CN107306108A - Treating method and apparatus under motor rotation blockage state - Google Patents
Treating method and apparatus under motor rotation blockage state Download PDFInfo
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- CN107306108A CN107306108A CN201610258075.9A CN201610258075A CN107306108A CN 107306108 A CN107306108 A CN 107306108A CN 201610258075 A CN201610258075 A CN 201610258075A CN 107306108 A CN107306108 A CN 107306108A
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- locked rotor
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000012545 processing Methods 0.000 claims description 35
- 238000003672 processing method Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims description 2
- 238000010438 heat treatment Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000036760 body temperature Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
-
- 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
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The embodiment of the present invention discloses the treating method and apparatus under a kind of motor rotation blockage state, belongs to the drive control field of electric car.When determining that motor is in locked rotor condition according to current rotating speed and command torque, the moment of torsion of input vector controller is adjusted to target torque, target torque is that moment of torsion variable is superimposed on the basis of command torque, and moment of torsion variable is the moment of torsion with predetermined period vibration and positive and negative alternately change；Target torque is sent to vector controller, vector controller is calculated according to target torque to be obtained sending after three-phase PWM dutycycle to power component, and power component controlled motor is rotated.The embodiment of the present invention is the moment of torsion with predetermined period vibration and positive and negative alternately change to be superimposed moment of torsion variable, moment of torsion variable on the basis of command torque due to target torque, so that also generating period changes the rotational angle of rotor, therefore, it can correspondingly be reduced by the single-phase current peak of power component, damaged during so as to avoid motor from being in locked rotor condition because heating up too high.
Description
Technical field
The present invention relates to the place under the drive control field of electric car, more particularly to a kind of motor rotation blockage state
Manage method and apparatus.
Background technology
At present, people's pay attention to day by day is used the protection of environment and the effective and reasonable of the energy.Therefore, it is high
Effect, the electric car of energy-saving and environmental protection turn into one of China Automobile Industry trend.In the use process of electric car
In, motor rotation blockage can usually occur due to a variety of causes, as electric car in low speed by potted road surface
When, wheel sinkage can be often run into, so that stall occurs for its motor.Wherein, the rotation of motor is by electronic
The drive system control of car.
As shown in figure 1, it illustrates a kind of drive system schematic diagram of electric car of the prior art.Should
Drive system includes vector controller, power component (IGBT, Insulated Gate Bipolar
) and motor Transistor.Electric car is generally using three-phase alternating current come motor.TqrefFor vehicle control
Device processed is sent to the command torque of the vector controller of electric car, by defeated after vector controller analytical Calculation
Go out three-phase PWM dutycycle to power component, power component exports energy control according to its PWM duty cycle
Motor rotation processed.Wherein, command torque can be with the rotational angle of controlled motor.
When motor is in locked rotor condition, the temporary transient constant or excursion of rotational angle of usual motor is very
It is small, when rotational angle is constant, the single-phase electricity by electric machine controller power component may be caused to flow through
Greatly, so as to cause power component temperature rise too fast, and then the damage of power component is caused.It is in the prior art
Avoid motor from being in locked rotor condition and cause power component to damage, be generally in stall detecting motor
During state, the heating for reducing power component is reached by reducing IGBT switching frequency.
During the present invention is realized, inventor has found that prior art at least has problems with：
When motor is in locked rotor condition, by the way of reduction power component switching frequency, although one
Determine that the loss of power component can be reduced in degree, but can not fundamentally change under locked rotor condition and flow through work(
The problem of monophase current of rate element is excessive.Therefore, such a method is avoiding the excessive caused temperature rise of electric current
Too high, effect is little in the protection that the power component caused is damaged.
The content of the invention
A technical problem to be solved of the embodiment of the present invention is：There is provided under a kind of motor rotation blockage state
When treating method and apparatus, this kind of processing method and processing unit can avoid motor in locked rotor condition,
The monophase current for flowing through power component is excessive, so that power component heating is too high and causes to power member
The damage of part.
Processing method under a kind of motor rotation blockage state provided in an embodiment of the present invention, methods described is applied to
The drive system of motor, the system at least includes vector controller, power component and motor, described
One end of power component is connected with the vector controller, the other end and the motor connection, and its feature exists
In, including：
Obtain the command torque that the current rotating speed and entire car controller of motor are indicated；
Judge whether the motor is in locked rotor condition according to the current rotating speed and the command torque；
When it is determined that the motor is in locked rotor condition, by the moment of torsion for inputting the vector controller adjust to
Target torque, the target torque is that moment of torsion variable, the torsion are superimposed on the basis of the command torque
Square variable is to be vibrated with predetermined period and the positive and negative moment of torsion alternately changed；
The target torque is sent to the vector controller, by the vector controller according to the mesh
Mark torque arithmetic obtains sending after three-phase PWM dutycycle to the power component, by the power component
Motor is rotated according to the three-phase PWM Duty ratio control.
Alternatively, it is described to judge whether the motor is according to the current rotating speed and the command torque
Locked rotor condition, including：
Judge whether the current rotating speed is less than default stall rotary speed threshold value；
When the current rotating speed is less than the default stall rotary speed threshold value, whether the command torque is judged
More than default stall torque threshold；
When the command torque is more than the default stall torque threshold, determine that the motor is in stall
State.
Alternatively, it is described to judge whether the command torque is more than after default stall torque threshold, also wrap
Include：
When the current rotating speed is less less than the default stall rotary speed threshold value, and/or the command torque is not
During more than the default stall torque threshold, determine that the motor is not in locked rotor condition.
Alternatively, before the target torque of the regulation input vector controller, in addition to：
Judge whether time of the motor in locked rotor condition reaches preset time；
When the time that the motor is in locked rotor condition reaching preset time, perform the regulation order and turn round
The step of square to target torque.
Alternatively, it is described judge the motor be in locked rotor condition time whether reach preset time it
Afterwards, in addition to：
When the time that the motor is in locked rotor condition being not up to preset time, directly the order is turned round
Square is sent to the vector controller of motor.
The embodiments of the invention provide the processing unit under a kind of motor rotation blockage state, the processing unit should
For the drive system of motor, the system at least includes vector controller, power component and motor,
One end of the power component is connected with the vector controller, the other end and the motor connection, and it is special
Levy and be, including：
Acquiring unit, for obtaining the command torque that the current rotating speed and entire car controller of motor are indicated；
Motor rotation blockage judging unit, for judging the electricity according to the current rotating speed and the command torque
Whether machine is in locked rotor condition；
Adjustment unit, for when it is determined that the motor is in locked rotor condition, the vector controlled will to be inputted
The moment of torsion of device is adjusted to target torque, and the target torque is to be superimposed to turn round on the basis of the command torque
Square variable, the moment of torsion variable is to be vibrated with predetermined period and the positive and negative moment of torsion alternately changed；
Transmitting element, for the target torque to be sent to the vector controller, by the vector control
Device processed calculates according to the target torque and obtains sending after three-phase PWM dutycycle to the power component,
As the power component, the motor according to the three-phase PWM Duty ratio control is rotated.
Alternatively, the motor rotation blockage judging unit includes：
First judge module, for judging whether the current rotating speed is less than default stall rotary speed threshold value；
Second judge module, for when the current rotating speed is less than the default stall rotary speed threshold value, sentencing
Whether the command torque that breaks is more than default stall torque threshold；
First determining module, for when the command torque be more than the default stall torque threshold when, really
The fixed motor is in locked rotor condition.
Alternatively, the motor rotation blockage judging unit also includes：
Second determining module, for being less less than the default stall rotary speed threshold value when the current rotating speed,
And/or the command torque is when being not more than the default stall torque threshold, determine that the motor is not in blocking up
Turn state.
Alternatively, the processing unit also includes：
Judging unit, for judging whether time of the motor in locked rotor condition reaches preset time；
The adjustment unit, when reaching preset time for being in the time of locked rotor condition when the motor,
Perform the step of regulation command torque is to target torque.
Alternatively, the transmitting element, is additionally operable to when the time that the motor is in locked rotor condition is not up to
During preset time, directly the command torque is sent to the vector controller of motor.
The processing method and processing unit provided based on the above embodiment of the present invention, when it is determined that motor is in stifled
When turning state, the moment of torsion of input vector controller is adjusted to target torque, and target torque is in order
It is to be vibrated with predetermined period and positive and negative alternately change that moment of torsion variable, moment of torsion variable are superimposed on the basis of moment of torsion
Moment of torsion, makes the positive and negative increase and decrease of target torque generating period of input vector controller, so that motor
The rotational angle of rotor also can generating period change, therefore, pass through the single-phase current peak of power component
Can correspondingly it reduce, the temperature rise on power component can also reduce accordingly, so as to avoid motor from being in
Motor is damaged during locked rotor condition.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
The accompanying drawing for constituting a part for specification describes embodiments of the invention, and together with description
Principle for explaining the present invention.
Referring to the drawings, according to following detailed description, the present invention can be more clearly understood from, wherein：
Fig. 1 is a kind of drive system schematic diagram of electric car of the prior art.
Fig. 2 is the implementation ring involved by the processing method under motor rotation blockage state provided in an embodiment of the present invention
Border schematic diagram.
Fig. 3 be a kind of motor rotation blockage state provided in an embodiment of the present invention under processing method flow chart.
Fig. 4 be another motor rotation blockage state provided in an embodiment of the present invention under processing method flow
Figure.
Fig. 5 be a kind of motor rotation blockage state provided in an embodiment of the present invention under processing unit structural representation
Figure.
Fig. 6 is a kind of structural representation of motor rotation blockage judging unit provided in an embodiment of the present invention.
Fig. 7 is the structural representation of another motor rotation blockage judging unit provided in an embodiment of the present invention.
Fig. 8 shows for the structure of the processing unit under another motor rotation blockage state provided in an embodiment of the present invention
It is intended to.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should be noted that：Remove
Part and positioned opposite, the numeral of step non-to illustrate in addition, otherwise illustrate in these embodiments
Expression formula and numerical value are not limited the scope of the invention.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not
It is to be drawn according to actual proportionate relationship.
The description only actually at least one exemplary embodiment is illustrative, never conduct below
To the present invention and its application or any limitation used.
It may not make to beg in detail for technology, method and apparatus known to person of ordinary skill in the relevant
By, but in the appropriate case, the technology, method and apparatus should be considered as a part for specification.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once
It is defined, then it need not be further begged in subsequent accompanying drawing in a certain Xiang Yi accompanying drawing
By.
Fig. 2 is the implementation ring involved by the processing method under motor rotation blockage state provided in an embodiment of the present invention
Border schematic diagram, the implementation environment is the drive system of a motor.As shown in Fig. 2 the drive system
At least include processing unit, vector controller, power component and the motor under motor rotation blockage state.Motor
Processing unit under locked rotor condition is connected with vector controller；One end of power component connects with vector controller
Connect, the other end and motor connection of power component.Wherein, power component can for inverter, motor
Think permagnetic synchronous motor.Processing unit under motor rotation blockage state is pre-set in drive system.Separately
Outside, motor can built-in position sensor, the position sensor can detect rotating speed and the rotation of motor
Angle.
In Fig. 2, TqrefThe command torque of electric motor drive system is sent to for entire car controller, passes through arrow
Three-phase PWM dutycycle is exported after amount controller analytical Calculation to power component, power component output energy
Controlled motor rotates.In addition, the rotational angle for the rotor that position sensor is read, rotating speed n,
And feedback current ia、ib、icVector controller can be fed back to Deng signal, is determined by vector controller next
The command torque of step.
Implementation environment schematic diagram with reference to shown in Fig. 2, the embodiments of the invention provide a kind of motor rotation blockage shape
Processing method under state.Fig. 3 is the processing method under motor rotation blockage state provided in an embodiment of the present invention
Flow chart.As shown in figure 3, this method includes：
301：Obtain the command torque that the current rotating speed and entire car controller of motor are indicated.
Wherein, the processing unit under motor rotation blockage state, can basis when obtaining the current rotating speed of motor
The data that built-in position sensor is detected in motor are determined.Specifically, position sensor can be examined in real time
The rotating speed of measured motor, and by the processing unit under the rotating speed real-time synchronization to motor rotation blockage state.
The command torque that processing unit under motor rotation blockage state is indicated in the entire car controller for obtaining motor
When, command torque can be sent to entire car controller and obtain request；Entire car controller receives the command torque
Obtain after request, to its return command moment of torsion.Certainly, the processing unit under motor rotation blockage state can be with
Command torque is obtained using other manner, the embodiment of the present invention is not especially limited to this.
302：Judge whether motor is in locked rotor condition according to current rotating speed and command torque, when it is determined that motor
During in locked rotor condition, step 303 is performed；When it is determined that motor is not in locked rotor condition, step is performed
305。
Wherein, the processing unit under motor rotation blockage state is judging motor according to current rotating speed and command torque
When whether being in locked rotor condition, include but is not limited to 3021 real to step 3023 as follows
It is existing：
3021：Judge whether current rotating speed is less than default stall rotary speed threshold value, if current rotating speed is less than in advance
If stall rotary speed threshold value, then step 3022 is performed；If current rotating speed is not less than default stall rotating speed threshold
Value, then perform step 3024.
Wherein, presetting stall rotary speed threshold value can be relevant according to factors such as type, the models of motor.Tool
When body is implemented, presetting stall rotary speed threshold value can also be empirically determined.
For purposes of illustration only, the embodiment of the present invention represents current rotating speed with n, with n0Represent default stall rotating speed
Threshold value.When judging whether current rotating speed is less than default stall rotary speed threshold value, by n and n0Concrete numerical value
Compare.
3022：Judge whether command torque is more than default stall torque threshold, preset when command torque is more than
During stall torque threshold, step 3023 is performed；When command torque is not more than default stall torque threshold,
Perform step 3024.
Wherein, the current characteristics determination that stall torque threshold needs to refer to power component, different model are preset
Power component, its default stall torque threshold may be different.
For purposes of illustration only, the embodiment of the present invention is with TqrefCommand torque is represented, with TqlockRepresent default stifled
Torque threshold value., can be by comparing when judging whether command torque is more than default stall torque threshold
TqrefWith TqlockNumerical values recited realize.
3023：Determine that motor is in locked rotor condition.
Wherein, motor can have many situations motor is in locked rotor condition, for example, when motor is low
When speed is by potted road surface, or electric car failure etc..
3024：Determine that motor is not in locked rotor condition.
Wherein, if current rotating speed be less less than default stall rotary speed threshold value and command torque be not more than it is default
At least one in the two conditions of stall torque threshold meets condition, you can determine that motor is not in stall
State.
The embodiment of the present invention is by current rotating speed of the elder generation according to motor, then further according to the command torque of motor
Double factor determines whether motor is in locked rotor condition so that determine that result is relative according only to alternative one
It is determined that more accurate.
303：The moment of torsion of input vector controller is adjusted to target torque, wherein, target torque is in life
Superposition moment of torsion variable on the basis of moment of torsion is made, moment of torsion variable is to be vibrated with predetermined period and positive and negative alternately change
Moment of torsion.
Wherein, target torque is the moment of torsion of input vector controller.The embodiment of the present invention is by input vector
When the moment of torsion of controller is adjusted to target torque, the processing unit under locked rotor condition can first generate a torsion
Square variable, the moment of torsion variable is in periodic swinging and positive and negative alternately change；Then, the place under locked rotor condition
Command torque is superimposed by reason device with moment of torsion variable, obtains target torque.Wherein, command torque and moment of torsion
Whether variable, which is superimposed, to be controlled by switching.For example, when detecting motor in locked rotor condition,
Controlling switch is closed, and is superimposed command torque with moment of torsion variable with realizing；When be not detected by motor be in it is stifled
When turning state, maintained switch disconnects, now, and the moment of torsion of input vector controller is still command torque.
Amplitude on the concrete numerical value of predetermined period, and moment of torsion variable can be set as needed.This
Inventive embodiments represent moment of torsion variable with Δ Tq.Specifically, turned round in the target of regulation input vector controller
It is by Tq during squarerefIt is superimposed with Δ Tq.In this embodiment, target torque can be expressed as Tq.
It can include a torque fluctuation with reference to Fig. 2, inside the processing unit under locked rotor condition and occur list
A switch is concatenated after member, the torque fluctuation generating unit.When the processing unit under locked rotor condition pass through it is upper
State step determine motor be in locked rotor condition when, can control the torque fluctuation generating unit produce moment of torsion become
Amount.Now, controlling switch is closed, you can the moment of torsion that will be transmitted to vector controller is adjusted to target torsion
Square.When the processing unit under locked rotor condition does not determine that motor is in locked rotor condition by above-mentioned steps, protect
Hold and switch off, now, the moment of torsion of input vector controller is still command torque.
It should be noted that above-mentioned only with by switching control by the moment of torsion regulation of input to vector controller
It is illustrated exemplified by target torque.However, in the specific implementation, can also be adjusted using other modes
Section.For example, when detecting motor in locked rotor condition, the processing unit under locked rotor condition is automatically generated
After moment of torsion variable, and it is superimposed to automatically on command torque.When detecting motor and being not in locked rotor condition,
Moment of torsion variable is not generated then.
Alternatively, before the target torque of regulation input vector controller, the place under motor rotation blockage state
Reason device can also carry out following optional step 306：
306：Judge whether time of the motor in locked rotor condition reaches preset time；When motor is in stall
When the time of state reaches preset time, then the step of perform regulating command moment of torsion to target torque.
Wherein, preset time can combine the parameter settings such as the frequency of power component.
By judging whether time of the motor in locked rotor condition reaches preset time, and in motor in stifled
, can when the time for turning state reaches preset time, then the step of perform regulating command moment of torsion to target torque
To ensure that just the moment of torsion of input vector controller is adjusted when motor is in locked rotor condition really, keep away
Exempt from motor because accidental cause makes a short pause, cause its current rotating speed to be accidentally less than default stall rotating speed threshold
Value, or command torque is when being accidentally more than default stall torque threshold, erroneous judgement is caused, so that determining
The mode that motor is in locked rotor condition is more accurate.
304：Target torque is sent to vector controller, calculated by vector controller according to target torque
Sent after to three-phase PWM dutycycle to power component, by power component according to three-phase PWM dutycycle
Controlled motor is rotated.
Processing unit under motor rotation blockage state, can be with base when target torque is sent to vector controller
Communication protocol between the processing unit and vector controller under motor rotation blockage state is realized.
Calculated on vector controller according to target torque and obtain three-phase PWM (Pulse Width
Modulation, pulse width modulation) dutycycle mode, and by three-phase PWM dutycycle send to
The mode of power component, and the mode that power component is rotated according to three-phase PWM Duty ratio control motor
Existing implementation can be combined, the embodiment of the present invention is to this without limiting.
305：Directly command torque is sent to the vector controller of motor, by vector controller according to life
Torque arithmetic is made to be sent after obtaining correspondence three-phase PWM dutycycle to the power component of motor, by power
Element is rotated according to correspondence three-phase PWM Duty ratio control motor.
Specifically, when detecting motor and being not in locked rotor condition, then input vector controller is still life
Moment of torsion is made, the rotating manner that motor is indicated according to command torque is rotated further.
Alternatively, if performing optional step 306 before step 303, when it is determined that motor is in
When the time of locked rotor condition is not up to preset time, then perform the step 305.
Each above-mentioned optional step is fused in each step shown in above-mentioned Fig. 3, can be obtained such as figure
Flow chart shown in 4.Specific implementation on each step in Fig. 4 is entered in the above-described embodiments
Explanation is gone, here is omitted.
Method provided in an embodiment of the present invention, by will enter into the torsion of vector controller under locked rotor condition
Square is adjusted to target torque, and to change the rotational angle of rotor, work(is will focus on so as to realize
Current segment on rate element is single-phase is transferred in other two-phases, so as to reduce the whole of power component
Body temperature liter, prevents power component from damaging.Further, since the transmission system meeting between motor and wheel
There is certain rotation nargin, therefore, the anglec of rotation surplus of motor can be transmitted system absorption, therefore, should
The mode of kind can't influence the stability of vehicle.
As shown in figure 5, the embodiment of the present invention additionally provides the processing unit under a kind of motor rotation blockage state,
The processing unit can be used for performing the motor rotation blockage state that embodiment corresponding to above-mentioned Fig. 3 or Fig. 4 is provided
Under processing method.Processing unit is applied to the drive system of motor, and drive system at least includes vector
Controller, power component and motor, one end of power component is connected with vector controller, the other end and electricity
Machine is connected.As shown in figure 5, the processing unit includes acquiring unit 501, motor rotation blockage judging unit
502nd, torque fluctuation generating unit 503 and transmitting element 504.Wherein：
Acquiring unit 501, is turned round for obtaining the order that the current rotating speed and entire car controller of motor are indicated
Square；
Motor rotation blockage judging unit 502, for judging whether motor is located according to current rotating speed and command torque
In locked rotor condition；
Adjustment unit 503, for when it is determined that motor is in locked rotor condition, the vector controlled will to be inputted
The moment of torsion of device is adjusted to target torque, and target torque is that moment of torsion variable is superimposed on the basis of command torque,
Moment of torsion variable is to be vibrated with predetermined period and the positive and negative moment of torsion alternately changed；
Transmitting element 504, for target torque to be sent to vector controller, by vector controller according to
Target torque calculates and obtains sending to power component after three-phase PWM dutycycle, by power component according to three
Phase PWM duty cycle controlled motor is rotated.
Alternatively, as shown in fig. 6, motor rotation blockage judging unit 502 include the first judge module 5021,
Second judge module 5022 and the first determining module 5023, wherein：
First judge module 5021, for judging whether current rotating speed is less than default stall rotary speed threshold value；
Second judge module 5022, for when current rotating speed is less than default stall rotary speed threshold value, judging life
Make whether moment of torsion is more than default stall torque threshold；
First determining module 5023, for when command torque is more than default stall torque threshold, it is determined that electric
Machine is in locked rotor condition.
Alternatively, as shown in fig. 7, motor rotation blockage judging unit 502 also includes：
Second determining module 5024, for being less less than default stall rotary speed threshold value when current rotating speed, and/or
When command torque is not more than default stall torque threshold, determine that motor is not in locked rotor condition.
Alternatively, as shown in figure 8, processing unit also includes judging unit 505, wherein：
Judging unit 505, for judging whether time of the motor in locked rotor condition reaches preset time；
Adjustment unit 503, when reaching preset time for being in the time of locked rotor condition when motor, is performed
The step of regulating command moment of torsion to target torque.
Alternatively, transmitting element 504, be additionally operable to when motor be in locked rotor condition time be not up to it is default
During the time, directly command torque is sent to the vector controller of motor.
On the processing unit in above-described embodiment, wherein unit and module performs the specific side of operation
Formula is described in detail in the embodiment about this method, will be not set forth in detail herein
It is bright.
Above-mentioned all optional technical schemes, can form the alternative embodiment of the present invention using any combination,
This is no longer going to repeat them.
One of ordinary skill in the art will appreciate that：Realize all or part of step of above method embodiment
It can be completed by the related hardware of programmed instruction, it is computer-readable that foregoing program can be stored in one
Take in storage medium, the program upon execution, performs the step of including above method embodiment；And it is foregoing
Storage medium include：ROM, RAM, magnetic disc or CD etc. are various can be with Jie of store program codes
Matter.
The embodiment of each in this specification is described by the way of progressive, what each embodiment was stressed
All it is same or analogous part cross-reference between the difference with other embodiments, each embodiment
.For system embodiment, because it is substantially corresponding with embodiment of the method, so the ratio of description
Relatively simple, the relevent part can refer to the partial explaination of embodiments of method.
Methods and apparatus of the present invention may be achieved in many ways.For example, can be by software, hard
Part, firmware or software, hardware, any combinations of firmware realize methods and apparatus of the present invention.With
Said sequence the step of methods described is not limited merely to illustrate, the step of method of the invention
In order described in detail above, unless specifically stated otherwise.In addition, in some embodiments
In, the present invention can be also embodied as recording to program in the recording medium, these programs include being used to realize
The machine readable instructions of the method according to the invention.Thus, the present invention also covering storage is used to perform basis
The recording medium of the program of the method for the present invention.
Description of the invention in order to example and description for the sake of and provide, and be not exhaustively or
Limit the invention to disclosed form.Many modifications and variations are for one of ordinary skill in the art
Speech is obvious.Selection and description embodiment be in order to more preferably illustrate the present invention principle and practical application,
And make one of ordinary skill in the art it will be appreciated that the present invention is so as to design carrying suitable for special-purpose
The various embodiments of various modifications.
Claims (10)
1. a kind of processing method under motor rotation blockage state, methods described is applied to the drivetrain of motor
System, the system at least includes vector controller, power component and motor, one end of the power component
Be connected with the vector controller, the other end and the motor connection, it is characterised in that including：
Obtain the command torque that the current rotating speed and entire car controller of motor are indicated；
Judge whether the motor is in locked rotor condition according to the current rotating speed and the command torque；
When it is determined that the motor is in locked rotor condition, by the moment of torsion for inputting the vector controller adjust to
Target torque, the target torque is that moment of torsion variable, the torsion are superimposed on the basis of the command torque
Square variable is to be vibrated with predetermined period and the positive and negative moment of torsion alternately changed；
The target torque is sent to the vector controller, by the vector controller according to the mesh
Mark torque arithmetic obtains sending after three-phase PWM dutycycle to the power component, by the power component
Motor is rotated according to the three-phase PWM Duty ratio control.
2. according to the method described in claim 1, it is characterised in that it is described according to the current rotating speed and
The command torque judges whether the motor is in locked rotor condition, including：
Judge whether the current rotating speed is less than default stall rotary speed threshold value；
When the current rotating speed is less than the default stall rotary speed threshold value, whether the command torque is judged
More than default stall torque threshold；
When the command torque is more than the default stall torque threshold, determine that the motor is in stall
State.
3. method according to claim 2, it is characterised in that the judgement command torque is
It is no to be more than after default stall torque threshold, in addition to：
When the current rotating speed is less less than the default stall rotary speed threshold value, and/or the command torque is not
During more than the default stall torque threshold, determine that the motor is not in locked rotor condition.
4. according to the method described in claim 1, it is characterised in that described to input the vector controlled
The moment of torsion of device is adjusted to before target torque, in addition to：
Judge whether time of the motor in locked rotor condition reaches preset time；
When the time that the motor is in locked rotor condition reaching preset time, perform the regulation order and turn round
The step of square to target torque.
5. method according to claim 4, it is characterised in that the judgement motor is in stifled
Turn state time whether reach preset time after, in addition to：
When the time that the motor is in locked rotor condition being not up to preset time, directly the order is turned round
Square is sent to the vector controller of motor.
6. a kind of processing unit under motor rotation blockage state, the processing unit is applied to the driving of motor
System, the system at least includes vector controller, power component and motor, the one of the power component
End is connected with the vector controller, the other end and the motor connection, it is characterised in that including：
Acquiring unit, for obtaining the command torque that the current rotating speed and entire car controller of motor are indicated；
Motor rotation blockage judging unit, for judging the electricity according to the current rotating speed and the command torque
Whether machine is in locked rotor condition；
Adjustment unit, for when it is determined that the motor is in locked rotor condition, the vector controlled will to be inputted
The moment of torsion of device is adjusted to target torque, and the target torque is to be superimposed to turn round on the basis of the command torque
Square variable, the moment of torsion variable is to be vibrated with predetermined period and the positive and negative moment of torsion alternately changed；
Transmitting element, for the target torque to be sent to the vector controller, by the vector control
Device processed calculates according to the target torque and obtains sending after three-phase PWM dutycycle to the power component,
As the power component, the motor according to the three-phase PWM Duty ratio control is rotated.
7. processing unit according to claim 6, it is characterised in that the motor rotation blockage judges single
Member includes：
First judge module, for judging whether the current rotating speed is less than default stall rotary speed threshold value；
Second judge module, for when the current rotating speed is less than the default stall rotary speed threshold value, sentencing
Whether the command torque that breaks is more than default stall torque threshold；
First determining module, for when the command torque be more than the default stall torque threshold when, really
The fixed motor is in locked rotor condition.
8. processing unit according to claim 7, it is characterised in that the motor rotation blockage judges single
Member also includes：
Second determining module, for being less less than the default stall rotary speed threshold value when the current rotating speed,
And/or the command torque is when being not more than the default stall torque threshold, determine that the motor is not in blocking up
Turn state.
9. processing unit according to claim 6, it is characterised in that the processing unit is also wrapped
Include：
Judging unit, for judging whether time of the motor in locked rotor condition reaches preset time；
The adjustment unit, when reaching preset time for being in the time of locked rotor condition when the motor,
Perform the step of regulation command torque is to target torque.
10. processing unit according to claim 9, it is characterised in that the transmitting element, also
When being not up to preset time for being in the time of locked rotor condition when the motor, directly the order is turned round
Square is sent to the vector controller of motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610258075.9A CN107306108B (en) | 2016-04-21 | 2016-04-21 | Method and device for processing motor in locked-rotor state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610258075.9A CN107306108B (en) | 2016-04-21 | 2016-04-21 | Method and device for processing motor in locked-rotor state |
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| CN107306108A true CN107306108A (en) | 2017-10-31 |
| CN107306108B CN107306108B (en) | 2020-03-24 |
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| CN201610258075.9A Expired - Fee Related CN107306108B (en) | 2016-04-21 | 2016-04-21 | Method and device for processing motor in locked-rotor state |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110165971A (en) * | 2019-06-29 | 2019-08-23 | 潍柴动力股份有限公司 | A kind of motor rotation blockage guard method and device |
| CN110236419A (en) * | 2018-03-07 | 2019-09-17 | 广东美的生活电器制造有限公司 | Food processor and its control system and power down display control method |
| CN110247613A (en) * | 2018-03-07 | 2019-09-17 | 广东美的生活电器制造有限公司 | Food processor and its anti-motor rotation blockage control method, device |
| CN110277952A (en) * | 2019-06-29 | 2019-09-24 | 潍柴动力股份有限公司 | Over current of motor guard method and device |
| CN110313129A (en) * | 2018-05-29 | 2019-10-08 | 深圳市大疆创新科技有限公司 | Holder and motor control method, device |
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| CN111289894A (en) * | 2018-12-10 | 2020-06-16 | 广东威灵汽车部件有限公司 | Locked rotor detection method, system and device of motor and storage medium |
| CN111458635A (en) * | 2020-03-31 | 2020-07-28 | 江铃重型汽车有限公司 | Method and device for determining lifting and stalling states of glass, storage medium and electronic equipment |
| CN111711409A (en) * | 2020-06-29 | 2020-09-25 | 德尔福科技(苏州)有限公司 | Inverter power module thermal equalization method under motor locked-rotor condition |
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| CN110236419A (en) * | 2018-03-07 | 2019-09-17 | 广东美的生活电器制造有限公司 | Food processor and its control system and power down display control method |
| CN110247613A (en) * | 2018-03-07 | 2019-09-17 | 广东美的生活电器制造有限公司 | Food processor and its anti-motor rotation blockage control method, device |
| CN110313129A (en) * | 2018-05-29 | 2019-10-08 | 深圳市大疆创新科技有限公司 | Holder and motor control method, device |
| CN111289894A (en) * | 2018-12-10 | 2020-06-16 | 广东威灵汽车部件有限公司 | Locked rotor detection method, system and device of motor and storage medium |
| CN111289894B (en) * | 2018-12-10 | 2022-02-25 | 广东威灵汽车部件有限公司 | Locked rotor detection method, system and device of motor and storage medium |
| CN113169704A (en) * | 2018-12-12 | 2021-07-23 | 罗伯特·博世有限公司 | Method for operating an electric machine |
| CN110277952A (en) * | 2019-06-29 | 2019-09-24 | 潍柴动力股份有限公司 | Over current of motor guard method and device |
| CN110165971A (en) * | 2019-06-29 | 2019-08-23 | 潍柴动力股份有限公司 | A kind of motor rotation blockage guard method and device |
| CN110277952B (en) * | 2019-06-29 | 2022-05-17 | 潍柴动力股份有限公司 | Motor overcurrent protection method and device |
| CN110492811A (en) * | 2019-07-18 | 2019-11-22 | 华为技术有限公司 | The method and apparatus of capability improving in slope |
| CN110492811B (en) * | 2019-07-18 | 2021-06-22 | 华为技术有限公司 | Slope-retaining capacity improving method and device |
| CN111458635B (en) * | 2020-03-31 | 2022-12-02 | 江铃汽车股份有限公司 | Method and device for determining lifting and stalling states of glass, storage medium and electronic equipment |
| CN111458635A (en) * | 2020-03-31 | 2020-07-28 | 江铃重型汽车有限公司 | Method and device for determining lifting and stalling states of glass, storage medium and electronic equipment |
| CN111711409A (en) * | 2020-06-29 | 2020-09-25 | 德尔福科技(苏州)有限公司 | Inverter power module thermal equalization method under motor locked-rotor condition |
| CN111907341A (en) * | 2020-07-31 | 2020-11-10 | 合肥巨一动力系统有限公司 | Locked-rotor protection system and method of motor drive controller for electric vehicle |
| CN111907341B (en) * | 2020-07-31 | 2022-05-31 | 合肥巨一动力系统有限公司 | Locked-rotor protection system and method of motor drive controller for electric vehicle |
| CN112208351B (en) * | 2020-09-14 | 2022-07-08 | 恒大新能源汽车投资控股集团有限公司 | Electric drive control method and device in locked-rotor state and electronic equipment |
| CN112208351A (en) * | 2020-09-14 | 2021-01-12 | 恒大新能源汽车投资控股集团有限公司 | Electric drive control method and device in locked-rotor state and electronic equipment |
| CN112217444A (en) * | 2020-10-13 | 2021-01-12 | 东风汽车有限公司 | Electric automobile water pump control method, electronic equipment and storage medium |
| CN112217444B (en) * | 2020-10-13 | 2022-07-08 | 东风汽车有限公司 | Electric automobile water pump control method, electronic equipment and storage medium |
| EP4109741A1 (en) * | 2021-06-24 | 2022-12-28 | Infineon Technologies Austria AG | Detecting motor stall condition |
| US11728753B2 (en) | 2021-06-24 | 2023-08-15 | Infineon Technologies Austria Ag | Detecting motor stall condition |
| CN113880402A (en) * | 2021-10-22 | 2022-01-04 | 湖北楚大智能装备有限公司 | Control method and device of bottle making machine |
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Denomination of invention: Treatment method and device under locked rotor state of motor Effective date of registration: 20211213 Granted publication date: 20200324 Pledgee: BEIJING AUTOMOTIVE GROUP Co.,Ltd. Pledgor: Borgward Automotive (China) Co., Ltd. Registration number: Y2021990001167 |
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Date of cancellation: 20231201 Granted publication date: 20200324 Pledgee: BEIJING AUTOMOTIVE GROUP Co.,Ltd. Pledgor: Beijing baowo Automobile Co.,Ltd.|Borgward Automotive (China) Co., Ltd. Registration number: Y2021990001167 |
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