperature information of motor；According to the temperature information and command torque of motor, the offset of determine instruction electric current；According to the offset of instruction current, instruction current is compensated, obtains compensated instruction current；According to compensated instruction current, motor output torque is controlled.The temperature information that the embodiment of the present invention passes through acquisition motor, according to the temperature information and command torque of motor, the offset of determine instruction electric current, according to the offset of instruction current, compensated instruction current is obtained after compensating to instruction current, according to compensated instruction current, controls motor output torque, the influence for reducing the accuracy for the electromagnetic torque that motor temperature exports motor, improves motor control performance.
Description
Technical field
The present embodiments relate to motor control technology field more particularly to a kind of automobile drive motor control method and dresses
It sets.
Background technique
Energy-saving and emission-reduction are an important trends of China Automobile Industry, and technical research relevant to electric car is industry heat
One of point, the control technology research of key components and parts therein such as driving motor is even more particularly significant.Permanent magnet synchronous motor control
System is simple, high reliablity, is the mainstream of current electronic automobile drive motor.
Electronic automobile drive motor power is larger, although continuing working down cooling system cooling, due to motor frequency
Numerous, quick, large-scale torque variation, temperature wide variation are an inevitable phenomenons.
But motor temperature will affect the accuracy of the electromagnetic torque of motor output, to reduce motor control performance.
Summary of the invention
The embodiment of the present invention provides a kind of automobile drive motor control method and device, to improve motor control performance.
The one aspect of the embodiment of the present invention is to provide a kind of automobile drive motor control method, comprising:
Obtain the temperature information of motor；
According to the temperature information and command torque of the motor, the offset of determine instruction electric current；
According to the offset of described instruction electric current, described instruction electric current is compensated, obtains compensated instruction current；
According to the compensated instruction current, the motor output torque is controlled.
The other side of the embodiment of the present invention is to provide a kind of automobile drive motor control device, comprising:
Module is obtained, for obtaining the temperature information of motor；
Determining module, for the temperature information and command torque according to the motor, the offset of determine instruction electric current；
Compensating module compensates described instruction electric current, is compensated for the offset according to described instruction electric current
Instruction current afterwards；
Control module, for controlling the motor output torque according to the compensated instruction current.
Automobile drive motor control method and device provided in an embodiment of the present invention, by obtaining the temperature information of motor,
According to the temperature information and command torque of motor, the offset of determine instruction electric current, according to the offset of instruction current, to instruction
Electric current obtains compensated instruction current after compensating, according to compensated instruction current, control motor output torque, reduce
The influence of the accuracy for the electromagnetic torque that motor temperature exports motor, improves motor control performance.
Detailed description of the invention
Fig. 1 is the structure chart of vector control system in the prior art；
Fig. 2 is automobile drive motor control method flow chart provided in an embodiment of the present invention；
Fig. 3 is a kind of structure chart of control system provided in an embodiment of the present invention；
Fig. 4 is provided in an embodiment of the present invention a kind of to the structure chart for dragging calibration rack；
Fig. 5 is a kind of structure chart of automobile drive motor control device provided in an embodiment of the present invention；
Fig. 6 is the structure chart of another automobile drive motor control device provided in an embodiment of the present invention；
Fig. 7 is the structure chart of another automobile drive motor control device provided in an embodiment of the present invention.
Specific embodiment
In the prior art, it intercouples between permanent magnet synchronous motor three-phase current, in order to simplify to permanent magnet synchronous motor
Control, generallys use vector control algorithm to realize the decoupling between three-phase current, after vector coordinate transform, permanent magnetism is same
The electromagnetic torque expression formula for walking motor output is following formula (1)
In the case where not weak magnetic, the electromagnetic torque expression formula of permanent magnet synchronous motor output is following formula (2)
Wherein, TeIndicate that the electromagnetic torque of motor output, p indicate motor number of pole-pairs, ψfIndicate the magnetic linkage of rotor permanent magnet,
iqIndicate the q axis component of phase current, idIndicate the d axis component of phase current.
Electronic automobile drive motor power is larger, although continuing working down cooling system cooling, due to motor frequency
Numerous, quick, large-scale torque variation, temperature wide variation are an inevitable phenomenons.Ideally, above-mentioned public affairs
ψ in formulafCan be used as a constant constant, but motor permanent magnet be affected by temperature it is larger, general main magnetic linkage with temperature increasing
The phenomenon that reducing greatly, being in nonlinear Long-term change trend, even will appear permanent magnet demagnetization in some extreme environments, leads to weight
Big damage.Therefore ψfIt is the parameter closely related with temperature, changes often 10 or more.The drive control of electric car
Technology is higher to the control accuracy requirement of motor output electromagnetic torque, therefore the temperature-compensating of electromagnetic torque seems very necessary.
Fig. 1 is the structure chart of vector control system in the prior art.As shown in Figure 1, the three-phase real-time current i of motora、
ib、icIt can be sampled and be obtained by current sensor, rotor absolute position angleIt can be obtained by rotary transformer, ia、ib、
icWithI is generated by vector coordinate transformd、iq, vector coordinate transform is for being converted into two for three phase static a b c coordinate system
Mutually rotation d q coordinate system, wherein ia、ib、icCorresponding three phase static a b c coordinate system, id、iqCorresponding two-phase rotates d q coordinate
System.Command torque Te *Instruction current I is generated by instruction current computing moduleqref, iqWith instruction current IqrefIt is superimposed, idWith
Instruction current IdrefIt is superimposed, in the present embodiment, optionally, IdrefIt is 0, iqWith instruction current IqrefBy PI after superimposed
Module generates command voltage vq, idWith instruction current IdrefCommand voltage v is generated by PI module after superimposedd, vqAnd vdBy
Phasor coordinate inverse transformation generates va、vb、vc, va、vb、vcBy space vector pulse width modulation (Space Vector Pulse
Width Modulation, SVPWM) algorithm generation six tunnel pulse widths modulation (Pulse Width Modulation, PWM) control
Signal processed, six road pwm control signals input inverter, by inverter control motor output torque.But the temperature of motor can shadow
Ring the accuracy of the electromagnetic torque of motor output.
To solve the above-mentioned problems, the embodiment of the invention provides a kind of automobile drive motor control method, Fig. 2 is this hair
The automobile drive motor control method flow chart that bright embodiment provides, Fig. 3 are a kind of control system provided in an embodiment of the present invention
Structure chart, specific step is as follows for automobile drive motor control method provided in this embodiment:
Step S101, the temperature information of motor is obtained；
As shown in figure 3, obtaining the temperature information t of motormotor, specifically, the real-time detection-sensitive motor of temperature sensor can be passed through
Temperature information.
Step S102, according to the temperature information and command torque of the motor, the offset of determine instruction electric current.
Command torque Te *With the temperature information t of motormotorThe compensation of instruction current is obtained through overcompensation current calculation module
Value Iqcomp, specifically, compensation current calculation module can obtain command torque T by way of tabling look-upe *With the temperature information of motor
tmotorThe offset I of corresponding instruction currentqcomp, command torque T can also be obtained by way of tabling look-upe *With the temperature of motor
Spend information tmotorThe offset I of corresponding two instruction currentsqcomp1And Iqcomp2, in Iqcomp1And Iqcomp2Between carry out interpolation calculation
Method obtains Iqcomp。
Step S103, according to the offset of described instruction electric current, described instruction electric current is compensated, is obtained compensated
Instruction current.
As shown in figure 3, the offset I of instruction currentqcompWith instruction current IdrefAfter superimposed again with iqIt is superimposed, superposition
Electric current afterwards generates command voltage v by PI moduleq, idWith instruction current IdrefInstruction electricity is generated by PI module after superimposed
Press vd, vqAnd vdV is generated by phasor coordinate inverse transformationa、vb、vc, va、vb、vcSix road PWM control letter is generated by SVPWM algorithm
Number.
Step S104, according to the compensated instruction current, the motor output torque is controlled.
Six road pwm control signals input inverter, by inverter control motor output torque.
The embodiment of the present invention is determined by obtaining the temperature information of motor according to the temperature information and command torque of motor
The offset of instruction current obtains compensated instruction electricity according to the offset of instruction current after compensating to instruction current
Stream controls motor output torque according to compensated instruction current, reduces the electromagnetic torque that motor temperature exports motor
The influence of accuracy improves motor control performance.
On the basis of the above embodiments, the corresponding backoff algorithm of compensation current calculation module need to demarcate motor temperature and
The relationship of electromagnetic torque, a kind of achievable mode are to establish preset table, and preset table includes that reference temperature information, reference instruction turn
Square, with reference to the corresponding relationship between compensation current, reference temperature information is the motor temperature information demarcated in advance, reference instruction
Torque is the command torque demarcated in advance, with reference to compensation current be motor reference temperature message identification at a temperature of, reference
Under the control of the command torque of command torque mark, when making the reality output torque of motor reach command torque makes, need referring to
Enable the current value compensated on electric current.
Current calculation module is compensated according to command torque Te *With the temperature information t of motormotorObtain the compensation of instruction current
Value IqcompIt can be realized by following feasible implementation:
A kind of feasible implementation: compensation current calculation module obtains command torque T from preset tablee *With the temperature of motor
Spend information tmotorThe offset I of corresponding instruction currentqcomp。
Another feasible implementation: compensation current calculation module obtains command torque T from preset tablee *With motor
Temperature information tmotorThe offset I of corresponding two instruction currentsqcomp1And Iqcomp2, in Iqcomp1And Iqcomp2Between carry out interpolation
Algorithm obtains Iqcomp。
Fig. 4 is provided in an embodiment of the present invention a kind of to the structure chart for dragging calibration rack, below with reference to Fig. 4 to calibration compensation
The feasible implementation of corresponding relationship is introduced between electric current, motor temperature and command torque.In the present embodiment, it marks
The relationship of the compensation electric current, motor temperature and command torque made is a series of isolated point, as shown in figure 4, to calibration is dragged
Rack includes powerful dynamometer machine, and high-precision torque sensor is used to measure the torque between tested motor and dynamometer machine,
The water-cooling circulating system (not shown) of tested motor is used to control the temperature of tested motor, controller local area network
(Controller Area Network, CAN) bus communication equipment CANoe is used to send command torque to electricity by host computer
Machine controller, electric machine controller control tested motor output torque according to command torque.In addition, can also real-time monitoring tested motor
Temperature, electric current etc..
The feasible of corresponding relationship is achieved in that between calibration compensation electric current, motor temperature and command torque:
According to device requirement quotient to the revolving speed of driving motor, torque, motor temperature range of operation design requirement and motor
Suitable torque step-length and temperature step-length are chosen in output torque required precision, determine a series of declared working condition point.To drag platform
Frame is that tested motor is in torque mode when working, and dynamometer machine is in revolving speed mode.Later, according to declared working condition point, pass through platform
Dynamometer Control System software setting dynamometer machine in frame control system is in revolving speed mode, and runs on corresponding declared working condition point
Requirement revolving speed, stablize after, pass through CANoe host computer send working condition requirement command torque value Te *It goes to drive to electric machine controller
Tested motor output torque, in addition, can also be by adjusting tested motor cooling water flow control motor temperature tmotor, to tested electricity
After machine temperature is stablized, compensating instruction is sent to electric machine controller by CANoe, reaches the reality output torque of tested motor
Command torque value Te *, record command current value when compensation.
The compensation electric current of test calibration point one by one, records these real-time status datas, formed compensation electric current, motor temperature with
And command torque calibration scale.In this way, in use, compensation current calculation module can realize the benefit for determine instruction electric current of tabling look-up
Value is repaid, and according to the offset compensating instruction electric current of instruction current, and motor output is controlled according to compensated instruction current and is turned
Square reduces the influence of the accuracy for the electromagnetic torque that motor temperature exports motor, improves motor control performance.
Fig. 5 is a kind of structure chart of automobile drive motor control device provided in an embodiment of the present invention.The embodiment of the present invention
The automobile drive motor control device of offer can execute the process flow of automobile drive motor control method embodiment offer, such as
Shown in Fig. 5, automobile drive motor control device includes obtaining module 51, determining module 52, compensating module 53, control module 54,
Wherein, the temperature information that module 51 is used to obtain motor is obtained；Determining module 52 be used for according to the temperature information of the motor and
Command torque, the offset of determine instruction electric current；Compensating module 53 is used for the offset according to described instruction electric current, to the finger
It enables electric current compensate, obtains compensated instruction current；Control module 54 is used for according to the compensated instruction current, control
Make the motor output torque.
The embodiment of the present invention is determined by obtaining the temperature information of motor according to the temperature information and command torque of motor
The offset of instruction current obtains compensated instruction electricity according to the offset of instruction current after compensating to instruction current
Stream controls motor output torque according to compensated instruction current, reduces the electromagnetic torque that motor temperature exports motor
The influence of accuracy improves motor control performance.
Fig. 6 is the structure chart of another automobile drive motor control device provided in an embodiment of the present invention.In above-mentioned implementation
On the basis of example, automobile drive motor control device further include: generation module 55, generation module 55 is for generating preset table, institute
Stating preset table includes reference temperature information, reference instruction torque, with reference to the corresponding relationship between compensation current.
Specifically, it is determined that module 52 includes: query unit 521, determination unit 522, query unit 521 is used for according to
The temperature information and command torque of motor, inquire the preset table；Determination unit 522 be used for by the preset table with the temperature
It spends information and described instruction torque is matched with reference to compensation current, be determined as the offset of described instruction electric current.
Alternatively, determining module 52 includes: query unit 521, acquiring unit 523, determination unit 522, query unit 521 is used
In temperature information and command torque according to the motor, the preset table is inquired；Acquiring unit 523 is described default for obtaining
Compensation current is referred to the temperature information and described instruction torque matched two in table；Determination unit 522 is used in institute
Two are stated with reference to interpolation algorithm is used between compensation current, determines the offset of described instruction electric current.
Fig. 7 is the structure chart of another automobile drive motor control device provided in an embodiment of the present invention.In above-mentioned implementation
On the basis of example, as shown in fig. 7, generation module 55 includes: the first determination unit 551, the second determination unit 552, third determination
Unit 553, control unit 554, the 4th determination unit 555, preset table establish unit 556, wherein the first determination unit 551 is used
In the parameter information according to the motor, reference range of temperature, reference instruction torque range, reference temperature step-length and reference are determined
Command torque step-length；Second determination unit 552 is used for according to the reference range of temperature and the reference temperature step-length, and determination is more
A reference temperature information；Third determination unit 523 is used for according to the reference instruction torque range and the reference instruction torque
Step-length determines multiple reference instruction torques；Control unit 524 is used to control the temperature of the motor according to the reference temperature information
Degree is rotated according to motor described in the reference instruction direct torque；4th determination unit 525 is used to determine the reality of the motor
When output torque reaches the reference instruction torque, the current value compensated on described instruction electric current is needed, the current value is
The offset of described instruction electric current；Preset table establishes unit 526 for establishing the reference temperature information, the reference instruction turn
The corresponding relationship of the offset of square and described instruction electric current, obtains the preset table.
Automobile drive motor control device provided in an embodiment of the present invention can be specifically used for executing provided by above-mentioned Fig. 2
Embodiment of the method, details are not described herein again for concrete function.
The embodiment of the present invention is determined by obtaining the temperature information of motor according to the temperature information and command torque of motor
The offset of instruction current obtains compensated instruction electricity according to the offset of instruction current after compensating to instruction current
Stream controls motor output torque according to compensated instruction current, reduces the electromagnetic torque that motor temperature exports motor
The influence of accuracy improves motor control performance.
In conclusion temperature information of the embodiment of the present invention by acquisition motor, according to the temperature information of motor and instruction
Torque, the offset of determine instruction electric current, according to the offset of instruction current, after obtaining compensation after compensating to instruction current
Instruction current control motor output torque, reduce the electricity that motor temperature exports motor according to compensated instruction current
The influence of the accuracy of magnetic torque improves motor control performance.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (6)
1. a kind of automobile drive motor control method characterized by comprising
Obtain the temperature information of motor；
According to the temperature information and command torque of the motor, the offset of determine instruction electric current；
According to the offset of described instruction electric current, described instruction electric current is compensated, obtains compensated instruction current；
According to the compensated instruction current, the motor output torque is controlled；
Wherein, before the temperature information for obtaining motor, further includes:
Preset table is generated, the preset table includes reference temperature information, reference instruction torque, with reference to pair between compensation current
It should be related to；
The generation preset table, comprising:
According to the parameter information of the motor, reference range of temperature, reference instruction torque range, reference temperature step-length and ginseng are determined
Examine command torque step-length；
According to the reference range of temperature and the reference temperature step-length, multiple reference temperature information are determined；
According to the reference instruction torque range and the reference instruction torque step-length, multiple reference instruction torques are determined；
The temperature that the motor is controlled according to the reference temperature information turns according to motor described in the reference instruction direct torque
It is dynamic；
When determining that the reality output torque of the motor reaches the reference instruction torque, need to compensate on described instruction electric current
Current value, the current value be described instruction electric current offset；
The corresponding relationship for establishing the offset of the reference temperature information, the reference instruction torque and described instruction electric current, obtains
To the preset table.
2. the method according to claim 1, wherein the temperature information according to the motor and instruction turn
Square, the offset of determine instruction electric current, comprising:
According to the temperature information and command torque of the motor, the preset table is inquired；
Will be matched with reference to compensation current with the temperature information and described instruction torque in the preset table, it is determined as described
The offset of instruction current.
3. the method according to claim 1, wherein the temperature information according to the motor and instruction turn
Square, the offset of determine instruction electric current, comprising:
According to the temperature information and command torque of the motor, the preset table is inquired；
It obtains in the preset table with the temperature information and described instruction torque matched two with reference to compensation current；
Described two with reference to interpolation algorithm is used between compensation current, the offset of described instruction electric current is determined.
4. a kind of automobile drive motor control device characterized by comprising
Module is obtained, for obtaining the temperature information of motor；
Determining module, for the temperature information and command torque according to the motor, the offset of determine instruction electric current；
Compensating module compensates described instruction electric current for the offset according to described instruction electric current, obtains compensated
Instruction current；
Control module, for controlling the motor output torque according to the compensated instruction current；
Generation module, for generating preset table, the preset table includes reference temperature information, reference instruction torque, with reference to compensation
Corresponding relationship between current value；
The generation module includes:
First determination unit determines reference range of temperature, reference instruction torque model for the parameter information according to the motor
It encloses, reference temperature step-length and reference instruction torque step-length；
Second determination unit, for determining multiple reference temperatures according to the reference range of temperature and the reference temperature step-length
Information；
Third determination unit, for determining multiple according to the reference instruction torque range and the reference instruction torque step-length
Reference instruction torque；
Control unit, for controlling the temperature of the motor according to the reference temperature information, according to the reference instruction torque
Control the motor rotation；
4th determination unit needs when for determining that the reality output torque of the motor reaches the reference instruction torque
The current value compensated on described instruction electric current, the current value are the offset of described instruction electric current；
Preset table establishes unit, for establishing the reference temperature information, the reference instruction torque and described instruction electric current
The corresponding relationship of offset obtains the preset table.
5. automobile drive motor control device according to claim 4, which is characterized in that the determining module includes:
Query unit inquires the preset table for the temperature information and command torque according to the motor；
Determination unit, for electric current will to be compensated with the matched reference of the temperature information and described instruction torque in the preset table
Value, is determined as the offset of described instruction electric current.
6. automobile drive motor control device according to claim 4, which is characterized in that the determining module includes:
Query unit inquires the preset table for the temperature information and command torque according to the motor；
Acquiring unit, for obtaining in the preset table with the temperature information and described instruction torque matched two with reference to benefit
Repay current value；
Determination unit, for, with reference to interpolation algorithm is used between compensation current, determining described instruction electric current described two
Offset.
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| CN104682812A (en) * | 2013-11-27 | 2015-06-03 | 现代自动车株式会社 | Motor Controlling Systen And Motor Controlling Method |
| CN105656371A (en) * | 2014-11-12 | 2016-06-08 | 上海航天汽车机电股份有限公司 | Method and system for controlling output torque of DC motor |
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