CN107306108B - Method and device for processing motor in locked-rotor state - Google Patents

Method and device for processing motor in locked-rotor state Download PDF

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Publication number
CN107306108B
CN107306108B CN201610258075.9A CN201610258075A CN107306108B CN 107306108 B CN107306108 B CN 107306108B CN 201610258075 A CN201610258075 A CN 201610258075A CN 107306108 B CN107306108 B CN 107306108B
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torque
motor
locked
rotor
preset
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CN107306108A (en
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杨卓
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Borgward Automotive China Co Ltd
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Borgward Automotive China Co Ltd
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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
    • 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

Abstract

The embodiment of the invention discloses a processing method and a processing device for a motor in a locked-rotor state, and belongs to the field of drive control of electric vehicles. When the motor is determined to be in a locked-rotor state according to the current rotating speed and the command torque, adjusting the torque input into the vector controller to a target torque, wherein the target torque is a superposed torque variable on the basis of the command torque, and the torque variable is a torque which oscillates in a preset period and changes in a positive-negative alternating mode; and sending the target torque to a vector controller, calculating by the vector controller according to the target torque to obtain a three-phase PWM duty ratio, and sending the three-phase PWM duty ratio to a power element, wherein the power element controls the motor to rotate. According to the embodiment of the invention, the target torque is the torque variable which is superposed on the command torque and is oscillated in a preset period and the torque variable is the torque which is changed alternately in positive and negative, so that the rotation angle of the motor rotor is changed periodically, and therefore, the peak value of the single-phase current of the power element is correspondingly reduced, and the damage of the motor caused by overhigh temperature rise when the motor is in a locked-rotor state can be avoided.

Description

Method and device for processing motor in locked-rotor state
Technical Field
The invention relates to the field of drive control of electric vehicles, in particular to a method and a device for processing a motor in a locked-rotor state.
Background
At present, people increasingly pay attention to environmental protection and effective and reasonable use of energy. Therefore, the electric vehicle with high efficiency, energy conservation and environmental protection becomes one of the development trends of the automobile industry. In the use process of the electric vehicle, the motor is blocked due to various reasons, for example, when the electric vehicle passes through a pothole road surface at a low speed, wheels sink, so that the motor is blocked. Wherein the rotation of the motor is controlled by a drive system of the electric vehicle.
Referring to fig. 1, a schematic diagram of a driving system of an electric vehicle in the prior art is shown. The driving system comprises a vector controller, a power element (IGBT) and a motor. Electric vehicles typically use three-phase alternating current to drive an electric motor. TqrefCommand torque sent to a vector controller of an electric vehicle for a vehicle control unit is resolved by the vector controllerAnd outputting the three-phase PWM duty ratio to the power element after analysis and calculation, and outputting energy to control the motor to rotate by the power element according to the PWM duty ratio. Wherein the commanded torque may control the rotational angle of the motor.
When the motor is in a locked-rotor state, the rotation angle of the motor is usually temporarily unchanged or has a small variation range, and when the rotation angle is unchanged, a single-phase current passing through a power element of a motor controller may be too large, so that the temperature of the power element is too fast, and the power element is damaged. In order to avoid the power element damage caused by the motor in the locked-rotor state in the prior art, the temperature rise of the power element is reduced by reducing the switching frequency of the IGBT when the motor is detected to be in the locked-rotor state.
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
when the motor is in a locked-rotor state, the switching frequency of the power element is reduced, so that the loss of the power element can be reduced to a certain extent, but the problem that the single-phase current flowing through the power element in the locked-rotor state is overlarge cannot be fundamentally solved. Therefore, the method has little effect on preventing the damage of the power element caused by overhigh temperature rise caused by overlarge current.
Disclosure of Invention
The embodiment of the invention aims to solve the technical problem that: the processing method and the processing device can avoid the damage to the power element caused by overhigh temperature rise of the power element due to overlarge single-phase current flowing through the power element when the motor is in the locked-rotor state.
The method for processing the motor in the locked-rotor state provided by the embodiment of the invention is applied to a driving system of a motor, the system at least comprises a vector controller, a power element and a motor, one end of the power element is connected with the vector controller, and the other end of the power element is connected with the motor, and the method is characterized by comprising the following steps:
acquiring the current rotating speed of a motor and a command torque indicated by a vehicle control unit;
judging whether the motor is in a locked-rotor state or not according to the current rotating speed and the command torque;
when the motor is determined to be in a locked-rotor state, adjusting the torque input into the vector controller to a target torque, wherein the target torque is a torque variable which is superimposed on the command torque, and the torque variable is a torque which oscillates in a preset period and changes in a positive-negative alternating mode;
and sending the target torque to the vector controller, calculating to obtain a three-phase PWM duty ratio according to the target torque by the vector controller, sending the three-phase PWM duty ratio to the power element, and controlling the motor to rotate by the power element according to the three-phase PWM duty ratio.
Optionally, the determining whether the motor is in a locked-rotor state according to the current rotation speed and the command torque includes:
judging whether the current rotating speed is smaller than a preset locked-rotor rotating speed threshold value or not;
when the current rotating speed is smaller than the preset locked-rotor rotating speed threshold value, judging whether the command torque is larger than a preset locked-rotor torque threshold value;
and when the command torque is larger than the preset locked-rotor torque threshold value, determining that the motor is in a locked-rotor state.
Optionally, after determining whether the command torque is greater than a preset locked-rotor torque threshold, the method further includes:
and when the current rotating speed is not more than the preset locked-rotor rotating speed threshold value and/or the command torque is not more than the preset locked-rotor torque threshold value, determining that the motor is not in a locked-rotor state.
Optionally, before the adjusting the target torque input to the vector controller, the method further includes:
judging whether the time of the motor in the locked-rotor state reaches a preset time or not;
and when the time that the motor is in the locked-rotor state reaches the preset time, executing the step of adjusting the command torque to the target torque.
Optionally, after determining whether the time when the motor is in the locked-rotor state reaches the preset time, the method further includes:
and when the time that the motor is in the locked-rotor state does not reach the preset time, directly sending the command torque to a vector controller of the motor.
The embodiment of the invention provides a processing device in a motor locked-rotor state, which is applied to a driving system of a motor, wherein the system at least comprises a vector controller, a power element and a motor, one end of the power element is connected with the vector controller, and the other end of the power element is connected with the motor, and the processing device is characterized by comprising:
the acquisition unit is used for acquiring the current rotating speed of the motor and the command torque indicated by the vehicle control unit;
the motor locked-rotor judging unit is used for judging whether the motor is in a locked-rotor state or not according to the current rotating speed and the command torque;
an adjusting unit, configured to adjust a torque input to the vector controller to a target torque when it is determined that the motor is in a locked-rotor state, where the target torque is a torque variable that is superimposed on the command torque, and the torque variable is a torque that oscillates in a preset period and changes alternately in positive and negative directions;
and the transmitting unit is used for transmitting the target torque to the vector controller, the vector controller calculates a three-phase PWM duty ratio according to the target torque and then transmits the three-phase PWM duty ratio to the power element, and the power element controls the motor to rotate according to the three-phase PWM duty ratio.
Optionally, the motor stalling determination unit includes:
the first judgment module is used for judging whether the current rotating speed is smaller than a preset locked-rotor rotating speed threshold value or not;
the second judgment module is used for judging whether the command torque is greater than a preset locked-rotor torque threshold value or not when the current rotating speed is less than the preset locked-rotor rotating speed threshold value;
the first determination module is used for determining that the motor is in a locked rotor state when the command torque is larger than the preset locked rotor torque threshold value.
Optionally, the motor stalling determination unit further includes:
and the second determination module is used for determining that the motor is not in a locked-rotor state when the current rotating speed is not more than the preset locked-rotor rotating speed threshold value and/or the command torque is not more than the preset locked-rotor torque threshold value.
Optionally, the processing apparatus further comprises:
the judging unit is used for judging whether the time that the motor is in the locked-rotor state reaches the preset time or not;
and the adjusting unit is used for executing the step of adjusting the command torque to the target torque when the time that the motor is in the locked-rotor state reaches the preset time.
Optionally, the sending unit is further configured to directly send the command torque to a vector controller of the electric motor when the time that the motor is in the locked-rotor state does not reach a preset time.
Based on the processing method and the processing apparatus provided by the above embodiments of the present invention, when it is determined that the motor is in the locked-rotor state, the torque input to the vector controller is adjusted to the target torque, and the target torque is obtained by superimposing a torque variable on the basis of the command torque, where the torque variable is a torque oscillating in a preset period and changing alternately between positive and negative, so that the target torque input to the vector controller changes periodically in a positive and negative increase and decrease manner, and thus the rotation angle of the rotor of the motor also changes periodically, and therefore, the current peak value of the single phase through the power element is correspondingly reduced, and the temperature rise on the power element is correspondingly reduced, thereby preventing the motor from being damaged when the motor is in the locked-rotor state.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
The invention will be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
fig. 1 is a schematic diagram of a driving system of an electric vehicle in the prior art.
Fig. 2 is a schematic diagram of an implementation environment related to a processing method in a motor locked-rotor state according to an embodiment of the present invention.
Fig. 3 is a flowchart of a processing method in a motor locked-rotor state according to an embodiment of the present invention.
Fig. 4 is a flowchart of another processing method in a motor stalling state according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a processing device in a motor locked-rotor state according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a motor locked-rotor determining unit according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of another motor stalling determination unit according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of another processing device in a motor locked-rotor state according to an embodiment of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 2 is a schematic diagram of an implementation environment related to the processing method in the motor locked-rotor state according to the embodiment of the present invention, where the implementation environment is a driving system of a motor. As shown in fig. 2, the driving system at least comprises a processing device in a motor locked-rotor state, a vector controller, a power element and a motor. The processing device under the locked-rotor state of the motor is connected with the vector controller; one end of the power element is connected with the vector controller, and the other end of the power element is connected with the motor. The power element may be an inverter, and the motor may be a permanent magnet synchronous motor. The processing device under the motor locked-rotor state is arranged in the driving system in advance. In addition, the motor may have a position sensor built therein, and the position sensor may detect the rotation speed and rotation angle of the motor.
In FIG. 2, TqrefAnd outputting a three-phase PWM duty ratio to a power element after the command torque is analyzed and calculated by the vector controller, and outputting energy to control the motor to rotate by the power element. In addition, the rotation angle, the rotation speed n and the feedback current i of the motor rotor are read by the position sensora、ib、icThese signals are fed back to the vector controller, which determines the next commanded torque.
With reference to the schematic implementation environment diagram shown in fig. 2, an embodiment of the present invention provides a processing method in a motor stalling state. Fig. 3 is a flowchart of a processing method in a motor locked-rotor state according to an embodiment of the present invention. As shown in fig. 3, the method includes:
301: and acquiring the current rotating speed of the motor and the command torque indicated by the vehicle control unit.
When the processing device in the locked-rotor state of the motor acquires the current rotating speed of the motor, the processing device can determine the current rotating speed according to data detected by a position sensor built in the motor. Specifically, the position sensor can detect the rotating speed of the motor in real time and synchronize the rotating speed to the processing device in the locked-rotor state of the motor in real time.
When acquiring a command torque indicated by a vehicle control unit of the motor in a locked-rotor state, the processing device in the locked-rotor state of the motor can send a command torque acquisition request to the vehicle control unit; and after receiving the command torque acquisition request, the vehicle control unit returns the command torque to the vehicle control unit. Of course, the processing device in the motor locked-rotor state may also obtain the command torque in other manners, which is not specifically limited in this embodiment of the present invention.
302: judging whether the motor is in a locked-rotor state according to the current rotating speed and the command torque, and executing the step 303 when the motor is determined to be in the locked-rotor state; when it is determined that the motor is not in the locked-rotor state, step 305 is performed.
The processing device in the motor locked-rotor state, when determining whether the motor is in the locked-rotor state according to the current rotating speed and the command torque, includes but is not limited to the following steps 3021 to 3023:
3021: judging whether the current rotating speed is less than a preset locked-rotor rotating speed threshold value or not, and executing a step 3022 if the current rotating speed is less than the preset locked-rotor rotating speed threshold value; and if the current rotating speed is not less than the preset locked-rotor rotating speed threshold value, executing a step 3024.
The preset locked-rotor rotating speed threshold value can be related to factors such as the type and the model of the motor. In specific implementation, the preset locked-rotor rotating speed threshold value can also be determined empirically.
For convenience of explanation, the present embodiment of the invention is illustrated by n, where n represents the current rotational speed0Representing a preset locked-rotor speed threshold. When judging whether the current rotating speed is less than the preset locked-rotor rotating speed threshold value or not, n and n are compared0The specific numerical values of (a) are compared.
3022: judging whether the command torque is larger than a preset locked rotor torque threshold value or not, and executing a step 3023 when the command torque is larger than the preset locked rotor torque threshold value; when the commanded torque is not greater than the preset locked rotor torque threshold, step 3024 is performed.
The preset locked-rotor torque threshold value needs to be determined by referring to the current characteristic of the power element, and the preset locked-rotor torque threshold values of different types of power elements may be different.
For purposes of illustration, the inventionFor example, TqrefRepresenting the commanded torque, in TqlockIndicating a preset locked rotor torque threshold. When judging whether the command torque is larger than the preset locked-rotor torque threshold value or not, comparing TqrefAnd TqlockThe numerical size of (2).
3023: and determining that the motor is in a locked-rotor state.
In this case, the motor may be in a locked state in many cases, for example, when the motor passes through a pothole at a low speed, or the electric vehicle is out of order.
3024: and determining that the motor is not in a locked-rotor state.
If at least one of the two conditions that the current rotating speed is not more than the preset locked-rotor rotating speed threshold value and the command torque is not more than the preset locked-rotor torque threshold value meets the condition, the motor can be determined not to be in the locked-rotor state.
According to the embodiment of the invention, whether the motor is in the locked-rotor state is determined according to the current rotating speed of the motor and the command torque of the motor, so that the determination result is more accurate compared with the determination result determined according to only one of the current rotating speed and the command torque.
303: and adjusting the torque input to the vector controller to a target torque, wherein the target torque is a torque variable which is overlapped on the command torque, and the torque variable is a torque which oscillates in a preset period and changes in positive and negative alternately.
Wherein the target torque is a torque input to the vector controller. When the torque input into the vector controller is adjusted to the target torque, the processing device in the locked-rotor state can generate a torque variable firstly, and the torque variable oscillates periodically and changes alternately in positive and negative directions; and then, the processing device in the locked-rotor state superposes the command torque and the torque variable to obtain the target torque. Wherein, whether the command torque and the torque variable are superposed or not can be controlled by a switch. For example, when the motor is detected to be in a locked-rotor state, the control switch is closed to realize the superposition of the command torque and the torque variable; when the motor is not detected to be in the locked-rotor state, the holding switch is switched off, and at the moment, the torque input into the vector controller is still the command torque.
The specific values for the preset period, and the amplitude of the torque variable can be set as desired. The embodiment of the present invention expresses a torque variable as Δ Tq. Specifically, Tq is set when the target torque of the input vector controller is adjustedrefSuperimposed with Δ Tq. In this embodiment, the target torque may be denoted as Tq.
Referring to fig. 2, the processing device in the locked state may include a torque variation generation unit connected to a switch in series. When the processing device in the locked-rotor state determines that the motor is in the locked-rotor state through the steps, the torque variation generating unit can be controlled to generate the torque variable. At this time, the control switch is closed, and the torque transmitted to the vector controller can be adjusted to the target torque. And when the processing device in the locked-rotor state does not determine that the motor is in the locked-rotor state through the steps, the keeping switch is switched off, and at the moment, the torque input into the vector controller is still the command torque.
The above description has been given only by taking an example in which the torque input to the vector controller is adjusted to the target torque by the switching control. However, other adjustments may also be used in particular implementations. For example, when the motor is detected to be in a locked-rotor state, the processing device in the locked-rotor state automatically generates a torque variable and then automatically superimposes the torque variable on the command torque. When the motor is detected not to be in the locked-rotor state, the torque variable is not generated.
Optionally, before adjusting the target torque input to the vector controller, the processing means in the motor stall condition may further perform optional step 306 of:
306: judging whether the time of the motor in the locked-rotor state reaches the preset time or not; and when the time that the motor is in the locked-rotor state reaches the preset time, executing the step of adjusting the command torque to the target torque.
The preset time can be set by combining parameters such as the frequency of the power element.
Whether the time that the motor is in the locked-rotor state reaches the preset time or not is judged, and when the time that the motor is in the locked-rotor state reaches the preset time, the step of adjusting the command torque to the target torque is executed, so that the torque input to the vector controller can be adjusted when the motor is actually in the locked-rotor state, the condition that the current rotating speed of the motor is accidentally less than the preset locked-rotor rotating speed threshold value due to accidental pause of the motor or the command torque is accidentally greater than the preset locked-rotor torque threshold value due to accidental reason is avoided, misjudgment is caused, and the mode that the motor is determined to be in the locked-rotor state is more accurate.
304: and sending the target torque to a vector controller, calculating according to the target torque by the vector controller to obtain a three-phase PWM duty ratio, sending the three-phase PWM duty ratio to a power element, and controlling the motor to rotate by the power element according to the three-phase PWM duty ratio.
The processing device in the motor stalling state may be implemented based on a communication protocol between the processing device in the motor stalling state and the vector controller when sending the target torque to the vector controller.
The present invention is not limited in this embodiment, and the method for calculating and obtaining a three-phase PWM (Pulse Width Modulation) duty ratio by the vector controller according to the target torque, the method for sending the three-phase PWM duty ratio to the power element, and the method for controlling the rotation of the motor by the power element according to the three-phase PWM duty ratio may be combined with the existing implementation manner.
305: the command torque is directly sent to a vector controller of the motor, the vector controller calculates the corresponding three-phase PWM duty ratio according to the command torque and then sends the three-phase PWM duty ratio to a power element of the motor, and the power element controls the motor to rotate according to the corresponding three-phase PWM duty ratio.
Specifically, when it is detected that the motor is not in the locked-rotor state, the command torque is still input into the vector controller, and the motor continues to rotate according to the rotating mode indicated by the command torque.
Alternatively, if optional step 306 is performed before step 303, this step 305 is performed again when it is determined that the time during which the motor is in the locked-rotor state has not reached the preset time.
The above optional steps are merged into the above steps shown in fig. 3, so that the flowchart shown in fig. 4 can be obtained. The specific implementation manner of each step in fig. 4 has been described in the above embodiments, and is not described herein again.
According to the method provided by the embodiment of the invention, the rotation angle of the motor rotor is changed by adjusting the torque input to the vector controller to the target torque in the locked-rotor state, so that the current part concentrated on the single phase of the power element can be transferred to other two phases, the integral temperature rise of the power element can be reduced, and the damage of the power element can be prevented. In addition, since the transmission system between the motor and the wheels has a certain rotation margin, the rotation angle margin of the motor is absorbed by the transmission system, and thus, the stability of the vehicle is not affected in this way.
As shown in fig. 5, an embodiment of the present invention further provides a processing apparatus in a motor locked-rotor state, where the processing apparatus may be configured to execute the processing method in the motor locked-rotor state provided in the embodiment corresponding to fig. 3 or fig. 4. The processing device is applied to a driving system of the motor, the driving system at least comprises a vector controller, a power element and the motor, one end of the power element is connected with the vector controller, and the other end of the power element is connected with the motor. As shown in fig. 5, the processing device includes an acquisition unit 501, a motor stall determination unit 502, a torque variation generation unit 503, and a transmission unit 504. Wherein:
the acquiring unit 501 is used for acquiring the current rotating speed of the motor and the command torque indicated by the vehicle control unit;
a motor locked-rotor judging unit 502, configured to judge whether the motor is in a locked-rotor state according to the current rotation speed and the command torque;
an adjusting unit 503, configured to adjust the torque input to the vector controller to a target torque when it is determined that the motor is in a locked-rotor state, where the target torque is a torque variable superimposed on a command torque, and the torque variable is a torque that oscillates in a preset period and changes alternately between positive and negative;
and the sending unit 504 is configured to send the target torque to the vector controller, the vector controller calculates a three-phase PWM duty ratio according to the target torque, and sends the three-phase PWM duty ratio to the power element, and the power element controls the motor to rotate according to the three-phase PWM duty ratio.
Optionally, as shown in fig. 6, the motor stalling determination unit 502 includes a first determination module 5021, a second determination module 5022, and a first determination module 5023, wherein:
the first judging module 5021 is used for judging whether the current rotating speed is smaller than a preset locked-rotor rotating speed threshold value;
the second judging module 5022 is used for judging whether the command torque is greater than the preset locked rotor torque threshold value or not when the current rotating speed is less than the preset locked rotor rotating speed threshold value;
the first determining module 5023 is configured to determine that the motor is in a locked-rotor state when the commanded torque is greater than a preset locked-rotor torque threshold.
Alternatively, as shown in fig. 7, the motor stalling determination unit 502 further includes:
the second determining module 5024 is configured to determine that the motor is not in the locked-rotor state when the current rotation speed is not greater than the preset locked-rotor rotation speed threshold and/or the command torque is not greater than the preset locked-rotor torque threshold.
Optionally, as shown in fig. 8, the processing apparatus further includes a determining unit 505, wherein:
a judging unit 505, configured to judge whether a time when the motor is in the locked-rotor state reaches a preset time;
and an adjusting unit 503, configured to perform the step of adjusting the command torque to the target torque when the time when the motor is in the locked-rotor state reaches a preset time.
Optionally, the sending unit 504 is further configured to directly send the command torque to the vector controller of the motor when the time when the motor is in the locked-rotor state does not reach the preset time.
With regard to the processing apparatus in the above embodiments, the specific manner in which each unit and module performs operations has been described in detail in the embodiments related to the method, and will not be described in detail here.
All the above-mentioned optional technical solutions can be combined arbitrarily to form the optional embodiments of the present invention, and are not described herein again.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The method and apparatus of the present invention may be implemented in a number of ways. For example, the methods and apparatus of the present invention may be implemented in software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustrative purposes only, and the steps of the method of the present invention are not limited to the order specifically described above unless specifically indicated otherwise. Furthermore, in some embodiments, the present invention may also be embodied as a program recorded in a recording medium, the program including machine-readable instructions for implementing a method according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (10)

1. A method for processing in a locked-rotor state of a motor, the method being applied to a driving system of the motor, the system at least comprising a vector controller, a power element and the motor, wherein one end of the power element is connected with the vector controller, and the other end of the power element is connected with the motor, the method comprising the following steps:
acquiring the current rotating speed of a motor and a command torque indicated by a vehicle control unit;
judging whether the motor is in a locked-rotor state or not according to the current rotating speed and the command torque;
when the motor is determined to be in a locked-rotor state, adjusting the torque input into the vector controller to a target torque, wherein the target torque is a torque variable which is superimposed on the command torque, and the torque variable is a torque which oscillates in a preset period and changes in a positive-negative alternating mode;
and sending the target torque to the vector controller, calculating to obtain a three-phase PWM duty ratio according to the target torque by the vector controller, sending the three-phase PWM duty ratio to the power element, and controlling the motor to rotate by the power element according to the three-phase PWM duty ratio.
2. The method of claim 1, wherein said determining whether the electric machine is in a locked-rotor state based on the current speed and the commanded torque comprises:
judging whether the current rotating speed is smaller than a preset locked-rotor rotating speed threshold value or not;
when the current rotating speed is smaller than the preset locked-rotor rotating speed threshold value, judging whether the command torque is larger than a preset locked-rotor torque threshold value;
and when the command torque is larger than the preset locked-rotor torque threshold value, determining that the motor is in a locked-rotor state.
3. The method of claim 2, wherein after determining whether the commanded torque is greater than a preset locked-rotor torque threshold, further comprising:
and when the current rotating speed is not less than the preset locked-rotor rotating speed threshold value and/or the command torque is not greater than the preset locked-rotor torque threshold value, determining that the motor is not in a locked-rotor state.
4. The method of claim 1, wherein prior to adjusting the torque input to the vector controller to the target torque, further comprising:
judging whether the time of the motor in the locked-rotor state reaches a preset time or not;
and when the time that the motor is in the locked-rotor state reaches the preset time, executing the step of adjusting the command torque to the target torque.
5. The method of claim 4, wherein after determining whether the time for the motor to be in the locked-rotor state reaches the preset time, further comprising:
and when the time that the motor is in the locked-rotor state does not reach the preset time, directly sending the command torque to a vector controller of the motor.
6. A processing apparatus in a locked-rotor state of a motor, the processing apparatus being applied to a driving system of the motor, the system including at least a vector controller, a power element and the motor, one end of the power element being connected to the vector controller, and the other end being connected to the motor, the processing apparatus comprising:
the acquisition unit is used for acquiring the current rotating speed of the motor and the command torque indicated by the vehicle control unit;
the motor locked-rotor judging unit is used for judging whether the motor is in a locked-rotor state or not according to the current rotating speed and the command torque;
an adjusting unit, configured to adjust a torque input to the vector controller to a target torque when it is determined that the motor is in a locked-rotor state, where the target torque is a torque variable that is superimposed on the command torque, and the torque variable is a torque that oscillates in a preset period and changes alternately in positive and negative directions;
and the transmitting unit is used for transmitting the target torque to the vector controller, the vector controller calculates a three-phase PWM duty ratio according to the target torque and then transmits the three-phase PWM duty ratio to the power element, and the power element controls the motor to rotate according to the three-phase PWM duty ratio.
7. The processing apparatus according to claim 6, wherein the motor stalling determination unit includes:
the first judgment module is used for judging whether the current rotating speed is smaller than a preset locked-rotor rotating speed threshold value or not;
the second judgment module is used for judging whether the command torque is greater than a preset locked-rotor torque threshold value or not when the current rotating speed is less than the preset locked-rotor rotating speed threshold value;
the first determination module is used for determining that the motor is in a locked rotor state when the command torque is larger than the preset locked rotor torque threshold value.
8. The processing apparatus according to claim 7, wherein the motor stalling determination unit further comprises:
and the second determination module is used for determining that the motor is not in a locked-rotor state when the current rotating speed is not less than the preset locked-rotor rotating speed threshold and/or the command torque is not greater than the preset locked-rotor torque threshold.
9. The processing apparatus according to claim 6, characterized in that the processing apparatus further comprises:
the judging unit is used for judging whether the time that the motor is in the locked-rotor state reaches the preset time or not;
and the adjusting unit is used for executing the step of adjusting the command torque to the target torque when the time that the motor is in the locked-rotor state reaches the preset time.
10. The processing device according to claim 9, wherein the sending unit is further configured to directly send the command torque to a vector controller of the electric motor when the time when the motor is in the locked-rotor state does not reach a preset time.
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