CN107124131A - A kind of motor control method of new-energy automobile - Google Patents

A kind of motor control method of new-energy automobile Download PDF

Info

Publication number
CN107124131A
CN107124131A CN201710428711.2A CN201710428711A CN107124131A CN 107124131 A CN107124131 A CN 107124131A CN 201710428711 A CN201710428711 A CN 201710428711A CN 107124131 A CN107124131 A CN 107124131A
Authority
CN
China
Prior art keywords
lt
gt
mi
msub
mrow
Prior art date
Application number
CN201710428711.2A
Other languages
Chinese (zh)
Inventor
于杏
张旭东
应展烽
吕增奎
顾亚洲
Original Assignee
南京理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京理工大学 filed Critical 南京理工大学
Priority to CN201710428711.2A priority Critical patent/CN107124131A/en
Publication of CN107124131A publication Critical patent/CN107124131A/en

Links

Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0017Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/01Asynchronous machines

Abstract

The invention discloses a kind of motor control method of new-energy automobile.Method and step is as follows:First, current of electric double-closed-loop control simulation model is set up;Secondly, according to heat balance principle, the Temperature Rise Model of electric machine controller is set up;Then, temperature closed loop is added in double-current closed loop periphery, electric machine controller temperature is controlled;Finally, rate of temperature change closed loop is added in temperature closed loop periphery, electric machine controller rate of temperature change is controlled.It is that control system adds temperature closed loop and rate of temperature change closed loop by pi regulator, completes the online self-regulation to parameters such as Stator energization current amplitude, torque current amplitudes, makes system operation in the maximum characteristic working curve of global efficiency.The present invention can ensure that motor is run under safe temperature and reliable temperature rate of change, be effectively reduced by temperature it is too high or change it is too fast caused by electric machine controller failure occur, while motor load capacity is improved, in new-energy automobile field important in inhibiting.

Description

A kind of motor control method of new-energy automobile

Technical field

The present invention relates to motor control technology field, particularly a kind of motor control method of new-energy automobile.

Background technology

With the development of Power Electronic Technique, MOSFET, IGBT constant power device have obtained extensive fortune in machine field With.Its package dimension is gradually reduced, but power grade and heat flow density are stepped up, Yi Fashengyin high temperature or temperature change mistake Cause various failure of removal soon, so as to influence the service life and reliability of electric machine controller.Therefore, it is necessary to by real-time Know the operating temperature of induction machine, realize corresponding active thermal control and overtemperature protection, improve its operational reliability.

In the actual motion of electric automobile, generally according to the size of torque current, ensure motor in safe temperature indirectly In the range of run.When torque current reaches protection value, i.e., work is left the motor off using overcurrent protection measure.In fact, electric Machine controller temperature and torque current are not simple linear relationship.For example, during electric automobile climbing, torque current It can rapidly raise, be exerted oneself with increasing, now temperature tends not to exceed safety value.But, if torque current is protected beyond excessively stream Shield value, then motor operation can be terminated.So, overcurrent protection not only not in terms of temperature protection it is not anticipated that effect, and Electric automobile climbing failure can be caused.

The content of the invention

It is an object of the invention to provide a kind of motor can be ensured in safe temperature and the condition of suitable temperature rate of change The motor control method of the new-energy automobile of lower operation.

The technical solution for realizing the object of the invention is:A kind of motor control method of new-energy automobile, the new energy Source electric motor of automobile is induction machine, is comprised the following steps:

Step 1, current of electric double-closed-loop control simulation model is set up;

Step 2, according to heat balance principle, the Temperature Rise Model of electric machine controller is set up;

Step 3, temperature closed loop is added in double-current closed loop periphery, electric machine controller temperature is controlled;

Step 4, rate of temperature change closed loop is added in temperature closed loop periphery, electric machine controller rate of temperature change is controlled System.

Further, current of electric double-closed-loop control simulation model is set up described in step 1, it is specific as follows:

By M axles and rotor flux ψrDirection is overlapped, and T axles stator current produces rotor torque, and M axles stator current produces rotor Excitation field, so as to realize the decoupling of torque current and exciting current on stator, AC induction motor is equivalent for one Magnetic linkage such as following formula on platform direct current generator, rotor:

Wherein, ψrM、ψrTRespectively component of the rotor flux on M axles, T axles, equivalent rotor voltage, equivalent stator voltage It is 0;isM、isTM axles respectively in two-phase synchronization rotational coordinate ax, the equivalent stator current on T axles, irM、irTRespectively two-phase M axles in synchronization rotational coordinate ax, the equivalent rotor current on T axles, LmAnd LrThe respectively magnetizing inductance and inductor rotor of motor;

Formula (1) is substituted into induction machine voltage equation, obtained:

Wherein, usMAnd usTFor the equivalent stator voltage on M axles in two-phase synchronization rotational coordinate ax, T axles, RsAnd RrRespectively Stator winding resistance, rotor windings resistance;LsFor stator inductance, p is differential sign, represents d/dt, ωs、ωfRespectively motor Synchronous angular velocity, slip angular velocity;

Formula (2) is substituted into induction machine electromagnetic torque equation, obtained:

Wherein, TeAnd npThe respectively electromagnetic torque and number of pole-pairs of motor;

In addition, being obtained again by formula (3):

Wherein,For rotor windings time constant, ωfFor slip angular velocity;

The physical significance of formula (4) is:Rotor flux ψrUnique equivalent current component i by being rotor current on M axlessMCertainly It is fixed;

The physical significance of formula (5) is:As rotor flux ψrWhen constant, the slip angular frequency ω of motorfUniquely by stator torque Current component is determined.

Further, in current of electric double-closed-loop control simulation model described in step 1, current double closed-loop control is respectively to turn Square current inner loop and exciting current outer shroud, two closed loop PI parameters are identical and obtained by calculating, are specially:

KP=(R τc)/(2Tsf)=L/ (2Tsf) (6)

Ki=Kpc=R/ (2Tsf) (7)

Wherein, KpFor the proportionality coefficient of current closed-loop, KiFor the integral coefficient of current closed-loop, R returns for the armature of induction machine Road resistance is stator leakage inductance and stator resistance sum, TsfFor the time constant of a section inertial element, L returns for the armature of induction machine Road inductance, zero point offsets limit constant, τc=L/R.

Further, the Temperature Rise Model of electric machine controller described in step 2 is:

T=k0+(k1Iq 2-k2)t (8)

Wherein, T is electric machine controller temperature, IqFor torque current, k0、k1、k2It is constant, t is motor operating time.

Further, added described in step 3 in double-current closed loop periphery in temperature closed loop, the temperature closed loop, temperature gives Temp* is the temperature upper limit of power device used in control system, and temperature feedback is the output valve of step 2 motor temperature rise model, Proportional coefficient KpTWith integral coefficient KiTObtained by trial and error procedure.

Further, rate of temperature change closed loop, the rate of temperature change closed loop are added in temperature closed loop periphery described in step 4 In:Rate of temperature change is given as dT*, and rate of temperature change is fed back to the differential value of Temperature Rise Model output, Proportional coefficient KpkAnd integration COEFFICIENT KikObtained by trial and error procedure.

Compared with prior art, its remarkable advantage is the present invention:(1) by adding temperature closed loop and rate of temperature change closed loop To realize that the active thermal of motor is controlled, motor temperature and rate of temperature change can be controlled within the specific limits, and then reduce work( The failure because caused by temperature is too high or temperature change is too fast such as rate device occurs, and improves the operational reliability of motor;(2) can Ensure that motor is run under conditions of safe temperature and suitable temperature rate of change, can effectively reduce by temperature is too high or temperature While electric machine controller failure occurs caused by change is too fast, motor load capacity is improved, is had in new-energy automobile field Significance.

Brief description of the drawings

Fig. 1 is the theory diagram of the motor control method of new-energy automobile of the present invention.

Fig. 2 is rotor field-oriented schematic diagram.

Fig. 3 is flux linkage observation model schematic.

Fig. 4 is the transmission function schematic diagram of current closed-loop.

Fig. 5 is the control block diagram that motor active thermal is controlled.

Embodiment

Describe the embodiment of the present invention in detail below in conjunction with accompanying drawing, those skilled in the art is become apparent from geography How solution puts into practice the present invention.It will be appreciated that though the present invention is described with reference to its preferred embodiment, but these are implemented Scheme is to illustrate, rather than limitation the scope of the present invention.

In electric automobile field, overcurrent protection is typically provided with, to avoid the power device caused by high current from overheating and burn, In fact, the not simple linear relationship of motor temperature and torque current, such as when electric automobile is climbed, torque current can be fast Speed rise is even up to overcurrent protection value.But now temperature may be not out safety value, power device will not be caused significantly Influence, so now opening overcurrent protection and to stop motor operation clearly irrational.

The present invention passes through the temperature of the motor of Real-time Feedback new-energy automobile operationally on the basis of vector controlled Value, is that control system adds temperature closed loop and rate of temperature change closed loop by pi regulator, complete to Stator energization current amplitude, The online self-regulation of the parameters such as torque current amplitude, makes system operation in the maximum characteristic working curve of global efficiency.

With reference to Fig. 1, the motor control method of new-energy automobile of the present invention, the New energy automobile motor is induction machine, Comprise the following steps:

Step 1, current of electric double-closed-loop control simulation model is set up;

Described inductive motor control system, be based on rotor field-oriented vector control system, it is described to set up motor Current double closed-loop controls simulation model, specific as follows:

In MT coordinate systems, M axles and T axles are mutually perpendicular to, and with certain synchronous angular velocity ωsRotation.In theory, stator Magnetomotive force FsIt can decompose on the orthogonal M and T axles of any two in space, but in order that stator magnetic flux gesture FsPoint on M axles Measure dedicated for producing the excitation field of rotor, can be by M axles and rotor flux ψrDirection is overlapped, as shown in Figure 2.Such one Come, stator magnetic flux gesture FsComponent on T axles will be used to offset rotor flux gesture FrComponent on T axles, and this component is pair Torque should be produced.

In other words, by M axles and rotor flux ψrDirection is overlapped, T axle stator currents isTIt will be used to produce rotor torque, M axles Stator current isMTo produce the excitation field of rotor, so as to realize the decoupling of torque current and exciting current on stator.Again Because MT reference axis are rotation, its stator current isMAnd isTAll it is direct current, therefore after rotor field-oriented, alternating current asynchronous electricity Machine is equivalent for a direct current generator, the magnetic linkage such as following formula on rotor:

Wherein, ψrM、ψrTRespectively component of the rotor flux on M axles, T axles, equivalent rotor voltage, equivalent stator voltage It is 0;isM、isTM axles respectively in two-phase synchronization rotational coordinate ax, the equivalent stator current on T axles, irM、irTRespectively two-phase M axles in synchronization rotational coordinate ax, the equivalent rotor current on T axles, LmAnd LrThe respectively magnetizing inductance and inductor rotor of motor;

Formula (1) is substituted into induction machine voltage equation, obtained:

Wherein, usMAnd usTFor the equivalent stator voltage on M axles in two-phase synchronization rotational coordinate ax, T axles, RsAnd RrRespectively Stator winding resistance, rotor windings resistance;LsFor stator inductance, p is differential sign, represents d/dt, ωs、ωfRespectively motor Synchronous angular velocity, slip angular velocity;

Formula (2) is substituted into induction machine electromagnetic torque equation, obtained:

Wherein, TeAnd npThe respectively electromagnetic torque and number of pole-pairs of motor;

In addition, being obtained again by formula (3):

Wherein,For rotor windings time constant, ωfFor slip angular velocity;

The physical significance of formula (4) is:Rotor flux ψrUnique equivalent current component i by being rotor current on M axlessMCertainly It is fixed;

The physical significance of formula (5) is:As rotor flux ψrWhen constant, the slip angular frequency ω of motorfUniquely by stator torque Current component is determined.

By being analyzed above, as long as to stator torque current component isTWith excitation current component isMIt is controlled, just The control of motor torque and excitation can be realized, the speed governing of change armature supply and the weak-magnetic speed-regulating of similar direct current generator is realized.By turn During sub- field orientation, rotor flux is consistent with M direction of principal axis, i.e., actually must be known by the angle of rotor flux and α axles.Conventional Flux linkage observation is electric current-rotating speed model, as shown in Figure 3.

In the current of electric double-closed-loop control simulation model, current double closed-loop control is respectively torque current inner ring and encouraged Magnetoelectricity stream outer shroud, two closed loop PI parameters are identical and obtained by calculating, are specially:

Current inner loop is general only relevant with PWM inverter and the parameter of electric machine, and not changed by external loading is influenceed, so electric Stream ring has fixed structure, and the parameter of electric current loop can be calculated according to a certain method.

As shown in figure 4, Gi(s) be electric current pi regulator transmission function, KpIt is its proportionality coefficient, KiFor integral coefficient, lead to Normal Gi(s) write as ratio in Digital Implementation and integrate separated form:

Gi(s)=Kp+Ki/s (6)

In formula:Ki=Kpc, τcIt is adjuster integration time constant.

The control object of electric current loop is:The armature circuit of PWM inverter and motor.PWM inverter can typically regard tool as There is time constant Ts(Ts=1/fs, fsFor the working frequency of inverter switching device pipe) first order inertial loop.The armature circuit of motor There are resistance R, inductance L, first order inertial loop can also be regarded as.TLIt is that inductive time constant (is equal to L/R, herein L, R is induced electricity The stator leakage inductance and stator resistance sum of machine), KR=1/R, when reflecting stable state under dq coordinates electric moter voltage and electric current ratio Relation.KPWMThe multiplication factor of expression inverter, and TsIt is switch periods, represents the delay of inverter.TifIt is current feedback passage Time constant filter, KifFor the multiplication factor of current feedback.Fig. 4 open-loop transfer function can be write as transmission function form such as Under:

In formula (7), it is however generally that, inductive time constant TLMuch larger than time constant filter TifWith switch periods Ts.Inversion The multiplication factor K of devicePWMActual output voltage and the ratio with given voltage are defined as, in digital control, is controlled using SVPWM When processed, inverter output voltage is equal with given voltage, therefore KPWM=1.Current feedback values use numeral AD sampled values, feedback Value represents the actual value of electric current, therefore multiplication factor Kif=1.According to the engineering design method of adjuster, selection electric current regulation The zero point of device offsets the large time constant limit of controlled device, i.e.,:

τC=TL=L/R (8)

So formula (7) can be write as:

Due to TsAnd TifAll it is small time constant, can is T with a time constantsfSingle order link replace the two inertia Link, is reduced to typical case's I type system:

In formula:Tsf=Ts+Tif;K=KP/(Rτc).At this moment, corresponding current closed-loop transmission function C (s) is a typical case Second-order system:

Wherein:

According to the index that second-order system is optimal, ξ=0.707 is made, then corresponding loop gain K=1/ can be calculated by formula (12) (2Tsf), further according to the multiplication factor of each link, you can determine gain Kp.Again because equal to TL, so the parameter of current controller Determine that, i.e.,:

τc=L/R (13)

KP=(R τc)/(2Tsf)=L/ (2Tsf) (14)

Ki=Kpc=R/ (2Tsf) (15)

Wherein, KpFor the proportionality coefficient of current closed-loop, KiFor the integral coefficient of current closed-loop, R returns for the armature of induction machine Road resistance is stator leakage inductance and stator resistance sum, TsfFor the time constant of a section inertial element, L returns for the armature of induction machine Road inductance, zero point offsets limit constant, τc=L/R.

Step 2, according to heat balance principle, the Temperature Rise Model of electric machine controller is set up;

Assuming that electric machine controller surface temperature is uniform, according to heat balance principle, there is the thermal balance side of sensing electric machine controller Cheng Wei:

In formula, C is the equivalent thermal capacitance of controller;T is the time;T is electric machine controller temperature;q1For controller thermal losses;q2 For the thermal convection current and heat radiation between controller and surrounding environment;q1=Iq 2Dt, and C and q2It is constant, therefore above formula can lead to Crossing integration arrangement is:

T=k0+(k1Iq 2-k2)t (17)

Wherein, T is electric machine controller temperature, IqFor torque current, k0、k1、k2It is constant, t is motor operating time.

Step 3, temperature closed loop is added in double-current closed loop periphery, electric machine controller temperature is controlled, control block diagram As shown in Figure 5;

Described to be added in double-current closed loop periphery in temperature closed loop, the temperature closed loop, it is control system that temperature, which gives Temp*, The temperature upper limit of power device used, temperature feedback is the output valve of step 2 motor temperature rise model, Proportional coefficient KpTAnd integration COEFFICIENT KiTObtained by trial and error procedure.

The temperature given value of temperature closed loop is set to the temperature upper limit of power device used in control system;Its The temperature value of temperature feedback value, as step 2 Temperature Rise Model output.It regard the output of temperature closed loop as electricity in torque current closed loop The given amplitude limit saturation value of stream.When temperature rises to set-point, torque current saturation limit amplitude diminishes through PI regulations, torque electricity Stream rising is inhibited or even reduced, and then motor quantity of heat production reduces, and temperature rise rate is slack-off, until motor temperature is stable given In temperature range.Especially under electric automobile climbing operating mode, it is desirable to its torque output capability of fast lifting, motor in a short time Torque current requirement can be raised rapidly, but motor temperature interior in short-term without departing from safety value, now motor can continue to increase Power, smoothly completes climbing.

Step 4, rate of temperature change closed loop is added in temperature closed loop periphery, electric machine controller rate of temperature change is controlled System.

It is described to be added in temperature closed loop periphery in rate of temperature change closed loop, the rate of temperature change closed loop:Rate of temperature change is given It is set to dT, rate of temperature change is fed back to the differential value of Temperature Rise Model output, Proportional coefficient KpkWith integral coefficient KikBy trial and error procedure Obtain.

The rate of temperature change set-point of rate of temperature change closed loop is given as dT*;Its temperature feedback value, as step 3 temperature The differential value of rising mould type output.The output of rate of temperature change closed loop is compared with temperature closed loop output, less value conduct is selected The amplitude limit saturation value of given value of current in torque current closed loop.When rate of temperature change, which becomes, exceedes its set-point greatly, through pi regulator, The rate of climb of torque current is controlled, then motor heat production is slack-off, and temperature rise rate is slack-off, until motor temperature rate of change stabilization exists In the range of given temperature rate of change.

Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art Member, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be regarded as Protection scope of the present invention.

Claims (6)

1. a kind of motor control method of new-energy automobile, it is characterised in that the New energy automobile motor is induction machine, bag Include following steps:
Step 1, current of electric double-closed-loop control simulation model is set up;
Step 2, according to heat balance principle, the Temperature Rise Model of electric machine controller is set up;
Step 3, temperature closed loop is added in double-current closed loop periphery, electric machine controller temperature is controlled;
Step 4, rate of temperature change closed loop is added in temperature closed loop periphery, electric machine controller rate of temperature change is controlled.
2. the motor control method of new-energy automobile according to claim 1, it is characterised in that electricity is set up described in step 1 Electromechanics stream double-closed-loop control simulation model, it is specific as follows:
By M axles and rotor flux ψrDirection is overlapped, and T axles stator current produces rotor torque, and M axles stator current produces encouraging for rotor Magnetic magnetic field, so as to realize the decoupling of torque current and exciting current on stator, AC induction motor is equivalent in order to which one straight Flow the magnetic linkage such as following formula on motor, rotor:
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>M</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>&amp;psi;</mi> <mi>r</mi> </msub> <mo>=</mo> <msub> <mi>L</mi> <mi>m</mi> </msub> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>M</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>L</mi> <mi>r</mi> </msub> <msub> <mi>i</mi> <mrow> <mi>r</mi> <mi>M</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>T</mi> </mrow> </msub> <mo>=</mo> <mn>0</mn> <mo>=</mo> <msub> <mi>L</mi> <mi>m</mi> </msub> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>T</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>L</mi> <mi>r</mi> </msub> <msub> <mi>i</mi> <mrow> <mi>r</mi> <mi>T</mi> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>
Wherein, ψrM、ψrTRespectively component of the rotor flux on M axles, T axles, equivalent rotor voltage, equivalent stator voltage are 0; isM、isTM axles respectively in two-phase synchronization rotational coordinate ax, the equivalent stator current on T axles, irM、irTRespectively two are synchronised rotation Turn M axles in reference axis, the equivalent rotor current on T axles, LmAnd LrThe respectively magnetizing inductance and inductor rotor of motor;
Formula (1) is substituted into induction machine voltage equation, obtained:
<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>u</mi> <mrow> <mi>s</mi> <mi>M</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>u</mi> <mrow> <mi>s</mi> <mi>T</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>R</mi> <mi>s</mi> </msub> <mo>+</mo> <msub> <mi>L</mi> <mi>s</mi> </msub> <mi>p</mi> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <msub> <mi>&amp;omega;</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>s</mi> </msub> </mrow> </mtd> <mtd> <mrow> <msub> <mi>L</mi> <mi>m</mi> </msub> <mi>p</mi> </mrow> </mtd> <mtd> <mrow> <msub> <mi>&amp;omega;</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>m</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>&amp;omega;</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>s</mi> </msub> </mrow> </mtd> <mtd> <mrow> <msub> <mi>R</mi> <mi>s</mi> </msub> <mo>+</mo> <msub> <mi>L</mi> <mi>s</mi> </msub> <mi>p</mi> </mrow> </mtd> <mtd> <mrow> <msub> <mi>&amp;omega;</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>m</mi> </msub> </mrow> </mtd> <mtd> <mrow> <msub> <mi>L</mi> <mi>m</mi> </msub> <mi>p</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>m</mi> </msub> <mi>p</mi> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <msub> <mi>R</mi> <mi>r</mi> </msub> <mo>+</mo> <msub> <mi>L</mi> <mi>r</mi> </msub> <mi>p</mi> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>&amp;omega;</mi> <mi>f</mi> </msub> <msub> <mi>L</mi> <mi>m</mi> </msub> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <msub> <mi>&amp;omega;</mi> <mi>f</mi> </msub> <msub> <mi>L</mi> <mi>r</mi> </msub> </mrow> </mtd> <mtd> <msub> <mi>R</mi> <mi>r</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>M</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>T</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>r</mi> <mi>M</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>r</mi> <mi>T</mi> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
Wherein, usMAnd usTFor the equivalent stator voltage on M axles in two-phase synchronization rotational coordinate ax, T axles, RsAnd RrRespectively stator Winding resistance, rotor windings resistance;LsFor stator inductance, p is differential sign, represents d/dt, ωs、ωfRespectively motor is same Walk angular speed, slip angular velocity;
Formula (2) is substituted into induction machine electromagnetic torque equation, obtained:
<mrow> <msub> <mi>T</mi> <mi>e</mi> </msub> <mo>=</mo> <msub> <mi>n</mi> <mi>p</mi> </msub> <mfrac> <msub> <mi>L</mi> <mi>m</mi> </msub> <msub> <mi>L</mi> <mi>r</mi> </msub> </mfrac> <msub> <mi>&amp;psi;</mi> <mi>r</mi> </msub> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>T</mi> </mrow> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
Wherein, TeAnd npThe respectively electromagnetic torque and number of pole-pairs of motor;
In addition, being obtained again by formula (3):
<mrow> <msub> <mi>&amp;psi;</mi> <mi>r</mi> </msub> <mo>=</mo> <mfrac> <msub> <mi>L</mi> <mi>m</mi> </msub> <mrow> <msub> <mi>T</mi> <mi>r</mi> </msub> <mi>p</mi> <mo>+</mo> <mn>1</mn> </mrow> </mfrac> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>M</mi> </mrow> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <msub> <mi>&amp;omega;</mi> <mi>f</mi> </msub> <mo>=</mo> <mfrac> <msub> <mi>L</mi> <mi>m</mi> </msub> <mrow> <msub> <mi>T</mi> <mi>r</mi> </msub> <msub> <mi>&amp;psi;</mi> <mi>r</mi> </msub> </mrow> </mfrac> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>T</mi> </mrow> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>
Wherein,For rotor windings time constant, ωfFor slip angular velocity;
The physical significance of formula (4) is:Rotor flux ψrUnique equivalent current component i by being rotor current on M axlessMDetermine;
The physical significance of formula (5) is:As rotor flux ψrWhen constant, the slip angular frequency ω of motorfUniquely by stator torque current Component is determined.
3. the motor control method of new-energy automobile according to claim 1, it is characterised in that motor electricity described in step 1 Flow in double-closed-loop control simulation model, current double closed-loop control is respectively torque current inner ring and exciting current outer shroud, two closed loops PI parameters are identical and obtained by calculating, are specially:
KP=(R τc)/(2Tsf)=L/ (2Tsf) (6)
Ki=Kpc=R/ (2Tsf) (7)
Wherein, KpFor the proportionality coefficient of current closed-loop, KiFor the integral coefficient of current closed-loop, R is the armature circuit electricity of induction machine Resistance is stator leakage inductance and stator resistance sum, TsfFor the time constant of a section inertial element, L is the armature circuit electricity of induction machine Sense, zero point offsets limit constant, τc=L/R.
4. the motor control method of new-energy automobile according to claim 1, it is characterised in that motor control described in step 2 The Temperature Rise Model of device processed is:
T=k0+(k1Iq 2-k2)t (8)
Wherein, T is electric machine controller temperature, IqFor torque current, k0、k1、k2It is constant, t is motor operating time.
5. the motor control method of new-energy automobile according to claim 1, it is characterised in that in double electricity described in step 3 Flow closed loop periphery to add in temperature closed loop, the temperature closed loop, temperature gives the temperature that Temp* is power device used in control system Higher limit, temperature feedback is the output valve of step 2 motor temperature rise model, Proportional coefficient KpTWith integral coefficient KiTBy trial and error procedure Obtain.
6. the motor control method of new-energy automobile according to claim 1, it is characterised in that in temperature described in step 4 Closed loop periphery is added in rate of temperature change closed loop, the rate of temperature change closed loop:Rate of temperature change is given as dT*, rate of temperature change It is fed back to the differential value of Temperature Rise Model output, Proportional coefficient KpkWith integral coefficient KikObtained by trial and error procedure.
CN201710428711.2A 2017-06-08 2017-06-08 A kind of motor control method of new-energy automobile CN107124131A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710428711.2A CN107124131A (en) 2017-06-08 2017-06-08 A kind of motor control method of new-energy automobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710428711.2A CN107124131A (en) 2017-06-08 2017-06-08 A kind of motor control method of new-energy automobile

Publications (1)

Publication Number Publication Date
CN107124131A true CN107124131A (en) 2017-09-01

Family

ID=59730367

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710428711.2A CN107124131A (en) 2017-06-08 2017-06-08 A kind of motor control method of new-energy automobile

Country Status (1)

Country Link
CN (1) CN107124131A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109560746A (en) * 2017-09-25 2019-04-02 郑州宇通客车股份有限公司 A kind of driving system for electric vehicles overload protection method and device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012215008A1 (en) * 2011-09-22 2013-03-28 Gm Global Technology Operations, Llc System and method for current estimation for the operation of electric motors
CN105240304A (en) * 2015-10-26 2016-01-13 方国聪 Intelligent controller
JP2016019449A (en) * 2014-07-11 2016-02-01 株式会社デンソー Motor controller and electric power steering device using the same
CN105553385A (en) * 2016-03-11 2016-05-04 雷沃重工股份有限公司 Electric vehicle controller and motor over-temperature protection method thereof

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012215008A1 (en) * 2011-09-22 2013-03-28 Gm Global Technology Operations, Llc System and method for current estimation for the operation of electric motors
JP2016019449A (en) * 2014-07-11 2016-02-01 株式会社デンソー Motor controller and electric power steering device using the same
CN105240304A (en) * 2015-10-26 2016-01-13 方国聪 Intelligent controller
CN105553385A (en) * 2016-03-11 2016-05-04 雷沃重工股份有限公司 Electric vehicle controller and motor over-temperature protection method thereof

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
周元钧编著: "《交流调速控制系统》", 30 April 2013, 北京:机械工业出版社 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109560746A (en) * 2017-09-25 2019-04-02 郑州宇通客车股份有限公司 A kind of driving system for electric vehicles overload protection method and device

Similar Documents

Publication Publication Date Title
Lascu et al. Direct torque control with feedback linearization for induction motor drives
CN104104299B (en) Vector controller without sensor for induction conductivity
Nordin et al. The influence of motor parameter deviations in feedforward field orientation drive systems
Kirschen et al. Optimal efficiency control of an induction motor drive
Huang et al. Scaled current tracking control for doubly fed induction generator to ride-through serious grid faults
CN103051269B (en) Synchronous machine controller
Mademlis et al. Optimal efficiency control strategy for interior permanent-magnet synchronous motor drives
US20160006338A1 (en) Grid-interconnected power converter
Kim et al. Optimal efficiency drive of a current source inverter fed induction motor by flux control
Chen et al. Improved vector control of brushless doubly fed induction generator under unbalanced grid conditions for offshore wind power generation
CN101478283B (en) Dual feedback asynchronous wind power generator rotor side inverter control method under unbalanced electric grid voltage
EP2327148B1 (en) A method and a controlling arrangement for controlling an ac generator
Dong et al. Efficiency optimizing control of induction motor using natural variables
Jovanovic et al. Encoderless direct torque controller for limited speed range applications of brushless doubly fed reluctance motors
Shin et al. Anti-windup PID controller with integral state predictor for variable-speed motor drives
Wang et al. Loss manipulation capabilities of deadbeat direct torque and flux control induction machine drives
Oikonomou et al. Closed-loop control of medium-voltage drives operated with synchronous optimal pulsewidth modulation
Wang et al. Speed-sensorless induction machine control in the field-weakening region using discrete speed-adaptive full-order observer
Qiao et al. Control of IPM synchronous generator for maximum wind power generation considering magnetic saturation
Cárdenas et al. Control strategies for power smoothing using a flywheel driven by a sensorless vector-controlled induction machine operating in a wide speed range
JP5957704B2 (en) Electric motor control device
Boudjema et al. A novel direct torque control using second order continuous sliding mode of a doubly fed induction generator for a wind energy conversion system
DE102012211315A1 (en) Temperature compensation for improved field weakening accuracy
US9048773B2 (en) Method and device for regulating separately excited synchronous machines
Doleček et al. Traction permanent magnet synchronous motor torque control with flux weakening

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20170901