CN107139726A - Fault detection processing method and device for sampling loop, motor controller and vehicle - Google Patents
Fault detection processing method and device for sampling loop, motor controller and vehicle Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/04—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using dc
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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
- Y02T10/64—Electric machine technologies in electromobility
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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Control Of Electric Motors In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a fault detection processing method and device of a sampling loop, a motor controller and a vehicle, wherein the fault detection processing method of the sampling loop comprises the following steps: acquiring a voltage value of a current sensor in a direct current bus current sampling loop of a motor controller; obtaining a fault detection result of the direct current bus current sampling loop of the motor controller according to the voltage value; when the fault detection result indicates that the direct current bus current sampling loop of the motor controller has a fault, obtaining a current estimated value of a direct current bus at the input end of the motor controller according to a current state value of a drive system parameter; and sending the current estimation value to the vehicle control unit and the battery management system. The scheme well solves the problem that fault detection and processing can not be actively carried out on a direct current bus current sampling loop of the motor controller in the prior art.
Description
Technical field
The present invention relates to technical field of vehicle, the fault detect processing method of sampling circuit a kind of, device, electricity are particularly related to
Machine controller and vehicle.
Background technology
In face of increasingly severe energy and environment problem, energy-conservation is just turning into the heat that current various countries are studied with new-energy automobile
Point, the government of Main Countries has all put into a large amount of manpower and materials and has carried out related R＆D work, greatly develops energy-conservation and new
Energy automobile is for realizing Global Sustainable Development, protecting earth environment for the survival of mankind significant.In China,
Energy-conservation has obtained the great attention of government and industrial quarters with new-energy automobile, and is set to one of emerging strategic industries.Hair
Exhibition energy-conservation and new-energy automobile, the pure electric automobile especially with no pollution, zero-emission, not only to Chinese energy safety, ring
Border protection is significant, while being also the trend of China's automotive field Future Development.
Pure electric automobile realizes that vehicle is travelled by power wheel, and motor driving and control influence weight to vehicle performance
Greatly, the emphasis of major pure electric automobile manufacturers research both at home and abroad is turned into for this.With permanent-magnet material, Power Electronic Technique, control
The development of theoretical, motor manufacturing and signal transacting hardware, permagnetic synchronous motor (PMSM) has obtained commonly used, permanent-magnet synchronous
Motor is due to having the advantages that high efficiency, height output torque, high power density and good dynamic property, at present as pure
The main flow of drive system of electric automobile.
Entire car controller, electric machine controller and battery management system are the three controls systems of pure electric automobile, general next
Say, driving under each operating mode is calculated according to gear information, accelerator pedal aperture and electrokinetic cell state etc. by entire car controller
The person's of sailing demand torque, torque command is obtained after the links such as smooth, limitation；Electric machine controller is then according to the torsion of entire car controller
Square order, is controlled by certain control method to motor, it is ensured that motor reality output moment of torsion is to command torque
Accurately follow, so as to realize the function of driving vehicle traveling；In addition electric machine controller is also to entire car controller feedback states
Information, including working condition and malfunction, corresponding control is performed according to the feedback information entire car controller of electric machine controller
Logic, such as error protection, instrument show that (instrument shows motor speed, operating current, motor system fault state), power are defeated
Go out to calculate etc..
For pure electric automobile, its unique energy is from high voltage power battery in the process of moving, and electrokinetic cell is carried
For dc source, the direct current that electric machine controller is exported by the use of electrokinetic cell ensures that the function of drive system is real as power supply
It is existing.Electric machine controller can detect that the electric current will be used for electric system protection to the electric current of its input in the course of the work
Limitation (overcurrent protection, torque limit etc.), instrument are shown, drive system consumes power calculation, vehicle energy management, electrokinetic cell
The execution of the control logics such as overcurrent protection.It is guarantor in view of accurately and effectively obtaining electric machine controller input DC bus current
The premise that the every control logic of card vehicle is normally performed, therefore design corresponding failure for electric machine controller DC bus current
Detect and treatment mechanism is necessary.
But, electric machine controller DC bus current sampling circuit can not be actively directed in the prior art carries out failure
Detection and handle, be this using above bringing inconvenience.
The content of the invention
It is an object of the invention to provide a kind of fault detect processing method of sampling circuit, device, electric machine controller and
Vehicle, solution can not actively be directed to electric machine controller DC bus current sampling circuit and carry out fault detect and place in the prior art
The problem of reason.
In order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of fault detect processing method of sampling circuit,
Applied to electric machine controller, including：
Obtain the magnitude of voltage of the current sensor in electric machine controller DC bus current sampling circuit；
The failure detection result of the electric machine controller DC bus current sampling circuit is worth to according to the voltage；
When the failure detection result indicates that the electric machine controller DC bus current sampling circuit has failure, root
According to the current state value of drive system parameters, the electric current estimated value of electric machine controller input dc bus is obtained；
The electric current estimated value is sent to entire car controller and battery management system.
Optionally, the failure that the electric machine controller DC bus current sampling circuit is worth to according to the voltage
The step of testing result, includes：
The magnitude of voltage is compared with first voltage threshold value and second voltage threshold value respectively；
The failure detection result of the electric machine controller DC bus current sampling circuit is obtained according to comparative result；
The first voltage threshold value is less than the second voltage threshold value.
Optionally, the magnitude of voltage is compared it with first voltage threshold value and second voltage threshold value respectively described
Before, the fault detect processing method also includes：
According to the upper limit detection threshold value of the current sensor, the second voltage threshold value is obtained；
According to the lower limit detection threshold value of the current sensor, the first voltage threshold value is obtained.
Optionally, in the current state value according to drive system parameters, electric machine controller input direct current is obtained female
Before the electric current estimated value of line, the fault detect processing method also includes：
Obtain the current state value of the drive system parameters；
The current state value according to drive system parameters, the electric current for obtaining electric machine controller input dc bus is estimated
The step of calculation is worth includes：
When getting the current state value of the drive system parameters, according to the current state value of drive system parameters,
Obtain the electric current estimated value of electric machine controller input dc bus.
Optionally, after the current state value for obtaining the drive system parameters, the fault detect processing side
Method also includes：
When not getting the current state value of the drive system parameters, perform first and remind operation, and vehicle is entered
Row max. speed is limited and the limitation of drive system peak power output.
Optionally, the current state value of the drive system parameters includes：Current motor tachometer value and current output torque
Value.
Optionally, the current state value according to drive system parameters, obtains electric machine controller input dc bus
Electric current estimated value the step of include：
According to current motor tachometer value and current output torque value, the current efficiency of electric machine controller is obtained；
According to the current motor tachometer value, the current output torque value, the current efficiency of the electric machine controller and
The magnitude of voltage, obtains the electric current estimated value.
Optionally, it is described according to the current motor tachometer value, the current output torque value, the electric machine controller
Current efficiency and the magnitude of voltage, the step of obtaining the electric current estimated value, using equation below：
Wherein, ImcuElectric current estimated value is represented, n represents current motor tachometer value, TqRepresent current output torque value, ηmcu
(n,Tq) represent electric machine controller current efficiency, UmcuRepresent the magnitude of voltage of current sensor.
Optionally, it is described the electric current estimated value is sent to entire car controller and battery management system while or it
Afterwards, the fault detect processing method also includes：
Perform second and remind operation.
Present invention also offers a kind of fault detect processing unit of sampling circuit, applied to electric machine controller, including：
First acquisition module, the electricity for obtaining the current sensor in electric machine controller DC bus current sampling circuit
Pressure value；
First processing module, for being worth to the electric machine controller DC bus current sampling circuit according to the voltage
Failure detection result；
Second processing module, for indicating the electric machine controller DC bus current sampling in the failure detection result
When loop has failure, according to the current state value of drive system parameters, the electricity of electric machine controller input dc bus is obtained
Flow estimated value；
Sending module, for the electric current estimated value to be sent into entire car controller and battery management system.
Optionally, the first processing module includes：
Comparison sub-module, for the magnitude of voltage to be compared with first voltage threshold value and second voltage threshold value respectively；
First processing submodule, for obtaining the electric machine controller DC bus current sampling circuit according to comparative result
Failure detection result；
The first voltage threshold value is less than the second voltage threshold value.
Optionally, the fault detect processing unit also includes：
3rd processing module, for entering the magnitude of voltage with first voltage threshold value and second voltage threshold value respectively described
Before row compares, according to the upper limit detection threshold value of the current sensor, the second voltage threshold value is obtained；
Fourth processing module, for the lower limit detection threshold value according to the current sensor, obtains the first voltage threshold
Value.
Optionally, the fault detect processing unit also includes：
Second acquisition module, in the current state value according to drive system parameters, obtaining electric machine controller defeated
Before the electric current estimated value for entering to hold dc bus, the current state value of the drive system parameters is obtained；
The Second processing module includes：
Second processing submodule, for when getting the current state value of the drive system parameters, according to drivetrain
The current state value for parameter of uniting, obtains the electric current estimated value of electric machine controller input dc bus.
Optionally, the fault detect processing unit also includes：
5th processing module, for after the current state value for obtaining the drive system parameters, not obtaining
To the drive system parameters current state value when, perform first remind operation, and to vehicle carry out max. speed limitation with
And the limitation of drive system peak power output.
Optionally, the current state value of the drive system parameters includes：Current motor tachometer value and current output torque
Value.
Optionally, the Second processing module includes：
3rd processing submodule, for according to current motor tachometer value and current output torque value, obtaining electric machine controller
Current efficiency；
Fourth process submodule, for according to the current motor tachometer value, the current output torque value, the motor
The current efficiency of controller and the magnitude of voltage, obtain the electric current estimated value.
Optionally, the fourth process submodule uses equation below：
Wherein, ImcuElectric current estimated value is represented, n represents current motor tachometer value, TqRepresent current output torque value, ηmcu
(n,Tq) represent electric machine controller current efficiency, UmcuRepresent the magnitude of voltage of current sensor.
Optionally, the fault detect processing unit also includes：
Performing module, for the electric current estimated value to be sent into the same of entire car controller and battery management system described
When or afterwards, perform second remind operation.
Present invention also offers a kind of electric machine controller, including：The fault detect processing unit of above-mentioned sampling circuit.
Present invention also offers a kind of vehicle, including：Above-mentioned electric machine controller.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, the fault detect processing method of the sampling circuit is by obtaining electric machine controller dc bus electricity
Flow the magnitude of voltage of the current sensor in sampling circuit；Electric machine controller DC bus current sampling circuit is worth to according to voltage
Failure detection result；It can realize that (including sampling circuit shorted to earth failure, sampling circuit are to power supply to sampling circuit failure
Short trouble and sampling circuit open circuit fault) effective detection；
And when failure detection result indicates that the electric machine controller DC bus current sampling circuit has failure, root
According to the current state value of drive system parameters, the electric current estimated value of electric machine controller input dc bus is obtained；Electric current is estimated
Calculation value is sent to entire car controller and battery management system；Can realize has to electric machine controller input DC bus current
Effect estimation, continues to ensure that full-vehicle control is patrolled after occurring electric machine controller DC bus current sampling circuit failure using estimated value
The normal execution collected, the driving experience as far as possible to driver on the premise of safe driving is ensured is protected, and is made as far as possible
Driver does not reduce driving experience because of the failure；Solve that can not to be actively directed to electric machine controller in the prior art straight well
Flow bus current sampling circuit and carry out the problem of fault detect and processing.
In addition, scheme provided in an embodiment of the present invention is simple and easy to do, be easily achieved, while will not additionally increase motor control
The manufacturing cost of device, with good promotional value.
Brief description of the drawings
Fig. 1 is the fault detect process flow schematic diagram of the sampling circuit of the embodiment of the present invention one；
Fig. 2 is the control system framework schematic diagram of the embodiment of the present invention；
Fig. 3 is the electric machine controller DC bus current Acquisition Circuit schematic diagram of the embodiment of the present invention；
Fig. 4 is the fault detect schematic flow sheet of the sampling circuit of the embodiment of the present invention；
Fig. 5 obtains schematic diagram for the current efficiency of the electric machine controller of the embodiment of the present invention；
Fig. 6 is the troubleshooting process schematic diagram of the sampling circuit of the embodiment of the present invention；
Fig. 7 is the fault detect processing device structure diagram of the sampling circuit of the embodiment of the present invention two.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
The present invention, which is directed in existing technology, can not actively be directed to the progress of electric machine controller DC bus current sampling circuit
The problem of fault detect and processing, is specific as follows there is provided a variety of solutions：
Embodiment one
As shown in figure 1, the embodiment of the present invention one provides a kind of fault detect processing method of sampling circuit, electricity can be applied to
Machine controller, the fault detect processing method includes：
Step 11：Obtain the magnitude of voltage of the current sensor in electric machine controller DC bus current sampling circuit；
Step 12：The fault detect of the electric machine controller DC bus current sampling circuit is worth to according to the voltage
As a result；
Step 13：Indicate that the electric machine controller DC bus current sampling circuit has event in the failure detection result
During barrier, according to the current state value of drive system parameters, the electric current estimated value of electric machine controller input dc bus is obtained；
Step 14：The electric current estimated value is sent to entire car controller and battery management system.
The fault detect processing method for the sampling circuit that the embodiment of the present invention one is provided is by obtaining electric machine controller
The magnitude of voltage of current sensor in DC bus current sampling circuit；Electric machine controller dc bus electricity is worth to according to voltage
Flow the failure detection result of sampling circuit；Can realize to sampling circuit failure (including sampling circuit shorted to earth failure, sampling
Loop is to power supply short circuit failure and sampling circuit open circuit fault) effective detection；
And when failure detection result indicates that the electric machine controller DC bus current sampling circuit has failure, root
According to the current state value of drive system parameters, the electric current estimated value of electric machine controller input dc bus is obtained；Electric current is estimated
Calculation value is sent to entire car controller and battery management system；Can realize has to electric machine controller input DC bus current
Effect estimation, continues to ensure that full-vehicle control is patrolled after occurring electric machine controller DC bus current sampling circuit failure using estimated value
The normal execution collected, the driving experience as far as possible to driver on the premise of safe driving is ensured is protected, and is made as far as possible
Driver does not reduce driving experience because of the failure；Solve that can not to be actively directed to electric machine controller in the prior art straight well
Flow bus current sampling circuit and carry out the problem of fault detect and processing.
In addition, scheme provided in an embodiment of the present invention is simple and easy to do, be easily achieved, while will not additionally increase motor control
The manufacturing cost of device, with good promotional value.
Specifically, the failure that the electric machine controller DC bus current sampling circuit is worth to according to the voltage
The step of testing result, includes：The magnitude of voltage is compared with first voltage threshold value and second voltage threshold value respectively；According to
Comparative result obtains the failure detection result of the electric machine controller DC bus current sampling circuit；The first voltage threshold value
Less than the second voltage threshold value.
Further, the magnitude of voltage is compared it with first voltage threshold value and second voltage threshold value respectively described
Before, the fault detect processing method also includes：According to the upper limit detection threshold value of the current sensor, second electricity is obtained
Press threshold value；According to the lower limit detection threshold value of the current sensor, the first voltage threshold value is obtained.
It is, the selection of first voltage threshold value and second voltage threshold value considers current sensor, (electric machine controller is straight
Flow bus current sensor) detection interval, in the present embodiment, preferably smaller than first voltage threshold value and more than second voltage threshold value
Voltage range be not current sensor Normal Feedback current signal valid interval.
It can not be obtained in abnormal cases in view of the current state value of drive system parameters in the present embodiment, therefore,
The current state value according to drive system parameters, obtain electric machine controller input dc bus electric current estimated value it
Before, the fault detect processing method also includes：Obtain the current state value of the drive system parameters；
Corresponding, the current state value according to drive system parameters obtains electric machine controller input dc bus
Electric current estimated value the step of include：When getting the current state value of the drive system parameters, joined according to drive system
Several current state values, obtains the electric current estimated value of electric machine controller input dc bus.
Further, after the current state value for obtaining the drive system parameters, the fault detect processing
Method also includes：When not getting the current state value of the drive system parameters, perform first and remind operation, and to vehicle
Carry out max. speed limitation and the limitation of drive system peak power output.
Specifically, it is described when not getting the current state value of the drive system parameters, perform first and remind operation,
And the step of max. speed limitation and drive system peak power output are limited is carried out to vehicle included：Currently exported in motor
When torque arithmetic fails and/or DC bus-bar voltage is abnormal, perform first and remind operation, and max. speed limitation is carried out to vehicle
And the limitation of drive system peak power output.
It is therein first prompting operation can be：Instrument stops display driving system operating current；Ring alarm sound；Light instrument
Drive system trouble light, while instrument text prompt driver：Drive system is broken down, and power output is limited, please
Safe driving is simultaneously overhauled to vehicle as early as possible；Max. speed limitation and drive system peak power output limit are carried out to vehicle
System, wherein max. speed is limited to 15km/h, and drive system peak power output is limited to the 30% of rated power.
In the present embodiment, the current state value bag of the drive system parameters is preferably included：Current motor tachometer value and current
Output torque value.
Specifically, the current state value according to drive system parameters, obtains electric machine controller input dc bus
Electric current estimated value the step of include：According to current motor tachometer value and current output torque value, working as electric machine controller is obtained
Preceding efficiency；According to the current motor tachometer value, the current output torque value, the current efficiency of the electric machine controller and institute
Magnitude of voltage is stated, the electric current estimated value is obtained.
More specifically, it is described according to the current motor tachometer value, the current output torque value, the electric machine controller
Current efficiency and the magnitude of voltage, the step of obtaining the electric current estimated value, using equation below：
Wherein, ImcuElectric current estimated value is represented, n represents current motor tachometer value, TqRepresent current output torque value, ηmcu
(n,Tq) represent electric machine controller current efficiency, UmcuRepresent the magnitude of voltage of current sensor.
Further, in the present embodiment, the electric current estimated value is sent to entire car controller and battery management described
While system or afterwards, the fault detect processing method also includes：Perform second and remind operation.
Wherein, second prompting operation can be：Trouble light is lighted, instrument prompting is carried out.
The fault detect processing method to the sampling circuit provided in an embodiment of the present invention is further described below.
, (can the embodiments of the invention provide a kind of fault detect processing method of sampling circuit for above-mentioned technical problem
To be specially detection and the processing method of controller for motor of pure electric vehicle DC bus current sampling circuit failure), wherein logical
Cross reasonable design current collecting sensor signal circuit realiration to sampling circuit failure (including sampling circuit shorted to earth therefore
Barrier, sampling circuit is to power supply short circuit failure and sampling circuit open circuit fault) effective detection；
A kind of troubleshooting scheme different from traditional passive troubleshooting measure is given on this basis：The present invention
According to drive system current state (current state value of drive system parameters, including current motor tachometer value, current output torque
Value) effective estimation to electric machine controller input DC bus current is realized, it is electric when occurring electric machine controller dc bus
Flow after sampling circuit failure, continue to ensure the normal execution of full-vehicle control logic using estimated value, before safe driving is ensured
Put the driving experience as far as possible to driver to protect, driver is not reduced driving experience because of the failure as far as possible.
In view of the scheme that provides of the present invention have it is simple and easy to do, be easily achieved the characteristics of, while will not additionally increase electricity
The manufacturing cost of machine controller, therefore with good promotional value.
It is divided into three parts to scheme provided in an embodiment of the present invention below to describe in detail.
Part I, control system framework.
The fault detect processing method of sampling circuit provided in an embodiment of the present invention is applicable to control as shown in Figure 2
The vehicle of system architecture processed.
In control framework (including entire car controller, battery management system, electric machine controller, motor, the instrument shown in Fig. 2
With other annexes) in, entire car controller can be according to gear, accelerator pedal aperture (gear, accelerator pedal, electric power steering system
System EPS, DC-DC power supply DC/DC, anti-blocking brake system ABS, air-conditioning system etc. are classified as other annex categories) and
The information such as electrokinetic cell state are calculated first obtains torque command；Electric machine controller then enters according to the torque command to motor
Row control, makes that motor reality output moment of torsion is quick, command torque is accurately followed, so as to realize vehicle driving functions.
In this process, electric machine controller feeds back its input dc bus to entire car controller and battery management system
Current information, wherein, entire car controller is shown using current value progress instrument, drive system consumes power calculation, vehicle energy
Buret manages the execution of logic；Battery management system carries out realizing electrokinetic cell overcurrent protection control logic using the value；And motor
The limitation that controller is then carried out to electric system according to the electric current is protected, such as overcurrent protection, torque limit.
Part II, the fault detection method of electric machine controller DC bus current sampling circuit.
(1) hardware circuit is realized
Specific electric machine controller DC bus current Acquisition Circuit using current sensor as shown in figure 3, detect motor control
The voltage signal access Acquisition Circuit of device DC bus current processed, wherein current sensor feedback (in figure at the test point 1 of left side)
In, the voltage signal of the feedback of current sensor changes according to the difference of DC bus current, and the signal passes through RC low pass filtereds
A/D (analog/digital signal conversion) collections (right side inspection in figure is carried out by motor control internal control chip after ripple (capacitance-resistance filter)
At measuring point 2), the influence test point 1 for ignoring interference is equal with the voltage at 2.Pass through after the feedback voltage for obtaining current sensor
Just electric machine controller input dc bus electricity can be obtained after " voltage --- the electric current " relation curve for inquiring about the current sensor
Flow valuve.
Acquisition Circuit shown in other Fig. 3 is additionally operable to the detection of current sampling circuit failure, especially by A/ at test point 2
D (analog/digital signal conversion) collection voltages are judged：
1. occurs sampling circuit to power supply short circuit failure
To the test point and power supply short circuit in power supply short circuit corresponding diagram 1, the magnitude of voltage that now A/D is collected at the point exists
Near supply voltage (Vcc)；
2. occurs sampling circuit shorted to earth failure
Test point at 1 in shorted to earth corresponding diagram is with ground short circuit, and the magnitude of voltage that now A/D is collected at the point is attached in 0V
Closely；
3. occurs sampling circuit open circuit fault
Disconnection fault occurs at 1 in breaking corresponding diagram, now A/D collects magnitude of voltage at the point in supply voltage
(Vcc) near；
It is the relation of sampling circuit failure and test point voltage above.
(2) fault detect flow
The fault detection method of electric machine controller DC bus current sampling circuit it is specific as shown in figure 4, including：
Step 41：Judge VcWhether V is more thanH, if so, into step 43, if it is not, into step 42；
Step 42：Judge VcWhether V is less thanL, if so, into step 43, if it is not, terminating flow；
Step 43：Judge occur DC bus current sampling circuit failure.
Wherein, VcRepresent the voltage signal for the DC bus current sensor that electric machine controller is collected；VHWith VLDifference table
Show the upper limit and lower limit of current sampling circuit false voltage threshold value, wherein VH＞ VL.The logic according to Fig. 4, if bus current is adopted
Collect signal VcNot in [VL,VH] in the range of then judge that the road sampling circuit breaks down.
VHWith VLSelection consider the detection interval of bus current sensor, i.e., more than VHOr less than VLVoltage range
It is not the electric machine controller DC bus current sensor (current sense in electric machine controller DC bus current sampling circuit
Device) Normal Feedback current signal valid interval；Acquisition Circuit according to Fig. 4, when the current signal collected is more than VH,
Then now occurs sampling circuit to power supply short circuit or sampling circuit open circuit fault, when current signal is less than VLWhen then occur to sample back
Road shorted to earth failure.
Part III, the fault handling method of electric machine controller DC bus current sampling circuit.
The side that the fault handling method for the electric machine controller DC bus current sampling circuit that the present invention is provided passes through estimation
Formula calculates and obtains input DC bus current, and the current value of the estimation is by the normal execution for ensureing full-vehicle control logic.
The fault handling method includes two parts content, and respectively input DC bus current is estimated and troubleshooting, separately below
It is introduced.
(1) estimation of electric machine controller DC bus current (obtains the electric current estimation of electric machine controller input dc bus
Value).
The embodiment of the present invention carries out DC bus current estimation using moment of torsion formula, specific as follows：
In formula (1), ImcuThe input DC bus current (electric current estimated value) of estimation is represented, n represents the current rotating speed of motor
(current motor tachometer value), TqRepresent motor current output torque (current output torque value), ηmcu(n,Tq) represent motor control
The current efficiency of device, UmcuRepresent current electric machine controller input DC bus-bar voltage (magnitude of voltage of current sensor).
Electric machine controller and motor can distribute heat to pure electric automobile drive system in the course of the work, this portion of energy
Generation for moment of torsion is not acted, therefore there is efficiency, and the efficiency includes electric machine controller efficiency and motor
Drive-train efficiency, in embodiments of the present invention, is all placed in electric machine controller, i.e. motor by two parts to simplify problem
Efficiency is also included in the efficiency category of electric machine controller.
In the course of the work, its efficiency is relevant with current motor status for drive system, such as under high-speed state, due to
Electric machine controller built-in electrical insulation grid bipolar transistor IGBT module switch frequency increases, and can now produce more switching losses
(increase of IGBT caloric values)；Equally, motor high pulling torque output in the state of, due to electric current increase motor body can produce it is more
Thermal losses.The analysis more than is it can be found that the efficiency and motor speed, output torque strong correlation of drive system, are this
The present invention is in formula (1) by the current efficiency η of electric machine controllermcu(n,Tq) to be expressed as the current rotating speed of motor currently defeated with motor
Go out the function of moment of torsion, its acquisition pattern is as figure 5 illustrates.
Especially by early stage real vehicle bench test, the current rotating speed of motor, motor current output torque and motor control are obtained
Mapping relations between device efficiency, relation above is stored in table form and (obtains motor control Efficiency Inquiry table),
In actual applications, as shown in figure 5, passing through the current rotating speed n of motor and motor current output torque TqIt can directly inquire about and obtain electricity
Machine controller efficiency etamcu(n,Tq), and then DC bus current estimated value I is obtained by formula (1) calculatingmcu。
(2) troubleshooting process
The fault handling method of the DC bus current sampling circuit that the present invention is provided it is specific as shown in fig. 6, including：
Step 61：Electric machine controller DC bus current is estimated；
Step 62：Judge whether estimation succeeds, if so, into step 63, if it is not, into step 64；
Step 63：Troubleshooting mode 1；
Step 64：Troubleshooting mode 2.
Because when occurring electric machine controller input DC bus current sampling circuit failure, to ensure integrated vehicle control tactics
It is normal to perform, it is necessary to estimate DC bus current, according to formula (1), to complete electric current estimate need to obtain first with
Under several parameters：The current rotating speed of motor, motor current output torque, the current efficiency of electric machine controller and electric machine controller are defeated
Enter and hold DC bus-bar voltage, above parameter can be obtained effectively under normal circumstances, but under abnormality then it is impossible to ensure that,
Such as motor current output torque calculates failure, DC bus-bar voltage exception, is that this present invention carries out DC bus current first
Estimated state judges, troubleshooting is carried out using troubleshooting mode 1 if being estimated successfully, and failure is used if not being estimated successfully
Processing mode 2 carries out troubleshooting, and present invention difference of the extent of injury according to caused by failure is refined to processing mode, this
Sample one can ensure the driving experience of driver on the premise of traffic safety is ensured.
Specific troubleshooting mode is as follows：
1. troubleshooting mode 1
Due to resulting in the estimated value of bus current under under the circumstances, the estimated value integrated vehicle control tactics are utilized
It can be normally carried out, traffic safety will not be caused a hidden trouble, therefore carry out troubleshooting in the following ways：
Full-vehicle control logic is completed using the electric machine controller input DC bus current of estimation；Light instrument drive system
System trouble light, while instrument text prompt driver：Drive system breaks down, and asks safe driving and vehicle is examined as early as possible
Repair.
2. troubleshooting mode 2
The DC bus current of electric machine controller input is now obtained due to can not normally estimate, this will be caused
Integrated vehicle control tactics can not perform (e.g., instrument can not display driving system current value, some Preservation tactics of vehicle can not
Normal execution etc.), this will produce hidden danger to traffic safety, be that this carries out troubleshooting in the following ways：
Instrument stops display driving system operating current；Ring alarm sound；Instrument board driver circuit system trouble light is lighted, while instrument
Text prompt driver：Drive system is broken down, and power output is limited, and asks safe driving and vehicle is carried out as early as possible
Maintenance；Max. speed limitation and the limitation of drive system peak power output are carried out to vehicle, wherein max. speed is limited to
15km/h, drive system peak power output is limited to the 30% of rated power.
Traffic safety is ensured by above measure.
From the foregoing, it will be observed that the present invention scheme that provides by reasonable design current collecting sensor signal circuit realiration to adopting
Sample loop fault (including sampling circuit shorted to earth failure, sampling circuit are to power supply short circuit failure and sampling circuit open circuit event
Barrier) effective detection；
Troubleshooting mode is different from traditional passive troubleshooting measure in scheme provided in an embodiment of the present invention, we
Case is realized to electric machine controller input dc bus according to drive system current state (motor speed, current output torque)
Effective estimation of electric current, ensures whole after occurring electric machine controller DC bus current sampling circuit failure using estimated value continuation
The normal execution of car control logic, the driving experience as far as possible to driver on the premise of traffic safety is ensured is protected,
Driver is set not reduce Driving because of the failure as far as possible；
Scheme provided in an embodiment of the present invention is handled for the different incremental progress of the extent of injury caused by failure,
Driver is pointed out by way of instrument fault lamp, instrument text prompt and ring alarm sound, if the failure is in addition
Through producing influence to traffic safety, then by further active restriction, (including limitation vehicle max. speed, limitation drive
System peak power output) ensure traffic safety.In view of this programme have it is simple and easy to do, be easily achieved the characteristics of, simultaneously
The manufacturing cost of electric machine controller will not additionally be increased, therefore with good promotional value.
Embodiment two
As shown in fig. 7, the embodiment of the present invention provides a kind of fault detect processing unit of sampling circuit, motor can be applied to
Controller, the fault detect processing unit includes：
First acquisition module 71, for obtaining the current sensor in electric machine controller DC bus current sampling circuit
Magnitude of voltage；
First processing module 72, samples back for being worth to the electric machine controller DC bus current according to the voltage
The failure detection result on road；
Second processing module 73, for indicating that the electric machine controller DC bus current is adopted in the failure detection result
When sample loop has failure, according to the current state value of drive system parameters, electric machine controller input dc bus is obtained
Electric current estimated value；
Sending module 74, for the electric current estimated value to be sent into entire car controller and battery management system.
The fault detect processing unit for the sampling circuit that the embodiment of the present invention two is provided is by obtaining electric machine controller
The magnitude of voltage of current sensor in DC bus current sampling circuit；Electric machine controller dc bus electricity is worth to according to voltage
Flow the failure detection result of sampling circuit；Can realize to sampling circuit failure (including sampling circuit shorted to earth failure, sampling
Loop is to power supply short circuit failure and sampling circuit open circuit fault) effective detection；
And when failure detection result indicates that the electric machine controller DC bus current sampling circuit has failure, root
According to the current state value of drive system parameters, the electric current estimated value of electric machine controller input dc bus is obtained；Electric current is estimated
Calculation value is sent to entire car controller and battery management system；Can realize has to electric machine controller input DC bus current
Effect estimation, continues to ensure that full-vehicle control is patrolled after occurring electric machine controller DC bus current sampling circuit failure using estimated value
The normal execution collected, the driving experience as far as possible to driver on the premise of safe driving is ensured is protected, and is made as far as possible
Driver does not reduce driving experience because of the failure；Solve that can not to be actively directed to electric machine controller in the prior art straight well
Flow bus current sampling circuit and carry out the problem of fault detect and processing.
In addition, scheme provided in an embodiment of the present invention is simple and easy to do, be easily achieved, while will not additionally increase motor control
The manufacturing cost of device, with good promotional value.
Specifically, the first processing module includes：Comparison sub-module, for by the magnitude of voltage respectively with first voltage
Threshold value and second voltage threshold value are compared；First processing submodule, for obtaining the electric machine controller according to comparative result
The failure detection result of DC bus current sampling circuit；The first voltage threshold value is less than the second voltage threshold value.
Further, the fault detect processing unit also includes：3rd processing module, for described by the voltage
Before value is compared with first voltage threshold value and second voltage threshold value respectively, according to the upper limit detection threshold of the current sensor
Value, obtains the second voltage threshold value；Fourth processing module, for the lower limit detection threshold value according to the current sensor, is obtained
To the first voltage threshold value.
It can not be obtained in abnormal cases in view of the current state value of drive system parameters in the present embodiment, therefore, institute
Stating fault detect processing unit also includes：Second acquisition module, in the current state value according to drive system parameters,
Before the electric current estimated value for obtaining electric machine controller input dc bus, the current state of the drive system parameters is obtained
Value；
Corresponding, the Second processing module includes：Second processing submodule, for getting the drive system ginseng
During several current state value, according to the current state value of drive system parameters, electric machine controller input dc bus is obtained
Electric current estimated value.
Further, the fault detect processing unit also includes：5th processing module, for obtaining described drive described
After the current state value of dynamic systematic parameter, when not getting the current state value of the drive system parameters, first is performed
Operation is reminded, and max. speed limitation and the limitation of drive system peak power output are carried out to vehicle.
In the present embodiment, the current state value bag of the drive system parameters is preferably included：Current motor tachometer value and current
Output torque value.
Specifically, the Second processing module includes：3rd processing submodule, for according to current motor tachometer value and work as
Preceding output torque value, obtains the current efficiency of electric machine controller；Fourth process submodule, for according to the current motor rotating speed
Value, the current output torque value, the current efficiency of the electric machine controller and the magnitude of voltage, obtain the electric current estimation
Value.
More specifically, the fourth process submodule uses equation below：
Wherein, ImcuElectric current estimated value is represented, n represents current motor tachometer value, TqRepresent current output torque value, ηmcu
(n,Tq) represent electric machine controller current efficiency, UmcuRepresent the magnitude of voltage of current sensor.
Further, in the present embodiment, the fault detect processing unit also includes：Performing module, for being incited somebody to action described
While the electric current estimated value is sent to entire car controller with battery management system or afterwards, performs second and remind operation.
Wherein, the described of the fault detect processing method of above-mentioned sampling circuit realizes that embodiment is applied to the sampling circuit
Fault detect processing unit embodiment in, can also reach identical technique effect.
In order to solve the above-mentioned technical problem, the embodiment of the present invention additionally provides a kind of electric machine controller, including：Above-mentioned adopts
The fault detect processing unit in sample loop.
Wherein, the described of the fault detect processing unit of above-mentioned sampling circuit realizes that embodiment is applied to the motor control
In the embodiment of device, identical technique effect can be also reached.
In order to solve the above-mentioned technical problem, the embodiment of the present invention additionally provides a kind of vehicle, including：Above-mentioned motor control
Device.
Wherein, the described of above-mentioned electric machine controller realizes that embodiment suitable for the embodiment of the vehicle, can also reach
Identical technique effect.
It should be noted that this many functional part described in this description is all referred to as module/submodule, so as to more
Plus especially emphasize the independence of its implementation.
In the embodiment of the present invention, module/submodule can be realized with software, so as to by various types of computing devices.
For example, the executable code module of a mark can include the one or more physics or logic of computer instruction
Block, for example, it can be built as object, process or function.Nevertheless, the executable code of institute's mark module need not
It is physically located together, but can includes being stored in different instructions in different positions, is combined when in these command logics
When together, its regulation purpose for constituting module and realizing the module.
In fact, executable code module can be the either many bar instructions of individual instructions, and it can even be distributed
On multiple different code segments, it is distributed among distinct program, and is distributed across multiple memory devices.Similarly, grasp
Making data can be identified in module, and can be realized according to any appropriate form and be organized in any appropriate class
In the data structure of type.The peration data can be collected as individual data collection, or can be distributed on diverse location
(being included in different storage device), and only can be present at least in part as electronic signal in system or network.
When module can be realized using software, it is contemplated that the level of existing hardware technique, it is possible to implemented in software
Module, in the case where not considering cost, those skilled in the art can build corresponding hardware circuit realize correspondence
Function, the hardware circuit includes conventional ultra-large integrated (VLSI) circuit or gate array and such as logic core
The existing semiconductor of piece, transistor etc either other discrete elements.Module can also use programmable hardware device, such as
Field programmable gate array, programmable logic array, programmable logic device etc. are realized.
Above-described is the preferred embodiment of the present invention, it should be pointed out that come for the ordinary person of the art
Say, under the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications should also be regarded
For protection scope of the present invention.
Claims (12)
1. the fault detect processing method of a kind of sampling circuit, applied to electric machine controller, it is characterised in that including：
Obtain the magnitude of voltage of the current sensor in electric machine controller DC bus current sampling circuit；
The failure detection result of the electric machine controller DC bus current sampling circuit is worth to according to the voltage；
When the failure detection result indicates that the electric machine controller DC bus current sampling circuit has failure, according to drive
The current state value of dynamic systematic parameter, obtains the electric current estimated value of electric machine controller input dc bus；
The electric current estimated value is sent to entire car controller and battery management system.
2. fault detect processing method according to claim 1, it is characterised in that described that institute is worth to according to the voltage
The step of failure detection result for stating electric machine controller DC bus current sampling circuit, includes：
The magnitude of voltage is compared with first voltage threshold value and second voltage threshold value respectively；
The failure detection result of the electric machine controller DC bus current sampling circuit is obtained according to comparative result；
The first voltage threshold value is less than the second voltage threshold value.
3. fault detect processing method according to claim 2, it is characterised in that it is described by the magnitude of voltage respectively with
Before first voltage threshold value and second voltage threshold value are compared, the fault detect processing method also includes：
According to the upper limit detection threshold value of the current sensor, the second voltage threshold value is obtained；
According to the lower limit detection threshold value of the current sensor, the first voltage threshold value is obtained.
4. fault detect processing method according to claim 1, it is characterised in that described according to drive system parameters
Before current state value, the electric current estimated value for obtaining electric machine controller input dc bus, the fault detect processing method
Also include：
Obtain the current state value of the drive system parameters；
The current state value according to drive system parameters, obtains the electric current estimated value of electric machine controller input dc bus
The step of include：
When getting the current state value of the drive system parameters, according to the current state value of drive system parameters, obtain
The electric current estimated value of electric machine controller input dc bus.
5. fault detect processing method according to claim 4, it is characterised in that obtain the drive system ginseng described
After several current state values, the fault detect processing method also includes：
When not getting the current state value of the drive system parameters, perform first and remind operation, and vehicle is carried out most
High speed limitation and the limitation of drive system peak power output.
6. fault detect processing method according to claim 1, it is characterised in that the current shape of the drive system parameters
State value includes：Current motor tachometer value and current output torque value.
7. fault detect processing method according to claim 6, it is characterised in that the working as according to drive system parameters
The step of preceding state value, electric current estimated value for obtaining electric machine controller input dc bus, includes：
According to current motor tachometer value and current output torque value, the current efficiency of electric machine controller is obtained；
According to the current motor tachometer value, the current output torque value, the current efficiency of the electric machine controller and described
Magnitude of voltage, obtains the electric current estimated value.
8. fault detect processing method according to claim 7, it is characterised in that described according to the current motor rotating speed
Value, the current output torque value, the current efficiency of the electric machine controller and the magnitude of voltage, obtain the electric current estimated value
The step of, using equation below：
<mrow>
<msub>
<mi>I</mi>
<mrow>
<mi>m</mi>
<mi>c</mi>
<mi>u</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<mi>n</mi>
<mo>&times;</mo>
<msub>
<mi>T</mi>
<mi>q</mi>
</msub>
</mrow>
<mrow>
<mn>9.55</mn>
<mo>&times;</mo>
<msub>
<mi>&eta;</mi>
<mrow>
<mi>m</mi>
<mi>c</mi>
<mi>u</mi>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>,</mo>
<msub>
<mi>T</mi>
<mi>q</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<msub>
<mi>U</mi>
<mrow>
<mi>m</mi>
<mi>c</mi>
<mi>u</mi>
</mrow>
</msub>
</mrow>
</mfrac>
<mo>;</mo>
</mrow>
Wherein, ImcuElectric current estimated value is represented, n represents current motor tachometer value, TqRepresent current output torque value, ηmcu(n,Tq)
Represent the current efficiency of electric machine controller, UmcuRepresent the magnitude of voltage of current sensor.
9. fault detect processing method according to claim 1, it is characterised in that send out the electric current estimated value described
While entire car controller is given with battery management system or afterwards, the fault detect processing method also includes：
Perform second and remind operation.
10. the fault detect processing unit of a kind of sampling circuit, applied to electric machine controller, it is characterised in that including：
First acquisition module, the voltage for obtaining the current sensor in electric machine controller DC bus current sampling circuit
Value；
First processing module, the event for being worth to the electric machine controller DC bus current sampling circuit according to the voltage
Hinder testing result；
Second processing module, for indicating the electric machine controller DC bus current sampling circuit in the failure detection result
When there is failure, according to the current state value of drive system parameters, the electric current for obtaining electric machine controller input dc bus is estimated
Calculation value；
Sending module, for the electric current estimated value to be sent into entire car controller and battery management system.
11. a kind of electric machine controller, it is characterised in that including：At the fault detect of sampling circuit as claimed in claim 10
Manage device.
12. a kind of vehicle, it is characterised in that including：Electric machine controller as claimed in claim 11.
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