CN107395084A - Predictor method, device and the electric automobile of pure electric automobile motor output torque - Google Patents

Predictor method, device and the electric automobile of pure electric automobile motor output torque Download PDF

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Publication number
CN107395084A
CN107395084A CN201710771743.2A CN201710771743A CN107395084A CN 107395084 A CN107395084 A CN 107395084A CN 201710771743 A CN201710771743 A CN 201710771743A CN 107395084 A CN107395084 A CN 107395084A
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current
motor
ave
voltage
phase
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CN107395084B (en
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李玮
代康伟
梁海强
刘超
范江楠
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention provides a kind of predictor method, device and the electric automobile of pure electric automobile motor output torque, is related to full-vehicle control technical field, this method includes：According to the predetermined sampling period, the three-phase current of motor and its electric current inclination angle in α β coordinate systems, and three-phase voltage and its voltage tilt in α β coordinate systems are periodically obtained；The electric current inclination angle obtained according to current sample period and voltage tilt, rotating speed of the estimation motor in current sample period；Three-phase current, three-phase voltage, electric current inclination angle and the voltage tilt obtained according to current sample period, obtain the confidence value of current sample period；According to the rotating speed and confidence value in each sampling period, according to predetermined control cycle, rotating speed of the estimation motor in current control period；According to rotating speed of the motor in current control period, the current output torque of motor is obtained.The method for estimating motor output torque of the invention is reliable effectively, the degree of accuracy is high and has good promotional value.

Description

Predictor method, device and the electric automobile of pure electric automobile motor output torque
Technical field
The invention belongs to full-vehicle control technical field, more particularly, to a kind of estimating for pure electric automobile motor output torque Method, apparatus and electric automobile.
Background technology
In the prior art, the current output torque of driving motor of pure electric automobile is typically obtained using formula penalty method, i.e., By moment of torsion formula and on this basis, certain compensation is carried out according to vehicle-state to obtain the output torque of motor. In view of motor, its parameter can change in practical work process, the accuracy of the parameter of change to formula penalty method Very big influence is caused, it can not be met the demand of the accurate control to motor.
The content of the invention
The purpose of the embodiment of the present invention be to provide a kind of predictor method of pure electric automobile motor output torque, device and Electric automobile, it can not meet to motor so as to solve formula penalty method calculating motor output torque in the prior art The problem of demand accurately controlled.
To achieve these goals, the embodiments of the invention provide a kind of side of estimating of pure electric automobile motor output torque Method, including：
According to the predetermined sampling period, periodically obtain the three-phase current of motor and its electric current in α β coordinate systems inclines Angle, and three-phase voltage and its voltage tilt in α β coordinate systems；
The electric current inclination angle obtained according to current sample period and the voltage tilt, estimation motor is in present sample week Rotating speed in phase；
The three-phase current, the three-phase voltage, the electric current inclination angle and the electricity obtained according to current sample period Inclination angle is pressed, obtains the confidence value of current sample period；
According to the rotating speed and confidence value in each sampling period, according to the predetermined control cycle, estimation motor is in current control week Rotating speed in phase, wherein, the controlling cycle includes N number of continuous sampling period；
According to rotating speed of the motor in current control period, the current output torque of motor is obtained.
Wherein, it is described according to the predetermined sampling period, periodically obtain the three-phase current of motor and its in α β coordinate systems Electric current inclination angle, and the step of three-phase voltage and its voltage tilt in α β coordinate systems include：
Gather the three-phase current and three-phase voltage of motor；
The three-phase current and the three-phase voltage are corrected respectively, after obtaining three-phase current and correction after correction Three-phase voltage；
Three-phase voltage to the three-phase current after correction and after correction carries out Clarke transform respectively, obtain current phasor and Voltage vector；
LPF is carried out under the conditions of the first predeterminated frequency to the current phasor and the voltage vector respectively, obtained First current phasor and first voltage vector；Respectively to the current phasor and the voltage vector in the second predeterminated frequency condition Lower carry out LPF, obtain the second current phasor and second voltage vector；Wherein, first predeterminated frequency is less than described the Two predeterminated frequencies；
According to first current phasor, the first electric current inclination angle is obtained；According to second current phasor, the second electricity is obtained Flow inclination；According to the first voltage vector, first voltage inclination angle is obtained；According to the second voltage vector, the second electricity is obtained Press inclination angle.
Wherein, it is described that the three-phase current and the three-phase voltage are corrected respectively, obtain the three-phase electricity after correction Stream and correction after three-phase voltage the step of include：
Obtain the average value of three-phase current and the average value of three-phase voltage；
It is poor that the average value of every phase current and the three-phase current is made, and obtains the three-phase current after correction；
It is poor that the average value of every phase voltage and the three-phase voltage is made, and obtains the three-phase voltage after correction.
Wherein, the electric current inclination angle obtained according to current sample period and the voltage tilt, estimation motor exist The step of rotating speed in current sample period, includes：
Obtained first difference at the first electric current inclination angle of current sample period and the first electric current inclination angle in a upper sampling period ΔP1, the second difference DELTA P at the second electric current inclination angle of current sample period and the second electric current inclination angle in a upper sampling period2, currently The 3rd difference DELTA P at the first voltage inclination angle in sampling period and the first voltage inclination angle in a upper sampling period3, current sample period Second voltage inclination angle and a upper sampling period second voltage inclination angle the 4th difference DELTA P4；
Obtain the number of pole-pairs n of motorpWith controlling cycle Ts；
According to formulaCalculate respectively current First rotating speed E of motor in sampling period1, the second rotating speed E2, the 3rd rotating speed E3With the 4th rotating speed E4。
Wherein, the three-phase current obtained according to current sample period, the three-phase voltage, the electric current inclination angle Include with the voltage tilt, the step of the confidence value for obtaining current sample period：
Judge the first difference DELTA P1Absolute value whether be less than the first predetermined angle difference, and the first current phasor Quadratic sum is more than the quadratic sum of the first predetermined current vector；If so, then the first confidence level T1Value be 1, if it is not, then first credible Spend T1Value be 0；
Judge the second difference DELTA P2Absolute value whether be less than the second predetermined angle difference, and the second current phasor Quadratic sum is more than the quadratic sum of the second predetermined current vector；If so, then the second confidence level T2Value be 1, if it is not, then second credible Spend T2Value be 0；
Judge the 3rd difference DELTA P3Absolute value whether be less than the 3rd predetermined angle difference, and first voltage vector Quadratic sum is more than the quadratic sum of the first predeterminated voltage vector；If so, then the 3rd confidence level T3Value be 1, if it is not, then the 3rd credible Spend T3Value be 0；
Judge the 4th difference DELTA P4Absolute value whether be less than the 4th predetermined angle difference, and second voltage vector Quadratic sum is more than the quadratic sum of the second predeterminated voltage vector；If so, then the 4th confidence level T4Value be 1, if it is not, then the 4th credible Spend T4Value be 0；
Each phase current is judged whether in the range of the first predetermined current, and whether each phase voltage is in the first predeterminated voltage model In enclosing；Whether three-phase current sum is in the range of the second predetermined current, and whether three-phase voltage sum is in the second predeterminated voltage model In enclosing；If any phase current not in the first predetermined current scope, any phase voltage not in first predetermined voltage range, Three-phase current sum not in the second predetermined current scope, or, three-phase voltage sum is not in the second predeterminated voltage model Enclose, then by the first confidence level T1, the second confidence level T2, the 3rd confidence level T3With the 4th confidence level T4Value be modified to 0.
Wherein, the rotating speed and confidence value according to each sampling period, according to the predetermined control cycle, estimation motor is being worked as Rotating speed in preceding controlling cycle, wherein, the step of controlling cycle includes N number of continuous sampling period, includes：
Obtain the first mean speed E of motor in current control period1-ave, the second mean speed E2-ave, the 3rd average turn Fast E3-aveWith the 4th mean speed E4-ave；
Obtain the first average credibility T in current control period1-ave, the second average credibility T2-ave, the 3rd averagely may be used Reliability T3-aveWith the 4th average credibility T4-ave；
According to the first mean speed E1-ave, the first average credibility T1-ave, the 3rd mean speed E3-ave With the 3rd average credibility T3-ave, obtain fiveth mean speed of the motor after LPF under the conditions of the first predeterminated frequency E5-aveWith the 5th average credibility T5-ave；
According to the second mean speed E2-ave, the second average credibility T2-ave, the 4th mean speed E4-ave With the 4th average credibility T4-ave, obtain sixth mean speed of the motor after LPF under the conditions of the second predeterminated frequency E6-aveWith the 6th average credibility T6-ave；
If the 5th average credibility T5-aveValue be more than the 6th average credibility T6-aveValue, then current control The rotating speed E of motor in cycle processedaveFor the 5th mean speed E5-ave；If the 5th average credibility T5-aveValue be less than it is described 6th average credibility T6-aveValue, then in current control period motor rotating speed EaveFor the 6th mean speed E6-ave；If institute State the 5th mean speed T5-aveValue and the 6th mean speed T6-aveValue it is identical, then motor in current control period Rotating speed EaveFor the 5th mean speed E5-aveWith the 6th mean speed E6-aveAverage value.
Wherein, the first mean speed E for obtaining motor in current control period1-ave, the second mean speed E2-ave、 3rd mean speed E3-aveWith the 4th mean speed E4-aveThe step of include：
Respectively according to formula Calculate motor in current control period First mean speed E1-ave, the second mean speed E2-ave, the 3rd mean speed E3-ave, the 4th mean speed E4-ave；Wherein, E1 (n) it is first rotating speed in n-th of sampling period, T1(n) it is first confidence level in n-th of sampling period；E2(n) it is n-th of sampling Second rotating speed in cycle, T2(n) it is second confidence level in n-th of sampling period；E3(n) it is the 3rd turn of n-th of sampling period Speed, T3(n) it is the 3rd confidence level in n-th of sampling period；E4(n) it is the 4th rotating speed in n-th of sampling period, T4(n) it is n-th 4th confidence level in individual sampling period；N is the number in the sampling period that controlling cycle includes.
Wherein, the rotating speed according to motor in current control period, the step of obtaining the current output torque of motor Including：
Judge whether the rotating speed of motor in current control period is less than the first preset rotation speed；
If so, then obtained current according to the three-phase current quadratic sum and the mapping table of output torque prestored The current output torque T of motor corresponding to the quadratic sum of first current phasorq；
If it is not, then judge whether the average credibility in this controlling cycle is less than default average credibility, if described average Confidence level is less than the default average credibility, then is closed according to the three-phase current quadratic sum prestored is corresponding with output torque It is table, obtains the current output torque T of motor corresponding to the quadratic sum of the first current current phasorq；It is if described average credible Degree is more than or equal to the default average credibility, then according to the current electric power P of motorEWith motor in current control period Rotating speed Eave, obtain the current output torque T of the motorq。
Wherein, the current electric power P according to motorEWith the rotating speed E of motor in current control periodave, described in acquisition The current output torque T of motorqThe step of include：
According to the three-phase current and three-phase voltage of collection, the current electric power P of the motor is calculatedE；
According to the electric efficiency prestored and motor speed and the mapping table of electrical power, obtain and this controlling cycle The rotating speed E of interior motoraveWith the current electric power PEThe current efficiency η of corresponding motor；
According to formulaObtain the current output torque T of the motorq。
The embodiment of the present invention also provides a kind of estimating device of pure electric automobile motor output torque, including：
First acquisition module, for according to the predetermined sampling period, periodically obtaining the three-phase current of motor and its in α β Electric current inclination angle in coordinate system, and three-phase voltage and its voltage tilt in α β coordinate systems；
First estimation block, for the electric current inclination angle obtained according to current sample period and the voltage tilt, estimate Calculate rotating speed of the motor in current sample period；
Second acquisition module, for the three-phase current, three-phase voltage, described obtained according to current sample period Electric current inclination angle and the voltage tilt, obtain the confidence value of current sample period；
Second estimation block, for the rotating speed and confidence value according to each sampling period, according to predetermined control cycle, estimation Rotating speed of the motor in current control period, wherein, the controlling cycle includes N number of continuous sampling period；
3rd acquisition module, for the rotating speed according to motor in current control period, the current output for obtaining motor is turned round Square.
The embodiment of the present invention also provides a kind of electric automobile, including pure electric automobile motor output torque as described above Estimating device.
The above-mentioned technical proposal of the present invention at least has the advantages that：
The such scheme of the embodiment of the present invention, by described in three-phase current and the three-phase voltage estimation of the motor according to collection Rotating speed of the motor in this sampling period, and the controlling cycle formed according to turn count multiple sampling periods in multiple sampling periods The rotating speed of interior motor, finally according to the output torque of the turn count motor of motor in controlling cycle；Wherein, in order to ensure to estimate Output torque accuracy, in estimation process, Credibility judgement is carried out to the data of acquisition, is unsatisfactory for the data of condition not For calculating the rotating speed of this controlling cycle, so that the output torque of estimation meets the demand of the accurate control to motor；This hair The method of bright embodiment has reliable, effective, degree of accuracy height, it is easy to accomplish the advantages that, while it is not related to electric automobile hardware The change of system, there is good promotional value.
Brief description of the drawings
Fig. 1 is the basic step schematic diagram of the predictor method of the pure electric automobile motor output torque of the embodiment of the present invention；
Fig. 2 is the idiographic flow schematic diagram of the step 11 of the embodiment of the present invention；
Fig. 3 is the basic composition schematic diagram of the estimating device of the pure electric automobile motor output torque of the embodiment of the present invention；
Fig. 4 is the schematic diagram of the electric machine control system framework of the embodiment of the present invention.
Description of reference numerals：
1- accelerator pedal systems, 2- brake pedal systems, 3- gear systems, 4- entire car controllers, 5- battery management systems, 6- electric machine controllers, 7- motors, 8- single reduction gears, 9- driving wheels.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool Body embodiment is described in detail.
The embodiment of the present invention is for due to the change of the parameter of electric machine, motor is obtained using formula compensation method in the prior art Output torque accuracy it is not high, lead to not meet the problem of the needs of control accurate to motor, there is provided a kind of pure electronic The predictor method of electric motor of automobile output torque, realize in the case where not carrying out any change to electric machine control system hardware, Just can accurate, reliable, the effective output torque for estimating motor.
As shown in figure 1, the schematic diagram of the predictor method for the pure electric automobile motor output torque of the embodiment of the present invention, should For electric automobile.The implementation process of this method is illustrated with reference to Fig. 4.
Firstly, it is necessary to explanation, the predictor method of pure electric automobile motor output torque provided in an embodiment of the present invention Suitable for the pure electric automobile with electric machine control system framework as shown in Figure 4.
Here, as shown in figure 4, the electric machine control system includes：Electric machine controller 6, respectively with the electric machine controller 6 Input connection accelerator pedal system 1, brake pedal system 2, gear system 3, entire car controller 4 and battery management system 5；The motor 7 being connected with the output end of the electric machine controller 6；The driving wheel being connected by single reduction gear 8 with the motor 7 9.Specifically, in the electric machine control system framework, the electric machine controller 6 is according to the accelerator pedal system 1, the system Dynamic pedal system 2 and the gear system 3 obtain the driving intention of driver, and the desired output that driver is calculated is turned round Square, then, the full-vehicle control state that the electric machine controller 6 exports according to the entire car controller 4, and, the cell tube The electrokinetic cell state that reason system 5 exports, it is determined that the limitation of the power output to the motor 7, so as to the expectation moment of torsion The processing such as smooth, limitation are carried out, obtain torque command, the electric machine controller 6 enters according to the torque command to the motor 7 Row control, realizes its quick response to the torque command, so as to realize vehicle driving functions.Wherein, the motor 7 passes through The single reduction gear 8 drives the driving wheel 9 to rotate, and realizes and is closed between the rotating speed of the motor 7 and speed to correspond System, when detecting speed exception, can directly be controlled to the output torque, reduce the rotating speed of the motor 7, so as to Current speed is reduced, finally avoids causing danger.
The step of performance estimating method of pure electric automobile liquid cooling system provided in an embodiment of the present invention, is specific as follows：
Step 11, according to the predetermined sampling period, the three-phase current of motor is periodically obtained and its in α β coordinate systems Electric current inclination angle, and three-phase voltage and its voltage tilt in α β coordinate systems；
It should be noted that the predictor method of pure electric automobile motor output torque provided in an embodiment of the present invention is one Completed in individual controlling cycle, wherein, one controlling cycle includes several continuous sampling periods, it is preferred that this hair One controlling cycle of bright embodiment includes continuous 50 sampling periods.
Preferably, the sampling period is determined according to the maximum speed of the motor, wherein, define the highest and turn Speed is in 1min, the most rotating cycle of the motor, the sampling period is 1min and the maximum speed ratio.
Wherein, as shown in Fig. 2 the step 11 includes：
Step 111, the three-phase current I of motor is gatheredU、IV、IWWith three-phase voltage VU、VV、VW。
Specifically, the three-phase current and voltage sensor of the motor gathered by analog-digital converter acquisition current sensor are adopted The three-phase voltage of the motor of collection, wherein, the three-phase current is that frequency is identical, amplitude is identical and the electricity of phase 120 ° of mutual deviation successively Stream, the three-phase voltage is that frequency is identical, amplitude is identical and the voltage of phase 120 ° of mutual deviation successively.
Step 112, the three-phase current and the three-phase voltage are corrected respectively, obtain the three-phase current after correction With the three-phase voltage after correction.
Specifically, the step of being corrected to the three-phase current and the three-phase voltage includes：
Obtain the average value of three-phase currentAnd the average value of three-phase voltage
It is poor that the average value of every phase current and the three-phase current is made, and obtains the three-phase current after correction, wherein, after correction Three-phase current be followed successively by：
It is poor that the average value of every phase voltage and the three-phase voltage is made, and obtains the three-phase voltage after correction, wherein, after correction Three-phase voltage be followed successively by：
Step 113, the three-phase voltage to the three-phase current after correction and after correction carries out Clarke transform respectively, obtains electricity Flow vector and voltage vector.
Specifically, to the three-phase current I after correctionRU、IRV、IRWThe detailed process for carrying out Clarke change is as follows：
According to formula：Understand：Iα=IRU,Wherein, Iα For the abscissa of current phasor, IβFor the ordinate of current phasor.
Likewise, the three-phase voltage after correction, after Clarke changes, is obtained：Vα=VRU,Its In, VαFor the abscissa of voltage vector, VβFor the ordinate of voltage vector.
Step 114, low pass is carried out under the conditions of the first predeterminated frequency to the current phasor and the voltage vector respectively Filtering, obtain the first current phasor and first voltage vector；It is pre- second to the current phasor and the voltage vector respectively If carrying out LPF under frequency condition, the second current phasor and second voltage vector are obtained；Wherein, first predeterminated frequency Less than second predeterminated frequency.
Specifically, what first predeterminated frequency determined according to the rotating speed during motor low speed rotation, described second is pre- Determined if frequency is rotating speed when being rotated at a high speed according to the motor, preferably, in the embodiment of the present invention, described first is default Frequency selection is 30Hz, and the second predeterminated frequency selection is 800Hz.Wherein, the abscissa of first current phasor is Iα-slow, ordinate Iβ-slow；The abscissa of the first voltage vector is Vα-slow, ordinate Vβ-slow；Second electric current is sweared The abscissa of amount is Iα-fast, ordinate Iβ-fast；The abscissa of the second voltage vector is Vα-fast, ordinate is Vβ-fast。
Step 115, according to first current phasor, the first electric current inclination angle is obtained；According to second current phasor, obtain Take the second electric current inclination angle；According to the first voltage vector, first voltage inclination angle is obtained；According to the second voltage vector, obtain Take second voltage inclination angle.
Specifically, the first electric current inclination angle isThe first voltage inclination angle isThe second electric current inclination angle isThe second voltage Inclination angle is
Step 12, the electric current inclination angle obtained according to current sample period and the voltage tilt, estimation motor are being worked as Rotating speed in the preceding sampling period.
Specifically, the step 12 includes：
Obtained first difference at the first electric current inclination angle of current sample period and the first electric current inclination angle in a upper sampling period ΔP1, the second difference DELTA P at the second electric current inclination angle of current sample period and the second electric current inclination angle in a upper sampling period2, currently The 3rd difference DELTA P at the first voltage inclination angle in sampling period and the first voltage inclination angle in a upper sampling period3, current sample period Second voltage inclination angle and a upper sampling period second voltage inclination angle the 4th difference DELTA P4；
Obtain the number of pole-pairs n of motorpWith controlling cycle Ts；
According to formulaCalculate respectively current First rotating speed E of motor in sampling period1, the second rotating speed E2, the 3rd rotating speed E3With the 4th rotating speed E4。
Wherein, the number of pole-pairs npFor the logarithm of N, S pole caused by each coil of the motor.
Step 13, according to current sample period obtain the three-phase current, the three-phase voltage, the electric current inclination angle and The voltage tilt, obtain the confidence value of current sample period.
Specifically, the step 13 includes：
Judge the first difference DELTA P1Absolute value whether be less than the first predetermined angle difference, and the first current phasor Quadratic sum is more than the quadratic sum of the first predetermined current vector；If so, then the first confidence level T1Value be 1, if it is not, then first credible Spend T1Value be 0；Wherein, the first predetermined angle difference is a sampling under the rotating speed corresponding to the first predeterminated frequency In cycle, the angle of the motor rotation, generally, the first difference DELTA P1Absolute value to should be less than described first pre- If angle difference, if the first difference DELTA P1More than the first predetermined angle difference, it is determined that the data currently gathered are deposited , can not be as the data of estimation output torque in larger error.The quadratic sum of the first predetermined current vector is that motor exists Under rotating speed corresponding to first predeterminated frequency, the motor is controlled with square of the minimum current vector needed for the rotation of current rotating speed With, when collection current value be less than the first predetermined current vector quadratic sum, then judge collection data invalid, it is impossible to For estimating the output torque of motor.
Judge the second difference DELTA P2Absolute value whether be less than the second predetermined angle difference, and the second current phasor Quadratic sum is more than the quadratic sum of the second predetermined current vector；If so, then the second confidence level T2Value be 1, if it is not, then second credible Spend T2Value be 0；
Judge the 3rd difference DELTA P3Absolute value whether be less than the 3rd predetermined angle difference, and first voltage vector Quadratic sum is more than the quadratic sum of the first predeterminated voltage vector；If so, then the 3rd confidence level T3Value be 1, if it is not, then the 3rd credible Spend T3Value be 0；
Judge the 4th difference DELTA P4Absolute value whether be less than the 4th predetermined angle difference, and second voltage vector Quadratic sum is more than the quadratic sum of the second predeterminated voltage vector；If so, then the 4th confidence level T4Value be 1, if it is not, then the 4th credible Spend T4Value be 0；
Likewise, the second predetermined angle difference, the 3rd predetermined angle difference and the 4th predetermined angle are poor Value is the maximum angle that the motor rotates within a sampling period under its corresponding motor status；Described second is pre- If the quadratic sum of current phasor, the quadratic sum of the quadratic sum of the first predeterminated voltage vector and the second predeterminated voltage vector It is under its corresponding motor status, maintains the motor to rotate square of required minimum current vector according to desired speed With and minimum voltage vector quadratic sum.
Each phase current is judged whether in the range of the first predetermined current, and whether each phase voltage is in the first predeterminated voltage model In enclosing；Whether three-phase current sum is in the range of the second predetermined current, and whether three-phase voltage sum is in the second predeterminated voltage model In enclosing；If any phase current not in the first predetermined current scope, any phase voltage not in first predetermined voltage range, Three-phase current sum not in the second predetermined current scope, or, three-phase voltage sum is not in the second predeterminated voltage model Enclose, then it is assumed that the signal that current sample period obtains is invalid, is not used to estimate the output torque of motor, can by described first Reliability T1, the second confidence level T2, the 3rd confidence level T3With the 4th confidence level T4Value be modified to 0.
The embodiment of the present invention proposes the concept of confidence level parameter, the data of collection is judged, so as to avoid with invalid Signal the output torque of the motor is estimated, improve output torque estimation it is reliable, effectively and accuracy.
Step 14, according to the rotating speed and confidence value in each sampling period, according to the predetermined control cycle, estimation motor is current Rotating speed in controlling cycle, wherein, the controlling cycle includes N number of continuous sampling period.
Specifically, rotating speed of the estimation motor in current control period specifically includes：
Respectively according to formula Calculate motor in current control period First mean speed E1-ave, the second mean speed E2-ave, the 3rd mean speed E3-ave, the 4th mean speed E4-ave；Wherein, E1 (n) it is first rotating speed in n-th of sampling period, T1(n) it is first confidence level in n-th of sampling period；E2(n) it is n-th of sampling Second rotating speed in cycle, T2(n) it is second confidence level in n-th of sampling period；E3(n) it is the 3rd turn of n-th of sampling period Speed, T3(n) it is the 3rd confidence level in n-th of sampling period；E4(n) it is the 4th rotating speed in n-th of sampling period, T4(n) it is n-th 4th confidence level in individual sampling period；N is the number in the sampling period that controlling cycle includes.
By calculating first mean speed, the second mean speed, the 3rd mean speed and the public affairs of the 4th mean speed In formula it was determined that when confidence value is 0, the product of confidence level and rotating speed is 0, you can the rotating speed that reliability is 0 is not used in meter Mean speed of the motor in current control period is calculated, so as to which the larger data of Acquisition Error be rejected, improves estimation Accuracy.
Obtain the first average credibility in current control periodSecond average credibility3rd average credibilityWith the 4th average credibility Wherein, N is the number in the continuous sampling cycle that current control period includes.
According to the first mean speed E1-ave, the first average credibility T1-ave, the 3rd mean speed E3-ave With the 3rd average credibility T3-ave, obtain motor filtered 5th mean speed under the conditions of the first predeterminated frequency E5-aveWith the 5th average credibility T5-ave。
Specifically, according to formulaObtain the 5th mean speed；Root According to formulaObtain the 5th average credibility.
According to the second mean speed E2-ave, the second average credibility T2-ave, the 4th mean speed E4-ave With the 4th average credibility T4-ave, obtain motor filtered 6th mean speed under the conditions of the second predeterminated frequency E6-aveWith the 6th average credibility T6-ave。
Specifically, according to formulaObtain the 6th mean speed；Root According to formulaObtain the 6th average credibility.
If the 5th average credibility T5-aveValue be more than the 6th average credibility T6-aveValue, then current control The rotating speed E of motor in cycle processedaveFor the 5th mean speed E5-ave；If the 5th average credibility T5-aveValue be less than it is described 6th average credibility T6-aveValue, then in current control period motor rotating speed EaveFor the 6th mean speed E6-ave；If institute State the 5th mean speed T5-aveValue and the 6th mean speed T6-aveValue it is identical, then motor in current control period Rotating speed EaveFor the 5th mean speed E5-aveWith the 6th mean speed E6-aveAverage value.
Embodiments of the invention pass through default to the 5th average credibility after the first predeterminated frequency LPF and second The 6th average credibility after frequency low pass ripple is compared, and the mean speed corresponding to the larger side of confidence value is made For the mean speed of current control period so that the estimation to mean speed is more accurate.
Step 15, the rotating speed according to motor in current control period, the current output torque of motor is obtained.
Specifically, the step 15 includes：
Judge whether the rotating speed of motor in current control period is less than the first preset rotation speed.Wherein, described first default turn Speed is distinguishes the motor high speed rotation and the critical value of low speed rotation, preferably, the embodiment of the present invention, according to substantial amounts of experiment First preset rotation speed described in data definition is 100r/min.
If so, then obtained current according to the three-phase current quadratic sum and the mapping table of output torque prestored The current output torque T of motor corresponding to the quadratic sum of first current phasorq.Wherein, the mapping table is according to a large amount of The one-to-one relation of the quadratic sum of output torque and the three-phase current of the motor that determines of test data.
If it is not, then judge whether the average credibility in this controlling cycle is less than default average credibility, if described average Confidence level is less than the default average credibility, then is closed according to the three-phase current quadratic sum prestored is corresponding with output torque It is table, obtains the current output torque T of motor corresponding to the quadratic sum of the first current current phasorq；It is if described average credible Degree is more than or equal to the default average credibility, then according to the current electromotive power output P of motorEWith electricity in current control period The rotating speed E of machineave, obtain the current output torque T of the motorq。
It should be noted that when the rotating speed of the motor is relatively low, the quadratic sum of first current phasor is not necessarily big In the quadratic sum of the first predetermined current vector, the quadratic sum of second current phasor is not necessarily greater to described second and preset The quadratic sum of current phasor, the quadratic sum of the first voltage vector are not necessarily greater to square of the first predeterminated voltage vector With the quadratic sum of the second voltage vector is not necessarily greater to the quadratic sum of the second predeterminated voltage vector, therefore, can influence The confidence level of current control period, so, the embodiment of the present invention is less than by the confidence level set when the current control period During default average credibility, or by looking into the mapping table of three-phase current quadratic sum and output torque, obtain current defeated Go out moment of torsion.
When the average credibility is more than default average credibility, then according to the current electromotive power output P of motorEWith working as The rotating speed E of motor in preceding controlling cycleave, obtain the current output torque T of the motorqThe step of include：
According to the three-phase current and three-phase voltage currently gathered, the current electric power P of the motor is calculatedE；
According to the electric efficiency prestored and motor speed and the mapping table of electrical power, obtain and current control week The rotating speed E of motor in phaseaveWith the current electric power PEThe current efficiency η of corresponding motor；
According to formulaObtain the current output torque T of the motorq。
Wherein, the electric efficiency is substantial amounts of according to what is carried out early stage with motor speed and the mapping table of electrical power Test run and bench test, come the mapping relations for obtaining the current rotating speed of motor, motor current electric power and electric efficiency subtract, and by its Stored in table form, acquisition electric efficiency is carried out by current rotating speed and electrical power table look-at in application.
The above embodiment of the present invention calculates the current of motor by obtaining the three-phase current and three-phase voltage information of motor Rotating speed, and current output torque is calculated according to the current rotating speed；In calculating process, by the confidence level parameter of introducing, The information of information and estimation to acquisition judges, it is determined whether it is effective information, and after invalid information is rejected, then carry out Output torque is estimated, and so as to improve the accuracy and reliability estimated, finally meets accurate control to motor Demand.
As shown in figure 3, the embodiment of the present invention also provides a kind of estimating device of pure electric automobile motor output torque, bag Include：
First acquisition module 21, for according to the predetermined sampling period, periodically obtaining the three-phase current of motor and its in α Electric current inclination angle in β coordinate systems, and three-phase voltage and its voltage tilt in α β coordinate systems；
First estimation block 22, for the three-phase current obtained according to current sample period and its in α β coordinate systems Electric current inclination angle, and three-phase voltage and its voltage tilt in α β coordinate systems, estimation motor is in current sample period Rotating speed；
Second acquisition module 23, for the three-phase current, the three-phase voltage, institute obtained according to current sample period Electric current inclination angle and the voltage tilt are stated, obtains the confidence value of current sample period；
Second estimation block 24, for the rotating speed and confidence value according to each sampling period, according to the predetermined control cycle, estimate Rotating speed of the motor in current control period is calculated, wherein, the controlling cycle includes N number of continuous sampling period；
3rd acquisition module 25, for the rotating speed according to motor in current control period, obtain the current output of motor Moment of torsion.
Wherein, first acquisition module 21 includes：
First collection submodule, for gathering the three-phase current and three-phase voltage of motor；
First acquisition submodule, for being corrected respectively to the three-phase current and the three-phase voltage, obtain correction Three-phase voltage after rear three-phase current and correction；
Second acquisition submodule, Clarke is carried out for the three-phase voltage to the three-phase current after correction and after correction respectively Conversion, obtain current phasor and voltage vector；
3rd acquisition submodule, for respectively to the current phasor and the voltage vector in the first predeterminated frequency condition Lower carry out LPF, obtain the first current phasor and first voltage vector；The current phasor and the voltage are sweared respectively Amount carries out LPF under the conditions of the second predeterminated frequency, obtains the second current phasor and second voltage vector；Wherein, described One predeterminated frequency is less than second predeterminated frequency；
4th acquisition submodule, for according to first current phasor, obtaining the first electric current inclination angle；According to described second Current phasor, obtain the second electric current inclination angle；According to the first voltage vector, first voltage inclination angle is obtained；According to described second Voltage vector, obtain second voltage inclination angle.
Wherein, first acquisition submodule includes：
First acquisition unit, obtain the average value of three-phase current and the average value of three-phase voltage；
Second acquisition unit, it is poor for the average value of every phase current and the three-phase current to be made, obtain three after correction Phase current；
3rd acquiring unit, it is poor for the average value of every phase voltage and the three-phase voltage to be made, obtain three after correction Phase voltage.
Wherein, first estimation block 22 includes：
5th acquisition submodule, for obtaining the first electric current inclination angle and the first of a upper sampling period of current sample period The first difference DELTA P at electric current inclination angle1, the second electric current inclination angle of current sample period and the second electric current inclination angle in a upper sampling period The second difference DELTA P2, the 3rd of the first voltage inclination angle in the first voltage inclination angle of current sample period and a upper sampling period be poor It is worth Δ P3, the 4th difference DELTA P at the second voltage inclination angle of current sample period and the second voltage inclination angle in a upper sampling period4；
6th acquisition submodule, for obtaining the number of pole-pairs n of motorpWith controlling cycle Ts；
First calculating sub module, for according to formula The first rotating speed E of motor in current sample period is calculated respectively1, the second rotating speed E2, the 3rd rotating speed E3With the 4th rotating speed E4。
Wherein, second acquisition submodule 23 includes：
First judging submodule, for judging the first difference DELTA P1Absolute value whether be less than the first predetermined angle it is poor Value, and the quadratic sum of the first current phasor is more than the quadratic sum of the first predetermined current vector；If so, then the first confidence level T1Value For 1, if it is not, then the first confidence level T1Value be 0；
Second judging submodule, for judging the second difference DELTA P2Absolute value whether be less than the second predetermined angle it is poor Value, and the quadratic sum of the second current phasor is more than the quadratic sum of the second predetermined current vector；If so, then the second confidence level T2Value For 1, if it is not, then the second confidence level T2Value be 0；
3rd judging submodule, for judging the 3rd difference DELTA P3Absolute value whether be less than the 3rd predetermined angle it is poor Value, and the quadratic sum of first voltage vector is more than the quadratic sum of the first predeterminated voltage vector；If so, then the 3rd confidence level T3Value For 1, if it is not, then the 3rd confidence level T3Value be 0；
4th judging submodule, for judging the 4th difference DELTA P4Absolute value whether be less than the 4th predetermined angle it is poor Value, and the quadratic sum of second voltage vector is more than the quadratic sum of the second predeterminated voltage vector；If so, then the 4th confidence level T4Value For 1, if it is not, then the 4th confidence level T4Value be 0；
5th judging submodule, for judging each phase current whether in the range of the first predetermined current, each phase voltage is It is no in the first predetermined voltage range；Whether three-phase current sum is in the range of the second predetermined current, and three-phase voltage sum Whether in the second predetermined voltage range；If any phase current does not exist in the first predetermined current scope, any phase voltage First predetermined voltage range, three-phase current sum not in the second predetermined current scope, or, three-phase voltage sum is not In second predetermined voltage range, then by the first confidence level T1, the second confidence level T2, the 3rd confidence level T3Can with the 4th Reliability T4Value be modified to 0.
Wherein, second estimation block 24 includes：
7th acquisition submodule, for obtaining the first mean speed E of motor in current control period1-ave, it is second average Rotating speed E2-ave, the 3rd mean speed E3-aveWith the 4th mean speed E4-ave；
8th acquisition submodule, for obtaining the first average credibility T in current control period1-ave, second averagely may be used Reliability T2-ave, the 3rd average credibility T3-aveWith the 4th average credibility T4-ave；
9th acquisition submodule, for according to the first mean speed E1-ave, the first average credibility T1-ave、 The 3rd mean speed E3-aveWith the 3rd average credibility T3-ave, it is low under the conditions of the first predeterminated frequency to obtain motor The 5th mean speed E after pass filter5-aveWith the 5th average credibility T5-ave；
Tenth acquisition submodule, for according to the second mean speed E2-ave, the second average credibility T2-ave、 The 4th mean speed E4-aveWith the 4th average credibility T4-ave, it is low under the conditions of the second predeterminated frequency to obtain motor The 6th mean speed E after pass filter6-aveWith the 6th average credibility T6-ave；
Determination sub-module, if for the 5th average credibility T5-aveValue be more than the 6th average credibility T6-aveValue, it is determined that the rotating speed E of motor in current control periodaveFor the 5th mean speed E5-ave；If the described 5th is average Confidence level T5-aveValue be less than the 6th average credibility T6-aveValue, it is determined that the rotating speed of motor in current control period EaveFor the 6th mean speed E6-ave；If the 5th mean speed T5-aveValue and the 6th mean speed T6-aveValue phase Together, it is determined that the rotating speed E of motor in current control periodaveFor the 5th mean speed E5-aveWith the 6th mean speed E6-ave Average value.
Wherein, the 7th acquisition submodule includes：
First computing unit, for respectively according to formula Calculate and work as First mean speed E of motor in preceding controlling cycle1-ave, the second mean speed E2-ave, the 3rd mean speed E3-ave, Siping City Equal rotating speed E4-ave；Wherein, E1(n) it is first rotating speed in n-th of sampling period, T1(n) first for n-th of sampling period is credible Degree；E2(n) it is second rotating speed in n-th of sampling period, T2(n) it is second confidence level in n-th of sampling period；E3(n) it is n-th 3rd rotating speed in individual sampling period, T3(n) it is the 3rd confidence level in n-th of sampling period；E4(n) it is the of n-th sampling period Four rotating speeds, T4(n) it is the 4th confidence level in n-th of sampling period；N is the number in the sampling period that controlling cycle includes.
Wherein, the 3rd acquisition module 25 includes：
6th judging submodule, for judging whether the rotating speed of motor in current control period is less than the first preset rotation speed；
11st acquisition submodule, when the rotating speed for judging motor in current control period is less than the first preset rotation speed, According to the three-phase current quadratic sum and the mapping table of output torque prestored, the flat of the first current current phasor is obtained The current output torque T of square and corresponding motorq；
7th judging submodule, for judging that the rotating speed of motor in current control period is more than or equal to the first preset rotation speed When, determine whether the average credibility in current control period is less than default average credibility, if described average credible Degree is less than the default average credibility, then according to the three-phase current quadratic sum and the corresponding relation of output torque prestored Table, obtain the current output torque T of motor corresponding to the quadratic sum of the first current current phasorq；If the average credibility More than or equal to the default average credibility, then according to the current electromotive power output P of motorEWith motor in current control period Rotating speed Eave, obtain the current output torque T of the motorq。
Wherein, the 7th judging submodule includes：
Second computing unit, for according to the three-phase current and three-phase voltage currently gathered, calculating the current of the motor Electrical power PE；
First acquisition unit, for according to the electric efficiency prestored and motor speed and the corresponding relation of electrical power Table, obtain the rotating speed E with motor in current control periodaveWith the current electric power PEThe current efficiency η of corresponding motor；
Second acquisition unit, for according to formulaObtain the current output torque T of the motorq。
The embodiment of the present invention also provides a kind of electric automobile, including pure electric automobile motor output torque as described above Estimating device.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims (11)

  1. A kind of 1. predictor method of pure electric automobile motor output torque, it is characterised in that including：
    According to the predetermined sampling period, the three-phase current of motor and its electric current inclination angle in α β coordinate systems are periodically obtained, with And three-phase voltage and its voltage tilt in α β coordinate systems；
    The electric current inclination angle obtained according to current sample period and the voltage tilt, estimation motor is in current sample period Rotating speed；
    Inclined according to the three-phase current, the three-phase voltage, the electric current inclination angle and the voltage that current sample period obtains Angle, obtain the confidence value of current sample period；
    According to the rotating speed and confidence value in each sampling period, according to the predetermined control cycle, estimation motor is in current control period Rotating speed, wherein, the controlling cycle includes N number of continuous sampling period；
    According to rotating speed of the motor in current control period, the current output torque of motor is obtained.
  2. 2. predictor method according to claim 1, it is characterised in that it is described according to the predetermined sampling period, periodically obtain The three-phase current of power taking machine and its electric current inclination angle in α β coordinate systems, and three-phase voltage and its voltage in α β coordinate systems The step of inclination angle, includes：
    Gather the three-phase current and three-phase voltage of motor；
    The three-phase current and the three-phase voltage are corrected respectively, obtain three after three-phase current and correction after correction Phase voltage；
    The three-phase voltage to the three-phase current after correction and after correction carries out Clarke transform respectively, obtains current phasor and voltage Vector；
    Carry out LPF under the conditions of the first predeterminated frequency to the current phasor and the voltage vector respectively, obtain first Current phasor and first voltage vector；The current phasor and the voltage vector are entered under the conditions of the second predeterminated frequency respectively Row LPF, obtain the second current phasor and second voltage vector；Wherein, it is pre- to be less than described second for first predeterminated frequency If frequency；
    According to first current phasor, the first electric current inclination angle is obtained；According to second current phasor, obtain the second electric current and incline Angle；According to the first voltage vector, first voltage inclination angle is obtained；According to the second voltage vector, obtain second voltage and incline Angle.
  3. 3. predictor method according to claim 2, it is characterised in that described respectively to the three-phase current and the three-phase Voltage is corrected, and the step of obtaining the three-phase current after correction and three-phase voltage after correction includes：
    Obtain the average value of three-phase current and the average value of three-phase voltage；
    It is poor that the average value of every phase current and the three-phase current is made, and obtains the three-phase current after correction；
    It is poor that the average value of every phase voltage and the three-phase voltage is made, and obtains the three-phase voltage after correction.
  4. 4. predictor method according to claim 2, it is characterised in that the electricity obtained according to current sample period Flow inclination and the voltage tilt, include the step of estimation rotating speed of the motor in current sample period：
    Obtained the first difference DELTA P at the first electric current inclination angle of current sample period and the first electric current inclination angle in a upper sampling period1, The second difference DELTA P at the second electric current inclination angle of current sample period and the second electric current inclination angle in a upper sampling period2, present sample The 3rd difference DELTA P at the first voltage inclination angle in cycle and the first voltage inclination angle in a upper sampling period3, the of current sample period Two voltage tilts and the 4th difference DELTA P at the second voltage inclination angle in a upper sampling period4；
    Obtain the number of pole-pairs n of motorpWith controlling cycle Ts；
    According to formulaPresent sample is calculated respectively First rotating speed E of motor in cycle1, the second rotating speed E2, the 3rd rotating speed E3With the 4th rotating speed E4。
  5. 5. predictor method according to claim 4, it is characterised in that described according to described the three of current sample period acquisition Phase current, the three-phase voltage, the electric current inclination angle and the voltage tilt, obtain the step of the confidence value of current sample period Suddenly include：
    Judge the first difference DELTA P1Absolute value whether be less than the first predetermined angle difference, and square of the first current phasor With the quadratic sum more than the first predetermined current vector；If so, then the first confidence level T1Value be 1, if it is not, then the first confidence level T1 Value be 0；
    Judge the second difference DELTA P2Absolute value whether be less than the second predetermined angle difference, and square of the second current phasor With the quadratic sum more than the second predetermined current vector；If so, then the second confidence level T2Value be 1, if it is not, then the second confidence level T2 Value be 0；
    Judge the 3rd difference DELTA P3Absolute value whether be less than the 3rd predetermined angle difference, and square of first voltage vector With the quadratic sum more than the first predeterminated voltage vector；If so, then the 3rd confidence level T3Value be 1, if it is not, then the 3rd confidence level T3 Value be 0；
    Judge the 4th difference DELTA P4Absolute value whether be less than the 4th predetermined angle difference, and square of second voltage vector With the quadratic sum more than the second predeterminated voltage vector；If so, then the 4th confidence level T4Value be 1, if it is not, then the 4th confidence level T4 Value be 0；
    Each phase current is judged whether in the range of the first predetermined current, and whether each phase voltage is in the first predetermined voltage range It is interior；Whether three-phase current sum is in the range of the second predetermined current, and whether three-phase voltage sum is in the second predetermined voltage range It is interior；If any phase current, not in the first predetermined current scope, any phase voltage is not in first predetermined voltage range, three Phase current sum not in the second predetermined current scope, or, three-phase voltage sum not in second predetermined voltage range, Then by the first confidence level T1, the second confidence level T2, the 3rd confidence level T3With the 4th confidence level T4Value be modified to 0.
  6. 6. predictor method according to claim 5, it is characterised in that the rotating speed and confidence level according to each sampling period Value, according to the predetermined control cycle, rotating speed of the motor in current control period is estimated, wherein, the controlling cycle includes N number of company The step of continuous sampling period, includes：
    Obtain the first mean speed E of motor in current control period1-ave, the second mean speed E2-ave, the 3rd mean speed E3-aveWith the 4th mean speed E4-ave；
    Obtain the first average credibility T in current control period1-ave, the second average credibility T2-ave, the 3rd average credibility T3-aveWith the 4th average credibility T4-ave；
    According to the first mean speed E1-ave, the first average credibility T1-ave, the 3rd mean speed E3-aveAnd institute State the 3rd average credibility T3-ave, obtain fiveth mean speed of the motor after LPF under the conditions of the first predeterminated frequency E5-aveWith the 5th average credibility T5-ave；
    According to the second mean speed E2-ave, the second average credibility T2-ave, the 4th mean speed E4-aveAnd institute State the 4th average credibility T4-ave, obtain sixth mean speed of the motor after LPF under the conditions of the second predeterminated frequency E6-aveWith the 6th average credibility T6-ave；
    If the 5th average credibility T5-aveValue be more than the 6th average credibility T6-aveValue, it is determined that current control The rotating speed E of motor in cycleaveFor the 5th mean speed E5-ave；If the 5th average credibility T5-aveValue be less than described the Six average credibility T6-aveValue, it is determined that the rotating speed E of motor in current control periodaveFor the 6th mean speed E6-ave；If The 5th mean speed T5-aveValue and the 6th mean speed T6-aveValue it is identical, it is determined that in current control period The rotating speed E of motoraveFor the 5th mean speed E5-aveWith the 6th mean speed E6-aveAverage value.
  7. 7. predictor method according to claim 6, it is characterised in that described to obtain first of motor in current control period Mean speed E1-ave, the second mean speed E2-ave, the 3rd mean speed E3-aveWith the 4th mean speed E4-aveThe step of include：
    Respectively according to formula Calculate motor in current control period First mean speed E1-ave, the second mean speed E2-ave, the 3rd mean speed E3-ave, the 4th mean speed E4-ave；Wherein, E1 (n) it is first rotating speed in n-th of sampling period, T1(n) it is first confidence level in n-th of sampling period；E2(n) it is n-th of sampling Second rotating speed in cycle, T2(n) it is second confidence level in n-th of sampling period；E3(n) it is the 3rd turn of n-th of sampling period Speed, T3(n) it is the 3rd confidence level in n-th of sampling period；E4(n) it is the 4th rotating speed in n-th of sampling period, T4(n) it is n-th 4th confidence level in individual sampling period；N is the number in the sampling period that controlling cycle includes.
  8. 8. predictor method according to claim 6, it is characterised in that described to be turned according to motor in current control period Speed, include the step of the current output torque for obtaining motor：
    Judge whether the rotating speed of motor in current control period is less than the first preset rotation speed；
    If so, current first is then obtained according to the three-phase current quadratic sum and the mapping table of output torque prestored The current output torque T of motor corresponding to the quadratic sum of current phasorq；
    If it is not, then judge whether the average credibility in current control period is less than default average credibility, if described averagely may be used Reliability is less than the default average credibility, then according to the three-phase current quadratic sum and the corresponding relation of output torque prestored Table, obtain the current output torque T of motor corresponding to the quadratic sum of the first current current phasorq；If the average credibility More than or equal to the default average credibility, then according to the current electric power P of motorEWith turn of motor in current control period Fast Eave, obtain the current output torque T of the motorq。
  9. 9. predictor method according to claim 8, it is characterised in that the current electric power P according to motorEWith it is current The rotating speed E of motor in controlling cycleave, obtain the current output torque T of the motorqThe step of include：
    According to the three-phase current and three-phase voltage currently gathered, the current electric power P of the motor is calculatedE；
    According to the electric efficiency that prestores and motor speed and the mapping table of electrical power, obtain with current control period The rotating speed E of motoraveWith the current electric power PEThe current efficiency η of corresponding motor；
    According to formulaObtain the current output torque T of the motorq。
  10. A kind of 10. estimating device of pure electric automobile motor output torque, it is characterised in that including：
    First acquisition module, for according to the predetermined sampling period, periodically obtaining the three-phase current of motor and its in α β coordinates Electric current inclination angle in system, and three-phase voltage and its voltage tilt in α β coordinate systems；
    First estimation block, for the electric current inclination angle obtained according to current sample period and the voltage tilt, estimation electricity Rotating speed of the machine in current sample period；
    Second acquisition module, for the three-phase current, the three-phase voltage, the electric current obtained according to current sample period Inclination angle and the voltage tilt, obtain the confidence value of current sample period；
    Second estimation block, for the rotating speed and confidence value according to each sampling period, according to the predetermined control cycle, estimate motor Rotating speed in current control period, wherein, the controlling cycle includes N number of continuous sampling period；
    3rd acquisition module, for the rotating speed according to motor in current control period, obtain the current output torque of motor.
  11. 11. a kind of electric automobile, it is characterised in that including pure electric automobile motor output torque as claimed in claim 10 Estimating device.
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CN108382269A (en) * 2018-02-27 2018-08-10 北京新能源汽车股份有限公司 A kind of control method of motor output torque, device and electric vehicle
CN108382269B (en) * 2018-02-27 2020-04-17 北京新能源汽车股份有限公司 Control method and device for motor output torque and electric automobile
CN108599663A (en) * 2018-05-07 2018-09-28 上海金脉电子科技有限公司 Automobile motor torque estimation algorithm and system
CN110877533A (en) * 2018-09-05 2020-03-13 联合汽车电子有限公司 Electric automobile power control system and method
CN110877533B (en) * 2018-09-05 2023-10-10 联合汽车电子有限公司 Electric automobile power control system and method
CN109546914B (en) * 2018-10-24 2021-07-02 苏州汇川联合动力系统有限公司 Electric vehicle safety control method, electric vehicle and storage medium
US20210302251A1 (en) * 2020-03-30 2021-09-30 Rockwell Automation Technologies, Inc. Estimating motor drive torque and velocity
EP3890182A1 (en) * 2020-03-30 2021-10-06 Rockwell Automation Technologies, Inc. Estimating motor drive torque and velocity
CN113541548A (en) * 2020-03-30 2021-10-22 罗克韦尔自动化技术公司 Estimating motor drive torque and speed
US11609137B2 (en) * 2020-03-30 2023-03-21 Rockwell Automation Technologies, Inc. Estimating motor drive torque and velocity
US11788911B2 (en) 2020-03-30 2023-10-17 Rockwell Automation Technologies, Inc. Estimating motor drive torque and velocity
CN111565001A (en) * 2020-05-27 2020-08-21 峰岹科技（深圳）有限公司 Position sensorless motor driving method, permanent magnet synchronous motor, and storage medium

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